KR101784768B1 - Remotely operated vehicle - Google Patents

Remotely operated vehicle Download PDF

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Publication number
KR101784768B1
KR101784768B1 KR1020150153580A KR20150153580A KR101784768B1 KR 101784768 B1 KR101784768 B1 KR 101784768B1 KR 1020150153580 A KR1020150153580 A KR 1020150153580A KR 20150153580 A KR20150153580 A KR 20150153580A KR 101784768 B1 KR101784768 B1 KR 101784768B1
Authority
KR
South Korea
Prior art keywords
compressed air
underwater robot
remote control
pressure
storage device
Prior art date
Application number
KR1020150153580A
Other languages
Korean (ko)
Other versions
KR20170051906A (en
Inventor
박수종
백상훈
송영은
시대엽
윤지원
정태일
최종웅
Original Assignee
삼성중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to KR1020150153580A priority Critical patent/KR101784768B1/en
Publication of KR20170051906A publication Critical patent/KR20170051906A/en
Application granted granted Critical
Publication of KR101784768B1 publication Critical patent/KR101784768B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • B63B2737/00—

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A remote control underwater robot includes a pressure sensor for detecting a pressure inside the robot, a controller for determining whether a pressure value detected by the pressure sensor is changed, a compressed air And an air control device for discharging the compressed air of the compressed air storage device according to a change in the pressure value detected by the storage device and the control part.

Description

Remote controlled underwater robot {REMOTELY OPERATED VEHICLE}

The present invention relates to a remote control underwater robot, and more particularly, to a remote control underwater robot capable of preventing water-tight destruction.

Generally, ships are mostly operated with water under the hull, or remain in anchored state. At this time, marine life living in seawater is inhabited with various marine life attached to the hull over time.

Examples of marine life include marine life such as Barnacle.

If the above marine creatures are attached to the hull, it increases the surface resistance of the ship, which causes the operating speed of the ship to decrease and increases the fuel consumption, thereby increasing the overall operating cost, Marine life, etc., cause the paint of the hull to fall off and corrode the hull corrosion.

Therefore, it is necessary to remove and clean the above-mentioned marine life before attaching to the bottom or side outer surface of the ship before it is further increased.

In recent years, remote control underwater robots (Remotely Operated Vehicles) have emerged to remove and clean marine life on the ship. The remote control underwater robot can be operated remotely to remove and clean the marine life attached to the surface of the ship.

However, the remote control underwater robot is an expensive product and has a problem of water-tight destruction during the cleaning operation. To prevent this, a remote control underwater robot is equipped with a leakage sensor. However, if water actually penetrates into the system, even if it is known that a leak has occurred, the system is destroyed, and the water- There is a disadvantage in that leakage can not be confirmed.

Korean Patent Publication No. 10-2015-0022540 (Feb.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a remotely controlled underwater robot capable of promptly grasping whether a water-tight breakdown of a remote control underwater robot is broken.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a remote control underwater robot comprising: a pressure sensor for detecting a pressure inside the underwater robot; a pressure sensor for detecting a pressure value A compressed air storage device for storing the compressed air therein, and an air control device for discharging the compressed air of the compressed air storage device according to a change in the pressure value detected by the control part. have.

When the control unit detects a change in the pressure inside the underwater robot, the compressed air in the compressed air storage unit is discharged from the underwater robot by controlling the air control unit to raise the internal pressure.

The amount of compressed air discharged from the compressed air storage device can be adjusted by adjusting the opening amount of the air control device.

The air control device can control the amount of compressed air discharged from the compressed air storage device to be equal to or higher than the external pressure of the internal pressure of the underwater robot.

Other specific details of the invention are included in the detailed description and drawings.

The remote control underwater robot according to the present invention has one or more of the following effects.

According to the present invention, it is possible to detect whether water-tightness of the remote control underwater robot is destroyed, and to prevent water from penetrating into the remote control underwater robot.

1 is a schematic view of a remote control underwater robot attached to a hull according to an embodiment of the present invention.
2 schematically shows an internal configuration of a remote control underwater robot according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

It is to be understood that when an element or layer is referred to as being "on" or " on "of another element or layer, All included. On the other hand, a device being referred to as "directly on" or "directly above" indicates that no other device or layer is interposed in between.

The terms spatially relative, "below", "beneath", "lower", "above", "upper" May be used to readily describe a device or a relationship of components to other devices or components. Spatially relative terms should be understood to include, in addition to the orientation shown in the drawings, terms that include different orientations of the device during use or operation. For example, when inverting an element shown in the figures, an element described as "below" or "beneath" of another element may be placed "above" another element. Thus, the exemplary term "below" can include both downward and upward directions. The elements can also be oriented in different directions, so that spatially relative terms can be interpreted according to orientation.

One element is referred to as being "connected to " or" coupled to "another element, either directly connected or coupled to another element, One case. On the other hand, when one element is referred to as being "directly connected to" or "directly coupled to " another element, it does not intervene another element in the middle. Like reference numerals refer to like elements throughout the specification. "And / or" include each and every combination of one or more of the mentioned items.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. A description thereof will be omitted.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a schematic view of a remote control underwater robot attached to a hull according to an embodiment of the present invention.

As shown in the figure, the remote control underwater robot 100 according to the present embodiment moves in water and removes marine organisms attached to the outer wall of the ship 10. In the present embodiment, an underwater robot for cleaning the hull 10 is described as an object. However, the present invention is not necessarily limited thereto, because it can be applied to various floats or structures including marine life in water.

In addition, although not shown in the present embodiment, the remote control underwater robot 100 is configured such that the composite cable 1 connected to the remote control unit provided on the land or sea is connected to the remote control underwater robot 100, The various control signals can be transmitted to the remote control underwater robot 100 from the remote control unit through the control signal lines included in the remote control underwater. Of course, the composite cable 1 of the remote control unit may be omitted, and a wireless transceiver may be installed in the remote control unit so that the remote control underwater robot 100 can be controlled wirelessly.

In particular, when remote control of the remote control underwater robot 100 is performed using the composite cable 1, the remote control unit may further include a reel device for continuously outputting or winding the composite cable 1. The reel unit can also be controlled to wind or release the composite cable 1 by the remote control unit.

2 schematically shows an internal configuration of a remote control underwater robot according to an embodiment of the present invention. As shown in the figure, the remote control underwater robot 100 may include a power supply unit 110 for supplying a driving source for driving the ROV apparatus 120, which is a driving apparatus, to the ROV apparatus 120. The power supply unit 110 may be a battery installed inside the remote control underwater robot 100. The power supply unit 110 may include a generator or the like outside the remote control underwater robot 100, The robot 100 may be powered by a driving source generated from the generator through the remote control underwater robot 100.

In addition, a compressed air storage device 130 for selectively discharging compressed air within the remote control underwater robot 100 may be included. The discharge operation of the compressed air storage device 130 may be controlled by the air control device 140. The air control device 140 is controlled by a control unit 150 installed in the remote control underwater robot 100. The control unit 150 includes a pressure sensor The pressure value detected by the pressure sensor 160 is continuously received.

That is, during the remote control underwater control of the robot 100 by the pressure sensor 160, the remote control underwater robot 100 may be damaged due to breakage or water-tight destruction of the robot 100 The controller 140 controls the compressed air storage device 130 to operate.

Therefore, if seawater penetrates into the remote control underwater robot 100 due to breakage or water-tight destruction of the remote control underwater robot 100, the compressed air stored in the remote control underwater robot 100 traveling underwater 130 is discharged, thereby setting the internal pressure of the robot 100 in the remote control underwater at least higher than the surrounding water pressure, thereby preventing seawater intrusion.

The control unit 150 may be connected to the leak sensor 170 formed along the outer periphery inside the remote control underwater robot 100 and detecting the leakage of the sealing line 180 arranged to detect watertight breakage.

The leakage sensor 170 senses whether the sealing line 180 is broken or not, and the sealing line 180 is broken so that seawater intrusion can be detected. The sealing line 180 is arranged to be able to detect the watertight failure of the area where the pressure is not sensed by the pressure sensor 160. In addition, the signal detected by the leakage sensor 170 is transmitted to the control unit 150, so that the control unit 150 controls the air control unit 140 even when the seal line 180 breakage signal is detected in the leakage sensor 170 The compressed air storage device 130 may be opened.

The air control device 140 can control the discharge amount of the high-pressure air stored in the compressed air storage device 130 by adjusting the opening amount. That is, while the seawater intrudes, the internal pressure of the remotely controlled underwater robot 100 is continuously measured by the pressure sensor 160, and the compressed air discharged from the compressed air storage device 130 is equal to or higher than the external pressure It is possible to control the discharge amount of the compressed air storage device 130 so as to discharge an amount capable of forming pressure. Therefore, when the abnormal state signal of the remote control underwater robot 100 is detected, the time for the seawater intrusion due to the water-tight destruction of the water-tightness of the remote control underwater robot 100 is delayed.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

10: Hull
100: Remote control underwater robot
110:
120: ROV device
130: Compressed air storage device
140: air control device
150:
160: Pressure sensor
170: Leak sensor
180: sealing line

Claims (4)

In a remote control underwater robot,
A pressure sensor for detecting a pressure inside the underwater robot;
A controller for determining whether a pressure value detected by the pressure sensor has changed;
A compressed air storage device for storing compressed air therein;
A sealing line formed along an inner edge of the underwater robot;
A leakage sensor for detecting whether the sealing line is broken; And
And an air control device for discharging the compressed air of the compressed air storage device according to a change in the pressure value detected by the control part and a breakage of the sealing line. The method according to claim 1,
Wherein the control unit controls the air control unit to discharge the compressed air in the compressed air storage unit from the inside of the underwater robot to raise the internal pressure when the pressure change inside the underwater robot is detected by the control unit. 3. The method of claim 2,
And the amount of compressed air discharged from the compressed air storage device is adjusted by adjusting the opening amount of the air control device. The method of claim 3,
Wherein the air control device controls the amount of compressed air discharged from the compressed air storage device so that the internal pressure of the underwater robot is equal to or higher than the external pressure.
KR1020150153580A 2015-11-03 2015-11-03 Remotely operated vehicle KR101784768B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150153580A KR101784768B1 (en) 2015-11-03 2015-11-03 Remotely operated vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150153580A KR101784768B1 (en) 2015-11-03 2015-11-03 Remotely operated vehicle

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KR20170051906A KR20170051906A (en) 2017-05-12
KR101784768B1 true KR101784768B1 (en) 2017-10-12

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101212327B1 (en) * 2011-04-29 2012-12-13 현대중공업 주식회사 Electrolysis ballast water treatment system for preventing exploding of ship and a control method using the same
KR101305372B1 (en) * 2012-10-19 2013-09-06 에스티엑스마린서비스(주) Air packing system for hatch covers of ship

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101212327B1 (en) * 2011-04-29 2012-12-13 현대중공업 주식회사 Electrolysis ballast water treatment system for preventing exploding of ship and a control method using the same
KR101305372B1 (en) * 2012-10-19 2013-09-06 에스티엑스마린서비스(주) Air packing system for hatch covers of ship

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