KR101792485B1 - Management robot for mooring line - Google Patents

Management robot for mooring line Download PDF

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Publication number
KR101792485B1
KR101792485B1 KR1020160026444A KR20160026444A KR101792485B1 KR 101792485 B1 KR101792485 B1 KR 101792485B1 KR 1020160026444 A KR1020160026444 A KR 1020160026444A KR 20160026444 A KR20160026444 A KR 20160026444A KR 101792485 B1 KR101792485 B1 KR 101792485B1
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KR
South Korea
Prior art keywords
mooring line
unit
line
driving
frame
Prior art date
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KR1020160026444A
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Korean (ko)
Other versions
KR20170104088A (en
Inventor
윤국원
김태훈
신영일
윤지원
Original Assignee
삼성중공업 주식회사
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Priority to KR1020160026444A priority Critical patent/KR101792485B1/en
Publication of KR20170104088A publication Critical patent/KR20170104088A/en
Application granted granted Critical
Publication of KR101792485B1 publication Critical patent/KR101792485B1/en

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/022—Cleaning travelling work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • B08B7/026—Using sound waves
    • B08B7/028—Using ultrasounds
    • 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
    • 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
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers

Abstract

A mooring line management robot is disclosed. A mooring line management robot according to an embodiment of the present invention includes a frame for forming a body, a docking unit for detachably attaching the frame to a young line, a mooring line A moving unit including a plurality of driving wheels for rolling motion in contact with an outer surface of the driving wheel, and a driving driving unit for driving the driving wheels, a cleaning unit for cleaning the mooring line, and an observation unit for observing the mooring line .

Description

{MANAGEMENT ROBOT FOR MOORING LINE}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a mooring line management robot, and more particularly, to a mooring line management robot that can collectively perform maintenance and maintenance such as cleaning and observation of a mooring line.

In general, various floating marine structures floating on a ship or floating on the sea are provided with a mooring line and an anchor for anchoring at a fixed position. In order to moor the vessel, a mooring line To an underside and fix it on the sea floor. The anchor can be formed in a structure that can easily be fixed to the sea floor with sufficient weight so that the hull of the ship or the floating sea structure stably maintains a constant position even in a storm or an algae for its use purpose.

A ship or a floating marine structure is supported by an anchor fixed to the sea floor through a mooring line connected to the hull, so that it can be anchored at a fixed position without flowing along a storm or an algae, and a ship or a floating marine structure It is possible to prevent the difficulty of marine operation, collision of the hull or stranding. Both end portions of the mooring line are connected to the hull and the anchor, respectively, so that the gripping force of the hull by the anchor can be generated and maintained.

This mooring line is stored in the hull when the ship or the floating marine structure is operated, and when the mooring line is to be moored at a certain position, the mooring line installation device such as an underwater fairlead chain stopper And the installation process is performed.

However, when an external force due to waves or gusts is applied to the mooring line during the installation process or operation of the mooring line, there is a risk that the mooring line is broken due to interference between the mooring line and the mooring line installation device. And the mooring line may be damaged by corrosion. In addition, since the mooring line is operated for a long time in a submerged state, aquatic life such as moss, barn, etc. can be attached to the outer surface of the mooring line. These foreign substances may have an adverse effect on the life and performance of the mooring line, and it is necessary to remove the mooring line through periodic cleaning as it interferes with checking whether the mooring line is damaged or broken.

Conventionally, in order to observe the installation state and the operating state of the mooring line, the diver may directly observe the mooring line near the mooring line, or the mooring line may be observed by the diver manually by hand And the like. However, in the conventional method, there is a risk of a safety accident of a diver when a wave such as a wave or a storm is strong, and a separate vessel for supporting the operation of a diver is required, there was.

Therefore, there is a need for a method that effectively performs maintenance and maintenance such as cleaning of the muirering line and observation of the installation state, and efficient operation in terms of cost and workability.

Korean Patent Publication No. 10-2015-0072700 (published on May 30, 2015)

An embodiment of the present invention is to provide a mooring line management robot capable of effectively performing maintenance and maintenance such as cleaning and observation of a mooring line.

An embodiment of the present invention is to provide a mooring line management robot capable of collectively performing maintenance and maintenance such as cleaning and observation of a mooring line.

An embodiment of the present invention is to provide a mooring line management robot capable of reducing labor and work fatigue required for maintenance and maintenance of a mooring line.

Embodiments of the present invention provide a mooring line management robot that can reduce the cost required for the management and maintenance of the mooring line.

An embodiment of the present invention is to provide a mooring line management robot that can stably and smoothly operate a mooring line.

According to an aspect of the present invention, there is provided a floating structure, comprising: a frame which is provided to be movable along a mooring line installed in a floating marine structure and which forms a body; a docking unit for detachably attaching the frame to the mooring line; And a driving unit for driving the driving wheels, a cleaning unit for cleaning the mooring line, and an observation unit for observing the mooring line, Can be provided.

Wherein the frame includes a main frame and at least one door frame hingedly coupled to an end of the main frame so as to be openable and closable, the docking unit having a through- And a docking driver for driving the opening / closing device.

The cleaning unit may be provided with a cavitation gun for cleaning the outer surface of the mooring line by cavitation.

The observation unit may be provided with a camera for photographing the moire ring line, an illumination device for irradiating the moire ring line, and a measurement device for detecting the damage or thickness of the moire ring line.

And a control unit for transmitting and receiving information acquired by the observation unit.

The mooring line management robot according to the embodiment of the present invention has the effect of effectively performing maintenance and maintenance such as cleaning of the mooring line and observation.

The mooring line management robot according to the embodiment of the present invention has the effect of performing overall management and maintenance such as cleaning and observation.

The mooring line management robot according to the embodiment of the present invention has an effect of performing efficient operation by reducing manpower and cost for maintenance and maintenance of the mooring line.

The mooring line management robot according to the embodiment of the present invention has the effect of shortening the work time required for cleaning and observing the mooring line.

The mooring line management robot according to the embodiment of the present invention has the effect of enabling stable and smooth operation of the mooring line.

FIG. 1 is a view showing a state in which a mooring line management robot according to an embodiment of the present invention is operated on a mooring line of a floating marine structure.
2 is a perspective view showing a mooring line management robot according to an embodiment of the present invention.
3 is a sectional view showing a mooring line management robot according to an embodiment of the present invention.
4 is a perspective view showing a state in which a door frame according to an embodiment of the present invention is opened by a docking unit.
5 is a cross-sectional view showing an operating state in which a frame according to an embodiment of the present invention is mounted on a mooring line by a docking unit.
6 is a perspective view showing a state in which the moireing line management robot is moved along the longitudinal direction of the moire ring line by the mobile unit according to the embodiment of the present invention.
7 is a sectional view showing a state in which the cleaning unit according to the embodiment of the present invention operates.
8 is a perspective view showing an observation unit according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

1 is a view showing a state in which a mooring line management robot 100 according to an embodiment of the present invention is operated in a mooring line 10 installed in a floating marine structure 1. 2 and 3 are a perspective view and a sectional view respectively showing a mooring line management robot 100 according to an embodiment of the present invention.

The floating marine structure 1 described below should be understood as a concept including both marine vessels and floating structures that moor or anchor at a certain position in the sea using the mooring line 10.

Referring to FIG. 1, the mooring line 10 may be provided with an anchor (not shown) at an end thereof so that the floating structure 1 can be anchored at a predetermined position. The mooring line 10 is installed and supplied to the seabed along with the anchor by means of a mooring line installation device (not shown) installed in the floating marine structure 1. The mooring line 10 and the anchor, which are supplied to and installed on the seabed, can be anchored on the bottom surface of the mooring line 10 and exhibit a gripping force, so that the floating structure 1 can be moored at a predetermined position.

The mooring line 10 is continuously subjected to a load due to waves or storms, and is operated by being immersed in water for a long time, so that the mooring line 10 may be damaged due to breakage, deformation or corrosion. In addition, there is a fear that the operation and performance of the mooring line 10 may be deteriorated due to attachment of aquatic organisms such as mosses, barnacles, etc. to the outer surface due to the operating environment. Therefore, there is a need to periodically perform maintenance and management, such as observing the operating state of the muirring line 10 and removing foreign matters adhering to the outer surface of the muirring line 10 through cleaning. Accordingly, the mooring line management robot 100 according to the embodiment of the present invention performs the cleaning of the mooring line 10, observes the operating state of the mooring line 10, and provides the information to the operator And to perform maintenance and maintenance of the stable mooring line 10.

2 and 3, a mooring line management robot 100 according to an embodiment of the present invention includes a frame 110, a frame 110, A moving unit 130 for moving the frame 110 along the longitudinal direction of the mooring line 10, a cleaning unit 130 for cleaning the mooring line 10, An observation unit 150 for performing observation of the moire ring line 10 and a control unit 160 for controlling the operation of the instruments and for transmitting and receiving information acquired by the observation unit 150, May be provided.

The frame 110 may be provided with a penetration portion 110a which is a main body to which various devices are mounted and in which a mooring line 10 is received. And may be provided in a hollow cylindrical shape. The frame 110 may include at least one door frame 112 that is hinged to the ends of the main frame 111 and the main frame 111 to be openable and closable. The main frame 111 is provided with a control unit 160 and a cable 180 for supplying power to various devices and transmitting and receiving information to the main frame 111. The door frame 112 includes a main frame 111, And the opening and closing of the through portion 110a can be realized by the docking unit 120 described later. The frame 110 may be made of a metal material coated with stainless steel to prevent corrosion by seawater, or may be made of a composite resin material having high rigidity such as engineering plastic.

4 is a perspective view showing a state in which the door frame 112 is opened by the docking unit 120 and Figs. 5 (a) and 5 (b) Closing device 121 of the docking unit 120 when the door frame 112 is opened by the opening 121 of the docking unit 120 so that the moire ring line 10 can be entered and removed by the penetrating portion 110a of the frame 110, Sectional view showing a state in which the frame 110 is mounted on the mooring line 10 by being closed by the frame 110. [

 4 and 5, the pair of door frames 112 are hinge-coupled to both ends of the main frame 111, and a docking unit 120, which will be described later, is also provided on each door frame 112 A plurality of pairs may be provided between the door frame 112 and the main frame 111.

The docking unit 120 may include an opening and closing device 121 for opening and closing the door frame 112 and a docking driver 122 for driving the opening and closing device 121. 4 and 5, the opening and closing device 121 is connected to and supported by a bracket 111a provided at one end of the main frame 111 and the other end is connected to the bracket 111a provided at the other door frame 112, The docking drive unit 122 may be a hydraulic device that provides hydraulic pressure to the hydraulic cylinder.

When the opening and closing device 121 intends to enter or remove the moire ring line 10 with the penetrating portion 110a of the frame 110 the hydraulic cylinder of the opening and closing device 121 is shortened, It is possible to realize the opening of the penetration portion 110a by rotating the frame 110 to the outside of the frame 111 (see Fig. 5 (a)). On the other hand, The hydraulic cylinder of the opening and closing device 121 is extended to rotate the door frame 112 to the inside of the main frame 111 so that the closing of the penetrating portion 110a can be realized. )

4 and 5 and in this embodiment, the opening / closing device 121 is formed of a hydraulic cylinder to realize opening and closing operations of the door frame 112, but the present invention is not limited thereto, and may be hinged to the main frame 111 And may include various devices if the opening and closing of the provided door frame 112 can be realized.

The mobile unit 130 may be provided on the inner surfaces of the main frame 111 and the door frame 112 to move the frame 110 along the longitudinal direction of the moire ring line 10. [ 6 is a perspective view showing a state in which the moireing line management robot 100 is moved along the longitudinal direction of the moire ring line 10 by the mobile unit 130 according to the embodiment of the present invention.

2 to 6, the mobile unit 130 includes a plurality of driving wheels 131 that roll in contact with the outer surface of the mooring line 10, and a driving unit (not shown) that drives the driving wheels 131, As shown in FIG. A plurality of driving wheels 131 may be installed on the inner surface of the main frame 111 and the door frame 112 and may be installed at a position corresponding to the outer shape of the moering ring 10 and rotated. For example, as shown in FIG. 6, when the first chain in which the moire ring lines 10 are arranged in the first direction and the second chain arranged in the second direction cross each other and are continuously arranged, The frame 131 may include four driving wheels 131 contacting the outer surface of the first chain and four driving wheels 131 contacting the outer surface of the second chain. In order to stably move the frame 110, A plurality of rows may be disposed at the front and rear of the display unit 110. However, the present invention is not limited thereto, and the installation positions and the number of the plurality of driving wheels 131 may be variously changed according to the outer shape of the mooring line 10.

The driving driving unit (not shown) receives power from the cable 180 and provides a rotational force to the plurality of driving wheels 131 so that the plurality of driving wheels 131 roll on the outer surface of the moering line 10 . The driving driving unit may include an electric motor or the like, and the output of the driving driving unit may be controlled by the control unit 160 to control the moving speed of the frame 110. [

Although not shown in the drawings, the plurality of driving wheels 131 can be tilted at the inner surface of the main frame 111 and the door frame 112 so as to actively correspond to the change in the arrangement direction of the moire ring lines 10 And a friction reducing member (not shown) may be provided on the outer surface of each driving wheel 131 to prevent damage to the mooring line 10 due to contact with the mooring line 10 have.

The cleaning unit 140 is provided on the inner surfaces of the main frame 111 and the door frame 112 to clean foreign matter such as water moss, barnacle, etc. attached to the outer surface of the mooring line 10.

Referring to FIG. 7, the cleaning unit 140 includes a cavitation gun for removing foreign substances by cavitation, a cleaning unit 140 for cleaning the cleaning unit 140, May be provided. The cavitation gun may jet the high-speed fluid to the outer surface side of the mooring line 10 or may emit strong ultrasonic waves to cause a local pressure reduction. At this time, the gas dissolved in the seawater flows into the mooring line 10 As the volume of the cavity is rapidly reduced when the cavity is destroyed, the local pressure is greatly increased, so that the foreign matter attached to the outer surface of the mooring line 10 can be removed and cleaned by erosion. These cavitation guns may be provided on the inner surfaces of the front and rear inner surfaces of the main frame 111 and the door frame 112 so as to effectively clean the outer surface of the mooring line 10, And may be installed at various positions and numbers depending on the outer shape of the muirering line 10. [

The observation unit 150 is provided on the main frame 111 or the door frame 112 and is arranged to perform the photographing and measurement of the mooring line 10.

8 is a perspective view showing an observation unit 150 according to an embodiment of the present invention. Referring to FIG. 8, the observation unit 150 includes a camera 151 for photographing an outer surface of the mooring line 10, (Not shown) and mooring line 10 for irradiating light to the mooring line 10 in order to acquire an image of stable illuminance and image quality when photographing the mooring line 10 of the mooring line 151, And a measurement device 152 for sensing the thickness.

The camera 151 photographs the outer surface of the mooring line 10 and transmits the image to the control unit 160 to be described later so that the operator visually confirms the operation state or the cleaning state of the mooring line 10. Since the illumination device (not shown) may not stably irradiate the light in consideration of the operation of the moireing line management robot 100 in the deep sea, the mooring line 10 ) To irradiate light. The camera 151 may be composed of a small camera module (CCM) or the like for miniaturization of the equipment. The lighting device may include a light emitting diode (LED) or the like for reducing power consumption and lightening, but is not limited thereto.

The measuring device 152 is provided to sense the damage or thickness of the mooring line 10. A plurality of measuring devices 152 may be provided on the inner surface of the main frame 111 to observe and sense the moire ring line 10 in various angles.

The measuring device 152 may be provided with an ACFM (Alternating Current Field Measurement) measuring device 152a. The ACFM measurer 152a may include an alternating current unit for supplying an alternating current to the moire ring line 10 and a magnetic sensor for sensing a magnetic field change of the outer surface of the moering line 10. [ The ACFM measuring device 152a measures the ACFM of the mooring line 10 on the outer surface of the mooring line 10 corresponding to the amount of current changed by the damage of the mooring line 10 after flowing an alternating current through the mooring line 10 by the alternating- It is possible to detect the damage of the mooring line 10 by detecting the magnetic field change. The ACFM measuring device 152a can effectively detect whether the mooring line 10 is damaged even if paint, rust, or foreign matter exists on the outer surface of the mooring line 10, The specific degree of damage such as the length and depth of the crack can be continuously measured and provided to the operator. Accordingly, the ACFM measuring device 152a can promptly provide the operator with detailed information on whether the mooring line 10 is damaged or not.

The observation device may further include an ultrasonic thickness measurement device 152b for measuring and sensing the thickness of the bottoming mooring line 10 using ultrasonic waves. The ultrasonic thickness gauge 152b emits ultrasonic waves toward the moire ring line 10 and then transmits ultrasonic waves to the moire ring line 10 using the frequency of the ultrasonic waves resonated in the moire ring line 10 or the reciprocating time of the reflected ultrasonic pulses, Can be measured. However, the ACFM measuring device 152a and the ultrasonic thickness measuring device 152b may be constructed as facilities having various methods and structures besides the measurement device 152, and they are limited to any one method and structure It is not.

The control unit 160 may be provided to control operation of the docking unit 120, the mobile unit 130 and the cleaning unit 140 or to transmit and receive information obtained by the observation unit 150. [

The control unit 160 may be provided in the main frame 111 and connected to a cable 180 capable of transmitting and receiving power and information. The control unit 160 can control the operation of the docking unit 120 for opening and closing the door frame 112, the operation and output level of the mobile unit 130, the operation of the cleaning unit 140, Information regarding damage and thickness of the mooring line 10 acquired by the observation unit 150 can be transmitted / received or analyzed and provided to a worker through a display device (not shown) such as a display. In addition, the control unit 160 can acquire the information about the depth of the moireing line management robot 100, the bird condition, and the like, and provide the information to the operator.

Hereinafter, the operation of the moireing line management robot 100 according to the embodiment of the present invention will be described.

When the maintenance and maintenance of the mooring line 10 is to be managed and maintained, the mooring line management robot 100 is advanced to approach the mooring line 10 side. The mooring line management robot 100 approaching the mooring line 10 operates the opening and closing device 121 of the docking unit 120 to open the door frame 112 and then move the door frame 112 The door frame 112 is closed by using the opening and closing device 121 to mount the frame 110 on the mooring line 10 after the mooring line 10 is disposed on the mooring line 110a.

After the frame 110 is mounted on the mooring line 10, a plurality of driving wheels 131 of the moving unit 130 are operated to move the mooring line management robot 100 in the longitudinal direction of the mooring line 10 When the cleaning of the mooring line 10 is required, the operation of the cleaning unit 140 is started and the cleaning operation of the mooring line 10 can be performed. At the same time, in order to observe the operation state and the cleaning state of the mooring line 10 or to measure the damage or the thickness of the mooring line 10, the observation unit 150 is operated, The operation and cleaning state of the line 10 is photographed and provided to an operator and the damage of the mooring line 10 is measured by a measuring device 152 including an ACFM measuring device 152a or an ultrasonic thickness measuring device 152b, And thickness of the workpiece to the operator.

After completing the cleaning and observation of the mooring line 10, the opening / closing device 121 of the docking unit 120 is operated to open the door frame 112, And the mooring line management robot 100 can be recovered by winding the cable 180 using a winch or the like provided on the deck of the hull.

The mooring line management robot 100 according to an embodiment of the present invention having such a configuration effectively performs maintenance and maintenance such as cleaning and observation of the mooring line 10, It is possible to reduce the manpower and cost required for maintenance and maintenance, and to perform efficient operation.

The mooring line management robot 100 according to the embodiment of the present invention simultaneously performs cleaning and observation of the mooring line 10 to shorten the time required for maintenance and maintenance of the mooring line 10 And can have an effect of ensuring stable and smooth operation of the mooring line 10.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand. Accordingly, the true scope of the invention should be determined only by the appended claims.

100: mooring line management robot 110: frame
111: main frame 112: door frame
120: docking unit 121: opening / closing device
122: docking driver 130: mobile unit
131: driving wheel 140: cleaning unit
150: observation unit 151: camera
152: Measuring device 160: Control unit
180: Cable

Claims (5)

A frame which is provided movably along a mooring line installed in the floating floating structure and forms a body;
A docking unit for detachably attaching the frame to the mooring line;
A moving unit including a plurality of driving wheels rolling in contact with an outer surface of the mooring line and a driving driving unit for providing a driving force to the driving wheels so as to enable rolling motion of the driving wheels;
A cleaning unit for cleaning the mooring line; And
And an observation unit for performing the observation of the moire ring line,
Wherein the travel driving unit includes an electric motor,
Mooring line management robot.
The method according to claim 1,
Wherein the frame has a penetration portion in which the mooring line is received,
At least one door frame hinged to an end of the main frame and openable and closable,
The docking unit
An opening / closing device for opening / closing the door frame, and a docking driver for driving the opening / closing device. 3. The method of claim 2,
The cleaning unit
And a cavitation gun for cleaning the outer surface of the mooring line by cavitation. The method of claim 3,
The observation unit
A camera for photographing the moire ring line; an illumination device for emitting light to the moire ring line; and a measurement device for detecting damage or thickness of the moire ring line. The method according to claim 1,
Further comprising a control unit for controlling operation of the device and for transmitting and receiving information acquired by the observation unit.

KR1020160026444A 2016-03-04 2016-03-04 Management robot for mooring line KR101792485B1 (en)

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Application Number Priority Date Filing Date Title
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KR101792485B1 true KR101792485B1 (en) 2017-11-03

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100724759B1 (en) * 2006-01-11 2007-06-07 주식회사 페이스테크 Ultrasonic waves washer
JP4180619B2 (en) * 2006-06-20 2008-11-12 株式会社Ｉｈｉ検査計測 Flaw inspection equipment using AC electromagnetic field measurement method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100724759B1 (en) * 2006-01-11 2007-06-07 주식회사 페이스테크 Ultrasonic waves washer
JP4180619B2 (en) * 2006-06-20 2008-11-12 株式会社Ｉｈｉ検査計測 Flaw inspection equipment using AC electromagnetic field measurement method

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