KR101946542B1 - Unmanned vehicle for underwater survey - Google Patents

Abstract

The present invention relates to an unmanned vehicle for an underwater survey. More specifically, the unmanned vehicle for an underwater survey includes a remote unmanned explore ship which has a winch wound with a cable and performs unmanned operation through a control unit by a remote control device; and an unmanned underwater submarine which is connected to the remote unmanned explore ship through the cable and has at least one observation device. The unmanned underwater submarine can be operated separately from the remote unmanned explore ship by the remote control device, thereby capable of obtaining an image of high resolution and accurately conducting a survey.

Description

UNMANNED VEHICLE FOR UNDERWATER SURVEY FOR UNDERWATER INSPECTION

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned moving body for underwater irradiation, and more particularly, to an unmanned underwater vehicle capable of accurately and precisely surveying an undersea surface within a predetermined altitude, And to an unmanned moving body for underwater investigation in which an unmanned underwater submersible can be independently operated.

Waterway surveying refers to the measurement of water depth, geology, geomorphology, geomagnetism, location of islands and reefs, tides, currents, etc. in the sea, rivers and lakes for the purpose of making a chart for safe navigation of the ship. It is divided into harbor surveying, route surveying, coastal surveying, and marine surveying depending on the object and region, and also includes various surveying for construction of rivers, canals, harbors, etc., and surveying the coastal area and the natural environment of the coast .

Unlike on the ground, which mainly uses light, or in the sky, sound waves are mainly used to measure underwater formations. It is possible to know the underwater terrain by calculating the time that the sound waves emitted from the echo sounder equipped in the marine survey ship collide against the sea floor. To investigate underwater strata, we use a seismic detector that emits a stronger sound wave than an echo sounder. You can also use a gravimeter and a magnetometer to explore submarine minerals.

As a method of measuring the underwater terrain, a method using a work line with a multi-beam sonar is widely known. A multi-beam sonar probes a submarine topography based on the time it takes to irradiate a number of ultrasonic waves under the water and detect ultrasonic waves reflected under the water.

Compared to the single beam survey method for surveying the seabed topography by shipment, the multi-beam survey method has an advantage that it can measure a wide range of sea floor at one time because it measures the area of the sea floor topography.

However, in the conventional method, the measurement range of the multi-beam is excessively widened as the depth of the sea becomes deeper, so that the measurement density is lowered and the measurement can not be performed with sufficiently high precision.

In addition, since the conventional submerged geodetic surveying method is implemented in such a manner that an underwater submersible equipped with observation equipment is simply suspended at the lower part of the exploration well, there is a problem that the exploration well must be operated to travel the underwater exploration.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention, and is not to be construed as an admission that the prior art is known to those skilled in the art.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art and it is an object of the present invention to provide an unmanned moving object for underwater irradiation capable of acquiring an image of high resolution and capable of accurate and precise measurement since the altitude of the submersible underwater can be adjusted through a cable It has its purpose.

In addition, since the unmanned underwater submersible can be operated independently from the remote unmanned exploration station, it is possible to investigate the undersea surface while operating the remote unmanned exploration station, and also to perform an underwater survey There is another object to provide an unmanned mobile object for a mobile terminal.

The technical objects to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical subjects which are not mentioned can be clearly understood by those skilled in the art from the description of the present invention .

According to an aspect of the present invention, there is provided a remote unmanned aerial vehicle, including a winch wound with a cable and operated by a remote control device through an unmanned control unit; And an unmanned underwater subsystem connected to the remote unmanned probe through the cable and having at least one or more observation devices; Wherein the unmanned underwater vehicle can be operated independently of the remote unmanned aerial vehicle by a remote control device.

In addition, in the unmanned moving object for underwater irradiation according to the embodiment of the present invention, the remote unmanned search station includes a main body having a GPS antenna, a wireless transceiving antenna, a Global Navigation Satellite System (GNSS) receiver, a control unit, and a winch; A pair of wings extended to both sides of the main body; And a main body propulsion unit mounted on the rear of the main body unit to allow the main body to move along the water surface; .

In the unmanned mobile object for underwater irradiation according to an embodiment of the present invention, the main body pushing unit includes a first main body pushing unit and a second main body pushing unit arranged at a rear end of the main body unit in a width direction of the main body unit. A first rotating shaft coupled to an upper portion of the first body pushing portion to rotate the first body pushing portion; And a second rotation shaft coupled to an upper portion of the second body propulsion unit for axially rotating the second body propulsion unit; And the first rotating shaft and the second rotating shaft are independently controlled by a control unit.

Further, in the unmanned moving body for underwater irradiation according to the embodiment of the present invention, a plurality of skates are arranged on the bottom surface of the main body part so as to be arranged on the same line as the first main body pushing part and the second main body pushing part along the longitudinal direction of the main body part .

In addition, according to an embodiment of the present invention, there is provided an unmanned moving object for underwater irradiation, comprising: a protection cap having a radial mesh network coupled to a front portion of a first main body pushing portion and a second main body pushing portion; .

In addition, in the unmanned moving body for underwater irradiation according to the embodiment of the present invention, the wing portion may include a connecting portion extending outwardly from both sides of the main body portion; And a separator coupled to an end of the connection portion and spaced apart from the body portion in parallel to the longitudinal direction of the body portion; .

In addition, in the unmanned moving body for underwater irradiation according to the embodiment of the present invention, the spacing portion is disposed to face the side portion of the main body portion adjacent to the main body portion and has a flat portion and a flat portion, A convex portion which is spaced apart and formed of a convex surface is preferable.

In addition, in the unmanned moving object for underwater irradiation according to the embodiment of the present invention, it is preferable that a predetermined gap is formed between the side portion of the main body and the flat portion.

In addition, in the unmanned vehicle for underwater irradiation according to the embodiment of the present invention, the unmanned underwater submersible is connected to the remote unmanned exploration station through the cable, and includes a transmitter for transmitting a position signal of the unmanned underwater submersible to a remote unmanned probe, A body part to which observation equipment capable of observing the observation object is mounted; And a propelling body coupled to the body and allowing the body to move in water; .

Further, in the unmanned moving body for underwater irradiation according to the embodiment of the present invention, the propellant includes a front propellant and a rear propellant mounted respectively in front and rear of the body portion; And a pair of side propellants respectively mounted on both sides of the body portion; .

In addition, in the unmanned moving body for underwater irradiation according to the embodiment of the present invention, it is preferable that the body portion is formed as a flat disk having a width and a length in a horizontal direction relatively longer than a height in a vertical direction.

In addition, in the unmanned mobile object for underwater irradiation according to an embodiment of the present invention, the body part may be equipped with an IP camera that captures underwater information and transmits it to the remote unmanned probe through a cable in real time.

According to another aspect of the present invention, there is provided an unmanned moving body for underwater irradiation, comprising: a pair of underwater propulsion units coupled to the rear of the body; A pair of auxiliary propulsion parts respectively coupled to both sides of the body part; And a horizontal bracket coupled to the lower portion of the underwater pushing portion in the width direction; .

In addition, in the unmanned moving object for underwater irradiation according to an embodiment of the present invention, the observation equipment may be at least one of an ultrasonic camera, a sonar, a thermal camera, an infrared camera, or a general camera.

In addition, in the unmanned moving object for underwater irradiation according to the embodiment of the present invention, the cable may include a data communication line for electrically connecting the control unit of the remote unmanned exploration well to the observation equipment of the unmanned underwater submersible; And a traction line coupled to be spirally wrapped around the outside of the data communication line; .

Further, the data transmitted from the observation equipment of the unmanned underwater submersible through the data communication line to the control unit of the remote unmanned exploration station in the unmanned mobile object for underwater irradiation according to the embodiment of the present invention includes observation information measured by the observation equipment and observation information of the unmanned underwater submersible Attitude information is preferably included.

According to the present invention having the above-described configuration, since the unmanned underwater submersible can be connected to the remote unmanned exploration station via a cable, the elevation of the unmanned underwater submersible can be adjusted, so that a high resolution image can be obtained. It is effective.

In addition, since the remote unmanned probe and the unmanned underwater submersible can be operated by the remote control device unattended, the present invention is advantageous in that the undersea surface can be safely surveyed even in a dangerous terrain with high waves or heavy water.

In addition, since the first body propulsion unit and the second body propulsion unit are separated from each other and operate independently, the present invention has the effect of drastically reducing the radius of rotation when the direction of the remote manned probe is changed.

Furthermore, since the unmanned underwater submersible can be operated independently from the remote unmanned aerial vehicle, it is possible to perform the undersea survey regardless of whether the remote unmanned aerial vehicle is operated or not.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view illustrating an entire operation of an unmanned moving object for underwater irradiation according to an embodiment of the present invention; FIG.
FIG. 2 illustrates an overall view of a remote unmanned explorer according to an embodiment of the present invention; FIG.
3 is a rear view of a remote unmanned explorer according to one embodiment of the present invention.
4 is a bottom view of a remote unmanned explorer according to one embodiment of the present invention.
5 illustrates an overall view of an unmanned submersible according to one embodiment of the present invention.
FIG. 6 is a general view of an unmanned underwater submersible according to another embodiment of the present invention; FIG.
7 is a view showing a cable 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 in order that the present invention can be easily carried out by those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

In addition, terms and words used in the present description and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately to describe its own invention in the best way. It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

FIG. 1 is a view schematically showing an overall operation of an unmanned moving body for underwater irradiation according to an embodiment of the present invention. Referring to FIG.

As shown, the unmanned moving body according to the present invention includes a remote unmanned exploration station 100 capable of moving along a water surface, and an unmanned underwater submersible 200 connected to a remote unmanned exploration station and capable of moving underwater and observing the sea floor. do.

The remote unmanned exploration well 100 may be made of a material that has a waterproof capacity and buoyancy in a closed structure and does not corrode even if it is exposed to seawater or sea breeze for a long time. For example, the remote unmanned exploration well 100 may be made of a plastic-based composite material such as glass fiber reinforced plastic or carbon fiber reinforced plastic, but the present invention is not necessarily limited to this configuration. The impact-preventing portion is surrounded by the rubber material or the like around the remote unmanned probe 100 to mitigate the external impact.

The unmanned underwater submersible 200 is connected to the remote unmanned exploration mission 100 via a cable 300 and is movable in water. The unmanned underwater submersible 200 is formed in a flat shape so as to reduce the resistance of the fluid as a whole.

The undersea submersible 200 should preferably have a proper weight because it must be floated on the water and maintained at an appropriate depth in water even when the remote unmanned explorer 100 is operating. The unmanned underwater submersible 200 can descend to a target water depth by its own weight, and can maintain an appropriate altitude by its own weight.

The unmanned underwater submersible 200 can be moved up and down in water as the cable 300 is wound and the winch 111 is driven. The winch 111 can be rotated forward or backward by a rotating motor (not shown), and the rotating motor is operated by the control unit 114 of the remote unmanned probe 100.

That is, when the remote unmanned explorer (100) passes deeply, the cable (300) wound around the winch (111) is released and the unmanned underwater submersible (200) sinks toward the sea floor due to the load, When the probe 100 passes a shallow water depth, the unmanned submersible 200 rises as the cable 300 is wound.

As such, since the unmanned underwater submersible 200 can be operated while adjusting the distance from the sea floor, the present invention can acquire a high resolution image and enable accurate and precise bottom surface surveying.

At this time, the controller 114 of the remote unmanned explorer 100 may be set to allow the unmanned underwater submersible 200 to travel at a predetermined altitude. For example, the unmanned underwater submersible 200 can be set so that the distance from the sea floor is always within 20 m. This can significantly reduce the deviation in accuracy when surveying the ocean floor.

The remote control device 400 is disposed on the ground to adjust the remote unmanned explorer 100 and the unmanned underwater submersible 200 to move to a desired position and transmits the survey information obtained from the unmanned underwater submersible 200 .

The remote control device 400 may include a 3G / LTE Code Division Multiple Access (CDMA) communication module or a Wi-Fi communication module for remote wireless communication and may communicate with the remote unmanned explorer 100.

The control signal transmitted from the remote control device 400 is received by the wireless transmitting and receiving antenna 113 of the remote unmanned exploration cell 100 and transmitted to the control unit 114. The control signal transmitted to the control unit 114 is transmitted to a remote unmanned probe Signal to adjust the speed of the remote unmanned explorer 100 or move the remote unmanned explorer 100 to a desired position.

The control signal transmitted from the remote controller 400 to the controller 114 may be transmitted to the submersible 200 through the cable 300 as described above. The control signal transmitted to the unmanned underwater submersible 200 is converted into a unmanned underwater submersible operation signal so that the propellant 214 to be described later is operated to move the unmanned underwater submersible 200 to a desired position.

The undersurface survey data observed from the unmanned underwater submersible 200 is transmitted to the controller 114 of the remote unmanned explorer 100 via the cable 300 and then transmitted from the wireless transmission / May be transmitted to the device (400).

In other words, the user can independently operate the remote manned probe 100 and the unmanned submersible 200 using the remote control device 400, and receive the measurement data observed from the unmanned submersible 200 at the remote site can see.

Signal transmission between the remote control device 400 and the remote unmanned explorer 100 and the unmanned underwater submersible 200 may be performed in real time or may be performed in a manner that the data set by the remote unmanned explorer May be stored at predetermined time intervals.

FIG. 2 is a view showing an overall view of a remote unmanned explorer according to an embodiment of the present invention, FIG. 3 is a rear view of a remote unmanned explorer according to an embodiment of the present invention, FIG. FIG. 2 is a bottom view of a remote unmanned explorer according to one embodiment of the present invention.

As shown in the figure, the remote unmanned search engine 100 according to an embodiment of the present invention includes a main body 110, a wing 120, and a main body propelling unit 130. As described above, the main body 110 forms the body of the remote unmanned exploration well, and has a waterproof capability and buoyancy in a closed structure to run on water.

A GPS antenna 112, a wireless transmission / reception antenna 113, a controller 114 and a Global Navigation Satellite System (GNSS) receiver 115 are mounted on the main body 110 to function as a basic unmanned ship.

The GPS antenna 112 is used to grasp the location information of the current remote unmanned long-range exploration cell 100 based on a signal wirelessly transmitted from a GPS satellite. In the illustrated embodiment, two GPS antennas 112 are installed on the front and rear of the main body 110, respectively. However, the present invention is not limited thereto, and one GPS antenna or a gyrocompass ≪ / RTI >

The wireless transceiver antenna 113 is electrically connected to the controller 114 and transmits a control signal transmitted from the remote controller 400 to the controller 114 so that the remote unmanned probe 100 can detect the speed And transmits the position data of the remote unmanned exploration mission 100 or the survey data observed from the unmanned underwater submersible 200 to the remote control apparatus 400. [

The control unit 114 controls the main body propulsion unit 130 of the remote unmanned explorer 100 to move the remote unmanned explorer 100 in a desired speed and direction or to move the unmanned submersible 200 in a desired speed and direction Or to process observation data and the like.

The GNSS receiver 115 is used for correcting the precise position of the remote unmanned probe 100 and can grasp precise position information of resolutions of 1 m or less. The GNSS receiver 115 operates in such a manner as to receive a radio wave emitted from a satellite and determine the position of the receiver by obtaining a distance from the satellite.

As shown in FIG. 2, a pair of wings 120 are extended and mounted on both sides of the main body 110. Although only one wing 120 is shown in the illustrated embodiment, it will be appreciated by those of ordinary skill in the art that the wing can be mounted in a similar fashion on the opposite side not shown.

The wing portion 120 has a waterproof capability and buoyancy in a closed structure similar to the body portion 110 and may be made of a plastic composite material such as glass fiber reinforced plastic or carbon fiber reinforced plastic. The wing portion 120 may be made of the same material as the main body 110 or may be made of a different material in consideration of the buoyancy of the remote unmanned probe.

The wing portion 120 includes a connecting portion 121 extending outwardly from both sides of the body portion 110 and a separating portion 122 coupled to an end of the connecting portion and spaced apart from the body portion 110 in parallel to the longitudinal direction of the body portion 110, .

The connection part 121 is formed in a plate shape as a whole and is formed in a downward inclined shape from the upper end of the main body part 110. The connection portion 121 may be integrally formed with the body portion 110, but is preferably formed to be fastenable with a bolt or the like as in the embodiment of the present invention.

The spacing part 122 is coupled to the end of the connection part 121. The inside of the spacing portion 122 is filled with a buoyancy material or the like so that the body portion can be balanced even in a high wave, and the structure of the body portion is maximized.

More specifically, the spacing portion 122 is disposed to face the side portion of the main body portion 110 adjacent to the main body portion 110 and includes a flat portion 122a formed as a flat surface, And a convex portion 122b which is disposed to be relatively spaced and formed of a convex surface.

In other words, the spacing portion 122 is formed so as to have a closed end face ([]) in the form of a hexagon cut in half when viewed from above. At this time, a predetermined gap G may be formed between the side of the main body 110 and the flat portion 122a.

The separating portion 122 according to the present invention is spaced apart from the main body portion 110 and the auxiliary portion is separated from the main body portion 110, The protrusions 122a and the protrusions 122b are provided. Therefore, when the main body 110 is moved forward, water can be spread sideways without being hit by the main body, thereby maximizing the driving force of the main body.

As shown in FIG. 3, a pair of body propulsion units 130 are installed at the rear of the body unit 110 so that the body unit can move along the water surface. The body propulsion unit 130 is divided into a first body propulsion unit 131 and a second body propulsion unit 132. The first body propulsion unit 131 and the second body propulsion unit 132 are divided into a main body part 110 in the width direction.

The first body propulsion unit 131 and the second body propulsion unit 132 are respectively connected to the first rotation shaft 133 and the second rotation shaft 134. The first rotation shaft 133 and the second body propulsion unit 132, The rotating shaft 134 rotates the first main body pushing part 131 and the second main body pushing part 132, respectively.

The first rotating shaft 133 and the second rotating shaft 134 are independently controlled by the controller 114. That is, the first and second main body pushing parts 131 and 132 can rotate independently of each other so that the main body part 110 can advance in a desired direction.

Conventional ships are equipped with directional switching screws on both sides of a basic screw which allows the ship to go forward, and as the direction switching screw is driven, the direction of the ship is changed or a rudder is mounted at the tail of the screw, And the like.

In contrast, in the remote unmanned long-range searcher 100 according to the present invention, the first body propulsion unit 131 and the second body propulsion unit 132 are independently controlled by the first rotation shaft 133 and the second rotation shaft 134, So that the turning radius is drastically reduced as compared with the conventional one.

In addition, it is preferable that a protective cap 135 is mounted on the front of the first main body propelling part 131 and the second main body propelling part 132, respectively (see FIG. 4). The protective cap 135 is made of stainless steel or the like, but is not limited thereto. The protective cap 135 functions to prevent foreign matter such as a waste net from being introduced into the main body propelling unit 130.

Specifically, the protective cap 135 includes a cap 135a formed in a convex shape in the center of the ∩ 'shape, and a grating 135b formed in a radial shape along the periphery of the cap and formed in a gentle dome shape do.

The cap 135a functions to push foreign substances such as waste net and seafood out of the main body propulsion unit. The lattice network 135b functions to prevent foreign matter from flowing into the main body propulsion unit.

Meanwhile, as shown in FIG. 4, a plurality of skates 116 protrude from the bottom surface of the main body 110. The skate 116 is formed long along the longitudinal direction of the main body 110 so as to be aligned with the first main body pushing part 131 and the second main body pushing part 132.

For example, the skate 116 may be formed in the shape of a thin bar. The skate 116 is formed in front of the first body propulsion unit 131 and the second body propulsion unit 132 and functions as a cradle of the remote manned probe 100 on the ground, And at the same time functions to prevent foreign matter from flowing into the first main body propelling part 131 and the second main body propelling part 132. At the same time,

The skate 116 is formed so that the first body propelling part 131 and the second body propelling part 132 have the same height as that of the bottom part of the body part 110 or have a slightly lower protrusion height.

At the rear end of the skate 116, the skate support 116a extends obliquely toward the first body propelling unit 131 and the second body propelling unit 132. The skate support 116a serves as a guide so that foreign materials such as lines do not flow into the first main body propelling part 131 and the second main body propelling part 132 but are naturally turned backward.

The waste net or other foreign matter is not moved in the direction of the first body propelling unit 131 and the second body propelling unit 132 by the skate 116 and the skate aiding 116a during operation of the remote unmanned explorer 100 So that foreign matter is prevented from being caught in the first body propelling section 131 and the second body propelling section 132 through this process.

In other words, foreign matter is primarily prevented from being introduced into the first body propelling unit 131 and the second body propelling unit 132 by the skate 116 and the skate support 116a, It is possible to prevent the phenomenon that the remote unmanned explorer 100 is suddenly stopped by the waste net due to the secondary screening by the protection cap 135 described above.

FIG. 5 is a view showing an overall configuration of an unmanned underwater submersible according to an embodiment of the present invention, and FIG. 6 is a view showing an overall configuration of an unmanned underwater submunition according to another embodiment of the present invention.

As shown, the unmanned underwater submersible 200 according to one embodiment of the present invention includes a body 210 connected to a remote UAV 100 through a cable 300 and a body 210 coupled to the body 210 And a propellant 214 for allowing the body to move back and forth in the water.

The body 210 is formed in a flat shape having a width in a horizontal direction and a length relatively longer than a height in a vertical direction. Since the body 210 is formed in a flat shape with a horizontal area, the variation of the elevation of the submersible 200 is minimized compared to a simple cylindrical torpedo type, and the movement in the forward, backward, leftward and rightward directions can be made free.

In the illustrated embodiment, the body 210 is formed in a disc shape as a whole, but the shape is not limited thereto, and may be any shape such as a rectangular parallelepiped or a shape in which the plane is close to a diamond shape, It is possible.

The body 210 has a transmitter 211 for transmitting a position signal of the unmanned underwater submersible 200 to the remote unmanned explorer 100. Although not shown, a depth gauge, an accelerometer, and the like are installed inside the body 210 to assist the operation of the unmanned underwater vehicle.

The transmitting unit 211 irradiates an ultrasonic signal in the direction of the remote unmanned search probe 100. The ultrasound signal emitted from the transmitter 211 is detected by a receiver included in the control unit 114 of the remote unmanned explorer 100 and the detected data is processed by the controller 114 to determine the position of the unmanned underwater submersible 200 .

That is, as described above, the position information of the remote manned probe 100 is grasped by the GPS antenna 112, the position information of the unmanned submersible 200 is grasped by the transmitter 211, Can be used to calculate accurate bottom surface surveying location data.

The depth gauges and accelerometers included in the unmanned underwater submersible 200 can correct the influence due to fluctuations of the unmanned underwater submersible by grasping the altitude and movement of the unmanned underwater submersible.

In addition, an observation device 212 is mounted on the lower portion of the body 210 so that the sea floor can be observed. As the observation equipment 212, at least one of an ultrasonic camera, a sonar, a thermal imaging camera, an infrared camera, or a general camera may be utilized.

Here, a ceramic vibration element is mainly used for an ultrasonic camera. Ceramic has a characteristic in which, when an electrical signal is applied, vibration occurs in the same frequency as that of the electric signal, and when the vibration is applied, an electrical signal equal to the frequency of the applied vibration is generated. According to the ceramic vibrating element using these characteristics, ultrasonic waves are generated in the water and reception is possible at the same time.

Sound navigation and ranging is an active remote sensing device that uses sound to acquire undersea images. It is used to detect the subterranean crust structure or to detect submarines, fishes, and so on. Generally, when searching the sea floor, sonar is used as a method to catch artificial seismic waves and then to capture the reflections.

In addition, an IP camera 215 may be mounted on the body 210. The IP camera 215 photographs the sea floor or underwater and transmits the captured image to the remote unmanned explorer 100 through the cable 300 in real time.

The propellant 214 includes a front propellant 214a and a rear propellant 214b mounted on the front and rear sides of the body 210 and a pair of lateral Propellant 214c.

The front propellant 214a, the rear propellant 214b and the pair of lateral propellants 214c are arranged in the direction of north, south, south, east, west of the body 210, and the unmanned submersible 200 can be moved back and forth .

The undersea submersible 200 can descend to its target depth by its own weight and can maintain its altitude using its own weight and its forward and backward left and right movement can be controlled by a forward propulsion body 214a, a rear propulsion body 214b and a pair of lateral propulsion bodies 214c.

In other words, in the present invention, the unmanned underwater submersible 200 can be pulled by the cable 300 to adjust the altitude up and down, and can be moved forward, backward and leftward independently of the remote unmanned explorer 100 using the propellant 214 have.

Accordingly, the unmanned underwater submersible 200 according to the present invention can examine the undersurface when the remote unmanned explorer 100 is in operation, and can move to the undersea submersible when the remote unmanned explorer 100 is anchored, The surface can be inspected.

The propellant 214 may be operated in the following manner. For example, if the user wishes to go straight on the unmanned submersible 200, the pair of lateral propellants 214c will stop operating and one of the forward propellant 214a or the rear propellant 214b will operate, Can be moved back and forth.

If the user wishes to move the unmanned submersible 200 to the left and right, one of the lateral propellants 214c disposed on the left or right side of the body 210 is driven to move the unmanned submersible 200 to the right and left .

The front propellant 214a, the rear propellant 214b and the pair of lateral propellants 214c are electrically connected to the control unit 114 of the remote manned probe 100 via the cable 300, Lt; / RTI >

6, an underwater propulsion unit 220 is mounted on the rear of the body 210, and a pair of auxiliary propulsion units (not shown) are installed on both sides of the body unit 210, 230, respectively.

The body 210 according to another embodiment of the present invention is slightly different from the above embodiment in that the plane is formed in a flat shape which is close to a triangle.

The unmanned underwater submersible 200 according to another embodiment of the present invention may be a slightly better form to move forward than the unmanned submersible according to the embodiment of the present invention.

The underwater propelling unit 220 according to another embodiment of the present invention is formed of a pair of screws. A horizontal bracket 221 is mounted on the lower part of the underwater propelling unit 220 in the width direction, It is possible to prevent vibrations such as rolling and pitching caused by shaking in the lateral direction or the vertical direction.

The auxiliary propulsion units 230 are coupled to both sides of the body 210 so that the unmanned underwater submersible 200 can be moved independently of the traveling direction of the remote unmanned probe 100.

The underwater propulsion unit 220 and the auxiliary propulsion unit 230 may be electrically connected to the control unit 114 of the remote unmanned explorer 100 through the cable 300 and operated by the remote control unit 400.

At least one illumination unit 213 is mounted adjacent to the observation equipment 212 on the front lower surface of the body 210. As described above, the observation equipment 212 or the IP camera 215 can photograph the undersurface, at which time the illumination unit 213 secures the view and helps to measure the bottom surface more precisely.

7 is a view showing a cable according to an embodiment of the present invention.

The cable 300 includes a data communication line 310 for electrically connecting the control unit 114 of the remote unmanned exploration cell 100 and the observation equipment 212 of the unmanned underwater submersible 200, And a traction line 320 coupled to be spirally wrapped around the outer side.

Of course, the data communication line 310 and the traction line 320 may be integrated to form the cable 300 as a single line.

The data communication line 310 transmits the observation information measured by the observation equipment 212 of the unmanned underwater submersible 200 and the attitude information of the unmanned underwater submersible 200 to the control unit 114 of the remote unmanned explorer 100, And transmits an operation signal transmitted from the remote control device 400 to the unmanned underwater submersible 200. As a material of the data communication line 310, an optical fiber, copper, iron, or the like may be utilized.

The towing line 320 allows the undersea submersible 200 to be towed by the remote unmanned explorer 100. The towing line 320 may be made of a material having a high tensile strength, such as polyurethane, but is not limited thereto.

As in the illustrated embodiment, the traction line 320 is preferably coupled so as to spiral around the outside of the data communication line 310. This is because in the present invention, the unmanned submersible 200 includes a remote unmanned exploration station 100 So as to prevent the cable 300 from being twisted as much as possible.

The present invention having the above-described structure is configured such that the unmanned underwater submersible 200 is connected to the remote unmanned explorer 100 through the cable 300 to adjust the depth of the unmanned underwater submersible 200, It is possible to obtain accurate and precise bottom surface surveying.

In addition, since the propellant 214 is mounted on the unmanned underwater submersible 200, the unmanned submersible 200 can be operated independently of the remote unmanned exploration vessel 100, This is advantageous in that it enables the surveying of the sea floor.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. Will be clear to those who have knowledge of.

100: remote unmanned probe 110: main body 111: winch
112: GPS antenna 113: Wireless transmission / reception antenna 114:
115: GNSS receiver 116: Skate 116a: Skate aid
120: wing portion 121: connecting portion 122:
122a: flat portion 122b: convex portion 130:
131: first main body propelling section 132: second main body propelling section 133: first rotation shaft
134: second rotating shaft 135: protective cap 135a:
135b: lattice net 200: unmanned underwater submersible 210:
211: transmitting unit 212: observation equipment 213: illuminating unit
214: propellant 214a: front propellant 214b: rear propellant
214c: side propellant 215: IP camera 220: underwater propulsion unit
221: horizontal bracket 230: auxiliary propulsion unit 300: cable
310: data communication line 320: pull line 400: remote control device

Claims (16)

A remote unmanned probe having a cable-wound winch and operating unattended through a control unit by means of a remote control; And an unmanned underwater subsystem connected to the remote unmanned probe through the cable and having at least one or more observation devices; ≪ / RTI >
The remote unmanned probe,
A GPS antenna, a wireless transmission / reception antenna, a Global Navigation Satellite System (GNSS) receiver, a control unit, and a winch; A pair of wings extended to both sides of the main body; And a main body propulsion unit mounted on the rear of the main body unit to allow the main body to move along the water surface; / RTI >
The main body pushing portion includes a first main body pushing portion and a second main body pushing portion which are disposed apart from each other in the width direction of the main body portion at the rear end of the main body portion. A plurality of skates are formed so as to be arranged on the same line as the main body propulsion unit,
At the rear end of the skate, a skating aid extends in the direction of the first body propulsion unit and the second body propulsion unit. One end of the skate support is coupled to the skate and the other end is coupled to the first body propulsion unit or the second body propulsion unit Thereby preventing foreign matter from entering the first main body propelling portion and the second main body propelling portion,
And a protective cap having a radial lattice network formed on the front of the first body propulsion unit and the second body propulsion unit,
The protection cap includes a cap portion formed in a convex shape in the shape of a "?&Quot; at the center, and a lattice network radially arranged along the periphery of the cap portion,
In the unmanned underwater vehicle,
A transmission unit connected to the remote unmanned probe through the cable, the transmission unit transmitting the position signal of the unmanned underwater submersible to the remote unmanned probe, and the observation unit observing the undersurface; A pair of underwater pushing parts coupled to the rear of the body part; A pair of auxiliary propulsion parts respectively coupled to both sides of the body part; And a horizontal bracket coupled to the lower portion of the underwater pushing portion in the width direction; / RTI >
The horizontal bracket is formed to completely cover the lower surface of the underwater pushing portion to prevent rolling and pitching of the body,
The cable,
A data communication line for electrically connecting between the control unit of the remote unmanned search station and the observation equipment of the unmanned underwater submersible; And a pull wire made of a polyurethane material so as to be spirally wrapped around the data communication line; Wherein the unmanned moving object for underwater irradiation is characterized by comprising:
delete The apparatus according to claim 1,
A first rotating shaft coupled to an upper portion of the first body pushing portion to rotate the first body pushing portion; And
A second rotating shaft coupled to an upper portion of the second body pushing portion to rotate the second body pushing portion; / RTI >
Wherein the first rotating shaft and the second rotating shaft are independently controlled by a control unit.
delete delete 2. The apparatus according to claim 1,
A connecting portion extending outwardly from both sides of the main body portion; And
A spacing portion coupled to an end portion of the connection portion and spaced apart from and parallel to the longitudinal direction of the main portion; Wherein the unmanned moving object is for a water irradiation.
The method according to claim 6,
The spacing portion includes a flat portion formed to be opposed to the side portion of the body portion adjacent to the body portion and formed of a flat surface, and a convex portion disposed to be relatively spaced from the body portion and formed of a convex surface, Unmanned mobile object for underwater irradiation.
8. The method of claim 7,
Wherein a gap having a predetermined gap is formed between the side portion of the main body portion and the flat portion.
2. The submersible pump of claim 1,
A propelling body coupled to the body and allowing the body to move in water; Further comprising: an unmanned moving body for underwater irradiation.
10. A method according to claim 9,
A front propellant and a rear propellant mounted respectively in front and rear of the body portion; And
A pair of side propellants mounted on both side portions of the body portion; Wherein the unmanned moving object is for a water irradiation.
10. The method of claim 9,
Wherein the body is formed in a flat disc shape having a width in a horizontal direction and a length relatively longer than a vertical height in a horizontal direction.
10. The method of claim 9,
Wherein the body part is equipped with an IP camera for photographing the underwater information and transmitting it to the remote unmanned probe through a cable in real time.
delete The method according to claim 1,
Wherein the observation equipment corresponds to at least one of an ultrasonic camera, a sonar, an infrared camera, an infrared camera, and a general camera.
delete The method according to claim 1,
Wherein the data transmitted from the observation equipment of the unmanned underwater submersible through the data communication line to the control unit of the remote unmanned exploration station includes observation information measured by the observation equipment and attitude information of the unmanned underwater submersible.

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