KR102189915B1 - A mobile lab with a smart maintenance management system for integrated operation and control of underwater glider - Google Patents

Abstract

The present invention relates to a mobile lab with a smart maintenance management system for the integrated operation and control of an underwater glider. More specifically, the mobile lab with the smart maintenance management system for the integrated operation and control of the underwater glider, which comprises: a container which has an inner space for maintaining the underwater glider, and which has an entrance for entry on one side; a water tank placed on a lower side of the inner space to accommodate the underwater glider; and a refloating unit which includes a moving rail installed on an upper side of the inner space, and a hoist installed on the moving rail to be moved along the moving rail. The moving rail is extended and installed to correspond to the positions of the entrance and the water tank. After the refloating unit refloats the underwater glider, and settles the underwater glider in the water tank to test and maintain the underwater glider. The present invention aims to provide a mobile lab with a smart maintenance management system for the integrated operation and control of an underwater glider, which is able to easily refloat the underwater glider from the ground or seawater surface to a water tank.

Description

A mobile lab equipped with a smart maintenance management system for integrated operation and control of underwater gliders {A MOBILE LAB WITH A SMART MAINTENANCE MANAGEMENT SYSTEM FOR INTEGRATED OPERATION AND CONTROL OF UNDERWATER GLIDER}

The present invention relates to a mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider, which is a type of underwater unmanned robot, and more specifically, installed in a container interior space for maintenance and operation of an underwater glider. It relates to a mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider for maintenance and operation and performance testing of an underwater glider using a lifting unit and a fixed unit and a mobile unit.

In general, underwater gliders are unmanned and designed to move to a desired point by adjusting the density through the inflow and outflow of seawater into the hull and moving over long distances with low power by controlling the density or moving repeatedly ascending and sliding. Refers to marine exploration equipment. The role of an underwater glider is not much different from that of an unmanned submarine, but unlike an unmanned submarine that uses a propeller propulsion method, it does not use a separate propellant, so it is more efficient than an unmanned submersible information in terms of energy.

Recently, with the development of the marine industry, a lot of equipment operating in the water is being developed, and in fact, it is widely used in industrial sites, and observation costs can be drastically reduced compared to existing marine observation equipment, and there is little noise, so it is used for military reconnaissance. However, it is highly useful for collecting and delivering underwater information.

In addition, through a hybrid system including propeller propulsion, it is possible to expand the range of use to exploration in coastal waters or deep seas with high flow rates.

Underwater glider operation technology is very important. Operation technology is a comprehensive technology that includes equipment modification, dropping, recovery, equipment test and inspection, data processing, data visualization, etc. as all technologies necessary to obtain desired data using equipment.

In particular, in the case of an underwater glider for exploring underwater such as the seabed, after underwater exploration, after moving from the land or the deck of a ship to a location for inputting into the seabed after maintenance and repair, a problem occurs in the underwater glider during underwater exploration, Upon completion of the mission, there are problems and procedures that require moving to land or ship to maintain and support.

In addition, in the underwater glider, numerous sensors and electronic boards are disposed inside the hull, and components such as radar, antenna, and sensors are provided outside.

After lifting the underwater glider to a mobile cart equipped with a moving wheel at the bottom of the underwater glider, several workers moved the unmanned submarine.

However, in the process of moving as described above, a shock is applied to the parts provided inside and outside the unmanned submarine by the vibration transmitted from the ground, which causes malfunction, and leads to damage due to scratches, dents, fatigue loads, and underwater gliders. It took a long time to repair or remanufactured, leading to time and economic loss.

Korean Patent Registration No. 10-1338165

The present invention was conceived in consideration of the above problems, and an object of the present invention is to wait on the ground or sea level through an underwater glider lifting unit installed above the inner space of a mobile lab using a container for maintenance of the underwater glider. The aim is to provide a mobile lab equipped with a smart maintenance management system for integrated operation and control of underwater gliders for lifting underwater gliders in a tank.

Another object of the present invention is to prevent the flow of the underwater glider by installing a fixing unit on the inner circumferential surface of the water tank to prevent the flow of the underwater glider docked in the water tank to prevent the flow of the underwater glider for integrated operation and control. It is to provide a mobile lab equipped with a smart maintenance management system.

Another object of the present invention is to integrate an underwater glider for easy movement to the ground or sea level without the operator directly lifting the underwater glider using a moving unit installed adjacent to the water tank to move to the ground or underwater after maintenance of the underwater glider. It is to provide a mobile lab equipped with a smart maintenance management system for operation and control.

Another object of the present invention is to install a water purification unit for supplying seawater to a water tank, purifying the seawater contained in the water tank after maintenance and testing of the underwater glider in the water tank, and then discharging it back to the sea. The aim is to provide a mobile lab equipped with a smart maintenance management system for integrated operation and control of underwater gliders to reduce marine environmental pollution by supplying seawater and flowing purified seawater.

According to a feature for achieving the above object, an inner space is formed on the inside for maintenance of the underwater glider, and a container having an entrance for access to one side thereof;

A water tank for accommodating the underwater glider under the inner space; And

Including; a lifting unit in which a moving rail installed above the inner space and a hoist that is installed on the moving rail and moved along the moving rail are installed,

The moving rail is extended and installed so as to correspond to the location of the entrance and the water tank, and the lifting unit lifts the underwater glider and mounts it in the water tank for testing and maintenance.

In addition, each cylinder installed on both inner sides of the water tank and operated by receiving a fluid, and a fixing unit including an arm installed at the end of the cylinder; is installed,

When the underwater glider is mounted and fixed in the water tank, the cylinder is moved left and right so that the arm grips the outer peripheral surface of the underwater glider.

In addition, a moving unit for moving the underwater glider to the ground or sea level at a lower side of the inner space; is installed,

The moving unit is installed adjacent to one side of the water tank,

A fixing frame having a shape fixed to the lower inside the container,

A support bracket installed at both ends of the fixing frame, having a receiving groove formed in the center, and fixing a round bar at an upper and lower portion inside the receiving groove,

It characterized in that it comprises a buffer roller that is inserted into the round bar rotates in a free state.

In addition, an outrigger is installed on the outer peripheral surface of the container to stably support the container.

In addition, a drying chamber is installed in the lower part of the container inside, the drying chamber is installed adjacent to the water tank, and a plurality of air nozzles connected to the compressor are installed on the inner circumference of the drying chamber to dry the underwater glider with air sprayed from the air nozzle. It features.

According to the Mobile Lab equipped with a smart maintenance management system for integrated operation and control of underwater gliders according to the present invention, an underwater glider waiting on the ground or sea level by installing a lifting unit above the inner space of the container for maintenance of the underwater glider. There is an effect of lifting easily with a water tank.

In addition, there is an effect of preventing the flow of the underwater glider by installing a fixing unit on the inner peripheral surface of the water tank to grip the outer peripheral surface of the underwater glider in order to prevent the flow of the underwater glider docked in the water tank.

In addition, there is an effect of easily moving the underwater glider to the ground or underwater without the operator directly lifting the underwater glider by using a moving unit installed adjacent to the water tank to move to the ground or underwater after maintenance of the underwater glider.

In addition, seawater is supplied to the tank, and after maintenance and testing of the underwater glider in the tank, a water purification unit is installed to purify the seawater contained in the tank and then discharge it back to the sea to supply seawater. It is effective to reduce marine environmental pollution by flowing over-purified seawater.

1 is a perspective view showing a mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider according to the present invention;
2 is a view showing a fixing unit according to an embodiment of the present invention,
3(a) is a view showing a lifting unit and a moving unit according to an embodiment of the present invention, and FIG. 3(b) is a front view of a moving unit according to an embodiment of the present invention,
4 is a view showing a water purification unit according to an embodiment of the present invention,
5 is a view showing a drying room according to an embodiment of the present invention,
6 is a view showing a cross-sectional shape of a water tank according to an embodiment of the present invention,
7 is a view showing the detachable structure of the water tank according to an embodiment of the present invention,
8 is a view showing a state of use of the open portion of the container according to an embodiment of the present invention.

The following objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

The embodiments described and illustrated herein also include complementary embodiments thereof.

In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprise" and/or "comprising" does not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the specific embodiments below, various specific contents have been prepared to more specifically describe the invention and to aid understanding. However, readers who have knowledge in this field enough to understand the present invention can recognize that it can be used without these various specific contents. In some cases, it should be noted in advance that parts that are commonly known in describing the invention and are not significantly related to the invention are not described in order to avoid confusion in describing the invention.

1 is a perspective view showing a mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider according to the present invention, and FIG. 2 is a view showing a fixing unit according to an embodiment of the present invention, Figure 3 (a) is a view showing a lifting unit and a moving unit according to an embodiment of the present invention, Figure 3 (b) is a front view of the mobile unit according to an embodiment of the present invention, Figure 4 is the present invention Is a view showing a water purification unit according to an embodiment of, Figure 5 is a view showing a drying room according to an embodiment of the present invention, Figure 6 is a cross-sectional shape of a water tank according to an embodiment of the present invention 7 is a view showing a detachable structure of a water tank according to an embodiment of the present invention, and FIG. 8 is a view showing a state of use of an open portion of a container according to an embodiment of the present invention.

1 to 8, the present invention provides a lifting unit 220 installed inside the container 200 for maintenance of the underwater glider 100, a fixing unit 230 and a moving unit 240 It relates to a mobile lab equipped with a smart maintenance management system for integrated operation and control of the underwater glider for maintenance and testing of the underwater glider 100 berthed in the water tank 210 using.

The present invention is largely composed of an underwater glider 100, a container 200, a lifting unit 220, a fixed unit 230, a moving unit 240, and a water purification unit 250.

In the container 200, an inner space 204 for maintenance and repair of the underwater glider 100 is formed on the inside, and an entrance 202 for entry and exit is formed on one side of the container 200.

In addition, an air curtain (not shown) is additionally installed at one side of the entrance 202 to prevent the inflow of dust into the internal space 204 to prevent foreign matter, dust, and pests from entering the internal space 204. I can.

In addition, a plurality of outriggers 201 are installed on the outer circumferential surface of the container 200 to stably support the container 200 to prevent the container 200 from shaking, so that a precise test of the underwater glider 100 can be performed.

In addition, as shown in FIG. 8, an opening part 203 for opening the upper part of the container 200 is installed on the container 200. When it is difficult to carry the bulky test equipment into the entrance 202, the opening 203 may open and close the opening 203 to bring the bulky test equipment into the inner space 204.

A water tank 210 for accommodating the underwater glider 100 is installed under the inner space 204.

The water tank 210 is formed to be elongated in the longitudinal direction and the height direction of the water tank 210 as shown in FIG. 6 to test the propulsion force that repeats the forward and backward movement of the underwater glider 100, and a submerged test from top to bottom. Can do it.

In addition, as shown in FIG. 7, a seating space for seating the water tank 210 is formed below the inner space 204, and the water tank 210 may be seated in the seating space. It is preferable to perform waterproof construction on the inner circumferential surface of the seating space in order to prevent leakage of seawater.

Therefore, the water tank 210 is detachable, so that the test use and cleaning are easy.

In addition, a drainage groove 214 is installed on the upper outer circumferential surface of the water tank 210 to prevent seawater from overflowing into the inner space 204 during submersion and testing of the underwater glider 100.

As shown in Figure 2, the fixing unit 230 is installed inside the water tank 210.

Each of the cylinders 231 operated by receiving fluid supplied to both sides of the water tank 210 and an arm 232 at the ends of the cylinder 231 are installed in the fixing unit 230.

The arm 232 is configured in a "C" shape to firmly grip the outer peripheral surface of the underwater glider.

When the fixing unit 230 is seated and fixed to the underwater glider 100 in the water tank 210, the cylinder 231 is moved left and right so that the arm 232 grips the outer peripheral surface of the underwater glider 100 to By preventing the glider 100 from flowing in the water, it is possible to prevent it from being scratched or damaged in contact with the wall surface of the water tank.

The cylinder can be installed by selecting either a pneumatic or hydraulic cylinder, and when an elastic foam (not shown) is installed around the arm 232 to grip the underwater glider 100, the appearance of the underwater glider 100 You can protect it from scratching.

In addition, in addition to the elastic foam, a distance sensor (not shown) may be added to each of the two arms 232 facing the underwater glider 100. The distance sensor senses the distance between the arm 232 and the underwater glider 100, respectively, and transmits the sensed data value to the fixing unit 230, and the fixing unit 230 considers the sensed data value. Thus, it is possible to control an external force and a moving speed transmitted to the cylinder 231.

In addition, when the values of the distance sensors installed on the plurality of arms 232 are different from each other, the fixing unit 230 may estimate an unaligned event that the underwater glider 100 is not accurately aligned to the center. . From this estimation, the fixing unit 230 may temporarily stop the operation of the cylinder 231 and notify users of the unaligned event, thereby preventing further damage to the underwater glider 100.

The distance sensor may use various types of optical/radio detection methods such as laser, LiDar, and ultrasonic.

In addition, a lifting unit 220 is installed above the inner space 204 as shown in FIG. 3(a).

The lifting unit 220 includes a moving rail 221 installed above the inner space 204 and a hoist 222 or a winch installed on the moving rail 221 and moving along the moving rail 221 Done.

The lifting unit 220 lifts the underwater glider 100 with a hoist 222 or a winch to easily move it to the water tank 210 and at the same time moves the underwater glider 100 to the inner space 204 on one side of the work table (mido City) to facilitate maintenance.

In this case, the moving rail 221 is preferably installed to correspond to the water tank 210 and the drying room 211 installed on the bottom surface.

As shown in FIGS. 3(a) and 3(b), a moving unit 240 is installed at a lower side of the inner space 204.

The moving unit 240 is for easily moving the underwater glider 100 to the ground or sea level, and the moving unit 240 is installed adjacent to one side of the water tank 210 and fixed to the lower inner side of the container 200 The fixing frame 241 having a "U" shape and the fixing frame 241 are installed at both ends, and a receiving groove 242 is formed in the center, and a round bar 243 at the upper and lower inside of the receiving groove 242 ) Is fixed to the support bracket 244, and a buffer roller 245 that is inserted into the round bar 243 and rotated in a free state.

When the moving unit 240 is moved in the water tank 210 or the drying room 211, the underwater glider 100 is mounted on the upper part of the moving unit 240 using the lifting unit 220 and then rotated to a free state. It can be easily moved in a desired direction by the rotation of the buffer roller 245.

At this time, a plurality of buffer grooves 246 are formed in the longitudinal direction of the buffer roller 245.

In order to move the underwater glider 100, when the cushioning groove 246 is seated on the moving unit 240, the shock applied to the moving unit 240 is distributed to prevent damage to the moving unit 240. There is.

In addition, it is installed on one side of the fixed frame 241 and a stopper 247 for restraining the forward and backward movement of the underwater glider 100 is installed, as a means for restraining the flow before and after the underwater glider 100. It can be used.

A drying chamber 211 is installed under the inner space 204.

As shown in FIG. 5, the drying chamber 211 is installed adjacent to the water tank 210, and a plurality of air nozzles 212 are installed on the inner circumferential surface of the drying chamber 211, and the air nozzle 212 is It is connected to a compressor (not shown) installed on one side of the container 200.

Therefore, the underwater glider 100, which has been tested in the water tank 210, is moved to the drying chamber 211 to remove the seawater from the outside of the underwater glider 100 and air from the air nozzle 212. Water can be quickly removed by spraying.

In this case, in addition to the air nozzle 212, a water nozzle (not shown) for spraying clean water into a separate water tank installed at one side of the container may be additionally installed.

The water nozzle is a means for preventing corrosion of the underwater glider and at the same time maintaining cleanliness by washing the exterior of the underwater glider by spraying water from the water nozzle with seawater deposited on the outside of the underwater glider 100 It can be used as.

In addition, a discharge pipe (not shown) for discharging seawater to the outside of the container 200 is installed on one side of the drying chamber 211 to discharge the seawater from the drying chamber 211 to the outside, thereby discharging the drying chamber 211. You can keep it clean.

Referring to FIG. 4, a water purification unit 250 connected to the water tank 210 is installed. The water purification unit 250 includes a suction pipe 251, a discharge pipe 252, a pump 253, and a filter unit 254.

One side of the water purification unit 250 is connected to the water tank 210, and the other side is provided with a suction pipe 251 installed so as to be immersed in seawater. A pump 253 is installed at one side of the suction pipe 251 to suck seawater and then easily supply it to the water tank 210, thereby enabling maintenance and testing of the underwater glider 100 in the water tank 210. .

In addition, it is installed to be spaced apart from the suction pipe 251, one side is connected to the water tank 210, the other side is a discharge pipe 252 connected to one side of seawater is installed. A pump 253 is installed on one side of the discharge pipe 252, and a filter unit 254 is installed on one side of the pump to prevent floating matter generated after maintenance and testing of the underwater glider 100 in the water tank 210. The filter unit 254 filters and purifies the seawater remaining after the test, thereby re-discharging clean seawater, thereby preventing underwater environmental pollution.

In addition, a mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider according to the present invention can be loaded onto a transport truck and moved to a mission place of the underwater glider.

Accordingly, the mobile lab is easy to move and has the effect of quicker maintenance and testing of the underwater glider.

In addition, a face/fingerprint recognition device for restricting access to one side of the entrance may be additionally installed. The face/fingerprint recognition device can open and close the door by recognizing the user, and it can open and close the door by analyzing the image acquired based on deep learning technology, and restrict access to the door by storing the fingerprint template data to be encrypted. can do.

At this time, a security device may be additionally installed on one side of the mobile lab. When a problem occurs in the security of the mobile lab, it can be notified to the administrator, and a security camera is installed on one side of the mobile lab to monitor in real time and to know the opening and closing time of the door, thereby increasing the security level of the mobile lab. have.

Since the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent all the technical spirit of the present invention, various equivalents that can replace them at the time of application And it should be understood that there may be variations.

100: underwater glider 200: container
201: outrigger 202: entrance
203: opening 210: water tank
211: drying room 212: air nozzle
213: water level sensor 214: drainage groove
220: lifting unit 221: moving rail
222: hoist 230: fixed unit
231: cylinder 232: arm
240: mobile unit 241: fixed frame
242: receiving groove 243: round bar
244: support bracket 245: buffer roller
246: buffer groove 247: stopper
250: water purification unit 251: suction pipe
252: discharge pipe 253: pump
254: filter part

Claims (5)

An inner space 204 for maintenance of the underwater glider 100 is formed on the inside, and a container 200 having an entrance 202 for entry and exit on one side thereof;
A water tank 210 for accommodating the underwater glider 100 under the inner space 204; And
Including; a lifting unit 220 installed with a moving rail 221 installed above the inner space 204 and a hoist 222 installed on the moving rail 221 and moving along the moving rail 221; ,
The moving rail 221 is extended and installed to correspond to the positions of the entrance 202 and the water tank 210, and the lifting unit 220 lifts the underwater glider 100 and then seats in the water tank 210 To test and maintain the underwater glider 100,
A drying chamber 211 is installed under the inner space 204, the drying chamber 211 is installed adjacent to the water tank 210, and a plurality of air nozzles 212 connected to the compressor on the inner circumferential surface of the drying chamber 211 ) Is installed to dry the underwater glider 100 with air sprayed from the air nozzle 212. A mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider.
The method according to claim 1,
Fixed units 230 including each cylinder 231 installed on both inner sides of the water tank 210 and operated by receiving a fluid, and an arm 232 installed at the end of the cylinder 231; is installed,
When the underwater glider 100 is seated and fixed in the water tank 210, the cylinder 231 is moved left and right so that the arm 232 grips the outer peripheral surface of the underwater glider 100. Mobile Lab equipped with a smart maintenance management system for control.
The method according to claim 1,
A moving unit 240 for moving the underwater glider 100 to the ground or sea level at a lower side of the inner space 204; is installed,
The moving unit 240 is installed adjacent to one side of the water tank 210,
A fixing frame 241 having a shape fixed to the inner lower part of the container 200,
A support bracket 244 installed at both ends of the fixing frame 241, having a receiving groove 242 formed in the center, and fixing a round bar 243 at an upper and lower inside of the receiving groove 242,
A mobile lab equipped with a smart maintenance management system for integrated operation and control of an underwater glider, characterized in that it includes a buffer roller 245 inserted in the round bar 243 and rotated in a free state.
The method according to claim 1,
Mobile lab equipped with a smart maintenance management system for integrated operation and control of underwater gliders, characterized in that an outrigger 201 is installed on the outer circumference of the container 200 to stably support the container 200.
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