KR102301815B1 - Unmanned underwater vehicle and method for controlling power - Google Patents

Abstract

The present invention relates to an unmanned underwater vehicle capable of generating power inside the unmanned underwater vehicle, and a power control method thereof. According to the present invention, the unmanned underwater vehicle comprises: a body unit; a storage unit installed in the body unit and having a storage space therein; a cover unit coupled to the body unit to open and close the storage space; and a power supply unit having a first magnetic body installed in the storage unit and a second magnetic body insertable into the storage space so as to be in contact with the first magnetic body.

Description

Unmanned underwater vehicle and method for controlling power

The present invention relates to an unmanned submersible and a power control method, and to an unmanned submersible and a power control method capable of generating electrical energy through magnetic force in an enclosed interior.

In general, an unmanned underwater vehicle is a submersible developed for monitoring of ports, seas, etc. and protection of offshore platforms, etc., and can be used for multi-purpose purposes at sea. These unmanned submersibles can be operated through remote control from a land base or a control station of a ship in voyage. Alternatively, a preset value may be entered into the unmanned submersible, and autonomous operation may be performed through the inputted setting value. To this end, the unmanned submersible includes a control PC for controlling the unmanned submersible, detection equipment capable of measuring the surrounding conditions, and storage equipment for storing the detected information. Since the equipment is vulnerable to moisture and salt, the hull of the unmanned submersible is sealed, and the equipment is provided in the sealed hull.

Conventionally, in order to generate the power of the unmanned submersible, the operator operated the switch protruding to the outside of the unmanned submersible to generate the power of the unmanned submersible. That is, the operator physically contacted and pressurized the switch to generate power for the unmanned submersible. However, in the conventional method, there is a problem in that watertight stability is deteriorated because the switch is perforated in the shell of the unmanned submersible in mounting the power supply switch. In addition, since the switch is formed in a protruding form, there is a fluid effect on the underwater motion of the unmanned submersible, and if the switch is damaged or damaged due to external influences applied to the switch, it becomes difficult to secure the stability of the system. have.

The present invention relates to an unmanned submersible and a power control method capable of generating power inside the unmanned submersible.

The present invention relates to an unmanned submersible and a power control method capable of generating power using magnetic force.

The present invention is a body portion; a storage unit installed on the body and having a storage space therein; a cover portion coupled to the body portion to open and close the storage space; and a power supply unit having a first magnetic body installed in the storage unit and a second magnetic body insertable into the storage space so as to be in contact with the first magnetic body.

The present invention is a body portion; a storage unit installed on the body and having a storage space therein; a cover portion coupled to the body portion to open and close the storage space; and a power supply unit having a first magnetic body installed in the storage unit, and a second magnetic body insertable into the storage space so as to be electromagnetically coupled to the first magnetic body to generate a signal.

One surface of the second magnetic material is capable of surface contact with one surface of the first magnetic material, and the first magnetic material and the second magnetic material are formed of a material having a magnetic force so as to generate a signal by electromagnetic coupling. do.

The power unit may include: a signal detector installed in the body and configured to detect a signal generated through the first magnetic body and the second magnetic body; and a power generator installed in the body portion, connected to the signal detector, and configured to generate electrical energy.

The storage unit may include: a first seating member for fixing and supporting the first magnetic body; a second seating member disposed to face the first seating member and capable of coupling the second magnetic body; and a driving member for spaced apart or close to the second seating member with respect to the first seating member.

The storage unit may further include an auxiliary battery connected to the driving member and capable of independently generating electrical energy independently of the power supply unit.

The cover part and the body part are provided with a concave part and a protrusion part in a portion coupled to be engaged with each other in a sliding manner.

The cover part includes a fixing member for fixing the position of the cover part.

It further includes; a sealing member for sealing the storage space between the cover portion and the body portion.

A control unit for controlling the driving member is further included, wherein the control unit may control the operation of the driving member according to a preset time.

The body part includes a detector for detecting an underwater situation and a storage for storing information detected from the detector, so that the detector, the storage and the control unit can be debugged, respectively, the detector, the storage It further includes; a debug unit each electromagnetically connected to the group and the control unit.

The present invention is a process of providing an unmanned submersible having a storage space in which the first magnetic body is accommodated; The process of generating electric power for driving the unmanned submersible by inserting a second magnetic material having a magnetic force into the receiving space; sealing the storage space; And the process of launching the unmanned submersible and detecting underwater; including, the process of generating electric power for driving the unmanned submersible is the process of placing the second magnetic body in contact with the first magnetic body in the receiving space includes ;

The process of arranging the second magnetic body in the receiving space includes a process of generating a signal by electromagnetically coupling the first magnetic body and the second magnetic body to each other, and generating power for driving the unmanned submersible vehicle The process of detecting the generated signal; and a process of generating electrical energy when a signal is sensed.

The process of sealing the storage space, the process of shielding the upper portion of the storage space by sliding the cover portion of the unmanned submersible; and a process of fixing the sliding cover part.

After the process of detecting the underwater, the process of stopping the power generation of the unmanned submersible in a state in which the storage space is sealed; 2 The process of separating the magnetic body; includes.

The process of separating the second magnetic body from the first magnetic body includes transmitting a signal from the outside of the unmanned submersible to a driving member connected to the second magnetic body to separate the second magnetic body with the driving part.

According to an embodiment of the present invention, it is possible to generate power in the sealed interior of the unmanned submersible. That is, the user can generate the power of the unmanned submersible through a non-contact method. Accordingly, even when the unmanned submersible is launched underwater, it is possible to generate or release the power of the unmanned submersible.

In addition, it is possible to generate power for the unmanned submersible by using magnetic force. Accordingly, since the unmanned submersible is not provided with a mechanical device, it is possible to suppress or prevent the occurrence of a problem in the power configuration under the influence of the underwater environment (ie, the external environment).

In addition, since the power switch is arranged inside the unmanned submersible, it is possible to suppress the occurrence of hydrodynamic influences on the underwater motion of the unmanned submersible. Accordingly, it is possible to relatively reduce the power consumption of the unmanned submersible.

1 is a perspective view showing an unmanned submersible according to an embodiment of the present invention.
Figure 2 is a cross-sectional view showing a state before the second magnetic body is inserted into the unmanned submersible.
Figure 3 is a cross-sectional view showing the state after the second magnetic body is inserted into the unmanned submersible.
4 is a cross-sectional view illustrating a state in which a first magnetic body and a second magnetic body are spaced apart;
5 is a flowchart illustrating a power control method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art completely It is provided to inform you. In order to explain the invention in detail, the drawings may be exaggerated, and like numerals refer to like elements in the drawings.

The unmanned submersible according to an embodiment of the present invention relates to a device capable of detecting an underwater situation by being launched underwater. Hereinafter, a case in which the unmanned submersible vehicle is a submersible vehicle (UUV) used at sea will be described as an example. However, the scope of application of the unmanned submersible is not limited thereto and may vary.

1 is a perspective view showing an unmanned submersible according to an embodiment of the present invention.

Hereinafter, an unmanned submersible 100 according to an embodiment of the present invention will be described with reference to FIG. 1 .

The unmanned submersible 100 according to an embodiment of the present invention opens and closes the body part 110, the storage part 120 and the storage space 121 installed in the body part 110 and having a storage space 121 therein. Insertable into the housing space 121 so as to contact the first magnetic body 141 and the first magnetic body 141 installed in the cover part 130 and the storage part 120 coupled to the body part 110 so as to The power supply unit 140 including the second magnetic body 142 may be included. Meanwhile, the unmanned submersible 100 may further include a control unit for electromagnetically controlling the power supply unit 140 .

The body part 110 is a part forming the outer shell of the unmanned submersible 100 , and may form the body of the unmanned submersible 100 . For example, the body 110 may be provided in an elliptical shape extending in one direction (hereinafter referred to as an extension direction). In addition, the body portion 110 may be formed hollow inside. Here, the hollow part inside the body part 110 may be the internal space 111 . A detector 114 and a reservoir 115 of the body 110 to be described later may be provided in the inner space 111 of the body 110 .

In addition, the upper portion of the body portion 110 may be formed open. For example, an upper portion of the body portion 110 may have a rectangular cross-section and a hole penetrating vertically may be formed. Here, the hole of the body part 110 may communicate with the storage space 121 of the storage part 120 to be described later.

In addition, the body portion 110 may include a rail member 112 on the upper surface. The rail member 112 may be provided in the shape of a rectangular bar extending in an extension direction. The rail member 112 is provided in plurality, and may be disposed on both sides of the hole to face each other in the cross direction. The rail member 112 may be coupled to a slit of the cover part 130 to be described later. That is, the rail member 112 may serve to form a path of the cover portion 130 so that the cover portion 130 slides along the extending direction.

In addition, the rail member 112 may be engaged with each other in a sliding manner, a concave portion and a protrusion may be formed at a portion coupled to the cover portion 130 . Accordingly, through the rail member 112, the cover 130 can move smoothly in the extension direction without being separated from the rail member 112 in the vertical direction.

In addition, the body part 110 may include a motor 113 . The power unit 113 may generate power so that the body part 110 moves underwater or on the sea. A part of the power unit 113 may be installed in the internal space 111 of the body 110 , and a part may be installed outside the internal space 111 . Here, among the components of the power unit 113 , a part installed in the internal space 111 may be an engine, and a part installed outside the internal space may be a propulsion device such as a propeller. For example, the propulsion device may be provided as a pair on both sides of the body portion 110, respectively.

In addition, the body 110 may include a detector 114 and a reservoir 115 therein. The detector 114 is disposed in the inner space 111 and can detect underwater information. Accordingly, while the unmanned submersible 100 detects the underwater, it is possible to grasp the underwater environmental state or the situation of the enemy in the water.

The storage 115 may store information detected by the detector 114 . In addition, the storage 115 may transmit the detected underwater information to the outside. Here, the detector 114 and the storage 115 may be a general configuration provided in the unmanned submersible 100, there is no need to limit to a specific configuration in describing the embodiment of the present invention. Accordingly, detailed description thereof will be omitted.

Figure 2 is a cross-sectional view showing the state before the second magnetic body is inserted into the unmanned submersible, Figure 3 is a cross-sectional view showing the state after the second magnetic material is inserted into the unmanned submersible, Figure 4 is the first magnetic body and the second magnetic body It is a cross-sectional view showing the state of being spaced apart.

Hereinafter, the structure of the storage unit 120 , the cover unit 130 , and the power supply unit 140 will be described with reference to FIGS. 2 to 4 .

The storage unit 120 is installed inside the body unit 110 , and may serve to accommodate the power supply unit 140 therein. The storage unit 120 has a predetermined space therein, and may be provided, for example, in a hollow rectangular parallelepiped shape. In this case, the above-described predetermined space may be the storage space 121 . That is, the storage unit 120 may have a storage space 121 therein. The storage space 121 of the storage unit 120 may be separated from the internal space 111 . To this end, the storage unit 120 may include a chamber 122 having one side open, a first seating member 123 , a second seating member 124 , and a driving member 125 . In addition, the storage unit 120 may further include an auxiliary battery for supplying a separate electric energy to the driving member 125 .

The chamber 122 may be formed by being depressed from the upper portion of the body 110 toward the inner space 111 (ie, from the upper side to the lower side) to form the receiving space 121 . To this end, the chamber 122 may extend from the upper portion of the body portion 110 to the lower portion, and may be formed to protrude toward the inner space 111 . In addition, one side of the chamber 122 may be opened. Here, one side of the chamber 122 may be an upper portion of the chamber 122 , and thus the upper side of the chamber 122 may be opened. In addition, the chamber 122 may have a storage space 121 separated from the internal space 111 of the body 110 therein. That is, the chamber 122 may include a storage space 121 that is an independent space that does not communicate with the internal space 111 of the body 110 .

The first seating member 123 has a groove formed therein, and can fix and support the first magnetic body 141 of the power supply unit 140 to be described later. For example, the first seating member 123 may be disposed on the front side of the lower portion of the chamber 122 with respect to the extending direction. In addition, the first seating member 123 may have a groove recessed inward. Accordingly, the first magnetic body 141 is fitted into the groove of the first seating member 123 and may be more firmly fixedly supported by the first seating member 123 .

The second seating member 124 may be disposed to face the first seating member 123 and may have a recessed groove to allow the second magnetic body 142 to be coupled thereto. Here, the second seating member 124 may be disposed at a rear side of the first seating member 123 among the lower portions of the chamber 122 . In addition, the groove of the second seating member 124 may be formed by being depressed inwardly from the upper portion of the second seating member. In addition, a lubricant may be provided on the lower surface of the second seating member 124 . That is, a lubricant may be coded on the surface of the second seating member 124 in contact with the chamber 122 . Accordingly, when the second seating member 124 moves in the extending direction by the driving member 125 , it is possible to suppress or reduce friction with the chamber 122 . Here, the lubricant may be a material that reduces friction, including grease.

The driving member 125 may move the second magnetic body 142 of the power supply unit 140 to be described later in the extension direction. The driving member 125 may be disposed on the rear side of the second magnetic body 142 with respect to the extension direction, and may be coupled to the second magnetic body 142 . At least a portion of the driving member 125 moves forward and backward along the extension direction to move the second magnetic body 142 closer to the first magnetic body 141 of the power supply unit 140 or to move away from the first magnetic body 141 . can be separated. The driving member 125 may include a motor 125a and a rod 125b. Here, the motor 125a may generate a rotational driving force, and the rod 125b may move forward and backward through the generated rotational driving force. For example, the driving member 125 may be provided as a cylinder. For example, the driving member 125 may include a sensor (not shown). Accordingly, the driving member 125 may detect an operation command signal transmitted from the outside of the unmanned submersible 100 by the operator, and may be driven by the detected operation command signal.

The auxiliary battery (not shown) is connected to the driving member 125 , and may independently generate electric energy independently of the power supply unit 140 . Accordingly, even if the first magnetic material 141 and the second magnetic material 142 are spaced apart from each other to generate electric energy from the power supply unit 140 , the driving member 125 assists separately from the electric energy supplied from the power supply unit 140 . By receiving electrical energy through the battery, the second magnetic body 142 may be moved toward the first magnetic body 141 again. Accordingly, even if the power supply unit 140 fails to generate electric energy (that is, even if the power is turned off), the driving member 125 operates through the auxiliary battery and the second magnetic material 142 is brought into contact with the first magnetic material 141 . and can generate a signal to power on the unmanned submersible.

The cover part 130 may be coupled to the body part 110 to open and close the storage space 121 of the storage part 120 . The cover part 130 extends in the extension direction and may have a larger area than the hole formed in the upper surface of the body part 110 . Accordingly, the cover part 130 is disposed on the upper portion of the hole, and can close the hole. In addition, the cover part 130 may move in the extension direction to open the upper part of the hole. To this end, the cover part 130 may include a slit recessed inwardly on the lower surface and extending along the extension direction. The slits may be provided in plurality, and may be disposed to be spaced apart from each other in an intersecting direction. Here, the crossing direction may be a direction horizontally orthogonal to the extension direction. Accordingly, the above-described rail member 112 is fitted into the slit, and the cover portion 130 moves in the extending direction in a state in which the rail member 112 is fitted into the slit to open or close the hole. have. Accordingly, the cover part 130 can seal the inner space 111 of the storage part 120 to be described later.

In addition, the cover unit 130 may further include a fixing member (not shown) so as to fix the cover unit 130 at the slidably moved position. For example, the fixing member may extend from the cover portion 130 and be coupled to the body portion 110 . In addition, the fixing member may be provided in the shape of a hook, and the end may be provided with a magnet. Accordingly, the fixing member may be engaged with the groove of the body part 110 , and a magnet provided at the end may be electromagnetically attached to the body part 110 to fix the position of the cover part 130 .

Meanwhile, a sealing member (not shown) may be provided between the cover part 130 and the body part 110 . More specifically, a sealing member (not shown) may be further provided between the cover unit 130 and the storage unit 120 to seal the storage space 121 . For example, the sealing member may be formed on the lower surface of the cover part 130 and may be provided to extend along the circumference of the cover part 130 . In addition, the sealing member may be made of a rubber material that can be stretched or contracted. Accordingly, when the cover portion 130 is disposed in the hole of the body portion 110, the sealing member fills the gap between the cover portion 130 and the storage portion 120 to seal the storage space 121 more effectively. can

The power supply unit 140 is installed in the storage space 121 of the storage unit 120, and at least some of them are electromagnetically coupled to each other by magnetic force to generate a signal, and generate electrical energy through the generated signal. . That is, at least a portion of the power supply unit 140 may generate electrical energy through electromagnetic coupling. Here, the electrical energy may be power required to drive the detector 114 , the storage 115 , and the power generator 113 . The power supply unit 140 may be disposed adjacent to the cover unit 130 in the storage space 121 . Also, the power supply unit 140 may include a first magnetic material 141 , a second magnetic material 142 , a signal detector 143 , and a power generator 144 .

The first magnetic body 141 may be in contact with the second magnetic body 142 to generate an electromagnetic signal. That is, the first magnetic body 141 is electromagnetically coupled to the second magnetic body 142 by contact and may generate a signal for generating electrical energy. More specifically, the first magnetic body 141 may be made of a material at least a part of which has magnetism. The first magnetic body 141 is disposed on the front side in the extension direction in the receiving space 121 and may be formed in a rectangular parallelepiped shape. The first magnetic body 141 may include an electromagnetic coil 141a on a rear surface of the first magnetic body 141 in the extending direction. Here, the electromagnetic coil 141a of the first magnetic material 141 may be in contact with the electromagnetic coil 142a of the second magnetic material 142 to be described later, and in contact with the electromagnetic coil 142a of the second magnetic material 142, and signal can be generated.

The second magnetic body 142 may be inserted into the storage space 121 or separated from the storage space 121 of the storage unit 120 . While the second magnetic body 142 is accommodated in the storage space 121 , it may come into contact with the first magnetic body 141 at the same time. More specifically, the second magnetic body 142 may be made of a material at least a part of which has magnetism. The second magnetic body 142 may be coupled to the second seating member 124 so as to contact the first magnetic body 141 in the receiving space 121 . For example, the second magnetic body 142 may be disposed on the rear side of the first magnetic body 141 with respect to the extension direction in the accommodation space 121 . The second magnetic body 142 may have the same shape and size as the first magnetic body 141 . For example, the second magnetic body 142 may be formed in a rectangular parallelepiped shape.

In addition, the second magnetic body 142 may include an electromagnetic coil 142a on the front side in the extending direction. As described above, the electromagnetic coil 142a of the second magnetic material 142 may be in contact with the electromagnetic coil 141a of the first magnetic material 141 to generate a signal. Here, the second magnetic body 142 may move forward and backward based on the extension direction by the above-described driving member 125 . Meanwhile, the second magnetic body 142 may be in contact with the first magnetic body 141 by a physical operation of an operator.

The signal detector 143 may detect a signal generated through the first magnetic material 141 and the second magnetic material 142 . That is, the signal detector 143 may detect a signal generated when the first magnetic material 141 and the second magnetic material 142 come into contact with each other. In addition, when the signal detector 143 detects the generated signal, it may transmit a message to generate electrical energy to the power generator 144 to be described later.

Here, the signal detector 143 may transmit an electrical energy generation message to the power generator 144 in a wired or wireless manner. Hereinafter, a case in which the signal detector 143 transmits an electrical energy generation message to the power generator 144 over a wire will be exemplarily described. For example, the signal detector 143 may be disposed on a lower side adjacent to the storage unit 120 in the inner space 111 . That is, the signal detector 143 is positioned adjacent to the first magnetic body 141 and the second magnetic body 142 so as to detect signals generated from the first magnetic body 141 and the second magnetic body 142 more quickly. can be placed in

The power generator 144 is connected to the signal detector 143 and may generate electrical energy. That is, the power generator 144 may generate electrical energy by receiving a message for generating electrical energy from the signal detector 143 . The power generator 144 may be connected to the detector 114 , the storage 115 , and the power generator 113 . Accordingly, the power generator 144 transmits the generated electrical energy to the detector 114 , the storage 115 and the power generator 113 to drive the detector 114 , the storage 115 and the power generator 113 , respectively. can do. For example, the power generator 144 may be disposed in the inner space 111 and may be disposed at the rear side of the storage unit 120 with respect to the extension direction. In addition, the power generator 144 may be provided as a battery. Accordingly, the signal detector 143 detects a signal generated through the first magnetic material 141 and the second magnetic material 142 , and based on the detected signal, the signal detector 143 sends electrical energy to the power generator 144 . By sending a generation message, the power generator 144 may generate electrical energy.

A controller (not shown) may electromagnetically control the driving member 125 . That is, the control unit may drive the driving member 125 through a pre-entered program so that the operator can drive the operation without transmitting an operation command signal to the power supply unit 140 from the outside. For example, the control unit may transmit an operation command signal to the driving member 125 every predetermined time set in advance so as to drive the unmanned submersible 100 at a predetermined specific time. Accordingly, even if the operator does not drive the driving member 125, the driving member 125 is automatically operated, the second magnetic body 142 can be brought into contact with the first magnetic body 141, and the power of the unmanned submersible (100). It turns on and information in the water can be detected. Here, the controller may control the driving member 125 using a non-contact method. That is, the control unit may drive the driving member 125 by transmitting an electromagnetic signal to the sensor of the driving member 125 rather than a physical connection.

On the other hand, the unmanned submersible 100 may further include a debug unit 150 for individually debugging the detector 114 , the storage 115 , and the power supply unit 140 , respectively. The debug unit 150 is individually connected to the detector 114 and the storage 115, respectively, and the system of the detector 114 and the storage 115 may be a device that looks at the flow chart to operate in the order of the program desired by the operator. have. Here, the debugging may include an inspection using a compiler or an inspection using actual data. For example, the debug unit 150 may be installed in at least one of the inner space 111 and the storage space 121 . Hereinafter, a case in which the debug unit 150 is installed in the storage space 121 will be described as an example.

The structure and shape of the components of the unmanned submersible 100 described above are not limited thereto, and may vary.

On the other hand, the method of controlling the power of the unmanned submersible 100 according to the embodiment of the present invention will be described together with the process while explaining the power control method according to the embodiment of the present invention.

3 is a flowchart illustrating a power control method according to an embodiment of the present invention.

Hereinafter, a power control method according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3 .

Power control method according to an embodiment of the present invention relates to a method of operating the power of the unmanned submersible 100 before launching underwater or turning off the power of the unmanned submersible launched underwater. Hereinafter, a power control method will be described based on the unmanned submersible 100 described above.

More specifically, the power control method is a process of providing the unmanned submersible 100 having a receiving space 121 in which the first magnetic body 141 is accommodated (S110), and the second magnetic body 142 having a magnetic force is placed in the receiving space ( 121) to generate power to drive the unmanned submersible 100 (S120), the process of sealing the storage space 121 (S130), and the process of launching the unmanned submersible 100 to detect underwater (S120) S140), and the process of generating electric power for driving the unmanned submersible (100) may include the process of placing the second magnetic body 142 in the receiving space 121 to contact the first magnetic body 141. can

First, it is possible to provide an unmanned submersible 100 for detecting underwater. At this time, the cover portion 130 of the unmanned submersible 100 is in a state of being moved to the front side based on the extension direction, and thus, the hole and the storage unit 120 may be in an open state.

Thereafter, the second magnetic body 142 may be inserted into the storage space 121 of the unmanned submersible 100 . In this case, while the second magnetic body 142 is coupled to the second mounting member 124 , the second magnetic body 142 may be brought into contact with the first magnetic body 141 at the same time. Accordingly, the second magnetic material 142 may be electromagnetically coupled to the first magnetic material 141 to generate a signal.

Thereafter, the signal detector 143 disposed adjacent to the first magnetic body 141 and the second magnetic body 142 may detect the generated signal. That is, the signal detector 143 may detect a signal generated when the first magnetic material 141 and the second magnetic material 142 come into contact with each other. When the signal detector 143 detects the generated signal, a message to generate electrical energy may be transmitted to the power generator 144 to be described later. For example, the signal detector 143 may transmit an electrical energy generation message to the power generator 144 over a wire or wirelessly.

Thereafter, the power generator 144 may generate electrical energy upon receiving an electrical energy generation message from the signal detector 143 . That is, electric energy may be generated to drive the detector 114 , the storage 115 , and the power generator 113 . Accordingly, the detector 114 , the storage 115 , and the power generator 113 operate through the generated electrical energy and perform corresponding functions. That is, the detector 114 detects information in the water, the storage 115 stores the information detected by the detector 114 and transmits and shares it to an external worker, and the motor 113 is the unmanned submersible (100). This movable power can be generated (S120)

Thereafter, the storage space 121 may be closed with the cover part 130 (S130). That is, the hole can be covered by moving the cover part 130 in which the slit is fastened to the rail member 112 to the rear side in the extension direction. Accordingly, the receiving space 121 having the power supply unit 140 therein may be closed by the cover unit 130 . Thereafter, the fixing member provided on the cover portion 130 may be engaged with the body portion 110 to fix the position of the cover portion 130 .

Thereafter, the unmanned submersible 100 may be launched into the water. At this time, since the inner space 111 and the receiving space 121 of the unmanned submersible 100 are closed by the cover part 130, seawater may not penetrate into the inside. Thereafter, it is possible to detect underwater with the detector 114 of the unmanned submersible 100 (S140).

Thereafter, when the unmanned submersible 100 finishes underwater detection, an operator outside the unmanned submersible 100 may transmit a termination command signal to the unmanned submersible to the driving member 125 . That is, the end command signal may be transmitted to the sensor of the driving member 125 . On the other hand, when the control unit inside the unmanned submersible 100 determines that the set time has come, an end command signal may be transmitted to the sensor of the driving member 125 . Hereinafter, a case in which the operator outside the unmanned submersible 100 directly transmits a termination command signal will be exemplarily described.

When the sensor of the driving member 125 detects the end command signal, the extended driving member 125 may be contracted. That is, the rod 125b of the driving member 125 may move to the rear side based on the extension direction, and the second magnetic body 142 in contact with the first magnetic body 141 may be spaced apart from the first magnetic body 141 . Accordingly, the first magnetic material 141 and the second magnetic material 142 may be spaced apart, and signal generation may be stopped, and the signal detector 143 may not detect the signal. Accordingly, the signal detector 143 may stop transmitting the electrical energy generation message to the power generator 144 . Accordingly, since the power generator 144 does not receive the electrical energy generation message, the electrical energy generation may be stopped. Therefore, the detector 114, the storage 115, and the power generator 113 may stop working, and thus the power of the unmanned submersible 100 may be turned off.

After that, when the operator again transmits an operation command signal to the sensor of the driving member 125 from the outside of the unmanned submersible 100, the driving member 125 is operated by an auxiliary battery that generates electrical energy separately from the power supply unit 140, and Therefore, it can be driven again through the operation command signal. Accordingly, the driving member 125 may bring the second magnetic body 142 into contact with the first magnetic body 141 again, and the generated signal is sensed by the signal detector 143 , and electrical energy through the power generator 144 . can be generated to turn on the power of the unmanned submersible (100) again.

In this way, it is possible to generate power in the sealed interior of the unmanned submersible. That is, the user can generate the power of the unmanned submersible through a non-contact method. Accordingly, even when the unmanned submersible is launched underwater, it is possible to generate or release the power of the unmanned submersible. In addition, it is possible to generate power for the unmanned submersible by using magnetic force. Accordingly, since the unmanned submersible is not provided with a mechanical device, it is possible to suppress or prevent the occurrence of a problem in the power supply configuration under the influence of the underwater environment (ie, the external environment). In addition, since the power switch is arranged inside the unmanned submersible, it is possible to suppress the occurrence of hydrodynamic influences on the underwater motion of the unmanned submersible. Accordingly, it is possible to relatively reduce the power consumption of the unmanned submersible.

As such, although specific embodiments have been described in the detailed description of the present invention, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims to be described below as well as the claims and equivalents.

100: unmanned submersible 110: body part
120: storage unit 130: cover unit
140: power unit 150: debug unit

Claims (16)

body part;
a storage unit installed on the body and having a storage space therein;
a cover portion coupled to the body portion to open and close the storage space; and
A power supply unit having a first magnetic body installed in the storage unit and a second magnetic body insertable into the storage space so as to be in contact with the first magnetic body;
The storage unit may include a first seating member for fixing and supporting the first magnetic body, a second seating member disposed to face the first seating member, and a second seating member to which the second magnetic body can be coupled, and the second with respect to the first seating member. An unmanned submersible including a driving member for spaced apart or close to the seating member. delete The method according to claim 1,
One surface of the second magnetic body is capable of surface contact with one surface of the first magnetic body,
The first magnetic material and the second magnetic material are unmanned submersibles formed of a material having a magnetic force so as to generate a signal by electromagnetic coupling. 4. The method according to claim 3,
The power supply unit,
a signal detector installed in the body portion and configured to detect a signal generated through the first magnetic body and the second magnetic body; and
An unmanned submersible including a; installed in the body portion, connected to the signal detector, and a power generator for generating electrical energy. delete The method according to claim 1,
The storage unit is connected to the driving member, the auxiliary battery capable of independently generating electric energy independently of the power source; the unmanned submersible further comprising. The method according to claim 1,
The cover portion and the body portion, the unmanned submersible having a concave portion and a protrusion in a portion coupled to engage each other in a sliding manner. 8. The method of claim 7,
The cover portion, the unmanned submersible including a; fixing member for fixing the position of the cover portion. 8. The method of claim 7,
The unmanned submersible further comprising; a sealing member for sealing the storage space between the cover portion and the body portion. The method according to claim 1,
Further comprising; a control unit for controlling the driving member;
The control unit, an unmanned submersible capable of controlling the operation of the driving member according to a preset time. 11. The method of claim 10,
The body portion includes a detector for detecting a situation in the water and a storage for storing information detected from the detector,
Unmanned submersible further comprising; a debug unit electromagnetically connected to the detector, the storage and the control unit, respectively, so that the detector, the storage and the control unit can be debugged, respectively. The process of providing an unmanned submersible having a storage space in which the first magnetic body is accommodated;
The process of generating electric power for driving the unmanned submersible by inserting a second magnetic material having a magnetic force into the receiving space;
sealing the storage space; and
The process of detecting underwater by launching the unmanned submersible;
The process of generating electric power for driving the unmanned submersible vehicle includes the process of placing the second magnetic body in the storage space so as to be in contact with the first magnetic body. 13. The method of claim 12,
The process of arranging the second magnetic body in the accommodation space includes a process of generating a signal while the first magnetic body and the second magnetic body are electromagnetically coupled to each other,
The process of generating power for driving the unmanned submersible is,
The process of detecting the generated signal; and
A power control method comprising a; the process of generating electrical energy when a signal is detected. 14. The method of claim 13,
The process of sealing the storage space,
The process of shielding the upper portion of the storage space by sliding the cover of the unmanned submersible; and
A power control method comprising a; step of fixing the sliding cover part. 13. The method of claim 12,
After the process of detecting the underwater, the process of stopping the power generation for driving the unmanned submersible in the sealed state of the storage space; including,
The process of stopping power generation for driving the unmanned submersible, the process of separating the second magnetic body from the first magnetic body; Power control method comprising a. 16. The method of claim 15,
The process of separating the second magnetic body from the first magnetic body includes: transmitting a signal from the outside of the unmanned submersible to a driving member connected to the second magnetic body to separate the second magnetic body by the driving member; Power control method.

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