KR102374466B1 - surface vehicle drone that facilitates the launch/recovery of unmanned surface vehicle. - Google Patents

Abstract

Disclosed is a watercraft drone that facilitates launching/retrieving an unmanned watercraft, comprising a drone part that is installed in a body part floating on the water surface and flies so that the body part can be launched on the water surface. One aspect of the present invention discloses the watercraft drone that facilitates the launching/retrieving of an unmanned watercraft embodying the body part with a built-in drone for loading the watercraft.

Description

Surface vehicle drone that facilitates the launch/recovery of unmanned surface vehicle.

The present invention relates to a watercraft drone that facilitates launching/recovery of an unmanned watercraft, and more particularly, a watercraft that facilitates the launching/recovery of an unmanned watercraft used for exploration and surveying of the sea, coastline, river and lake, etc. It's about drones.

Conventionally, when an unmanned surface craft is operated in the sea, the unmanned surface craft is mounted on the mother ship and carried around when necessary, the unmanned surface craft is launched and the operation is performed, and the unmanned surface craft is retrieved back to the mothership after the operation is completed (LARS (launch). & Recovery System) is used. The Davit method and the method using the stern ramp are most commonly used for this method, and the Mission Bay method for ships of 2,000 tons or more is also considered.

The above-described method can reduce the time for moving the unmanned watercraft to the mother ship after drying, and can also reduce the time for moving the unmanned watercraft from the mother ship to the ocean.

In the retrieval work of an unmanned water craft, it is common to have difficulties in retrieval rather than launching. In order to recover the unmanned watercraft, it is important to minimize the movement of the unmanned watercraft during the recovery process. If the unmanned water craft is free to move, various problems such as damage to the unmanned water craft and injury to the recovery personnel will occur due to the shaking of the unmanned water craft during the recovery process. There are many problems that occur.

One aspect of the present invention discloses a water craft drone that facilitates launching/retrieving of an unmanned water craft that implements a body part with a built-in drone for loading the water craft.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

A watercraft drone for facilitating launching/retrieval of an unmanned watercraft according to an embodiment of the present invention includes a drone unit installed in a body part floating on the water surface and flying so that the body part can be launched on the water surface. .

On the other hand, the drone unit, including a propeller of a certain shape, by the operation of the propeller, a plurality of wing units for generating an airflow in a downward direction; The drone body is installed on the upper portion of the body, the plurality of wings are rotatably installed at equal intervals; and a support for installing the plurality of wings on the drone body.

In addition, the support, a vertical support that is disposed perpendicular to the moving direction of the body part, and has one end installed on the drone body through the upper part of the body part; and a horizontal support provided at the other end of the vertical support in a horizontal direction with respect to the moving direction of the body, and having wing portions installed at both ends.

In addition, it may further include; a seating portion formed on the upper portion of the body portion to provide an installation space for the drone portion.

In addition, the seating portion is formed of a rectangular plate of a predetermined thickness, the lower plate providing a seating space for the drone body forming the body of the drone portion; The lower plate extends upward from each corner to form an inner space with the lower plate, and a wall forming a through groove formed in a 'U' shape from the upper side to the lower side for penetrating the support extended and formed from the drone body ; and a cover provided to open and close the inner space formed by the wall surface and the lower plate, and formed in a box shape.

In addition, the cover, the inner plate is installed along the inner edge of the cover; an installation plate having a hole formed in the central portion and installed on the inner plate to form a passage through which air can flow between the inner plates; a push block protruding through a hole formed in the central portion of the installation plate and disposed to abut against the upper surface of the drone body seated on the lower plate when the cover is closed; and an elastic part disposed radially from the push block to install the push block in the inner space of the cover formed by the mounting plate and the inner plate, and having a vibration damping means;

The elastic part attenuates the vibration of the drone body transmitted through the push block,

The installation plate may communicate the space in which the drone body is seated and the inner space of the cover by the passage to make the pressure uniform.

The body part may include: a first steering part configured to steer the body part by a steering angle at which the body part faces a target point greater than or equal to a predetermined minimum steering angle; a second steering unit configured to steer the body portion with the steering angle less than the minimum steering angle of the first steering unit; and a steering control unit that determines whether steering of the body part is necessary, and selectively operates at least one of the first steering part and the second steering part so that the body part faces the target point.

In addition, the steering control unit may be configured to operate the first steering unit when the steering target angle is equal to or greater than the minimum steering angle, and operate the second steering unit if the steering target angle is less than the minimum steering angle. It may be compared whether the target steering angle to be achieved is greater than the minimum steering angle of the first steering unit.

In addition, the body part further includes; a water jet part for sucking water from the bottom of the ship and then discharging it to the stern,

The first steering unit may include an actuator configured to change an angle of the zeta vator through which water is discharged from the water jet unit to the stern.

The body unit may further include a navigation device unit configured to calculate a current posture and position information of the body unit, calculate a steering target angle, and transmit the steering target angle to the steering control unit.

According to the present invention described above, since the drone unit is built into the body unit, it is possible to safely launch and retrieve the body unit to the surface even in a geographically difficult place by controlling the drone unit.

1 and 2 are views showing a watercraft drone according to an embodiment of the present invention.
3 is a diagram schematically showing the configuration of a system for remote control of a watercraft drone according to an embodiment of the present invention.
4 to 8 are processing diagrams for explaining a method for remote control of an unmanned water craft according to an embodiment of the present invention.
9 is a view showing a steering control system according to an embodiment of the present invention.
10 and 11 are views showing an example of a water jet unit.
12 is a graph illustrating an uncontrollable area of the water jet unit in the steering control system according to the present invention.
13 is a perspective view illustrating a state in which the interceptor unit is installed on the stern in the steering control system according to the present invention.
14 is a schematic diagram illustrating a state in which an attitude is controlled by an interceptor in a steering control system according to the present invention.
15 is a graph illustrating a state in which an unmanned ship converges to a steering command by the steering control system according to the present invention.
16 is a flowchart of a steering control method according to an embodiment of the present invention.
17 is a flowchart of a steering control method according to another embodiment of the present invention.
18 is a view showing a seating part according to an embodiment of the present invention.
19 is a view showing an inner surface of the cover shown in FIG. 18 .
20 is a view showing a fixing module installed on the lower plate shown in FIG. 18 .

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with 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 common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and/or "comprising" refers to the stated elements, steps, and acts do not exclude the presence or addition of one or more other elements, steps and acts.

1 and 2 are diagrams showing a water craft drone that facilitates launching/retrieving an unmanned water craft according to an embodiment of the present invention.

Referring to FIG. 1 , a water craft drone 1000 that facilitates launching/retrieving an unmanned water craft according to an embodiment of the present invention may include a body unit 10 and a drone unit 30 .

The body part 10 is floating on the water surface, and may be provided to have a ship shape.

The body portion 10 may accommodate a plurality of buoyancy materials that are sealed inside and outside in order to float on the water surface.

The body portion 10 may be made of a composite material so that it can be manufactured to be ultra-light and high-strength while having buoyancy. For example, a special fiber such as carbon may be applied to the composite material.

The body portion 10 may be provided in an upper and lower narrow structure in order to secure a space for the installation of the drone unit 20 on the upper portion.

The drone unit 30 may be installed on the upper portion of the body unit 10 , and may be launched on the water surface by floating the body unit 10 .

Referring to FIG. 2 , the drone unit 30 may include a drone body 31 , supports 32 and 33 , and a wing unit 20 .

The drone body 31 constitutes the body of the drone unit 30 , and a plurality of wing units 20 may be rotatably fixed at equal intervals.

In this embodiment, the drone body 31 may be built-in installed on the upper portion of the body portion 10 .

The supports 32 and 33 are provided to correspond to the number of the plurality of wing parts 20 , so that the plurality of wing parts 20 can be installed on the drone body 31 . In the following description, as shown in FIG. 2 , four wings 20 are provided as an example.

The supports 32 and 33 are disposed perpendicular to the moving direction of the body 10, and pass through the upper portion of the body 10 to be installed in the drone body 31 in the vertical direction 32 and the vertical support ( 32) and may be divided into a horizontal direction support 33 disposed in a horizontal direction with the moving direction of the body portion 10.

In this embodiment, one end of each of the two vertical supports 32 may be installed on both sides of the drone body 31 at a predetermined distance apart. The other ends of the two vertical supports 32 may be installed to be spaced apart from the center portion of the support 32 at the same distance. Wings 20 may be installed at both ends of the horizontal support 32 .

The wing unit 20 may include a propeller of a certain shape, and an airflow is generated in a downward direction by the operation of the propeller, thereby generating a lift force that allows the drone body 31 to fly.

The wing unit 20 may include a drone motor unit that transmits a driving force to the propeller, and the drone motor unit performs hovering, thrust, roll motion, pitch motion, etc. according to the posture control and position control of the drone control unit, and aerial to a specific position. It is lifted and serves to position the drone body 31 in place. In addition, the drone unit 30 is a prior art flying robot, and the description of detailed components such as a drone rotor and a drone rotor motor required for flight is omitted.

As described above, in the watercraft drone 1000 according to an embodiment of the present invention, since the drone unit 30 is built into the body unit 10, the body unit is controlled even in a geographically difficult place by controlling the drone unit 30. (10) can be safely launched and retrieved to the surface.

3 is a diagram schematically showing the configuration of a system for remote control of a watercraft drone according to an embodiment of the present invention.

Referring to FIG. 3 , the body unit 10 performs communication with the central control center 100 and the central control center 100 according to a wireless communication method, and is remotely controlled by the central control center 100 to perform operation, but in a remote operation mode. Alternatively, the operation is performed in an autonomous driving mode.

Specifically, in the case of operating in the remote operation mode under the control of the central control center 100, the operation is performed according to the remote control command received from the central control center 100 through wireless communication, and the task is performed, and the result is transmitted to the central control center 100 In the case of operating in the autonomous operation mode, autonomous operation is performed to a target point according to the operation information received from the central control center 100 to perform the mission, and the result can be transmitted to the central control center 100 .

The body unit 10 may periodically transmit its own state information, its own location information, and the location information of the tracked target to the central control center 100 .

Here, the state information of the body unit 10 may include an interlocking state with the central control office 100 , engine state, latitude and longitude (location), speed, fuel amount, failure or not, revolution per minute (RPM), and the like.

The central control center 100 may remotely control the body unit 10 through a wireless communication method to control the operation of the body unit 10 in a remote operation mode or an autonomous operation mode.

When operating the body part 10 in the remote operation mode, the central control center 100 sets the mode of the body part 10 to the remote operation mode, and then includes RPM, steering angle information, etc. with the body part 10 It is possible to remotely control the body unit 10 in real time by transmitting a remote control command.

And when operating the body part 10 in the autonomous operation mode, the central control center 100 sets the mode of the body part 10 to the autonomous operation mode, and then sets the body part 10 to the coordinates of the changing point (the target location of the acupuncture point), route width (the route width to be displayed on the map), speed (the target speed value of the unmanned surface craft to reach the target point), passage information (if it reaches the ±error range of the input value, it is judged that the target acupuncture point has been reached) It is possible to transmit autonomous driving information including

As described above, the body unit 10 set to the autonomous operation mode by the central control center 100 operates to the target point to perform the mission through the navigation equipment based on the autonomous operation information to perform the mission, the target point It is possible to periodically transmit the operation information up to the central control center (100).

The central control center 100 and the body unit 10 perform communication according to a wireless communication method, and the wireless communication between the central control center 100 and the body unit 10 includes satellite communication, mobile communication, short-distance communication, etc. depending on distance and location. Wireless communication, etc. may be used, but is not limited thereto.

The aforementioned central control center 100 includes a platform information management module 110 , a platform status display module 120 , a map display module 130 , a navigation route management module 140 , a navigation display and operation control module 150 , and a platform. It may include a control module 160 , an alert management module 170 , a time synchronization module 180 , a topic storage module 190 , and the like. Each configuration of the central control center 100 is exemplary, and other configurations may be added or some configurations may be omitted. In addition, each configuration of the central control center 100 may be implemented by hardware, software, or a combination thereof.

The platform information management module 110 is responsible for communication with the body unit 10, but after process initialization, when a message is received from the body unit 10, the received message is a valid message using the header value of the received message. It is checked whether the confirmation message is a valid message, and the received message can be converted into a message (eg, a DSS message) that can be processed by the central control office 100 .

And if the message converted message is a message related to platform status display, the message converted message is transmitted to the platform status display module 120, and if the message converted message is a message related to map display, the message converted message is guided When the message transmitted to the display module 130 and the converted message is a message related to navigation and navigation control, the converted message may be transmitted to the navigation and navigation control module 150 .

The platform status display module 120 synchronizes the current time with time information (time information received from GPS) included in the message received from the time synchronization module 180 , and the message is received from the platform information management module 110 . When done, the status information of the body unit 10 included in the message (interlocking status with the unmanned watercraft, engine status, latitude and longitude, speed, fuel amount, failure or not, RPM, etc.) can be displayed.

The platform status display module 120 monitors the status information of the body 10 and, when a warning condition is detected, notifies the manager of a warning, and transmits a warning message to the warning management module 170 to manage the generated warning. can

The map display module 130 shows an electronic chart, and the body part 10 through the latitude and longitude location information for the body part 10 and the target received from the body part 10 through the platform information management module 110 . ) and the position of the target can be shown on the electronic chart.

Specifically, when a message is received from the platform information management module 110, the electronic chart is shown, the information included in the message is analyzed to confirm whether the location information on the target is included, and as a result of the confirmation, the location information on the target When is included, the location of the target is shown on the electronic chart, and when location information about the target is not included, that is, when only location information about the body part 10 is included, the body on the electronic chart is included. The position of the part 10 may be shown. Here, when the position of the target is shown on the electronic chart, the position of the body part 10 may also be shown.

The navigation route management module 140 may calculate a navigation route of the body unit 10 and an expected route according to the mission.

When the navigation route management module 140 receives a message including navigation information (position, speed, etc.), waypoint coordinates, obstacle information, etc. received from the platform information management module 110, information included in the received message Accordingly, navigation information, waypoint coordinates, obstacle information, etc. of the body part 10 can be displayed through the navigation display and navigation control module 150, and the body part 10 can be displayed using the information included in the received message. ) of the navigation route and the expected route according to the mission can be calculated.

In addition, the navigation route management module 140, when a message is received from the navigation and navigation control module 150, analyzes the received message, and when the received message is a navigation route execution request and command response message, the body unit 10 ) calculates the voyage route, and transmits a navigation command message including it to the body unit 10 through the platform information management module 110, and the received message is an interworking state and mode information message with the body unit 10 In the case of , the calculation of the navigation route is stopped according to the interlocking state and mode information with the body unit 10 , and a message including the interworking state and mode information with the body unit 10 is transmitted through the platform information management module 110 . It is transmitted to the body unit 10, and if the received message is an emergency return message, the navigation route calculation is stopped, and a message requesting the emergency return can be transmitted to the body unit 10 through the platform information management module 110. there is.

The navigation display and navigation control module 150 may display navigation information according to the navigation route and mission of the body unit 10 .

When a message is received from the navigation route management module 140, the navigation display and navigation control module 150 analyzes the received message, and if the received message is a navigation route editing result message, the navigation route list is updated, and the received If the message is a navigation route execution result message, the navigation route operation information may be updated, and if the received message is an emergency return message, navigation route operation control may be stopped.

In addition, when the navigation display and navigation control module 150 receives a navigation route execution request from the manager, it transmits a message requesting the navigation route execution to the navigation route management module 140 according to the manager's request, and the body part from the manager When a request for changing the interlocking state and mode with (10) is received, a message requesting to change the interworking state and mode according to the manager's request is transmitted to the navigation route management module 140, and the body part 10 from the manager Upon receiving a request for emergency return, a message requesting emergency return may be transmitted to the navigation route management module 140 according to the request of the manager.

The platform control module 160 receives RPM and steering angle information for remotely controlling the body unit 10 set in the remote operation mode, and receives it from the manager, and uses it through the platform status display module 120 and the platform information management module 110 . It can be transmitted to the body unit 10 .

The body unit 10 performs operation based on the RPM and rudder angle information received from the central control center 100, and periodically transmits navigation information (position, speed, etc.), waypoint coordinates, obstacle information, etc. to the central control center 100 can be transmitted, and the central control center 100 can calculate a navigation route using navigation information (position, speed, etc.) received from the body unit 10, waypoint coordinates, obstacle information, and the like.

In addition, the platform control module 160 receives autonomous operation information to be transmitted to the body unit 10 set to the autonomous operation mode (coordinates of the changing point, route width, speed, passage information, etc.) from the manager, ) and the platform information management module 110 , it can be transmitted to the body unit 10 .

Here, assuming that the autonomous operation information is a task passing through the four inflection points, the body unit 10 sets the speed from the current position to the first inflection point based on the autonomous operation information received from the central control center 100 . , and when reaching point No. 1, it moves at the speed set at point No. 2, and when reaching point No. 2, it moves at the speed set at point No. 3, and when point No. 3 is reached, It moves at the speed set to the final point of change, the fourth point. When the final needle point is set as the starting position, it is possible to return to it.

As described above, when an emergency return command is received from the central control center 100 while performing a mission by autonomously operating based on autonomous operation information as described above, the body unit 10 stops the mission and then starts the mission. can return to

The body unit 10, which performs a task by autonomously operating based on autonomous operation information, may periodically transmit its state information, its own location information and target location information to the central control center 100, and the central control center 100 ) can display the navigation route, the movement state of the body part 10, etc. on the electronic chart, and from the current position of the body part 10 to the point set as a change point through the navigation display and navigation control module 150 Various information to go to can also be displayed.

On the other hand, the warning management module 170 manages the details and history of each warning situation generated in each body unit 10 in conjunction with the platform status display module 120 .

The time synchronization module 180 transmits the current time information included in the GPS data received through the GPS module (not shown) to the platform status display module 120, and transmits the time information of the central control center 100 to the current time. information can be synchronized.

The topic storage module 190 may generate a log file that can be used for analysis by interworking with the platform status display module 120 to store all data processed by the platform status display module 120 .

4 to 8 are processing diagrams for explaining a method for remote control of an unmanned water craft according to an embodiment of the present invention.

First, the platform information management module 110 receives a message from the body unit 10 through wireless communication after process initialization (S10) as shown in FIG. 4 (S20), and uses the header value of the received message. to check whether the received message is a valid message (S30).

As a result of checking in step S30, if the message received in step S20 is a valid message (S30: Yes), the message received in step S20 can be processed by the central control office 100 (for example, For example, the message is converted to a DSS message (S40).

Thereafter, it is checked whether the message converted in step S40 is a message related to the platform status display (S50).

As a result of checking in step S50, if the message converted in step S40 is a message related to platform status display (S50: Yes), the message converted in step S40 is transferred to the platform status display module 120 transmit (S60).

On the other hand, as a result of checking in step S50, if the message converted in step S40 is not a message related to platform status display (S50: No), the message converted in step S40 is a message related to map display Confirmation is confirmed (S70).

As a result of checking in step S70, if the message converted in step S40 is a message related to map display (S70: Yes), the message converted in step S40 is transmitted to the map display module 130, (S80), if the message converted in step S40 is not a message related to map display (S70: No), it is checked whether the message converted in step S40 is a message related to navigation display and navigation control do (S90).

As a result of checking in step S90, if the message converted in step S40 is a message related to navigation and navigation control (S90: Yes), the message converted in step S40 is transferred to the navigation route management module 140 ) through the navigation and navigation control module 150 (S100), and as a result of checking in step S90, when the message converted in step S40 is not a message related to navigation and navigation control (S90) : No), proceeds to the above step S20 to receive a message transmitted from the body unit (10).

Whether the message converted in step S40 is a message related to platform status display, a message related to map display, or a message related to navigation display and navigation control may be determined through a specific field value of the header.

On the other hand, when the platform status display module 120 receives a message including time information from the time synchronization module 180 as shown in FIG. 5 after process initialization (S10) (S110: Yes), the message The current time information is synchronized with the included time information (time information received from the GPS) (S120).

After that, when the message transmitted by the platform information management module 110 is received through the above step S60 (S130), it is checked whether the received message is a valid message using the header value of the received message (S140), If the received message is a valid message (S140: Yes), status information of the body unit 10 included in the received message (interlocking state with unmanned watercraft, engine state, latitude and longitude, speed, fuel amount, failure or not) , RPM, etc.) is displayed (S150), and status information of the body unit 10 included in the received message is monitored to check whether a warning has occurred (S160).

When a warning occurs as a result of checking in step S160 (S160: Yes), a warning message is transmitted to the warning management module 170 to manage the history of warnings generated in the body unit 10 (S170). Here, the warning generation message transmitted by the platform status display module 120 to the warning management module 170 may include a warning cause, a warning generation time, and the like.

If a warning does not occur as a result of the confirmation of step S160 (S160: No), it is determined whether a message transmitted from the platform control module 160 to the body unit 10 to remotely control the body unit 10 is received. Confirm (S180).

Here, the message received from the platform control module 160 to remotely control the unmanned surface vehicle may include RPM, steering angle information, and the like.

When a message is received from the platform control module 160 as a result of checking in step S180 (S180: Yes), the message received from the platform control module 160 is transmitted through the platform information management module 110 to the body unit 10 ) to (S190).

And when a message is not received from the platform control module 160 (S180: No), the platform status display module 120 stores all the data processed by the platform status display module 120 and uses it for analysis. The processed data is transmitted to the topic storage module 190 (S200).

On the other hand, the map display module 130 receives the message transmitted by the platform information management module 110 through the step S80 as shown in FIG. 6 after the process initialization (S10) (S210), the received After checking whether the message is a valid message (S220), if the received message is a valid message (S220: Yes), an electronic chart is shown (S230), and it is checked whether the received message contains location information about the target Confirm (S240).

As a result of checking in step S240, if the received message includes location information on the target (S240: Yes), the location of the target is shown on the electronic chart shown in step S230 (S250).

When the position of the target is shown on the electronic chart in step S250 described above, the position of the body part 10 may be shown together.

As a result of the confirmation of step S240, if the received message does not include the location information on the target (S240: No), the position of the body part 10 is shown on the electronic chart shown in step S230. (S260).

On the other hand, when the navigation route management module 140 receives the message transmitted by the platform information management module 110 through the step S100 as shown in FIG. 7 after the process initialization (S10) (S310), the reception After checking whether the received message is a valid message using the header value of the received message (S320), if the received message is a valid message (S320: Yes), navigation information included in the received message, waypoint coordinates , the navigation route and navigation information according to obstacle information, etc. are displayed through the navigation display and navigation control module 150 (S330).

And it is checked whether a message is received from the navigation display and navigation control module 150 (S340).

As a result of the confirmation of step S340, when a message is received from the navigation and navigation control module 150 (S340: Yes), the received message is analyzed and it is checked whether the received message is a voyage route execution request and command response message. do (S350).

If the received message is a voyage route execution request and command response message as a result of the confirmation in step S350 (S350: Yes), the navigation route of the body unit 10 is calculated, and a navigation command message including this is managed by platform information It is transmitted to the body unit 10 through the module 110 (S360).

When calculating the navigation route of the body unit 10 in the above step S360, navigation information (position, speed, etc.) included in the message received from the body unit 10 through the platform information management module 110, a waypoint The navigation route can be calculated using coordinates and obstacle information.

If the received message is not a voyage route execution request and command response message as a result of checking in step S350 (S350: No), the received message is an interlocking state with the body unit 10 and an interlocking state requesting a mode change And it is checked whether it is a mode information message (S370).

If the received message is an interlocking state and mode information message as a result of checking in step S370 (S370: Yes), the navigation route calculation is stopped according to the interlocking state and mode information with the body unit 10, and the interlocking state and The mode information message is transmitted to the body unit 10 through the platform information management module 110 (S380). The body unit 10 that has received the interlocking state and mode information message transmitted to the body unit 10 through the above step S380 changes the operation mode to a remote operation mode or an autonomous operation mode according to the received interlocking state and mode information. can

If the received message is not an interlocking state and mode information message of the body unit 10 as a result of checking in step S370 (S370: No), the received message is an emergency return requesting emergency return of the body unit 10 It is checked whether it is a message (S390).

If the received message is an emergency return message as a result of checking in step S390 (S390: Yes), the navigation route calculation is stopped and the emergency return message is transmitted to the body unit 10 through the platform information management module 110 do (S400).

Upon receiving the emergency return message transmitted to the body unit 10 through the above-described step S400, the body unit 10 may stop the task being performed and return to a position where the task was first started.

On the other hand, when the navigation display and navigation control module 150 receives from the navigation route management module 140 as shown in FIG. 8 after process initialization (S410), the received message using the header value of the received message After confirming whether the received message is a valid message (S420), if the received message is a valid message (S420: Yes), the received message is analyzed to determine whether the received message is a navigation route editing result message (S430).

If the received message is a navigation route editing result message as a result of checking in step S430 (S430: Yes), the navigation route list is updated using the navigation route information included in the navigation route editing result message (S440), If the received message is not a navigation route editing result message (S430: No), it is checked whether the received message is a navigation route execution result message (S450).

If the received message is a navigation route execution result message as a result of checking in step S450 (S450: Yes), the navigation route operation information is updated based on the navigation route execution result message (S460), and the received message is the navigation route If it is not an execution result message (S450: No), it is checked whether the received message is an emergency return message requesting emergency return of the body unit 10 (S470).

If the received message is an emergency return message as a result of checking in step S470 (S470: Yes), the navigation route operation control is stopped (S480).

Through a series of processes as described above, the central control center 100 remotely controls the operation of the body unit 10 through wireless communication, but after setting the body unit 10 to a remote operation mode, the body unit 10 ) to transmit a remote control command including RPM and rudder angle information to remotely control the body unit 10 in real time.

In this case, the body unit 10 may perform operation based on RPM and steering angle information included in the remote control command, and may periodically transmit its location information to the central control center 100 .

On the other hand, the central control center 100 sets the body unit 10 to the autonomous operation mode, and then transmits autonomous operation information including coordinates of the changing point, route width, speed, passage information, etc. to the body unit 10 to the body unit. (10) can autonomously operate to the target point based on autonomous operation information to perform the mission.

As such, if there is an emergency return command from the manager while the central control center 100 operates the body unit 10 in the autonomous operation mode, the central control center 100 sends an emergency to the body unit 10 according to the emergency return command. A return may be requested, and the body unit 10 may return to a position where the mission first started after stopping the mission performed in response to the emergency return request.

In addition, the central control center 100 receives the state information of the body unit 10 periodically transmitted by the body unit 10, monitors the received state information of the body unit 10, and when a warning situation occurs, to the manager You can generate warnings and manage warning details and history.

9 is a view showing a steering control system according to an embodiment of the present invention.

Referring to FIG. 9 , in the steering control system for an unmanned ship that controls the steering angle of the body part 10 so that the body part 10 in operation faces a target point according to the present invention, the steering angle is set to a predetermined minimum steering angle. A first steering part for steering the body part 10 as described above, a second steering part steering the body part 10 with the steering angle less than the minimum steering angle of the first steering part, and the body part 10 ) and a steering control unit 60 for selectively operating at least one of the first steering unit and the second steering unit so that the body unit 10 faces the target point. .

Since the body part 10 requires high-speed performance, the shape of the hull is usually applied as a slide type among the displacement type and the slide type. These slide-type ships operate in a state where a significant part of their weight is supported by the lift generated at the bottom of the ship when they travel. This type of ship generates lift by the slide surface of the ship bottom, which in turn causes the hull to float, reducing the submerged area and frictional resistance. It can be operated at high speed.

10 and 11 are views showing an example of a water jet unit.

As one of the propulsion systems of the body part 10, the water jet part 1 as shown in FIGS. 10 and 11 may be applied.

The water jet unit 1 sucks water from the bottom of the ship through the inlet duct 11 and then presses the impeller 12 and discharges it to the stern at high speed to obtain propulsion. In addition, the angle at which water is discharged from the stern is a transom, that is, by adjusting the relative angle of the stator bowl 14 and the zeta vator 13 installed on the stern, the body portion 10 is steered so that do. At this time, the angle adjustment of the stator bowl 14 and the zeta vator 13 is controlled by an actuator 15 installed between the stator bowl 14 and the zeta vator 13 . For example, by applying a hydraulic cylinder that expands and contracts while both ends are connected to the stator bowl 14 and the zeta vator 13 as the actuator 15, and by expanding and contracting the hydraulic cylinder 15, the By adjusting the angle of the water discharged through the zeta vator 13, the body portion 10 is steered, and the actuator 15, that is, the hydraulic cylinder 15 is expanded and contracted and discharged to the zeta vator 13. The first steering unit may be steered by changing the angle of the water being used. A reversing plate 16 used for reverse propulsion is installed inside the zeta vator 13 .

However, since the water jet unit 1 cannot precisely control the angle of the hydraulic cylinder 15, fine steering is impossible. Since the hydraulic cylinder 15 is controlled through the transmitted control gain, fine control is impossible.

Accordingly, the angle adjustment of the zeta vator 13 by using the hydraulic cylinder 15 can be steered over a certain minimum steering angle or is less than the minimum steering angle because steering control is possible by using the minimum steering angle as a unit. It is impossible to control in the microscopic area of For example, since the minimum steering angle of the zeta vator 13 is approximately 1 degree, it is possible to control in units of 1 degree, but it is impossible to control in a fine area of less than 1 degree.

12 is a graph illustrating an uncontrollable area of the water jet unit in the steering control system according to the present invention.

As shown in FIG. 12 , even if the steering angle, that is, the heading angle, is commanded according to time so that the body part 10 can navigate toward the target point, control is not possible in a fine range (a), and the zeta vator 13 After adjusting the angle of ), after cruising for a certain distance, the process of adjusting the angle of the zeta vator 13 was repeated to face the target point.

Accordingly, in the present invention, in parallel with adjusting the angle of the zeta vator 13 of the water jet unit 1, an interceptor unit 40 including an interceptor 42 for controlling the posture of the body unit 10 is provided. By using the interceptor 42 to control the posture of the body portion 10 within a fine range that is difficult to control with the zeta vator 13, steering is performed.

That is, the steering angle is primarily controlled using the angle adjustment of the zeta vator 13 , and the steering angle is secondarily controlled using the interceptor 42 .

13 is a perspective view illustrating a state in which the interceptor unit is installed on the stern in the steering control system according to the present invention.

The interceptor part 40 is installed at the stern of the body part 10 .

The interceptor unit 40 includes a servo unit 41 that generates a driving force, and an interceptor 42 protruding from the bottom of the ship according to the operation of the servo unit 41 . When the servo unit 41 operates, the interceptor 42 protrudes from the bottom of the ship, so that the posture of the body 10 is adjusted, and the body 10 is moved in a minute range, that is, the zeta vator 13 ) so that the body portion 10 is steered in a range smaller than the steered angle by adjusting the angle.

The interceptor 42 supports a significant portion of the weight by lift when the slide-type vessel operates at high speed, so that the floating amount of the vessel is rapidly increased. This is called a glide state, and at this time, it is installed to solve the problem of having an excessively trimmed angle while the ship is operating. In other words, in order to improve resistance and seaworthiness in the glide state, an interceptor, trim tab, and transom wedge are attached to generate a negative follow-up moment to reduce the trim angle.

The interceptor 42 is a thin plate vertically attached to the stern of the ship, and it reduces the trim angle by blocking the flow of the horn at the bottom of the ship and increasing the pressure of the stern part to generate a negative yaw moment. .

14 is a schematic diagram illustrating a state in which an attitude is controlled by an interceptor in a steering control system according to the present invention.

As shown in FIG. 14 , due to the steering force generated by the interceptor 42, it helps to improve the coordinated turn capability of the ship to increase the yaw motion of the ship, in the present invention Using this principle, it is used to adjust the fine steering angle. Accordingly, the interceptor unit 40 including the interceptor 42 may become a second steering unit.

That is, in the present invention, the range of the steering angle that can be steered by the water jet unit 1 and the range of the steering angle that can be steered by the interceptor unit 40 are separated, and in the range where the steering angle is large, the water jet unit 1 ) to steer, and the interceptor unit 40 is used to steer in a fine steering angle range.

In this way, by dualizing the steering of the body 10 according to the range of the steering steel, the steering angle is primarily controlled by the water jet unit 1 and controlled by the water jet unit 1 . By controlling the interceptor part 40 secondarily for a steering angle of a fine range that cannot be achieved, the body part 10 is rapidly converged toward a target point.

The navigation device unit 50 calculates the current posture and position information of the body unit 10 , and transmits it to the steering control unit 60 . In particular, the navigation device unit 50 calculates the current posture and position information of the body unit 10, so that the body unit 10 is steered toward a target point from the current posture and position information. The angle is calculated and transmitted to the steering control unit 60 .

The steering control unit 60 determines whether steering is necessary so that the body 10 faces the target point. For example, by comparing the current posture and position information of the body part 10 with a course set to face the target point, it is determined whether steering is required to direct the body part 10 toward the target point. According to the determination result, according to the posture and position information of the body part 10, the water jet part 1 or the water jet part 1 or the At least one of the interceptor units 40 is operated for steering. Although the navigation device unit 50 may calculate the steering target angle and transmit it to the steering control unit 60 , the steering control unit 40 receives the current posture and A steering target angle for reaching a target point may be calculated by receiving the location information.

The steering control unit 60 is configured to change the angle of the zeta vator 13 when the calculated steering target angle is equal to or greater than the minimum steering angle of the zeta vator 13 in the water jet unit 1 to change the hydraulic cylinder 15. and controls the servo unit 41 so that the interceptor 42 protrudes when the calculated steering target angle is less than the minimum steering angle.

On the other hand, the steering control unit 60 may alternatively control any one of the angle adjustment of the zeta vator 13 and the protrusion of the interceptor 42 as described above, but the zeta vator It is also possible to sequentially control the angle adjustment of (13) and the protrusion of the interceptor (42). Since the angle adjustment of the zeta vator 13 is controlled in multiples of the minimum steering angle, even if the calculated steering angle is greater than the minimum steering angle, it is ultimately necessary to finely and additionally steer.

Accordingly, by sequentially controlling the angle adjustment of the zeta vator 13 and the protrusion of the interceptor 42 according to the calculated steering target angle, the body portion 10 may rapidly converge on the course.

15 is a graph illustrating a state in which an unmanned ship converges to a steering command by the steering control system according to the present invention.

By controlling the angle of the zeta vator 13 and the protrusion of the interceptor 42 according to the range of the steering angle, as shown in FIG. 15 , it can be seen that the zeta vator is more converged on the course. In FIG. 15, when the course command is 180 degrees, the actual steering angle is shown depending on whether the interceptor 42 is applied. It is shown whether the course converges when the angle adjustment of the zetabator 13 and the complex control of the protrusion of the interceptor 42 (refer to 'interceptor application' in FIG. 15) are convergence. ), it can be seen that the body portion 10 is more converged to the course when the angle adjustment of the interceptor 42 is controlled and the protrusion of the interceptor 42 is combined.

16 is a diagram illustrating a steering control method according to an embodiment of the present invention.

The steering control method of the present invention is performed using the steering control system of the unmanned ship described above.

In the control command step (S110), the angle between the moving direction of the body part 10 and the target point according to the current posture and position information of the body part 10 in the navigation device part 50 of the body part 10 . The steering target angle, which is the difference, is calculated and transmitted to the steering control unit 60 .

In the control start step ( S120 ), control of the first steering part and the second steering part is started so that the body part 10 is steered at the steering target angle.

In the steering angle comparison step S140 , the steering control unit 60 compares whether the steering target angle is greater than a reference angle, that is, the minimum steering angle of the first steering part.

Thereafter, in the steering control step S150, the steering control unit 60 selectively selects any one of the first steering unit and the second steering unit according to the sizes of the steering target angle and the minimum steering angle. make it work

If the steering target angle is equal to or greater than the minimum steering angle in the steering angle comparison step (S140), a normal control step of operating the first steering unit to change the angle of the zeta vator 13 from which water sucked from the ship bottom is discharged ( S152) is performed.

On the other hand, when the steering target angle is less than the minimum steering angle, a fine control step (S153) of operating the second steering part to protrude the interceptor 42 installed at the bottom of the body part 10 is performed. That is, by selectively protruding from the bottom of the body part 10, any one of the interceptors 42 respectively installed on the left and right sides of the fore and aft line on the stern of the body part 10, the body By controlling the posture of the part 10, the body part 10 is steered at a steering angle smaller than the minimum steering angle.

On the other hand, after the steering control step (S150) is performed, it further includes a navigation determination step (S160) of determining whether the body portion 10 is in operation, and in the operation determination step (S160), the body portion 10 ) is determined to be in operation, it is returned to the control command step (S110).

Meanwhile, FIG. 17 illustrates a steering control method according to another exemplary embodiment of the present invention.

In this embodiment, the control command step (S210) and the control start step (S220) are the same as in the previous embodiment, and thereafter, the multi-step control determination step (S230) is performed.

That is, in the previous embodiment, the normal control step (S152) and the fine control step (S153) were performed alternatively, but in this embodiment, the normal control step (S252) and the fine control step (S253) As at least one of the following, whether the normal control step (S252) and the fine control step (S253) are sequentially performed, or either one of the normal control step (S252) and the fine control step (S253) is selected A multi-step control determination step (S230) is performed in order to determine whether or not to perform the same.

That is, the multi-step control determining step ( S230 ) determines whether the steering target angle can be achieved by any one operation selected from the adjustment of the angle of the zeta vator 13 and the protrusion of the interceptor 42 . to judge

If, as a result of the multi-stage control determination step (S230), both the angle adjustment of the zeta vator 13 and the protrusion of the interceptor 42 must proceed in order for the steering of the body 10 to reach the steering target angle. If it is determined that the zeta vator 13 is adjusted, a multi-step control step S251 of protruding the interceptor 42 is performed.

In the multi-stage control step ( S251 ), the control of the zeta vator 13 and the protrusion of the interceptor 42 of the previous embodiment are not alternately performed, but sequentially performed.

As a result of the multi-stage control determination step (S230), if it is determined that it can be achieved by any one selected from the angle adjustment of the zeta vator 13 and the protrusion of the interceptor 42, the steering control unit 60 controls the A steering angle comparison step S240 of comparing whether the target steering angle is greater than the minimum steering angle of the first steering unit is performed.

As a result of the steering angle comparison step (S240), if the steering target angle is equal to or greater than the minimum steering angle, a normal control step of operating the first steering unit to change the angle of the zeta vator 13 from which water sucked from the ship bottom is discharged ( S252) is performed.

On the other hand, as a result of the steering angle comparison step (S240), if the steering target angle is less than the minimum steering angle, one of the interceptors 42 respectively installed on the left and right sides of the fore and aft line at the stern of the body 10 is optional A fine control step (S253) of protruding from the ship bottom of the body portion 10 is performed.

After the steering control step (S250) is performed, the method further includes a navigation determination step (S260) of determining whether the body unit 10 is in operation, and in the operation determination step (S260), the body portion 10 is If it is determined that the operation is in progress, it returns to the control command step (S210).

.

18 is a view showing a seating part according to an embodiment of the present invention.

Referring to FIG. 18 , the watercraft drone according to another embodiment of the present invention may further include a seating part 500 in addition to the configuration of the body part 10 and the drone part 30 shown in FIG. 1 .

The seating part 500 constitutes the upper part of the body part 10 and provides a seating space for the drone part 30 .

The seating part 500 may include a lower plate 520 , a wall surface 510 , and a cover 530 .

* The lower plate 520 may be formed of a rectangular plate having a predetermined thickness.

The lower plate 520 provides a seating space for the drone body 31, and a fixing jig (not shown) of a shape corresponding to the bottom surface of the drone body 31 to fix the drone body 31 seated on the upper surface. can be formed.

The wall surface 510 may be formed to extend upwardly from each corner of the lower plate 520 to form an internal space.

The wall 510 is preferably formed to be higher than the height of the drone body 310 .

The wall 510 may form a through groove 515 for penetrating the vertical support 32 extending from the drone body 31 .

The through-groove 515 may be formed in a 'U' shape from the upper side to the lower side of the wall surface 510, and may be formed as a pair spaced apart by a distance of a pair of vertical support supports 32 .

When the drone body 31 is inserted from the upper side of the wall 510 and fixed to the lower plate 520 , the vertical support 32 will protrude to the outside through the through groove 515 .

The cover 530 is provided to open and close the inner space formed by the wall surface 510 and the lower plate 520 .

To this end, the cover 530 may be installed on the wall 510 through the hinge means 540 .

Although not shown in FIG. 18 , fixing means for fixing a state in which the inner space is closed by the cover 530 may be provided on one side of the cover 530 and the wall surface 510 .

Such a seating part 500 is provided so that the drone part 30 can be installed on the body part 10 if necessary.

19 is a view showing an inner surface of the cover shown in FIG. 18 .

Referring to FIG. 19 , the cover 530 may be formed in a box shape, and may include an inner plate 531 , an installation plate 532 , a push block 533 , and an elastic part 535 .

The inner plate 531 may be installed along the inner edge of the cover 530 .

A hole may be formed in the center of the installation plate 532 , and may be installed on the inner plate 531 to form a passage 532a through which air may flow between the inner plates 531 .

The push block 533 may be formed to protrude through a hole formed in the central portion of the installation plate 532 . When the cover 530 is closed, the push block 533 may be disposed to contact the upper surface of the drone body 31 seated on the seating part 500 .

The elastic part 535 may be formed radially from the push block 533 , and the push block 533 may be installed in the inner space of the cover 530 formed by the installation plate 532 and the inner plate 531 . there is.

The elastic part 535 may form a vibration damping means 534 at least in part. For example, the vibration damping means 534 may be provided as a vibration plate.

When the cover 530 is closed while the drone body 31 is seated on the lower plate 520 , the push block 533 will come into contact with the upper surface of the drone body 531 , at this time, the drone body 531 . ) will be attenuated by being transmitted to the elastic unit 535 through the push block 533 .

At this time, the passage 532a communicates the space in which the drone body 31 is seated and the inner space of the cover 530 to equalize the pressure, thereby preventing the reduction in the driving range of the vibration damping means 534 .

20 is a view showing a fixing module installed on the lower plate shown in FIG. 18 .

Referring to FIG. 20 , the fixing module 600 is formed extending from the upper surface of the lower plate 520 , and the upper part is positioned to the lower curved part of the through groove 515 in a state in contact with the wall surface 510 . there is.

The fixing module 600 may stably support the vertical support 32 seated through the through hole 515 .

The fixing module 600 may include a first fixing part 610 , a second fixing part 620 , and a third fixing part 630 .

The first fixing part 610 and the second fixing part 620 may be formed in a left-right symmetrical form, and a third fixing part 630 is disposed between the first fixing part 610 and the second fixing part 620 . can be formed.

Since the first fixing part 610 and the second fixing part 620 have the same shape, the first fixing part 610 will be described as an example.

The first fixing part 610 may include a first fixing body 611 , a first fixing block 614 , and a first spring 615 .

The first fixing body 611 may have an internal space partitioned in the vertical direction, the first spring 615 and the first fixing block 614 are accommodated in the upper space, and the first air chamber 613 is accommodated in the lower space. ) can be formed.

Here, the first fixing block 614 may be formed to protrude from the first fixing body 611 , and may be installed to have an elastic force upward by the first spring 615 .

The first fixing block 614 may be formed to have an inclined surface toward the third fixing unit 630 to support the outer peripheral surface of the curved vertical support 32 .

The first air chamber 613 may include an outlet valve 613a and an inlet valve 613b. The exhaust valve 613a is a one-way valve allowing only air exhaust from the first air chamber 613 to the outside, and the inlet valve 613b is a one-way valve allowing only air inflow into the first air chamber 613 from the outside. .

Meanwhile, the third fixing part 630 may include a third fixing body 631 , a third fixing block 634 , a third spring 635 , and a piston 636 .

The third fixing body 631 may have an internal space partitioned in the vertical direction, the third spring 635 and the third fixing block 634 are accommodated in the upper space, and the elevating space 633 is in the lower space. can form.

Here, the third fixing block 634 may be formed to protrude from the third fixing body 631 , and may be installed to have an elastic force upward by the third spring 635 .

The third fixing block 634 may be formed in a dome shape, and may support the outer peripheral surface of the vertical support 32 between the first fixing block 614 and the second fixing block 624 .

The piston 636 may be provided in the elevating space 633, and is connected to the third fixed block 634 and descends in the elevating space 633 when pressure is applied to the third fixed block 634. , when the pressure applied to the third fixing block 634 is released, as the third fixing block 634 rises by the elastic restoring force of the third spring 635, it can rise in the elevating space 633 .

For example, when the vertical support 32 is shaken from side to side, the center is maintained by the first fixing block 614 and the second fixing block 624 , and at this time, the third fixing block 634 is pressed As the third fixing block 634 is accommodated in the third fixing body 631 , the piston 636 will descend in the elevating space 633 .

On the other hand, both sides of the elevating space 633 are in contact with the first air chamber 613 and the second air chamber 623 , and are in contact with the first air chamber 613 and the second air chamber 623 . A first air inlet hole 612 and a second air inlet hole 622 may be formed, respectively. In addition, the elevating space 633 may form a third air inlet hole 632 in the wall partitioned from the upper space in which the third spring 635 is accommodated.

Here, the first air inlet hole 612 , the second air inlet hole 622 , and the third air inlet hole 623 are the elevating space 633 in a state in which no pressure is applied to the third fixing block 634 . ) can be closed by a fully raised piston 636.

When pressure is applied to the third fixing block 634 as the vertical support 32 flows, the piston 636 descends and the first air inlet hole 612, the second air inlet hole 622 and the second 3 The air inlet hole 632 may be opened. In this case, external air is introduced through the inlet valves 613b and 623b, and the third spring ( By being transferred to 635 , it is possible to delay the compression of the third spring 635 , and it is possible to prevent the vertical support 32 from flowing.

When the third spring 635 is completely restored, the air introduced while the piston 636 rises may be discharged to the outside through the discharge valves 613a and 623b.

Such a fixing module 600 may prevent the vertical support 32 from flowing while supporting the vertical support 32 in contact with the outer circumferential surface of the vertical support 32 .

Although embodiments of the present invention have been described with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can realize that the present invention can be embodied in other specific forms without changing its technical spirit or essential features. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

1000: Watercraft drone that facilitates launching/retrieving unmanned watercraft
10: body part
20: wing
30: drone unit

Claims (8)

a drone unit installed in a body part floating on the water surface and flying so that the body part can be launched on the water surface; and
Includes; a seating portion formed on the upper portion of the body portion to provide an installation space for the drone portion,
The seating part,
a lower plate formed of a rectangular plate of a predetermined thickness and providing a seating space for the drone body forming the body of the drone unit;
The lower plate extends upward from each corner to form an inner space with the lower plate, and a wall surface forming a through-groove formed in a 'U' shape from the upper side to the lower side for penetrating the support extended and formed from the drone body ; and
It includes; a cover provided to open and close the inner space formed by the wall surface and the lower plate, and formed in a box shape;
The watercraft drone that facilitates the launch/recovery of the unmanned watercraft,
Further comprising; a central control center for remote control of the body unit by performing communication according to a wireless communication method;
The central control office is
a platform information management module responsible for communication with the body unit and converting the message received from the body unit into a message that can be processed by the central control center;
a platform status display module configured to receive the converted message when the converted message is a platform status display related message;
a map display module configured to receive the converted message when the converted message is a message related to map display;
When the converted message is a message related to navigation and navigation control, the navigation display and navigation control module receives the converted message; And
When a warning condition is detected by monitoring the state information of the body part, a warning management module that notifies a warning to the manager and receives a warning message to manage the generated warning; A number that facilitates launching/retrieving of unmanned watercraft including; Assumption drone.
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