KR102376708B1 - A lightweight robot that performs underwater inspections with a streamlined outer shell and an integral internal skeleton structure - Google Patents

Abstract

An embodiment of the present invention provides a robot for performing underwater inspection including a plurality of devices and designed compactly. The lightweight robot for performing underwater inspection with a streamlined outer shell and an integral internal skeleton structure comprises: an upper frame having a streamlined shape; an inner pressure container installed inside the upper frame and providing an inner space; a main frame combined with the inner side of the upper frame and combined with the inner pressure container to fix and support the inner pressure container; a buoyant body formed between the upper frame and the main frame and generating buoyancy underwater; a lower frame formed below the upper frame to be combined with the main frame and supporting the main frame; a device frame for supporting a sensor part for performing the inspection of an underwater structure and combined with the lower frame; a plurality of vertical propellers combined with the main frame and providing underwater propulsion; and a plurality of horizontal propellers combined with the lower frame and providing underwater propulsion.

Description

A lightweight underwater inspection robot having a streamlined outer shell and an integrated endoskeleton structure and its operation method

The present invention relates to a lightweight underwater inspection robot having a streamlined shell and an integrated endoskeletal structure and an operating method thereof, and more particularly, to a technology for providing an underwater inspection robot that is compactly designed while having a plurality of devices.

Recently, as resource depletion and energy problems have been highlighted, interest in marine energy such as offshore wind power generation and tidal power generation as a next-generation energy source that can replace existing energy sources is rapidly increasing, and interest in the extraction of deep sea resources is also increasing.

For realization of marine energy and exploration and extraction of deep-sea resources, it is necessary to be able to work in a different underwater environment than on the ground. there is.

The underwater robot as described above is equipped with a robot arm and photographing equipment, and performs installation, inspection and maintenance of underwater equipment, exploration of seabed resources, and information collection for marine research.

Underwater robots need to be formed in a structure that can protect internal devices, such as robot arms and filming equipment, from the complex topography of the water and the influence of uncertain currents. there is.

And, in general, underwater robots are manufactured in the form of attaching a buoyancy material to the top according to the weight after constructing a frame all over the outside and attaching various sensors and parts to it. It is necessary to solve the problem of not having a lot of free space.

In the Republic of Korea Patent Registration No. 10-1632684 (title of the invention: an underwater robot with improved impact resistance, operational efficiency and hovering efficiency), a control controller in which parts for performing a preset operation are installed therein; an inner frame part formed by coupling the frames and having the control controller installed therein; a traveling part installed on one side of the control controller or inside the inner frame part, and moving the control controller in water; Disclosed is an underwater robot including an outer frame portion made of a spherical elastic material installed on the outside of the inner frame portion to surround the inner frame portion.

Republic of Korea Patent Registration No. 10-1632684

An object of the present invention for solving the above problems is to provide an underwater inspection robot that is compactly designed while having a plurality of devices.

And, it is an object of the present invention to provide a lightweight underwater inspection robot by reducing the size of the frame.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

The configuration of the present invention for achieving the above object is an upper frame having a streamlined shape; a pressure vessel installed inside the upper frame to provide an internal space; a main frame coupled to the inner side of the upper frame and coupled to the pressure-resistant container to support the pressure-resistant container; a buoyancy body formed between the upper frame and the main frame and generating buoyancy in water; a lower frame formed under the upper frame and coupled to the main frame, the lower frame supporting the main frame; an equipment frame that supports a sensor unit for performing an inspection on an underwater structure and is coupled to the lower frame; a plurality of vertical thrusters coupled to the main frame and providing underwater propulsion; and a plurality of horizontal thrusters coupled to the lower frame and providing underwater propulsion force; characterized in that it includes, and performs six degrees of freedom (6DOF) motion by the plurality of vertical thrusters and a plurality of horizontal thrusters.

In an embodiment of the present invention, the plurality of vertical thrusters may be disposed on the main frame to be used for rolling motion, pitching motion, and vertical linear motion among 6 degree of freedom motion.

In an embodiment of the present invention, the plurality of horizontal thrusters may be disposed on the lower frame to be used for a yaw motion, a forward/backward linear motion, and a left/right linear motion among 6-DOF motions.

In an embodiment of the present invention, the main frame is formed in the inner central portion of the upper frame and is coupled to a main frame body coupled to the upper frame and the lower frame, the main frame body and the lower portion of the pressure-resistant container. It has a frame shape surrounding the main frame body, and may include a pressure-resistant support support formed to extend from the main frame body along the left and right directions perpendicular to the longitudinal direction of the main frame body.

In an embodiment of the present invention, the pressure-resistant container support may include a thruster and a pressure-resistant container support for fixing the pressure-resistant container by pressing the pressure-resistant container.

In an embodiment of the present invention, the main frame is formed to extend from the main frame body along the longitudinal direction of the main frame body to support a front vertical thruster and a rear vertical thruster among the plurality of vertical thrusters. It may further include a support and a rear vertical thruster support.

In an embodiment of the present invention, each of the left vertical thruster and the right vertical thruster among the plurality of vertical thrusters may be installed to correspond to both ends of the pressure-resistant container support stand.

In an embodiment of the present invention, the plurality of horizontal thrusters may be arranged along the outer circumferential direction of the lower frame.

In an embodiment of the present invention, it is coupled to the outer side of the upper frame, it may further include an outer support for supporting the illuminator for irradiating light in water.

In an embodiment of the present invention, the first imaging unit is installed in the equipment frame and performs imaging in the forward direction of the main frame, and is installed in the outer support and performs imaging toward the front of the main frame It may further include a second imaging unit.

The configuration of the present invention for achieving the above object is a first step of receiving a control signal from the outside; a second step of performing 6-DOF motion by operating one or more thrusters selected from among the plurality of vertical thrusters and the plurality of horizontal thrusters; a third step of tracking an underwater structure to be inspected using the first imaging unit or the sensor unit; and a fourth step of performing a detailed examination with a second imaging unit or an examination device after determining the examination site in the examination object.

The effect of the present invention according to the above configuration is that the main frame is formed in an integrated endoskeletal structure, and each component coupled to the main frame is formed adjacently, so that the volume of the underwater inspection robot is significantly reduced.

And, by reducing the volume of the main frame, the weight of the underwater inspection robot is also significantly reduced.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a perspective view of an external appearance of an underwater inspection robot according to an embodiment of the present invention.
Figure 2 is a front view of the outer appearance of the underwater inspection robot according to an embodiment of the present invention.
Figure 3 is a side view of the outer appearance of the underwater inspection robot according to an embodiment of the present invention.
Figure 4 is a plan view of the outer appearance of the underwater inspection robot according to an embodiment of the present invention.
5 is a perspective view of the internal structure of the underwater inspection robot according to an embodiment of the present invention.
6 is a front view of the internal structure of the underwater inspection robot according to an embodiment of the present invention.
7 is a side view of the internal structure of the underwater inspection robot according to an embodiment of the present invention.
8 is a plan view of the internal structure of the underwater inspection robot according to an embodiment of the present invention.
9 is an image of a main frame according to an embodiment of the present invention.
10 is a perspective view of the main frame and the pressure vessel according to an embodiment of the present invention.
11 is a front view of the main frame and the pressure vessel according to an embodiment of the present invention.
12 is a side view of the main frame and the pressure vessel according to an embodiment of the present invention.
13 is a plan view of the main frame and the pressure vessel according to an embodiment of the present invention.
14 is an image of an underwater robot according to the prior art and a fluid resistance graph of the underwater inspection robot.
15 is a fluid resistance graph of an underwater inspection robot according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected (connected, contacted, coupled)” with another part, it is not only “directly connected” but also “indirectly connected” with another member interposed therebetween. "Including cases where In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a perspective view of the outer appearance of the underwater inspection robot 10 according to an embodiment of the present invention, Figure 2 is a front view of the external appearance of the underwater inspection robot 10 according to an embodiment of the present invention, Figure 3 is a side view of the exterior of the underwater inspection robot 10 according to an embodiment of the present invention, and FIG. 4 is a plan view of the exterior of the underwater inspection robot 10 according to an embodiment of the present invention.

In addition, Figure 5 is a perspective view of the internal structure of the underwater inspection robot 10 according to an embodiment of the present invention, Figure 6 is a front view of the internal structure of the underwater inspection robot 10 according to an embodiment of the present invention 7 is a side view of the internal structure of the underwater inspection robot 10 according to an embodiment of the present invention, and FIG. 8 is a plan view of the internal structure of the underwater inspection robot 10 according to an embodiment of the present invention. all.

Also, FIG. 9 is an image of the main frame 100 according to an embodiment of the present invention. And, FIG. 10 is a perspective view of the main frame 100 and the pressure-resistant vessel 200 according to an embodiment of the present invention, and FIG. 11 is the main frame 100 and the pressure-resistant vessel 200 according to an embodiment of the present invention. 12 is a side view of the main frame 100 and the pressure vessel 200 according to an embodiment of the present invention, and FIG. 13 is the main frame 100 and the pressure vessel 200 according to an embodiment of the present invention. 200) is a plan view.

1 to 13, the underwater inspection robot 10 of the present invention, the upper frame 410 having a streamlined shape; The pressure-resistant container 200 is installed inside the upper frame 410 to provide an internal space; The main frame 100 coupled to the inner side of the upper frame 410 and coupled to the pressure-resistant container 200 to support the pressure-resistant container 200 fixedly; Formed between the upper frame 410 and the main frame 100, the buoyancy body 440 for generating buoyancy in water; a lower frame 420 formed on the lower portion of the upper frame 410 and coupled to the main frame 100 and supporting the main frame 100; Equipment frame 430 for supporting the sensor unit 460 for performing an inspection on the underwater structure and coupled to the lower frame 420; A plurality of vertical thrusters coupled to the main frame 100 and providing underwater propulsion; and a plurality of horizontal thrusters coupled to the lower frame 420 and providing underwater propulsion. And, the underwater inspection robot 10 of the present invention can perform a six-degree-of-freedom (6DOF) movement by a plurality of vertical thrusters and a plurality of horizontal thrusters. The outer shell may be formed by the upper frame 410 and the lower frame 420 , and the lower frame 420 may also have a streamlined shape corresponding to the upper frame 410 .

The upper frame 410 may be formed of a lightweight composite material, and specifically, the upper frame 410 may be formed of a carbon material. However, the present invention is not limited thereto, and any material having durability while implementing weight reduction may be used.

A plurality of vertical thrusters may be disposed on the main frame 100 to be used for rolling motion, pitching motion, and vertical linear motion among 6 degree of freedom motion. In addition, the plurality of horizontal thrusters may be disposed in the lower frame 420 to be used for yaw motion, front/rear linear motion, and left/right linear motion among 6 degree of freedom motion.

Here, the rolling motion refers to a rotational movement based on the front-rear axis of the underwater inspection robot 10, and the pitching movement refers to a rotational movement based on the left-right axis of the underwater inspection robot 10. And, the yawing motion may refer to a rotational motion based on the vertical axis of the underwater inspection robot 10 . And, the forward and backward linear motion means a linear motion based on the forward and backward axis of the underwater inspection robot 10, and the left and right linear motion means a linear motion based on the left and right axis of the underwater inspection robot 10, and a vertical straight line The motion may refer to a linear motion based on the vertical axis of the underwater inspection robot 10 . Each direction axis for the above-described motion may be an axis passing through the center of the underwater inspection robot 10 of the present invention.

As described above, the underwater inspection robot 10 of the present invention is capable of 6 degrees of freedom movement by a plurality of vertical thrusters and a plurality of horizontal thrusters, so that the degree of freedom of movement of the underwater inspection robot 10 in the water is increased. The underwater inspection robot 10 can change direction and run even in a narrow space or a space that requires a lot of direction change, so that movement efficiency can be increased.

Each of the plurality of vertical thrusters and the plurality of horizontal thrusters may include an electrically operated motor (motor) and a propeller (propeller). Formation and arrangement of each of the plurality of vertical thrusters and the plurality of horizontal thrusters will be described in detail below.

As described above, the pressure-resistant container 200 provides an internal space, and the internal space of the pressure-resistant container 200 is not waterproof such as the following control unit, a power unit including a battery, an electric part formed of an electric circuit and wiring. Parts and devices that are not available may be installed.

9 to 13, the main frame 100 is formed in the inner central portion of the upper frame 410, the main frame body 110 coupled to the upper frame 410 and the lower frame 420, And coupled to the main frame body 110, a frame shape surrounding the lower portion of the pressure-resistant container 200, along the left and right direction perpendicular to the longitudinal direction of the main frame body 110, the main frame body 110 It may be provided with a pressure-resistant support support 120 that is formed to extend from. And, the lower portion of the pressure vessel support 120 may be combined with the lower frame (420).

The main frame body 110 is coupled to the inner surface of the upper frame 410, and the main frame body 110 is coupled to a bar-shaped pillar portion and a pillar portion having a length along the upward direction, and in the front-rear direction. It may be provided with a support portion extending along the formed. Accordingly, the main frame body 110 can stably support the upper frame 410, the pressure-resistant container support stand 120, etc. while having a simple configuration, and have the required durability.

A Doppler velocity meter 450 (DVL, Doppler Velocity Logs) may be formed under the support portion of the main frame body 110 , and accordingly, the speed of the underwater inspection robot 10 when the underwater inspection robot 10 moves can be measured

The pressure vessel 200 may be formed in two to be formed on both sides of the main frame body 110, the pressure vessel 200 may be formed in a cylindrical shape. In the embodiment of the present invention, it is described that the pressure-resistant vessel 200 is formed in two, but is not limited thereto, and more than two pressure-resistant vessels 200 may be combined with the pressure-resistant vessel support unit 120 . However, in the following description, a case in which the pressure-resistant vessel 200 is two will be described.

The pressure-resistant container support 120 may include a left pressure-resistant container support 121 formed on the left side of the main frame body 110 and a right pressure-resistant container support support 122 formed on the right side of the main frame body 110. . And, one pressure vessel 200 may be coupled to the left pressure vessel support 121, and the other pressure vessel 200 may be coupled to the right pressure vessel support 122 . In the pressure vessel 200 coupled to the right pressure vessel support stand 122, a configuration such as a circuit connected to the control unit and the sensor unit may be installed in the inner space, and the pressure vessel 200 coupled to the left pressure vessel support stand 121 ), a power unit is introduced into the inner space to distribute power, and power input and output for each thruster can be performed.

Here, each of the left pressure-resistant container support 121 and the right pressure-resistant container support 122 is a shape of a frame formed to extend in the left and right directions from the main frame body 110, and the left pressure container support 121 and the right In each of the pressure-resistant container support 122, the pressure-resistant container 200 support portion may be formed in a curved shape to have a curved surface. And, a thruster support portion connecting both ends of the portion supporting the pressure vessel 200 may be formed.

Accordingly, of the plurality of vertical thrusters, each of the left vertical thruster 313 and the right vertical thruster 314 may be installed to correspond to both ends of the pressure-resistant support holder 120 . That is, by the structure as described above, the left vertical thruster 313 is coupled to the thruster support portion of the left pressure-resistant container support 121, and the right vertical thruster 314 is coupled to the thruster support portion of the right pressure-resistant container supporter 122. can be combined.

And, the main frame 100 is formed to extend from the main frame body 110 along the longitudinal direction of the main frame body 110, a front vertical thruster 311 and a rear vertical thruster 312 among a plurality of vertical thrusters. It may further include a front vertical thruster support 131 and a rear vertical thruster support 132 to support.

One end of the front vertical thruster support 131 may be combined with the pillar portion of the main frame body 110 , and the other end of the front vertical thruster support 131 may be combined with the front vertical thruster 311 . And, one end of the rear vertical thruster support 132 may be combined with the support portion of the main frame body 110 and the other end of the rear vertical thruster support 132 may be combined with the rear vertical thruster 312 .

As described above, the front vertical thruster 311, the rear vertical thruster 312, the left vertical thruster 313 and the right vertical thruster 314 which are disposed and formed at a position surrounding the pressure-resistant container 200. In each of the thrusters, the propeller The rotation axis of the may be formed in the upward direction, and accordingly, the rolling motion, the pitching motion, and the vertical linear motion of the underwater inspection robot 10 of the present invention may be performed by a plurality of vertical thrusters.

The pressure-resistant container support 120 may be provided with a thruster and the pressure-resistant container support 123 for fixing the pressure-resistant container 200 by pressing the pressure-resistant container (200). The thruster and the pressure-resistant support base 123 may be formed in plurality, and, as shown in FIGS. 10 to 13, the thruster support portion of the left pressure-resistant container support 121 and the thruster support portion of the right pressure-resistant container support 122. can be formed. Each thruster and the pressure-resistant container support 123 can be rotated, and the thruster and the pressure-resistant container support 123, which were rotated in a direction spaced apart from the pressure-resistant container 200, rotate in a direction in contact with the pressure-resistant container 200. By pressing the pressure-resistant container 200, the pressure-resistant container 200 can be stably fixed to the pressure-resistant container support 120 by receiving a force.

The equipment frame 430 may be formed on the front side of the lower frame 420 coupled with the main frame 100 as described above. The equipment frame 430 may include a holder-shaped equipment holder 431 capable of fixing a sensor or a camera, and a holder support 432 for supporting the equipment holder 431 . Accordingly, a sensor or a camera may be formed to be integrated with the main frame 100 and the lower frame 420 .

The underwater inspection robot 10 of the present invention is formed between the upper frame 410 and the main frame 100, and while supporting the upper frame 410, a buoyancy body having a shape surrounding a portion of the pressure-resistant container 200 (440) may be further included. A predetermined buoyancy may be generated in the underwater inspection robot 10 of the present invention by the buoyancy body 440 as described above.

The plurality of horizontal thrusters may be disposed along the outer circumferential direction of the lower frame 420 . And, when the center point of each of the plurality of horizontal thrusters is connected, each horizontal thruster may be disposed to form a rectangle. Specifically, the plurality of horizontal thrusters, the front left horizontal thruster 321 and the front right horizontal thruster 322 formed on both front left and right sides of the lower frame 420, and the lower frame 420 are formed on both sides of the rear left and right sides The rear left horizontal thruster 323 and the rear right horizontal thruster 324 may be formed.

And, the front-left horizontal thruster 321 can generate a driving force toward the left and rearward, the front-right horizontal thruster 322 can generate a thrust toward between the right-hand direction and the rear, and the rear-left horizontal thruster 323 is A driving force may be generated between the left direction and the front, and the rear right horizontal thruster 324 may generate a driving force between the right direction and the forward direction. Accordingly, the yaw motion, the front-back linear motion, and the left-right linear motion of the underwater inspection robot 10 of the present invention can be performed by a plurality of horizontal thrusters.

As described above, the main frame 100 includes a pressure vessel 200, a plurality of vertical thrusters, a Doppler velocity meter 450, a lower frame 420, an equipment frame 430, a buoyancy body 440, etc. To be able to, the main frame 100 may be formed in an integrated endoskeletal structure. Accordingly, each component coupled to the main frame 100 is formed adjacently, so that the volume of the underwater inspection robot 10 can be significantly reduced, and the volume of the main frame 100 is also reduced, thereby reducing the underwater inspection robot 10 weight can also be significantly reduced.

The underwater inspection robot 10 of the present invention may further include an outer support 510 coupled to the outside of the upper frame 410 and supporting the illuminator 520 for irradiating light in water. A plurality of lighting bodies 520 may be formed on the outer support 510 . In addition, the lighting body 520 may be formed of LED lighting. Light irradiation to the front of the underwater inspection robot 10 by the illuminator 520 is possible.

The underwater inspection robot 10 of the present invention is installed in the equipment frame 430 and installed in the first imaging unit 471 that performs imaging toward the front of the main frame 100, and the outer support 510, and It may further include a second imaging unit 472 for performing imaging toward the front direction of the main frame (100). Here, the first imaging unit 471 may be a relatively low-quality camera (SD Camera), and the second imaging unit 472 may be a relatively high-quality camera (HD Camera). Accordingly, in the inspection of the underwater structure, the inspection target is tracked with the first imaging unit 471 and the sensor unit 460 that require relatively low power, and the second imaging unit that requires a relatively high power for practical precise analysis By performing at 472, it is possible to increase the usage time of the battery installed in the underwater inspection robot 10 to supply electricity to each configuration.

In the equipment frame 430 , as a sensor of the sensor unit 460 , a sonar (2D Image Sonor), a temperature sensor, a magnetic force sensor, etc. may be formed, and a control unit is formed in the underwater inspection robot 10 to form the sensor unit 460 . , it is possible to receive information collected from each imaging unit, etc., and transmit it to the outside. And, the control unit receives a signal for the control of the underwater inspection robot 10 from the outside, and each of a plurality of vertical thrusters, a plurality of horizontal thrusters, an illumination body 520, each imaging unit, a sensor unit 460, etc. By transmitting a control signal to the configuration, control of on/off, output, etc. for each configuration may be performed.

It is possible to build an underwater exploration system including the underwater inspection robot 10 of the present invention. Specifically, a central control device is formed on the outside, and the user operates the central control device through the operation device to transmit a control signal to the underwater inspection robot 10 to control the underwater inspection robot 10, thereby controlling the underwater inspection robot ( 10) can be carried out underwater exploration.

14 is an image of an underwater robot according to the prior art and a fluid resistance graph of the corresponding underwater inspection robot 10, and FIG. 15 is a fluid resistance graph of the underwater inspection robot 10 according to an embodiment of the present invention. Fig. 14 (a) is an image of an underwater robot according to the prior art, and Fig. 14 (b) is a graph of turbulence generated during movement of the underwater robot according to the prior art. And, Fig. 15 (a) is a graph in which the turbulence generated during the movement of the underwater inspection robot 10 of the present invention is analyzed for the upper and lower parts of the underwater inspection robot 10, and Fig. 15 (b) is the present invention. It is a graph in which the turbulence generated during the movement of the underwater inspection robot 10 of the present invention is analyzed for the side of the underwater inspection robot 10 . 14 and 15 , the color expressed in the graph may represent turbulence as it goes from red to blue.

As shown in FIG. 14 , the conventional underwater robot generates a wide and long turbulence at the rear when moving, so that the flow resistance is strong. However, as shown in FIG. 15 , it can be seen that the underwater inspection robot 10 of the present invention generates turbulence around, but its area is relatively small and not continuous. Accordingly, the underwater inspection robot 10 of the present invention is formed in a streamlined shape and can minimize the configuration exposed to the outside by the integrated endoskeletal structure, so it can be confirmed that the generation of turbulence is minimized and the underwater exercise ability is improved.

Hereinafter, an operation method of the underwater inspection robot 10 of the present invention will be described.

First, in the first step, a control signal may be transmitted from the outside. And, in the second step, one or more thrusters selected from among a plurality of vertical thrusters and a plurality of horizontal thrusters may be operated to perform a six-degree-of-freedom movement.

Next, in the third step, the first imaging unit 471 or the sensor unit 460 may be used to track an underwater structure to be inspected. After that, in a fourth step, after determining the inspection site in the inspection object, the second imaging unit 472 or the inspection device may perform a detailed inspection. Here, the inspection device may be a device that collects a sample using a robot arm or the like.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

10: underwater inspection robot 100: main frame
110: main frame body 120: pressure-resistant container support
121: left pressure vessel support 122: right pressure vessel support support
123: propeller and pressure-resistant support support 131: front vertical thruster support
132: rear vertical thruster support 200: pressure vessel
311: front vertical thruster 312: rear vertical thruster
313: left vertical thruster 314: right vertical thruster
321: front left horizontal thruster 322: front right horizontal thruster
323: rear left horizontal thruster 324: rear right horizontal thruster
410: upper frame 420: lower frame
430: equipment frame 431: equipment holder
432: holder support 440: buoyancy body
450: Doppler speedometer 460: sensor unit
471: first imaging unit 472: second imaging unit
510: outer support 520: lighting body

Claims (12)

an upper frame having a streamlined shape;
a pressure vessel installed inside the upper frame to provide an internal space;
A main frame body formed in the inner central portion of the upper frame and coupled to the inner side of the upper frame, and a frame shape that is coupled to the main frame body and surrounds the lower portion of the pressure-resistant container, in the longitudinal direction of the main frame body a main frame having a pressure-resistant support support formed to extend from the main frame body in a left-right direction perpendicular to the front-rear direction;
a buoyancy body formed between the upper frame and the main frame and generating buoyancy in water;
a lower frame formed under the upper frame and coupled to the main frame body, the lower frame supporting the main frame;
an equipment frame that supports a sensor unit for performing an inspection on an underwater structure and is coupled to the lower frame;
a plurality of vertical thrusters coupled to the main frame and providing underwater propulsion; and
A plurality of horizontal thrusters coupled to the lower frame and providing underwater propulsion force; including,
6 degrees of freedom (6DOF) motion is performed by the plurality of vertical thrusters and a plurality of horizontal thrusters,
The main frame body is coupled to the inner surface of the upper frame and provided with a bar-shaped pillar portion extending in length in the vertical direction, and a support portion coupled to the pillar portion and extending in the front-rear direction,
The pressure-resistant container support is formed to extend in the left direction of the main frame body and is formed to extend in the left direction of the main frame body and is formed to extend in the right direction of the left pressure-resistant container coupled to one pressure-resistant container and the right pressure-resistant container coupled to the other pressure-resistant container. Equipped with a container support,
A thruster and a pressure-resistant container support for fixing the pressure-resistant container by pressing the pressure-resistant container are formed in each of the left pressure-resistant container support and the right pressure-resistant container support, and the pressure-resistant container is pressurized by the rotation of the thruster and the pressure-resistant container support. Lightweight underwater inspection robot having a streamlined outer shell and integrated endoskeletal structure, characterized in that it is fixed.
The method according to claim 1,
The plurality of vertical thrusters are a lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, characterized in that it is disposed on the main frame to be used for rolling motion, pitching motion, and vertical linear motion among 6-DOF motions.
The method according to claim 1,
The plurality of horizontal thrusters is a lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, characterized in that it is disposed on the lower frame to be used for yaw movement, front and rear linear movement, and left and right linear movement among six degrees of freedom movement.
delete delete The method according to claim 1,
The main frame is formed to extend from the main frame body along the longitudinal direction of the main frame body to support a front vertical thruster and a rear vertical thruster among the plurality of vertical thrusters. Lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, characterized in that it comprises.
The method according to claim 1,
Of the plurality of vertical thrusters, each of the left vertical thruster and the right vertical thruster is a lightweight underwater inspection robot having a streamlined outer shell and integral endoskeletal structure, characterized in that it is installed to correspond to both ends of the pressure-resistant support support.
The method according to claim 1,
The plurality of horizontal thrusters are lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, characterized in that disposed along the outer circumferential direction of the lower frame.
The method according to claim 1,
A lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure coupled to the outside of the upper frame and further comprising an outer support for supporting an illuminator that irradiates light in water.
10. The method of claim 9,
A first imaging unit installed in the equipment frame and performing imaging toward the front of the main frame, and
Lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, which is installed on the outer support and further comprises a second imaging unit configured to perform imaging toward the front of the main frame.
An underwater exploration system comprising a lightweight underwater inspection robot having a streamlined shell and an integrated endoskeletal structure according to any one of claims 1 to 3 and 6 to 10.
In the operating method of the lightweight underwater inspection robot having the streamlined shell of claim 1 and the integrated endoskeletal structure,
A first step of receiving a control signal from the outside;
a second step of performing a six-degree-of-freedom movement by operating one or more thrusters selected from among the plurality of vertical thrusters and the plurality of horizontal thrusters;
a third step of tracking an underwater structure to be inspected using the first imaging unit or the sensor unit; and
A method of operating a lightweight underwater inspection robot having a streamlined shell and integrated endoskeletal structure, comprising a; a fourth step of performing a detailed inspection with a second imaging unit or an inspection device after determining the inspection site in the inspection object.

Images