KR102418799B1 - Underwater Vehicle Recovery Device and Launch Device - Google Patents

Abstract

The present invention relates to a recovery device and a launching device of an underwater vehicle and, more specifically, to a recovery device and a launching device of an underwater vehicle capable of recovering and launching an underwater vehicle smoothly even in autonomous navigation control environments with relatively low positional accuracy in the ocean and providing a reliable and repetitive operation. The recovery device of a underwater vehicle according to an embodiment of the present invention comprises: a winch system which is installed on a floating vehicle to stretch and wind a winch rope; a towing ring opening/locking device which inserts the winch rope into a towing ring installed on one side of an upper portion of the underwater vehicle to control opening and locking; and a controller which controls the stretch of the winch rope by operating the winch system to recover the underwater vehicle and controls the opening/locking operation of the towing ring opening/locking device by confirming a location of the underwater vehicle. The winch rope is stretched in a triangular shape based on the floating vehicle, and the controller confirms the location of the underwater vehicle through communication with the underwater vehicle and inserts and locks the winch rope into the towing ring opening/locking device.

Description

Underwater Vehicle Recovery Device and Launch Device

The present invention relates to a device for recovering an underwater vehicle and a launching device, and more particularly, to an underwater vehicle that enables smooth recovery and launch of an underwater vehicle even in an autonomous navigation control environment with relatively low positional accuracy at sea, and enables reliable and repeatable operation It relates to a recovery device and a launching device.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

The underwater movement body refers to an object operated in order to obtain necessary information in water or to operate toward a specific target by controlling the movement direction in the water. The underwater vehicle is controlled remotely or operated in an autonomous driving manner.

Among these underwater vehicles, when a certain period of time elapses, the purpose is completed and there are some that must be retrieved. As a method for recovering an underwater vehicle, there is a method in which a person directly lifts the underwater vehicle using equipment such as a lifting ring after guiding it to the surface. However, this method limits the size and weight of the underwater vehicle that a person can lift, and there is a risk that the operator or the underwater vehicle may be injured or damaged in the process of lifting the underwater vehicle.

In addition, as a method for recovering an underwater vehicle, there is an underwater vehicle recovery device disclosed in Patent No. 10-1178406. This underwater body recovery device is disposed in the water and as an underwater motion body recovery device to which the underwater motion body is docked, the front and back surfaces are open and the receiving part is formed in which the receiving space is formed in which the underwater motion body inserted into the front is docked; a pump part connected to the rear surface of the accommodating part to suck water into the accommodating space; And it is provided between the accommodating part and the pump part, and is configured to include a seating member on which the tip of the underwater moving body entering the accommodating space is seated.

This underwater body recovery device has the inconvenience of having to be accurately seated in the docking space configured in the recovery pocket for the underwater motion body to recover the underwater body.

Korean Patent Publication No. 10-1178406 (Title of the invention: underwater body recovery device)

Accordingly, an object of the present invention is to provide a recovery device and a launching device for an underwater vehicle capable of recovering and launching an underwater vehicle.

Another object of the present invention is to provide a recovery device and a launching device for an underwater vehicle capable of recovering or launching an underwater vehicle in the running state of the water craft.

Another object of the present invention is to provide an apparatus for recovering an underwater vehicle that enables the recovery of an underwater vehicle even with a relatively low positional accuracy compared to the prior art.

Another object of the present invention is to provide a recovery device and a launching device for an underwater body that can be repeatedly operated in recovering and launching an underwater body.

In order to solve the above technical problems, the recovery device of the underwater movement body according to an embodiment of the present invention is installed in a water boat and a winch system for performing the deployment and winding of a winch rope; Insert the winch rope into the tow hook installed on the upper side of the underwater body and open and lock the towing hook opening/locking device that controls the opening and locking; and a controller for controlling the deployment of the winch rope by driving the winch system to recover the underwater body, and controlling the opening/locking operation of the traction ring opening/locking device by checking the position of the underwater body, the winch rope can be It is developed in a triangular shape around the assumption, and the controller confirms the position of the underwater vehicle through communication with the underwater vehicle, and inserts and locks the winch rope in the traction ring opening/locking device.

Preferably, the winch system includes: a first winch drum connected to one end of the winch rope to wind the winch rope by a power source; a second winch drum connected to the other end of the winch rope to wind the winch rope by a power source; a buoy for right-side rope deployment that has positive buoyancy and helps the winch rope unwound from the first winch drum to be deployed to the right around the water boat; It has a positive buoyancy and includes a buoy for deploying the left rope that helps the winch rope unwound from the second winch drum to be deployed to the left centering on the water boat, and the tension of the winch rope and the drag acting on the buoy for deploying the left and right ropes When the same, the winch rope connected to the buoy for the left rope deployment and the buoy for the right rope deployment around the water boat is deployed in a triangular shape, and when the winch rope is fastened to the tow hook mounted on the upper part of the underwater body, the first, 2 It is characterized in that by controlling the winding operation of the drum to recover the underwater body.

Preferably, the winch ropes unwound from the first and second winch drums are guided by a rope guide roller and deployed to the water surface, and the rope guide rollers are installed two on the left and right.

Preferably, the right-side rope deployment buoy includes: a body having a positive buoyancy; a connecting ring connecting the winch rope formed at the tip of the body; A pin having negative buoyancy is mounted below the body, and the pin is characterized in that it is mounted so that the right-side rope deployment buoy flows in the right direction.

Preferably, the left-hand rope deployment buoy includes: a body having a positive buoyancy; a connecting ring connecting the winch rope formed at the tip of the body; A pin having negative buoyancy is mounted to the lower side of the body, and the pin is characterized in that it is mounted so that the left-hand rope deployment buoy flows in the left direction.

Preferably, the weight of the pin is characterized in that it is mounted on the inside of the buoy.

Preferably, the weight of the pin is characterized in that it is mounted on the outside of the buoy.

Preferably, the buoy for deploying the left rope and the buoy for deploying the right rope include: a communication module capable of underwater communication; A switch for controlling on/off of the communication module is mounted, and the communication module operated by the switch is characterized in that it transmits the position and distance of the buoy to the controller.

Preferably, the switch is characterized by using a water sensing switch.

Preferably, the communication module is characterized in that it uses a USBL communication module.

Preferably, the towing ring opening/locking device comprises a towing ring control device for controlling the lever under the control of the controller in order to control the towing ring for opening the latch from the hook using the lever.

Preferably, the towing hook mounted on the upper side of the underwater body is characterized in that it further comprises a rope guide, a rope guide wheel, and a rail for the guide of the towing rope in the hook.

Preferably, the tow hook control device is characterized in that it comprises a communication module for USBL communication with the controller.

Preferably, the water craft includes a cradle for mounting the recovered underwater body, and the cradle has an inclination so that a part of the rear can touch the water surface, and during the winding operation of the first and second drums, the underwater body is pulled up on the cradle. The winch rope is characterized in that it is guided by a rope guide roller.

Preferably, when the winch rope is deployed, the buoy for deploying the right rope and the buoy for deploying the left rope are moved rearward based on the inclination of the cradle and the drag according to the running of the water boat, characterized in that it is seated on the water surface.

Preferably, the controller and the underwater vehicle are characterized in that they exchange information for the recovery of the underwater vehicle through the respectively mounted GPS and RF modem.

Preferably, the controller and the underwater vehicle are characterized in that they exchange information for the recovery of the underwater vehicle using USBL communication mounted respectively.

In order to solve the above technical problems, the launching device of the underwater movement body according to an embodiment of the present invention, a winch system installed on the water boat and performing the deployment and winding of the winch rope; Has a slope so that one side of the rear can reach the water surface, the holder of the underwater exercise body installed on the water boat; A towing ring opening / locking device that is controlled in a locked state by inserting a winch rope into the towing ring installed on the upper one side of the underwater movement body for launching is prepared on the top of the cradle; and a controller for controlling the deployment of the winch rope by driving the winch system for launching the underwater vehicle, and controlling the opening/locking operation of the traction ring opening/locking device by checking the position of the underwater vehicle, wherein the winch rope can be It is developed in a triangular shape centered on the assumption, and the controller confirms the position of the underwater body through communication with the underwater body, and opens the traction ring opening/locking device to separate the winch rope and the underwater body.

Preferably, the winch system includes: a first winch drum connected to one end of the winch rope to wind the winch rope by a power source; a second winch drum connected to the other end of the winch rope to wind the winch rope by a power source; a buoy for deploying a right rope that has a positive buoyancy and allows the winch rope released from the first winch drum to be deployed to the right around the water boat; It has a positive buoyancy and includes a buoy for rope deployment on the left so that the winch rope released from the second winch drum is deployed to the left centering on the water boat. At the same time, the winch rope connected to the buoy for rope deployment on the left and the buoy for the right rope deployment around the water boat is deployed in a triangular shape, and the winch rope is fastened to the towing hook mounted on the upper part of the underwater body. It is characterized in that the underwater movement is launched to the surface as the rope is deployed.

Preferably, the winch ropes unwound from the first and second winch drums are guided by a rope guide roller and deployed to the water surface, and the rope guide rollers are installed two on the left and right sides of the cradle.

A device that launches and recovers an underwater vehicle by autonomous driving from a water craft is implemented in various ways, but is generally done through a very highly reliable docking system. This requires high cost.

Therefore, the apparatus for recovering an underwater vehicle according to an embodiment of the present invention enables the recovery of the underwater vehicle even with a relatively low positional accuracy compared to the prior art. In particular, the present invention has the effect of enabling the recovery of an underwater vehicle even in a situation in which relatively low cost and high-precision navigation and control are insufficient.

In addition, the recovery device and the launching device of the underwater moving body according to an embodiment of the present invention enables the recovery and launching of the underwater body that can be used repeatedly and reliably. Therefore, the present invention can obtain effects such as relatively low cost, high reliability, and repeatable use compared to the prior art in implementing the underwater vehicle recovery device and launch device.

1 shows an overall configuration diagram of an underwater body recovery device according to an embodiment of the present invention.
Figures 2a to 2d discloses the configuration of the buoy 150 for rope deployment according to an embodiment of the present invention.
Figure 3 shows a state diagram according to the recovery and launch operation of the underwater movement body (10).
Figure 4a shows a state of recovering the underwater body.
Figure 4b is a state diagram of the water boat and the underwater vehicle viewed from the side.
Figure 5a is a forward launch state diagram, Figure 5b is a forward launch side state diagram, Figure 5c shows the top and side state diagrams of the underwater vehicle when launched backwards.
6a to 6c is a configuration diagram of the traction ring 30 mounted on the underwater movement body 10 of the present invention.
7 is an operation flowchart of the launching process of an underwater vehicle according to an embodiment of the present invention.
8 is an operation flowchart of the recovery process of the underwater vehicle according to an embodiment of the present invention.
9 is a block diagram of a guide roller according to an embodiment of the present invention.
10 is a partial configuration diagram of a cradle according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "part" and "group", "module" and "part", "unit" and "part", "device" and "system", "terminal" and "node" for components used in the description below. and "digital walkie-talkie" are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves.

In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” 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, an embodiment of the present invention will be described in detail with reference to the drawings. It is apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

1 shows an overall configuration diagram of an underwater body recovery device according to an embodiment of the present invention.

The underwater movement body recovery device of the present invention consists of a winch system installed on an unmanned or manned water boat (or a carrier) and a control configuration of a traction ring mounted on an external side of the underwater movement body.

The unmanned / manned water craft (100: hereinafter referred to as 'water craft') is provided with an underwater vehicle holder 110 for seating the recovered underwater vehicle 10 . A winch system is installed in the water craft 100 for traction for recovery and launch of the underwater movement body 10 .

The winch system is a power source (not shown), two winch drums 120 and 121 driven by the power source, one end of which is connected to the first winch drum 120 and the other end is a winch connected to the second winch drum 121 It is configured to include a rope 130, two rope deployment buoys 150, and four rope guide rollers 140.

The winch drums 120 and 121 are installed one on each left and right sides around the cradle 110, and the winch rope 130 wound on the winch drums 120 and 121 is connected to the two rope deployment buoys 150 to the rear of the water boat. let it unfold Two rope guide rollers 140 are installed on both left and right sides around the cradle 110, respectively, to guide the rope deployment buoy 150 and winch rope 130 so that deployment can be made to the rear of the water well.

And for the recovery of the underwater movement, after the traction ring of the underwater movement body 10 is caught on the winch rope 130, the winch rope 130 is rewound to the drum by the driving of the winch drums 120 and 121 while the underwater movement body 10 is It is pulled up to a predetermined position of the cradle 110 . The cradle 110 of the underwater movement body 10 is fixedly installed on the water craft 100 to have a certain inclination so that the rear part can touch the water surface as shown in FIGS. 4b and 5b. Alternatively, the cradle 110 of the underwater body 10 may be adjusted to have an inclination such that the rear part touches the water surface in a horizontal state by adjusting the height by driving a motor (not shown).

In addition, the water craft 100 has a controller 160 that performs overall control for the recovery and launch of the underwater vehicle 10, and a GPS and RF modem 170 that detects the position of the underwater vehicle and transmits and receives the necessary information with the underwater vehicle. ) is included. And it may include an Ultra-Short Base Line (USBL) system 180 for tracking the position of the underwater body 10 . The USBL system includes a USBL transceiver and a USBL transponder for transmitting and receiving sound signals to and from an underwater vehicle.

The underwater vehicle 10 is equipped with a USBL communication module (not shown), and may communicate with the USBL system 180 of the water craft 100 for launching or retrieval of the underwater vehicle. In addition, the underwater vehicle 10 is equipped with a GPS and RF communication modem (not shown), and can communicate with the GPS and RF communication modem 170 of the watercraft 100 for launching or retrieval of the underwater vehicle. .

And the rope guide roller 140 used in the present invention uses a conventional configuration. 9 shows an example of a straight rope guide roller applicable to the present invention. Therefore, the winch rope 130 is configured to be released without friction in contact with the guide roller 140 while being held taut due to the force of the underwater movement.

In addition, the cradle 110 applied to the present invention may use a known configuration. 10 shows a roller-type cradle applicable to the present invention. The cradle 110 of the present invention can be configured by arranging the pedestals of the form shown at intervals of 30 cm.

Figures 2a to 2d discloses the configuration of the buoy 150 for rope deployment according to an embodiment of the present invention.

The buoy 150 for rope deployment is a body portion 154 having a buoyancy, a connecting ring 152 that is formed in the front of the body portion 154 to connect the winch rope 130, and the lower portion of the body portion 154. It consists of a pin 156 being attached.

The buoy 150 for rope deployment has buoyancy, and the winch rope 130 is connected to the connecting ring 152 of the buoy so that it can move freely. The pin 156 attached to the buoy 150 has a negative buoyancy weight and is submerged in water, and has a function of moving the floating buoy in a certain direction.

The pin 156 may have a weight (not shown) mounted therein, as shown in FIG. 2A . As shown in FIG. 2b , the pin 156 may be equipped with a weight 158 on the outside. A USBL transponder that communicates with the USBL system of the surface ship, which is turned on/off by the water pressure switch or the salinity switch (water detection switch), can be built inside the weight, and can be used to check the position and distance of the buoy on the surface. do.

Figure 2c shows a bottom view of the rope deployment buoy for the left side. Figure 2d shows a bottom view of the right-hand rope deployment buoy. That is, the buoy for the left and the buoy for the right face opposite directions, respectively, as the direction of the pin is shown. Through this configuration, the pin attached to the buoy with negative buoyancy is submerged in water, and the floating buoy moves in a certain direction (opposite direction).

Figure 3 shows a state diagram according to the recovery and launch operation of the underwater movement body (10).

The underwater body 10 is equipped with an underwater body traction ring 30 and a buoyancy rope guide 20 on one side of the outside. In a state in which the underwater body is operated in water, the traction ring 30 and the buoyancy rope guide 20 are in close contact with the underwater body 10 and are in a fixed state.

And when the underwater body 10 enters the recovery preparation stage, the traction ring 30 and the buoyancy rope guide 20 are unfolded, and the traction ring 30 is spread upward as indicated by the arrow, and the buoyancy rope guide 20 is extended downward from the front end of the underwater vehicle as indicated by the arrow. The buoyancy rope guide 20 prevents the winch rope from going under the underwater body during the recovery operation, and guides it so that it can be normally caught on the traction ring 30 .

The buoyancy rope guide 20 is in close contact with the underwater body again after the winch rope is caught on the traction ring to prevent it from being disturbed in the recovery operation process of the underwater body, and the traction ring 30 is the underwater body 10 for the water boat 100 ) is seated on the cradle 110 and when the recovery is completed, it is returned to the state in close contact with the underwater movement body 10 .

The buoyancy rope guide 20 is in close contact with the underwater movement body 10 during operation, and the configuration to unfold downward from the front end of the underwater movement body in the recovery preparation stage uses a general known technique.

The apparatus for recovering the underwater vehicle of the present invention configured as described above is made by controlling the winch system after checking the current state of the underwater vehicle 10 in the controller 160 mounted on the water craft 100 .

The status check of the underwater vehicle 10 in the controller 160 is made through communication with the communication system mounted on the underwater vehicle 10 through the USBL system 180 or the GPS/RF modem 170 .

After checking the current state of the underwater vehicle 10 in the controller 160, the winch rope 130 is deployed to perform launching operation control or recovery operation control of the underwater vehicle 10.

When the winch rope 130 is deployed, the underwater movement body connected to the rope or the rope deployment buoy 150 is moved backward by the inclination of the underwater movement body holder 110, the weight of the underwater vehicle, and the drag according to the water boat running. settled on the surface

Figure 4a shows a state of recovering the underwater body.

When the winch rope 130 is deployed by controlling the winch system under the control of the controller 160, the rope deployment buoy 150 is moved backward by the traveling speed of the water boat 100 that operates, and the rope guide roller (140), is seated on the water surface by the inclination of the underwater movement body holder (110).

With this, the left rope deployment buoy 150 has a force to be spread to the left according to the direction of the pin 156, and the right rope deployment buoy 150 has a force to spread to the right according to the direction of the pin 156. spreads left and right. And as the water boat operates, tension and drag are applied to the winch rope 130 and the buoy 150 for rope deployment, respectively, which are seated on the water surface.

That is, when the tension generated while the winch rope 130 touches the water surface and the drag force acting on the buoy 150 for rope deployment are the same, as shown in FIG. 4A, for developing the left and right ropes from the water boat The winch rope 130 is deployed in the form of a triangle connecting the buoy 150 . And Figure 4b is a state diagram of the water boat and the underwater body viewed from the side.

In this process, the operating speed of the water drop, the length of the winch rope, and the weight of the buoy for rope deployment were obtained through a number of experimental processes so that the winch rope can be deployed in an optimal triangular shape on the water surface for the recovery and launch operations. value can be optimized.

The winch rope 130 developed between the buoy 150 for the left rope deployment and the buoy 150 for the right rope deployment is a buoyancy rope that draws one wide figure on the water surface, and the buoyancy rope of the underwater body 10 approaching it The guide 20 guides the winch rope 130 upward. Since the underwater movement body 10 is to hang the traction ring 30 on the winch rope 130 while approaching in the forward or rear direction.

In the recovery process of the underwater body 10, whether the winch rope 130 is connected to the tow hook 30 is determined by the position of the two rope deployment buoys 150 through the USBL system 180 in the water boat 100, It is determined by checking the position of the underwater movement body (10). To this end, the water craft controller 160 is caught/separated from the winch rope 130 in the traction ring 30 obtained from the position of the buoy 150 for rope deployment and the position of the underwater body 10 through a number of experiments. It is possible to determine whether the winch rope is jammed in the traction ring of the underwater vehicle based on the result obtained at this time.

Therefore, when the position of the underwater movement body 10 is confirmed between the positions of the two rope deployment buoys 150, it transmits a traction ring lock command through the communication system, to the traction ring 30 of the underwater movement body 10 The winch rope 130 is hooked and locked.

Next, Figure 5a shows a state of launching an underwater vehicle.

The underwater vehicle has a state mounted on the underwater vehicle holder 110 of the water craft 100 as shown in FIG. 1 in the state before launching. When the winch rope 130 is released by the driving of the winch drums 120 and 121 in this state, the rope deployment buoy 150 and the underwater movement body 10 are the inclination of the cradle 110, and the drag according to the running of the water craft, underwater Based on the weight of the moving body, it moves backward and settles on the water surface.

And when the winch system is controlled under the control of the controller 160, and the winch rope 130 is deployed, the buoy 150 for rope deployment moves to the rear of the water boat 100 that operates. At this time, the buoy 150 for developing the left rope is spread to the left according to the direction of the pin 156 , and the buoy 150 for developing the right rope is spread to the right according to the direction of the pin 156 . After that, when the winch rope 130 tension and the drag force acting on the buoy 150 for rope deployment are the same, as shown in Figure 5a, connecting the buoy 150 for developing the left and right rope from the water boat The winch rope 130 is deployed in the form of a triangle. And Figure 5b is a winch rope connection state diagram of the water boat and the underwater movement viewed from the side.

When the traction ring 30 is opened in the underwater movement of the launching state as described above, the winch rope 130 hung on the traction ring 30 is released from the traction ring 30 and the separation of the underwater movement is made. Figure 5a is a forward launch state diagram, Figure 5b is a forward launch side state diagram, Figure 5c shows the top and side state diagrams of the underwater vehicle when launched backwards.

In this way, the separation of the winch rope and the underwater vehicle is made, and when the underwater vehicle is separated from the surface by a certain distance, the operation for the purpose of the underwater vehicle is controlled through the communication system, through the command to control the start of the underwater vehicle.

6a to 6c is a control configuration diagram of the traction ring 30 mounted on the underwater movement body 10 of the present invention.

The underwater movement body 10 of the present invention is equipped with a traction ring 30 on one side of the upper part.

The traction ring 30 is controllable in the ring-locked state and in the ring-opened state as shown in FIG. 6b as shown in FIG. 6a.

The traction ring 30 has a structure that can open the latch 32 from the hook 31 using the lever 33 . And in the present invention, it includes a traction ring opening/locking device 50 for locking and opening the traction ring 30 . And the tow hook opening / locking device 50 is to be controlled through the tow hook control device (40).

The tow hook control device 40 is configured to be driven through a motor and two gears, and the tow hook control device 40 can receive a signal to control the opening and locking operation directly from the controller 160 through underwater communication. have. To this end, the tow hook control device 40 may include a USBL communication module or GPS and RF communication module that enables underwater communication.

Alternatively, the traction ring control device 40 may control the opening and locking operation of the traction ring by receiving a signal from the underwater movement body 10 . In this case, the underwater movement body 10 may receive a necessary signal from the controller 160, and control the traction ring control device 40 based on this.

The tow hook opening/locking device 50 has a structure that can open the hook latch 32 from the hook 31 using the latch release lever 33 . The hook 31 is made of a ring shape (W) with one side open so that the winch rope 130 can be hung, and a protrusion 31a is formed at one end. The opening portion of the hook 31 is adjusted to open or lock the hook by the hook latch 32 , and for this purpose, a groove portion 32a for inserting the protrusion 31a is formed at the end of the latch 32 . That is, when the protrusion 31a of the hook 31 is inserted into the groove portion 32a of the latch 32, the traction ring is in a locked state, and the protrusion 31a of the hook 31 becomes the groove portion ( 32a), the tow hook is open.

The hook latch 32 operates by whether or not an external force acts on the latch release lever 33 , and the external force acting on the latch release lever 33 is made under the control of the tow hook control device 40 . That is, when the motor of the traction ring control device 40 is driven and the gear 42 rotates in one direction, the hook shaft 45 in the meshed state with the gear 42 moves upward, and the hook shaft 45 The latch release lever 33 connected to the latch release lever shaft 38 is interlocked together so that the hook latch 32 controls the hook 31 in a locked state.

Conversely, when the rotation of the motor is controlled in the reverse direction and the gear 42 rotates in the other direction, the hook shaft 45 moves downward and the latch release lever 33 moves in conjunction with this to open the hook 31. controlled with The movement of the hook shaft 45 is moved up and down as shown by the blue arrow, and the movement of the latch release lever 33 interlocked therewith is as shown by the red arrow. The hook latch 32 is connected to the latch release lever 33 and the hook latch shaft 37 , and the latch release lever 33 is connected to the hook shaft 45 and the latch release lever shaft 38 .

And a rope guide rail 34 is formed at the tip of the hook shaft 45 of the present invention, and is connected to the hook shaft 45 and a rope guide wheel (bearing: 35), and the rope guide 36 is a rope at one end It is connected to the guide wheel 35 and the other end is connected to the hook latch shaft 37 . The rope guide wheel 35 is interlocked with the movement of the latch release lever 33 to move within the rope guide rail 34, and the winch rope inserted into the hook 31 through this configuration moves around the rope guide 36. Guide so that it can be positioned only within the hook 31 of the ring shape (W).

And in the present invention, the support 47 for supporting the traction ring is configured, and the support 47 may be configured to absorb vibration caused by the movement of the traction ring by the elastic force of the spring. One side of the latch release lever 33 is supported on the support 47 through a latch release wheel (bearing: 39).

The launching process of the underwater moving body according to an embodiment of the present invention configured as described above is made as follows.

7 is an operation flowchart of the launching process of an underwater vehicle according to an embodiment of the present invention.

In the present invention, the control process in the water craft and the control process in the underwater body are linked and controlled at the same time.

The controller 160 completes preparations for launching the underwater vehicle (step 200). The underwater vehicle completes preparations for mission performance before launching (step 240). In this process, the communication system of the water boat and the communication system of the underwater vehicle exchanges necessary information with each other, and confirms to the controller 160 that launch preparation is complete.

The controller 160 drives the winch system to deploy the winch rope 130 (step 210). 1, when the winch rope 130 is deployed in a state in which the underwater movement body 10 is seated on the holder 110, the inclination of the holder 110 and the weight of the underwater movement body 10 The moving body 10 is pushed downward (at this time, the winch rope has a state of being hung on the traction ring of the underwater moving body).

With this, the buoy 150 for rope deployment is launched on the water surface, and the controller 160 indicates that the buoy 150 for rope deployment is launched on the water surface through communication with the USBL communication system mounted on the buoy 150 for rope deployment. Confirm (step 220). The surface landing of the buoy 150 for rope deployment can detect the surface landing of the buoy by a water detection switch.

In addition, the controller 160 confirms that the underwater movement body 10 has also begun to surface through communication with the USBL communication system mounted in the underwater vehicle 10 (step 250). The water surface impact of the underwater body 10 may detect the water surface impact of the underwater body by a water detection switch, such as a water pressure switch or salinity switch mounted therein. When the surface onset is detected in the underwater movement, it transmits a surface onset confirmation signal to the water definition controller 160 through the internal communication system.

After that, when the controller 160 starts to operate the water craft 100 at a speed determined by the experimental value, the buoy 150 for rope deployment is deployed as the winch rope 130, as shown in FIG. 5a. A winch rope and a buoy for rope deployment are deployed in a triangular shape centered on the top.

The controller 160 confirms the position of the underwater movement body and the position of the rope deployment buoy through communication, and transmits the launching command of the underwater vehicle through the communication system (step 230). In step 230, a control signal to open the hook latch of the tow hook is also included.

The signal to open the hook latch of the tow hook provided in step 230 is received through the communication system of the underwater vehicle 10, and the hook latch to the towing ring control device 40 through a controller (not shown) inside the underwater vehicle An open signal is transmitted (260).

The traction ring control device 40 transmits power to the gear 42 by driving the motor, and the power of the gear moves the hook shaft 45 in the direction of the arrow. At this time, the hook shaft 45 is moved downward, and the hook latch 32 opens the hook 31 while the latch release lever 33 is moved in conjunction therewith. In this operation, the winch rope 130 that has been inserted into the hook 31 is separated from the hook 31 .

Afterwards, the underwater movement body 10 is separated from the winch rope 130 and starts driving and performing missions to achieve the purpose (step 270).

Next, the recovery process of the underwater vehicle according to an embodiment of the present invention is made as follows.

8 is an operation flowchart of the recovery process of the underwater vehicle according to an embodiment of the present invention.

In the present invention, the control process in the water craft and the control process in the underwater body are linked and controlled at the same time.

Water craft 100 completes the preparation for the recovery of the underwater body (step 300). The underwater vehicle ends the desired mission and has a standby state for recovery (step 400). In this process, the communication system of the water boat and the communication system of the underwater vehicle exchange necessary information with each other, and confirm to the controller 160 that the recovery preparation is complete.

The controller 160 drives the winch system to deploy the winch rope 130, and confirms the position of the left and right buoys 150 for rope deployment (steps 310 and 320). As shown in Fig. 4a, for the recovery of the underwater body (step 330), the winch rope 130 is developed in a triangular shape by the connection of the buoy 150 for the right and left rope deployments around the water boat. During this process, the watercraft may operate at a constant speed.

The recovery command generated by the controller 160 is received from the underwater vehicle 10, and the underwater vehicle 10 moves to an area where recovery is possible (step 410). The controller 160 controls the position of the underwater movement body so that the underwater vehicle 10 approaches the position of the first figure of the winch rope 130 deployed in a triangular shape through a forward or backward approach (step 340).

In this process, the controller 160 determines whether the winch rope 130 has entered the traction ring 30 by checking the position of the buoy 150 for the left and right rope deployment, the position of the underwater moving body 10, and the like. And when it is determined that the winch rope 130 has entered the tow hook 30, it transmits a tow hook lock command to the underwater vehicle 10 (step 350).

On the other hand, the underwater body 10 that has received the recovery control command from the controller 160 drives the buoyancy rope guide 20 and drives the traction ring control device 40 (step 420). The buoyancy rope guide 20 is spread downward from the tip of the underwater body 10 to prevent the winch rope 130 from entering the lower side of the underwater body 10 . In the tow ring control device 40, the power generated by driving the motor is transmitted to the gear 42, and the power of the gear 42 is transmitted to the hook shaft 45 while moving the hook shaft 45 upward. The latch release lever 33 is moved together with the movement of the hook shaft 45 .

In the initial process of upward movement of the hook shaft 45, the hook 31 is maintained in an open state, and it is possible for the winch rope 130 to enter into the ring of the open hook 31. And at the end of the upward movement of the hook shaft 45, the hook latch 32 interlocked with the movement of the latch release lever 33 adjusts the hook of the hook 31 to the locked state, and is inserted into the hook 31 ring. Control the winch rope 130 in the locked state (step 430). And when the winch rope 130 is locked to the tow hook 30, the underwater movement body 10 transmits that the tow hook lock is completed to the controller 160 (step 440).

That is, the water definition controller 160 and the underwater vehicle 10 share all control operation information related to the recovery operation of the underwater vehicle shown in steps 330 to 350 and 410 to 440 through underwater communication.

When the winch rope is locked to the towing ring, the controller 160 controls the winch rope to be rewound to the winch drums 120 and 121 by driving the winch system (step 360), and the recovery of the winch rope 130 is completed and the underwater movement body ( 10), as shown in FIG. 1, when seated on the underwater movement body holder 110, completes the recovery operation of the underwater movement body (step 370).

The above detailed description should not be construed as restrictive in all respects and should be considered as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

10: aquatic body, 100: water boat, 110: aquatic body cradle, 120: winch drum, 130: winch rope, 140: rope guide roller, 150: rope deployment buoy, 160: controller, 170: GPS and RF modem, 180: USBL system

Claims (20)

a winch system installed on the water boat and performing the unfolding and winding of the winch rope;
Inserting a winch rope into the towing hook installed on the upper side of the underwater body and opening and locking the towing hook opening/locking device that controls the opening and locking; and
Including a controller for controlling the deployment of the winch rope by driving the winch system for the recovery of the underwater body, and controlling the opening/locking operation of the traction ring opening/locking device by checking the position of the underwater body,
The winch rope is deployed in a triangular shape centered on the water craft, and the controller checks the position of the underwater vehicle through communication with the underwater vehicle, inserting and locking the winch rope in the towing ring opening/locking device,
The winch system includes: a first winch drum connected to one end of the winch rope to wind the winch rope by a power source; a second winch drum connected to the other end of the winch rope to wind the winch rope by a power source; It has a positive buoyancy, and the winch rope released from the first winch drum is a right-side rope deployment buoy that develops to the right around the water boat; It has positive buoyancy and includes a buoy for deploying the left rope in which the winch rope released from the second winch drum develops to the left centering on the water boat,
When the tension of the winch rope and the drag acting on the left and right buoys for rope deployment are the same, the winch rope connected to the left and right buoys for rope deployment are developed in a triangular shape centered on the water boat.
When the winch rope is fastened to the towing ring mounted on the upper part of the underwater movement body, the recovery device of the underwater movement body recovers the underwater movement body by controlling the winding operation of the first and second drums. delete The method according to claim 1,
The winch rope unwound from the first and second winch drums is guided by the rope guide roller and deployed to the water surface,
Two rope guide rollers are installed on the left and right sides of the underwater vehicle recovery device. 4. The method according to claim 3,
The right-hand rope deployment buoy includes a body having a positive buoyancy;
a connecting ring connecting the winch rope formed at the tip of the body;
A pin with negative buoyancy is installed below the body,
The pin is a recovery device for underwater movement that is mounted so that the right-side rope deployment buoy flows in the right direction. 5. The method according to claim 4,
The left-hand rope deployment buoy includes a body having a positive buoyancy;
a connecting ring connecting the winch rope formed at the tip of the body;
A pin with negative buoyancy is installed below the body,
The pin is a recovery device for underwater movement that is mounted so that the left-hand rope deployment buoy flows in the left direction. 6. The method of claim 5,
The fin weight is a recovery device for an underwater vehicle that is mounted on the inside of the buoy. 6. The method of claim 5,
The fin weight is a recovery device for an underwater vehicle that is mounted on the outside of the buoy. The method according to claim 1,
The buoy for deploying the left rope and the buoy for deploying the right rope includes a communication module capable of underwater communication;
Equipped with a switch that controls the on/off of the communication module,
The communication module operated by the switch is an underwater vehicle recovery device that transmits the position and distance of the buoy to the controller. 9. The method of claim 8,
The switch is a recovery device for underwater movement using a water sensing switch. 10. The method of claim 9,
The communication module is a recovery device for underwater movement using a USBL communication module. The method according to claim 1,
Towing hook opening / locking device, in order to control the towing hook that opens the latch from the hook using a lever,
A device for recovering an underwater vehicle comprising a tow hook control device for adjusting a lever under the control of a controller. 12. The method of claim 11,
The towing hook mounted on the upper side of the underwater vehicle is a recovery device of the underwater vehicle further comprising a rope guide and a rope guide rail for the guide of the towing rope in the hook. 13. The method of claim 12,
The tow hook control device is a recovery device for an underwater vehicle including a communication module for USBL communication with the controller. 4. The method according to claim 3,
The water craft includes a cradle for mounting the recovered underwater vehicle,
The cradle has an inclination so that the rear part can touch the water surface,
During the winding operation of the first and second drums, the winch rope is guided by a rope guide roller so that the underwater body is pulled up on the cradle. 15. The method of claim 14,
When the winch rope is deployed, the buoy for deploying the right rope and the buoy for deploying the left rope are moving backwards based on the inclination of the holder and the drag caused by the running of the water craft, and are a collection device for underwater movement that is seated on the water surface. 16. The method of claim 15,
An underwater vehicle recovery device that exchanges information for the recovery of the underwater vehicle through the GPS and RF modem respectively mounted in the controller and the underwater vehicle. 16. The method of claim 15,
An underwater vehicle recovery device that exchanges information for the recovery of an underwater vehicle by using the USBL communication installed in the controller and the underwater vehicle. a winch system installed on the water boat and performing the unfolding and winding of the winch rope;
Has a slope so that one side of the rear can reach the water surface, the holder of the underwater exercise body installed on the water boat;
A traction ring opening / locking device that is controlled in a locked state by inserting a winch rope into the traction ring installed on the upper side of the cradle and the underwater movement body for launching is prepared on the top of the cradle; and
A controller for controlling the deployment of the winch rope by driving the winch system for launching the underwater vehicle, and controlling the opening/locking operation of the traction ring opening/locking device by confirming the position of the underwater vehicle,
The winch rope is deployed in a triangular shape centering on the water craft, and the controller checks the position of the underwater body through communication with the underwater body and opens the traction ring opening/locking device to separate the winch rope and the underwater body. hex device. 19. The method of claim 18,
The winch system includes: a first winch drum connected to one end of the winch rope to wind the winch rope by a power source;
a second winch drum connected to the other end of the winch rope to wind the winch rope by a power source;
a buoy for deploying a right rope that has a positive buoyancy and allows the winch rope unwound from the first winch drum to be deployed to the right centering on the water boat;
It has a positive buoyancy and includes a buoy for deploying the left rope so that the winch rope released from the second winch drum is deployed to the left centering on the water boat,
When the tension of the winch rope and the drag acting on the left and right buoys for rope deployment are the same, the winch rope connected to the left and right buoys for rope deployment are developed in a triangular shape centered on the water boat.
In a state where the winch rope is fastened to the towing ring mounted on the upper part of the underwater vehicle, the underwater vehicle launches to the water surface as the winch rope is deployed. 20. The method of claim 19,
The winch rope unwound from the first and second winch drums is guided by the rope guide roller and deployed to the water surface,
Two rope guide rollers are installed on the left and right sides of the cradle to launch the underwater vehicle.

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