KR102487113B1 - Underwater structure surface foreign matter removal and surface inspection device using underwater drones - Google Patents

Abstract

The present invention relates to an apparatus for removing foreign substances on the surface of an underwater structure and inspecting the surface using an underwater drone. More specifically, the present invention relates to an apparatus for removing foreign substances on the surface of an underwater structure, in which a body (100) having a front end opening part (110) and a rear end opening part (120) formed at the front end and the rear end, respectively, is formed in a tubular shape, and a brush (200) is provided in front of the front end opening part (110) of the body (100) to wipe the surface of the underwater structure (400), and a foreign substance discharge means (300) is formed inside the body (100) to discharge the water current in the front of the body (100) to the rear of the body (100), and driving motors (210, 310) are formed to drive the brush (200) and the foreign substance discharge means (300), so that foreign substances on the surface of the underwater structure (400) separated by the brush (200) are discharged to the rear through the body (100) by the foreign substance discharge means (300).

Description

Underwater structure surface foreign matter removal and surface inspection device using underwater drones}

The present invention relates to a device for removing foreign substances on the surface of an underwater structure using an underwater drone and, more particularly, due to a rubber cover, an intermediate filtration filter, and a foreign substance collection network, foreign substances separated from the surface of an underwater structure during brush operation are moved around the device. Dispersion can be minimized, and visibility is greatly secured, so that surface defects of underwater structures or surroundings can be inspected more quickly, accurately and efficiently. As it is discharged back into the water, most of the pollutants are collected to minimize underwater pollution, which is eco-friendly and two brushes can be operated to greatly increase the work efficiency of removing foreign substances from the surface of underwater structures using underwater drones. It relates to removal and surface inspection devices.

In general, underwater structures such as reservoir dams and bridge piers built in the sea and rivers may have defects due to long-term use and external intermittent shocks such as physicochemical actions, weather effects, and waves, but they cannot be inspected or confirmed. There was no way.

In a realistic way, a diver wears a wetsuit and dives to inspect the surface of an underwater structure, but the surface cannot be observed due to foreign substances such as moss accumulated on the surface. Accordingly, the surface of the underwater structure is checked for defects after cleaning the waste with a high-pressure injection device or cleaning with a brush, but the surface cannot be observed immediately because the water becomes cloudy in the process of removing the actual waste, and the waste disappears. After sitting down, you have to dive back in and observe or take a picture with an underwater camera.

Due to the limitations of such underwater work, an inspection device for underwater structure defects equipped with an underwater camera is required, and Patent Registration No. 10-1161858 (published on July 3, 2021) discloses a well cleaning device for a bridge. .

However, such a conventional well cleaning device for bridges requires a rubber plate belt of infinite quality to be installed along the outer wall of the well, and after cleaning with a brush, the turbidity of the water intensifies, making it impossible to shoot with an underwater camera immediately, and wastes in the water. There was a problem that took a considerable amount of time to sink.

In order to solve this conventional problem, "body 100 having a front end opening 110 and a rear end opening 120 respectively at the front and rear ends in a tubular shape; in front of the front end opening 110 of the body 100. A brush 200 provided for wiping the surface of the structure; A forward propulsion means 300 provided inside the body 100 to discharge water from the front of the body to the rear of the body and propel the body 100 forward; A brush 200 and at least one drive motor 310 for driving the forward propulsion means 300 are provided so that foreign substances on the surface of the structure detached by the brush 200 are removed by the forward propulsion means 300. An underwater structure surface foreign matter removal device, characterized in that it is discharged to the rear through 100, and has a front end opening 110 and a rear end opening 120 at the front and rear ends in a tubular shape, respectively, but a pair are side by side in the longitudinal direction A plurality of bodies 100 disposed; Brushes 200 respectively provided in front of the front end openings 110 of the body 100; Each provided inside the body 100 to discharge water streams from the front of the body to the rear of the body and forward propulsion means 300 for forward propulsion of the body 100; however, as each brush 200 is rotated in opposite directions to each other, foreign matter on the surface of the structure separated by the brush does not spread to the outside and to the center. It gathers and is discharged to the rear through the body 100 by the forward propulsion means 300 together with the current, and lateral propulsion means for lateral movement of the body 100 in the water around the body 100, respectively. 400 and a vertical propulsion means for vertical movement of the body 100, and an opening at the front end of the body 100 to photograph the surface of the underwater structure from which foreign matter has been removed by the foreign matter removal device on the surface of the underwater structure. (110) An underwater structure surface foreign matter removal device characterized in that an underwater camera 720 is provided on the adjacent outer surface. all.

So, in this conventional underwater structure surface foreign matter removal device, when the brush 200 is operated, foreign matter separated from the surface of the underwater structure is partially discharged to the rear side by the forward propulsion means 300, but most of them are scattered around the brush 200 and substantially There was a problem that the identification of the image through the underwater camera 720 was difficult, so that the inspection of surface bonding was not performed smoothly, and there was a problem that the nearby sea water was greatly contaminated due to foreign substances scattered in all directions, and one brush (200 ) alone has a problem in that the work efficiency is greatly reduced, so a device in which two or four brushes 200 are mounted and ascended and descended by the vertical propulsion means 500 has also been proposed, but the entire device is only a few vertical propulsion means 500 It is actually difficult to handle the weight of the project, and there are many technical and structural problems that must be solved technically to actually implement it.

(KR) Republic of Korea Patent Registration No. 10-1161858 (2021.07.03. Notice) (KR) Republic of Korea Patent Registration No. 10-2149151 (2020.08.28. Notice)

The present invention is to solve the above problems, and due to the rubber cover, the intermediate filtration filter, and the foreign matter collection network, it is possible to minimize the scattering of foreign substances separated from the surface of the underwater structure during brush operation around the device, thereby improving visibility. As the surface defects of underwater structures or surroundings are inspected more quickly, accurately and efficiently, most of the pollutants are removed as polluted water containing foreign substances is discharged back into the water through the intermediate filtration filter inside the body and the foreign matter collection network. Its purpose is to provide a device for removing foreign substances on the surface of underwater structures and inspecting the surface using an underwater drone, which is eco-friendly and can operate two brushes to minimize underwater pollution through collection and greatly increase the work efficiency of removing foreign substances from the surface of underwater structures. there is.

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

In order to achieve the above object, the present invention is formed in the body 100 having a front end opening 110 and a rear end opening 120 at the front and rear ends in a tubular shape, respectively, and the front end opening 110 of the body 100 ) Is provided on the front side to form a brush 200 for wiping the surface of the underwater structure 400, and is provided inside the body 100 to discharge foreign substances from the front of the body 100 to the rear of the body 100 A means 300 is formed and a drive motor 210 , 310 for driving the brush 200 and the foreign matter discharging means 300 is formed to remove the foreign matter on the surface of the underwater structure 400 separated by the brush 200. In the underwater structure surface foreign matter removal device 10 that passes through the body 100 by the discharge means 300 and discharges it to the rear,

A drone body 21 having one or more underwater cameras or a high-turbidity clear image recording device is formed and installed on the left and right sides of the drone body 21 to move the drone body 21 up and down or forward and backward in the water. The device 22 is formed, and the left and right legs 23 and 24 extend vertically from the left and right sides of the drone body 21 to the lower part, but have front and rear lifting screws 23a, 23b, and 24a and 24b respectively on the front and rear ends. An underwater drone 20, which is a structure that is formed and controlled by wire or wirelessly by a remote control device 25 underwater or externally and moves up and down or left and right on the surface of the underwater structure 400 to perform surface inspection; and

Bolt bodies 26f and 27f, which are long bolts extending horizontally to the front and rear sides, are formed, respectively, and fixed blocks 26a and 27a, which are fixed rectangular parallelepipeds, are formed at the center of the bolt bodies 26f and 27f, respectively, and the fixed blocks 26a, 27a) The inner cross section is divided into upper and lower parts, and the inner end is fastened and fixed by bolts 26d and 27d and nuts 26e and 27e, respectively, and is vertically erected to form a circular shape. Upper and lower semicircular fixing rings (26b, 26c) (27b, 27c) that surround and support (100) and have their outer ends positioned vertically and are shaft-fixedly coupled by upper and lower shaft bolts (26aa, 26ab) (27aa, 27ab), respectively. Is formed, and is a fixture located at the front and rear ends of the bolt bodies 26f and 27f. The front side has a flat "c" shape, the rear side is symmetrical with respect to the left and right sides, and the left and right legs 23 and 24 are formed on the inner surface. The front and rear lifting screws 23a, 23b, 24a, 24b respectively correspond to each other and have insert lifting screw threads 28a and 29a that are hooked and fixed, respectively, and protrude inward at the inner end to form bolt bodies 26f and 27f, respectively. Front and rear fixing nuts 28c and 29c having front and rear side bolt through-holes 28b and 29b passing through, respectively, and screwed to the bolt bodies 26f and 27f from the outside of the front and rear side bolt through-holes 28b and 29b to fix them It is characterized by having left and right device fixtures 26 and 27 in which front and rear side fixtures 28 and 29 respectively have are formed.

In addition, in the present invention, the body 100 having a front end opening 110 and a rear end opening 120 are formed in a tubular shape at the front and rear ends, respectively, and is provided in front of the front end opening 110 of the body 100 to be underwater A brush 200 for wiping the surface of the structure 400 is formed, and a foreign substance discharge means 300 is formed inside the body 100 to discharge water current in front of the body 100 to the rear of the body 100. and drive motors 210 and 310 that drive the brush 200 and the foreign matter discharging means 300 are formed, and the foreign matters on the surface of the underwater structure 400 separated by the brush 200 are transferred to the foreign matter discharging means 300. In the underwater structure surface foreign matter removal device 10 that penetrates the body 100 and discharges it to the rear by

An underwater drone (20), an elliptical body having one or more underwater cameras and controlled by wire or wirelessly from the outside or underwater and moving up and down or left and right on the surface of the underwater structure (400) to perform a surface inspection;

It is a plate-shaped frame that forms a cross shape on a plane. It has left and right top screw holes (37, 38) at the top and bottom at the left and right ends, and front and rear end top screw holes (35, 36) at the top and bottom at the front and rear ends, respectively. It has left and right upper square through holes 33 and 34 formed through holes in the front and rear sides, respectively, and has vertical inclined wings 32 that protrude and incline upward from the front side to the rear side at the center of the upper surface, and have a rubber material lying round rod shape. An upper cross support (30) having a bottom buffer member (31) fixedly coupled to the left and right lower surfaces and the front and rear lower surfaces in close contact with each other and positioned in close contact with the upper surface of the underwater drone (20);

It is a plate-shaped frame located directly below the upper cross support 30 and forming a cross shape in a plane, and at the left and right ends, the left and right lower end screw holes 46 on the extension line directly below the left and right upper end screw holes 37 and 38 47), respectively, and has front and rear side lower end screw holes 44 and 45 on the extension line directly below the front and rear end upper screw holes 35 and 36 at the front and rear ends, respectively, and left and right lower square through holes formed in the front and rear sides on the left and right sides of the lower surface (42, 43), each having a rubber material in the shape of a lying cylinder, and having a plurality of upper surface buffer members 41 fixedly coupled to the left and right upper surfaces and the front and rear upper surfaces in close contact with each other and in close contact with the lower surface of the underwater drone 20 A lower cross support 40 positioned to be;

At the tip of the bolt body, the tip buffers 51a and 52a made of rubber are fixedly coupled, respectively, and the top screw holes 35 and 36 on the front and rear sides of the top cross support 30 are screwed from the top to the bottom, respectively, so that the underwater drone 20 ) Upper front and rear side fixing support bolts 51 and 52 that are tightly fixed to the front and rear center surfaces of the upper end, respectively;

At the tip of the bolt body, the tip buffers 53a and 54a of rubber material are fixedly coupled, respectively, and the front and rear side lower threaded holes 42 and 43 of the lower cross support 40 are screwed from the bottom to the top, respectively, so that the underwater drone 20 ) Lower front and rear side fixing bolts 53 and 54 that are tightly fixed to the lower front and rear side central surfaces, respectively; and

It is a long bolt that stands vertically, and has fixing blocks 55a and 56a fixed at the center, and the outer cross section of the fixing block 55a and 56a is bisected up and down, and the outer end is bolts 55d and 56d and nuts 55e and 56e. The inner ends of the upper and lower semicircular fixing rings 55b and 55c (56b and 56c), which are fastened and fixed to form a circular shape and surround and support the body 100, are positioned up and down, respectively, and the upper and lower shaft bolts 55aa and 55ab (56aa, 56ab) are respectively shaft-fixedly coupled, and the upper and lower ends are left and right upper end screw holes 37 and 38 of the upper cross support 30 and left and right lower end screw holes 46 and 47 of the lower cross support 40 ), respectively, and are respectively loosened and fixed by the upper and lower nuts (55f, 55g) (56f, 56g) to fix the body 100 and at the same time, the upper and lower cross supports (30, 40) on the left and right sides of the underwater drone (20) It is characterized by having left and right fixing bolts 55 and 56 for fixing and supporting, respectively.

The body 100 of the underwater structure surface foreign matter removal device 10 is divided into a front body 101 and a rear body 102 in the middle and fixedly coupled by screwing, and the front body 101 and the rear body ( 102), the fixing ring part 131 located on the front side of the intermediate filtration filter 130 forming a semicircular shape toward the rear side is interlocked and fixedly installed on the inner surface between the front body 101 and the rear body 102. A ring insertion recess 140 into which the upper and lower semicircular fixing rings 55b and 55c (56b and 56c) are inserted and fixed is formed, and a bugle that is in close contact with the underwater structure 400 is formed on the outer circumference of the front end of the front body 101. The inner periphery of the rear tip of the shaped rubber cover 150 is coupled and fixed by force fitting, and the brush 200 has a crescent shape based on the center when viewed from the front, and a plurality of brush parts 201 are formed at regular intervals in the rotational direction The center is formed to be curved inward, and a crescent-shaped foreign material through hole 202 is further formed between the sole part 201 and the other adjacent sole part 201, and the filter net is formed at the front end of the rear body 102 outside the front side end. It has a screw ring part 161 screwed to the periphery and is characterized by further comprising a foreign matter collection net 160 for collecting foreign matter separated from the surface of the underwater structure 400 by covering the rear end opening 120.

The side is a "c"-shaped square frame, and at the bottom, there is a lower insertion bar 61 inserted into the left and right upper square through holes 33 and 34 of the upper cross support 30, and the rear front end portion is at the top of the lower insertion bar 61. The fixing bolt 62b is screwed to have a fixing bar 62 formed with a fixing hole 62a protruding downward, and the fixing bar 62 protrudes vertically upwards on the upper front and rear sides, and the left and right shaft bolts 65 on the left and right sides of the upper end. , 65a) a ring fixture (60) having front and rear side shaft fixing bars (63, 64) in which the left and right side shaft holes (63a, 63b) (64a, 64b) are each formed through holes on the extension line, respectively, into which shaft fixation is inserted;

The upper end located on the outer side of the ring body bisecting left and right and forming a circular shape is fastened and fixed by bolts 68 and nuts 68a and is located inside the front and rear side shaft fixing bars 63 and 64 of the ring fixture 60 The lower end has left and right side shaft through-holes 66a and 67a respectively shaft-fixed to left and right shaft bolts 65 and 65a, and left and right semicircular fixing rings 66 and 67 that wrap around and support the outer circumferential surface of the body 100; and

In the left and right lower square through holes 42 and 43 of the lower cross support 40, other left and right semicircular fixing rings 66 and 67 for fixing and supporting the other body 100 by rotating the ring fixture 60 180 degrees are installed. As each is fastened and fixed, the upper cross support 30 and the other body 100 are further fixed and installed symmetrically with respect to the horizontal line.

As described above, the present invention can minimize the spread of foreign substances separated from the surface of the underwater structure to the surroundings of the device during brush operation due to the rubber cover, the intermediate filtration filter, and the foreign matter collection network, and thus, the visibility is greatly secured, thereby preventing surface defects of the underwater structure. Inspections on or around the body are performed more quickly, accurately and efficiently, and polluted water containing foreign substances is discharged back into the water through the intermediate filtration filter inside the body and the foreign matter collection network, so most of the pollutants are collected to minimize water pollution. It is eco-friendly and can operate 2 brushes and up to 6 brushes, which greatly increases the work efficiency of removing foreign substances from the surface of underwater structures.

The present invention is not limited to the specific preferred embodiments described above, and various modifications can be made by anyone skilled in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes are within the scope of the claims.

1 is an exploded perspective view showing the removal of foreign substances on the surface of an underwater structure using an underwater drone and the fastening of a surface inspection device according to an embodiment of the present invention;
Figure 2 is a perspective view showing a combined state of removing foreign matter on the surface of an underwater structure and a surface inspection device using an underwater drone according to an embodiment of the present invention;
Figure 3 is a front view showing a combined state of removing foreign matter on the surface of an underwater structure using an underwater drone and a surface inspection device according to an embodiment of the present invention;
Figure 4 is an enlarged side view showing the coupling state of the removal of foreign matter on the surface of an underwater structure and a surface inspection device using an underwater drone, which is an embodiment of the present invention;
5 is a cross-sectional side view of an underwater structure surface foreign matter removal device of an underwater structure surface foreign matter removal and surface inspection device using an underwater drone according to an embodiment of the present invention;
6 is an exploded perspective view showing the removal of foreign substances on the surface of an underwater structure using an underwater drone and the fastening of a surface inspection device according to another embodiment of the present invention;
7 is a perspective view showing a combined state of removing foreign matter on the surface of an underwater structure and a surface inspection device using an underwater drone, which is another embodiment of the present invention;
8 is a plan view showing a combined state of removing foreign substances on the surface of an underwater structure using an underwater drone and a surface inspection device according to another embodiment of the present invention;
9 is an enlarged and separated perspective view showing that the surface foreign matter removal device of an underwater structure surface of an underwater structure surface foreign matter removal and surface inspection device using an underwater drone according to another embodiment of the present invention is fastened and fixed to the left and right upper square through holes of the upper cross support,
10 is an enlarged and separated perspective view showing that the surface foreign matter removal device of an underwater structure surface of an underwater structure surface foreign matter removal and surface inspection device using an underwater drone, which is another embodiment of the present invention, is fastened and fixed to the left and right lower square through holes of the lower cross support,
11 is a use showing the maximum installation of an underwater structure surface foreign matter removal device equipped with an improved brush having a brush part and a foreign matter penetration hole in an underwater structure surface foreign matter removal and surface inspection device using an underwater drone, which is another embodiment of the present invention. state front view.

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

Hereinafter, with reference to the accompanying drawings, an embodiment of the present invention will be described in detail so that those skilled in the art can easily practice it. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification. The scope of the present invention should not be construed as being limited by the embodiments described in the text, and the embodiments can be changed in various ways and can have various forms, so the scope of the present invention is limited to those that can realize the technical idea. It should be understood to include equivalents.

Throughout the specification of the present invention, when a part is said to be "connected" to another part, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" through another member. In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

The terms used in the present invention are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator, so the definitions of these terms are meanings consistent with the technical details of the present invention. and should be interpreted as a concept.

In addition, optional terms in the following embodiments are used to distinguish one component from other components, and the components are not limited by the terms. Hereinafter, in describing the present invention, detailed descriptions of related known technologies that may unnecessarily obscure the subject matter of the present invention will be omitted.

An underwater structure surface foreign matter removal and surface inspection apparatus using an underwater drone according to an embodiment of the present invention is an underwater structure surface foreign matter removal apparatus 10 having a body 100 divided into a front body 101 and a rear body 102 And, it consists of an underwater drone 20 and left and right device fixtures 26 and 27.

The underwater structure surface foreign matter removal device 10 is tubular in shape and has a body 100 having a front end opening 110 and a rear end opening 120 at the front and rear ends, respectively, and the front end opening of the body 100 ( 110) A brush 200 is provided on the front to wipe the surface of the underwater structure 400, and is provided inside the body 100 to discharge water current in front of the body 100 to the rear of the body 100. A discharge means 300 is formed and a drive motor 210 , 310 for driving the brush 200 and the foreign matter discharge means 300 is formed to remove foreign substances on the surface of the underwater structure 400 separated by the brush 200. The foreign matter discharge means 300 passes through the body 100 and discharges it to the rear.

The body 100 of the underwater structure surface foreign matter removal device 10 is divided into a front body 101 and a rear body 102 in the middle and fixedly coupled by screwing, and the front body 101 and the rear body ( 102), the fixing ring part 131 located on the front side of the intermediate filtration filter 130 forming a semicircular shape toward the rear side is interlocked and fixedly installed on the inner surface between the front body 101 and the rear body 102. A ring insertion recess 140 into which the upper and lower semicircular fixing rings 55b and 55c (56b and 56c) are inserted and fixed is formed, and a bugle that is in close contact with the underwater structure 400 is formed on the outer circumference of the front end of the front body 101. The inner periphery of the rear front end of the shaped rubber cover 150 is coupled and fixed with an interference fit.

When viewed from the front, the brush 200 has a crescent shape based on the center, and a plurality of brush parts 201 are formed at regular intervals, and the center in the rotation direction is formed to be curved inward, and another brush part 201 adjacent to the brush part 201 ), it is preferable that a crescent-shaped foreign matter through hole 202 is further formed between them.

The outer circumference of the front side end of the rear body 102 has a screw ring 161 screwed to the front end with a filtering net and covers the rear end opening 120 to collect foreign substances separated from the surface of the underwater structure 400. Foreign matter collection net ( 160) is preferably further provided.

In the underwater drone 20, a drone body 21 having one or more underwater cameras or a high-turbidity clear image recording device is formed and installed on the left and right sides of the drone body 21 to move the drone body 21 up and down underwater or A plurality of directional movement devices 22 are formed that move forward and backward, and extend vertically from the left and right sides of the drone body 21 to the lower part, but the left and right sides have front and rear lifting screws 23a and 23b and 24a and 24b on the front and rear ends, respectively. The legs 23 and 24 are formed, respectively, and are controlled by wire or wirelessly by the remote control device 25 underwater or outside, and the surface inspection is performed while moving up and down or left and right on the surface of the underwater structure 400.

In the left and right device fixtures 26 and 27, bolt bodies 26f and 27f, which are long bolts extending horizontally in the front and rear directions, are formed, respectively, and fixed blocks 26a and 27a, which are cuboids, are fixed to the center of the bolt bodies 26f and 27f. ) is formed, respectively, and the inner cross section of the fixing block (26a, 27a) is divided into two up and down, and the inner end is fastened and fixed by bolts (26d, 27d) and nuts (26e, 27e), respectively, and is vertically erected to form a circular shape. The body 100 of the surface foreign matter removal device 10 of the underwater structure is wrapped around and supported, and the outer ends are positioned up and down, respectively. Ring body (26b, 26c) (27b, 27c) is formed, and the bolt body (26f, 27f) is located at the front and rear ends of the fixture. The front side is a flat surface in a "c" shape, and the rear side is symmetrical with respect to the left and right sides, and the inner surface In the left and right legs (23, 24), the front and rear lifting screws (23a, 23b) (24a, 24b) are interviewed to correspond to each other, respectively, and have insertion lifting screws (28a, 29a), respectively, and are fixed to the inside. It protrudes and has front and rear side bolt through-holes 28b and 29b through which the bolt bodies 26f and 27f pass, respectively, and is screwed to the bolt bodies 26f and 27f from the outside of the front and rear side bolt through-holes 28b and 29b. Front and rear side fasteners 28 and 29 each having front and rear fixing nuts 28c and 29c for fixing are formed.

In addition, the surface foreign matter removal and surface inspection device of an underwater structure using an underwater drone of another embodiment of the present invention has a body 100 divided into a front body 101 and a rear body 102, and removes foreign matter on the surface of the underwater structure identical to the above. The device 10, the underwater drone 20, the upper cross support 30, the lower cross support 40, the upper front and rear side fixed support bolts 51 and 52, and the lower front and rear side fixed support bolts 53 , 54), the left and right fixing bolts 55 and 56, the ring fixture 60, and the left and right semicircular fixing rings 66 and 67.

The underwater drone 20 of the other embodiment has one or more underwater cameras and is controlled by wire or wirelessly underwater or outside, and is made of an elliptical body in which surface inspection is performed while moving up and down or left and right on the surface of the underwater structure 400.

The upper cross support 30 is a plate-shaped frame forming a cross shape in a plane, and has left and right upper end screw holes 37 and 38 at upper and lower ends at the left and right ends, and upper and lower front and rear end screw holes 35, 36), and has left and right upper square through holes (33, 34) formed in the front and rear sides on the left and right sides of the upper surface, respectively, and vertical inclined wings 32 that protrude higher from the front side to the rear side at the center of the upper surface and slope upwards. It is located in close contact with the top surface of the underwater drone 20 with a bottom buffer member 31 fixedly coupled to the left and right lower surfaces and the front and rear lower surfaces in the shape of a lying cylinder made of rubber material.

The lower cross support 40 is a plate-shaped frame located directly below the upper cross support 30 and forming a cross shape in a plane, and at the left and right ends, the left and right upper end screw holes 37 and 38 are extended directly below It has left and right lower end screw holes 46 and 47, respectively, and has front and rear lower end screw holes 44 and 45 on the extension line directly below the front and rear end upper screw holes 35 and 36 at the front and rear ends, respectively, and has left and right bottom screw holes 44 and 45, respectively. It has left and right lower square through holes 42 and 43 formed in the front and rear sides, respectively, and has an upper surface buffer member 41 fixedly coupled to the left and right upper surfaces and the front and rear upper surfaces in the shape of a lying round rod made of rubber material, and the underwater It is placed in close contact with the lower surface of the drone 20.

The upper front and rear side fixing support bolts 51 and 52 are bolt bodies, and the front end buffers 51a and 52a made of rubber are fixedly coupled to the front end of the bolt body, respectively, and the front and rear side top screw holes 35 and 36 of the upper cross support 30 ) It is screwed from the top to the bottom, respectively, and is fixed in close contact with the front and rear center surfaces of the upper end of the underwater drone 20.

The lower front and rear side fixed support bolts (53 and 54) are bolt bodies, and the front end buffers (53a and 54a) of rubber material are fixedly coupled to the front end of the bolt body, respectively, and the front and rear side end lower threaded holes (42,43) of the lower cross support (40) ) It is screwed from the bottom to the top, respectively, and is fixed in close contact with the front and rear center surfaces of the lower end of the underwater drone 20.

The left and right fixing bolts 55 and 56 are long bolts that stand vertically, and have fixing blocks 55a and 56a fixed in the center, respectively, and are divided up and down on the outer end surfaces of the fixing blocks 55a and 56a, and the outer ends are bolts. The inner ends of the upper and lower semicircular fixing rings 55b and 55c (56b and 56c), which are fastened and fixed by the (55d and 56d) and the nuts (55e and 56e), form a circular shape and surround and support the body (100), respectively. It is positioned vertically and is shaft-fixedly coupled by the upper and lower shaft bolts 55aa and 55ab (56aa and 56ab), and the upper and lower ends are connected to the left and right upper end screw holes 37 and 38 of the upper cross support 30 and the lower cross support ( 40) is screwed into the left and right lower end screw holes 46 and 47, respectively, and is loosened and fixed by upper and lower nuts 55f and 55g and 56f and 56g, respectively, to fix the body 100 and the upper and lower cross supports at the same time (30, 40) are fixedly supported on the left and right sides of the underwater drone 20, respectively.

The ring fixture 60 has a "c" shaped square frame on the side, and has a lower insertion bar 61 inserted into the upper left and right square through holes 33 and 34 of the upper cross support 30 at the lower end and inserted at the lower end. The upper part of the bar 61 has a fixing bar 62 formed with a fixing hole 62a protruding downward by screwing a fixing bolt 62b to the rear end, and protruding vertically upward from the front and rear sides of the upper surface of the fixing bar 62 The left and right side shaft bolts 65 and 65a are respectively shaft-fixedly inserted into the left and right side shaft holes 63a, 63b and 64a, 64b on the left and right sides of the upper end and have front and rear side shaft fixing bars 63 and 64 formed through holes respectively on the extension line.

The left and right semicircular fixing rings 66 and 67 are bisected left and right and form a circular shape, and the upper end located outside is fastened and fixed by a bolt 68 and a nut 68a, and the front and rear of the ring fixture 60 The lower end located inside the side shaft fixing bars 63 and 64 has left and right shaft through-holes 66a and 67a respectively shaft-fixed to the left and right side shaft bolts 65 and 65a, respectively, and surrounds and supports the outer circumferential surface of the body 100. .

In the left and right lower square through holes 42 and 43 of the lower cross support 40, other left and right semicircular fixing rings 66 and 67 for fixing and supporting the other body 100 by rotating the ring fixture 60 180 degrees are installed. As each is fastened and fixed, it is preferable to further fix and install the other body 100 symmetrically with respect to the horizontal line from the upper cross support 30.

In the present invention, the brush 200 operates due to the rubber cover 150, the intermediate filtration filter 130, and the foreign matter collection network 160 of the body 100 of the underwater structure surface foreign matter removal and surface inspection device using an underwater drone. It is possible to minimize the spread of foreign substances separated from the surface of the underwater structure 400 around the device body 100, and thus, the visibility is greatly secured, resulting in surface defects or surroundings of the underwater structure 400 by the underwater drone 20. Inspection is performed more quickly, accurately and efficiently, and as the contaminated water containing foreign substances is discharged back into the water through the intermediate filtration filter 130 in the middle of the device body 100 and the foreign matter collection network 160 at the rear Most of the pollutants are collected to minimize underwater pollution, making it eco-friendly, and basically, two brushes ( 200) can be operated from the left and right sides of the underwater drone 20, and at most the left and right sides of the underwater drone 20 as well as the left and right upper square through holes 33 and 34 of the upper cross support 30 and the lower cross support ( The body 100 fixed by the ring fixture 60 and the left and right semicircular fixing rings 66 and 67 in the left and right lower square through holes 42 and 43 of 40) is placed on the upper left and right sides and the lower left and right sides of the underwater drone 20, respectively. Since a total of six brushes 200 can be operated by fixed installation, the work efficiency of removing foreign matter from the surface of the underwater structure 400 is greatly increased.

The present embodiment and the drawings accompanying this specification clearly represent only a part of the technical idea included in the present invention, and can be easily inferred by those skilled in the art within the scope of the technical idea included in the specification and drawings of the present invention. It is obvious that all possible modifications and specific embodiments are included in the scope of the technical idea of the present invention.

The scope of the present invention is indicated by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention.

10: Underwater structure surface foreign matter removal device
20: underwater drone
21: drone body
22: direction moving device
23,24: left and right leg parts
25: remote control device
26,27; left and right device fixtures
28,29: Front and rear side fixtures
30: upper cross support
40: lower cross support
51,52: upper front and rear fixed support bolts
53,54: Lower front and rear fixed support bolts
55,56: left and right fixing bolts
60: ring fixture
66, 67: left and right semicircular fixing rings
100: body
101: front body
102: rear body
110: tip opening
120: rear end opening
130: medium filtration filter
140: ring insertion waist
150: rubber cover
160: foreign matter collection network
200: brush
201: Solbu
202: Foreign matter penetration hole
300: foreign matter discharge means
400: underwater structure

Claims (4)

A body 100 having a front end opening 110 and a rear end opening 120 are formed in the shape of a tubular body at the front and rear ends, respectively, and is provided in front of the front end opening 110 of the body 100, so that the underwater structure 400 A brush 200 for wiping the surface is formed, and a foreign substance discharge means 300 is provided inside the body 100 to discharge water from the front of the body 100 to the rear of the body 100, and the brush 200 ) and the driving motors 210 and 310 that drive the foreign matter discharging means 300 are formed, and the foreign matter on the surface of the underwater structure 400 separated by the brush 200 is removed from the body 100 by the foreign matter discharging means 300. A drone body 21 having an underwater structure surface foreign matter removal device 10 that penetrates and discharges to the rear and one or more underwater cameras or high turbidity clear image recording devices is formed, and is installed on the left and right sides of the drone body 21 A plurality of directional movement devices 22 are formed that move the drone body 21 up and down or forward and backward, and are controlled by wire or wirelessly by the remote control device 25 underwater or outside, so that the surface of the underwater structure 400 In the apparatus for removing foreign substances on the surface of an underwater structure and inspecting the surface using an underwater drone having an underwater drone 20, which is a structure in which surface inspection is performed while moving up and down or left and right in
The underwater drone 20 extends vertically from the left and right sides of the drone body 21 to the lower part, but the left and right legs 23 and 24 each have forward and backward lifting screws 23a and 23b and 24a and 24b on the front and rear end surfaces, respectively. are respectively formed;
Bolt bodies 26f and 27f, which are long bolts extending horizontally to the front and rear sides, are formed, respectively, and fixed blocks 26a and 27a, which are fixed rectangular parallelepipeds, are formed at the center of the bolt bodies 26f and 27f, respectively, and the fixed blocks 26a, 27a) The inner cross section is divided into upper and lower parts, and the inner end is fastened and fixed by bolts 26d and 27d and nuts 26e and 27e, respectively, and is vertically erected to form a circular shape. (100) is wrapped around and supported, and the outer ends are positioned up and down, respectively, to form an upper and lower semicircular fixing ring body that is shaft-fixedly coupled by the upper and lower shaft bolts 26aa and 26ab (27aa and 27ab), respectively, and the bolt bodies 26f and 27f ) It is a fixture located at the front and rear ends, and the front side has a flat surface and the rear side is symmetrical with respect to the left and right sides. , 24b) has an insertion lifting screw thread (28a, 29a), respectively, which is interviewed and fixed, and protrudes inward at the inner end, so that the bolt bodies (26f, 27f) pass through the front and rear bolt through-holes (28b, 29b) and front and rear side fasteners 28 and 29 each having front and rear fixing nuts 28c and 29c which are screwed and fixed to the bolt bodies 26f and 27f from the outside of the front and rear side bolt through holes 28b and 29b A device for removing foreign substances on the surface of an underwater structure and inspecting the surface using an underwater drone, characterized in that it has left and right device fixtures 26 and 27 formed thereon. A body 100 having a front end opening 110 and a rear end opening 120 are formed in the shape of a tubular body at the front and rear ends, respectively, and is provided in front of the front end opening 110 of the body 100, so that the underwater structure 400 A brush 200 for wiping the surface is formed, and a foreign substance discharge means 300 is provided inside the body 100 to discharge water from the front of the body 100 to the rear of the body 100, and the brush 200 ) and the driving motors 210 and 310 that drive the foreign matter discharging means 300 are formed, and the foreign matter on the surface of the underwater structure 400 separated by the brush 200 is removed from the body 100 by the foreign matter discharging means 300. ) In the underwater structure surface foreign matter removal device 10 for discharging through the rear,
An underwater drone (20), an elliptical body having one or more underwater cameras and controlled by wire or wirelessly from the outside or underwater and moving up and down or left and right on the surface of the underwater structure (400) to perform a surface inspection;
It is a plate-shaped frame that forms a cross shape on a plane. It has left and right top screw holes (37, 38) at the top and bottom at the left and right ends, and front and rear end top screw holes (35, 36) at the top and bottom at the front and rear ends, respectively. It has left and right upper square through holes 33 and 34 formed through holes in the front and rear sides, respectively, and has vertical inclined wings 32 that protrude and incline upward from the front side to the rear side at the center of the upper surface, and have a rubber material lying round rod shape. An upper cross support (30) having a bottom buffer member (31) fixedly coupled to the left and right lower surfaces and the front and rear lower surfaces in close contact with each other and positioned in close contact with the upper surface of the underwater drone (20);
It is a plate-shaped frame located directly below the upper cross support 30 and forming a cross shape in a plane, and at the left and right ends, the left and right lower end screw holes 46 on the extension line directly below the left and right upper end screw holes 37 and 38 47), respectively, and has front and rear side lower end screw holes 44 and 45 on the extension line directly below the front and rear end upper screw holes 35 and 36 at the front and rear ends, respectively, and left and right lower square through holes formed in the front and rear sides on the left and right sides of the lower surface (42, 43), each having a rubber material in the shape of a lying cylinder, and having a plurality of upper surface buffer members 41 fixedly coupled to the left and right upper surfaces and the front and rear upper surfaces in close contact with each other and in close contact with the lower surface of the underwater drone 20 A lower cross support 40 positioned to be;
At the tip of the bolt body, the tip buffers 51a and 52a made of rubber are fixedly coupled, respectively, and the top screw holes 35 and 36 on the front and rear sides of the top cross support 30 are screwed from the top to the bottom, respectively, so that the underwater drone 20 ) Upper front and rear side fixing support bolts 51 and 52 that are tightly fixed to the front and rear center surfaces of the upper end, respectively;
At the tip of the bolt body, the tip buffers 53a and 54a of rubber material are fixedly coupled, respectively, and the front and rear side lower threaded holes 42 and 43 of the lower cross support 40 are screwed from the bottom to the top, respectively, so that the underwater drone 20 ) Lower front and rear side fixing bolts 53 and 54 that are tightly fixed to the lower front and rear side central surfaces, respectively; and
It is a long bolt that stands vertically, and has fixing blocks 55a and 56a fixed at the center, and the outer cross section of the fixing block 55a and 56a is bisected up and down, and the outer end is bolts 55d and 56d and nuts 55e and 56e. The inner ends of the upper and lower semicircular fixing rings that wrap and support the body 100 while forming a circular shape are positioned up and down, respectively, and are respectively shaft-fixed by upper and lower shaft bolts 55aa and 55ab and 56aa and 56ab. The upper and lower ends are screwed into the left and right upper end screw holes 37 and 38 of the upper cross support 30 and the left and right lower end screw holes 46 and 47 of the lower cross support 40, respectively, and the upper and lower nuts 55f Left and right fixing bolts (55g) (56f, 56g) are respectively loosened and fixed to fix the body 100 and simultaneously fix and support the upper and lower cross supports (30, 40) on the left and right sides of the underwater drone (20) 55,56) surface foreign matter removal and surface inspection apparatus using an underwater drone, characterized in that it is provided. According to claim 1 or 2,
The body 100 of the underwater structure surface foreign matter removal device 10 is divided into a front body 101 and a rear body 102 in the middle and fixedly coupled by screwing, and the front body 101 and the rear body ( 102), the fixing ring part 131 located on the front side of the intermediate filtration filter 130 forming a semicircular shape toward the rear side is interlocked and fixedly installed on the inner surface between the front body 101 and the rear body 102. A ring insertion recess 140 into which the upper and lower semicircular fixing rings are inserted and fixed is formed, and the front body 101 has an outer periphery of the front end of the trumpet-shaped rubber cover 150 in close contact with the underwater structure 400. The periphery is coupled and fixed by an interference fit, and the brush 200 is formed with a plurality of sole parts 201 at regular intervals in a crescent shape based on the center when viewed from the front, but the center in the rotation direction is formed to be curved inward, and the brush part ( 201) and the other adjacent sole part 201, a crescent-shaped foreign matter through hole 202 is further formed, and a screw ring part 161 screwed to the outer periphery of the front side end of the rear body 102 at the front end with a filtering net. and a foreign matter collection network 160 for collecting foreign matter separated from the surface of the underwater structure 400 by wrapping the rear end opening 120. A device for removing foreign matter on the surface of an underwater structure and inspecting the surface using an underwater drone. According to claim 3,
The side is a "c"-shaped square frame, and at the bottom, there is a lower insertion bar 61 inserted into the left and right upper square through holes 33 and 34 of the upper cross support 30, and the rear front end portion is at the top of the lower insertion bar 61. The fixing bolt 62b is screwed to have a fixing bar 62 formed with a fixing hole 62a protruding downward, and the fixing bar 62 protrudes vertically upwards on the upper front and rear sides, and the left and right shaft bolts 65 on the left and right sides of the upper end. , 65a) a ring fixture (60) having front and rear side shaft fixing bars (63, 64) in which the left and right side shaft holes (63a, 63b) (64a, 64b) are each formed through holes on the extension line, respectively, into which shaft fixation is inserted;
The upper end located on the outer side of the ring body bisecting left and right and forming a circular shape is fastened and fixed by bolts 68 and nuts 68a and is located inside the front and rear side shaft fixing bars 63 and 64 of the ring fixture 60 The lower end has left and right side shaft through-holes 66a and 67a respectively shaft-fixed to left and right shaft bolts 65 and 65a, and left and right semicircular fixing rings 66 and 67 that wrap around and support the outer circumferential surface of the body 100; and
In the left and right lower square through holes 42 and 43 of the lower cross support 40, other left and right semicircular fixing rings 66 and 67 for fixing and supporting the other body 100 by rotating the ring fixture 60 180 degrees are installed. As each is fastened and fixed, the surface foreign matter removal and surface inspection device of an underwater structure using an underwater drone, characterized in that the body 100, which is different from the upper cross support 30, is further fixed and installed symmetrically with respect to the horizontal line.

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