KR102488040B1 - Tangle Prevention Apparatus of umbilical cable using underwater - Google Patents

Abstract

An apparatus for preventing tangling of an umbilical cable using an underwater drone is disclosed. The present invention is a device for preventing entanglement of an umbilical cable when an underwater drone to which one end of an umbilical cable is coupled to the upper end works below the surface of the water, inside to supply power to the underwater drone An umblical cable consisting of a housing in which a power supply cable and a data cable for transmitting and receiving data to and from the underwater drone are embedded is connected to the housing, and the lower end is coupled to the upper end of the underwater drone to selectively connect the umblical cable. A cable adjusting device for adjusting and a sliding part provided on the underwater drone, one side connected to the tension spring, and configured to be movable within a preset range according to the movement of the underwater drone, and a neutral coupled to the outer circumference of the housing A sensing device that maintains buoyancy and detects the positions of the buoyancy body and the sliding part that protects the power supply cable and the data cable and compares them with a preset reference value to derive changed positional information and the cable adjusting device are detected by the sensing device. and preventing twisting by winding or unwinding the umbilical cable so that the tension of the cable can be maintained within a certain range according to the position of the sliding part.
The result of this application was carried out with the support of "Tongmyong University University Innovation Research Complex Creation Industry" among the University Innovation Research Complex creation projects of Busan Metropolitan City.

Description

Tangle Prevention Apparatus of umbilical cable using underwater}

The present invention relates to an apparatus for preventing entanglement of an umbilical cable using an underwater drone to prevent entanglement of an umbilical cable during underwater work using an underwater drone or the like to achieve smooth operation.

Umbilical cables are defined as composite cables used in marine plant engineering, and are used for marine plants, energy exploration and drilling, unmanned submersibles or underwater drones.

Such an umbilical cable is connected to the underwater marine equipment to supply power and hydraulic pressure, control the equipment, and send and receive state signals of the equipment.

In particular, as is well known, the umbilical cable used when using underwater drones has a lot of dynamic movement, so a lot of tangles and damages occur. A buoy is attached to maintain proper tension on the umbilical cable.

However, since the position of the buoy is fixed, when the unmanned submersible swims near the water surface or when the buoy floats on the surface of the water during lifting and launching, the umbilical cable is stretched or tangled, resulting in work There were often cases that interfered with the work, and there were many difficulties in working.

Korean Patent Publication No. 2021-0037487 Korean Patent Publication No. 2020-0073167 Korean Patent Publication No. 2019-0112244

Therefore, the present invention is an umbilical cable entanglement prevention using an underwater drone that can prevent the umbilical cable from being separated from a certain position and from being damaged when the umbilical cable is connected through an underwater drone, etc. It aims to be able to provide a device.

In addition, by adjusting the length of the cable connected to the underwater drone according to the movement of the underwater drone, it is possible to provide an umbilical cable tangle prevention device using an underwater drone that can prevent twisting by maintaining a constant tension on the cable. to be

In order to solve this problem, the present invention is a device for preventing the entanglement of the umbilical cable when the underwater drone to which one end of the umbilical cable is coupled to the top works under the water surface, inside the underwater drone An umbilical cable composed of a housing in which a power supply cable for supplying power and a data cable for transmitting and receiving data to and from the underwater drone are connected to the housing, and the lower end is coupled to the upper end of the underwater drone to A cable adjusting device for selectively adjusting the blical cable, a sliding part provided on the underwater drone, one side connected to the tension spring, and configured to be movable within a preset range according to the movement of the underwater drone, and the housing The sensing device coupled to the outer circumference of the sensor and the cable adjusting device for maintaining neutral buoyancy and detecting the positions of the buoyancy body and the sliding part for protecting the power supply cable and the data cable and comparing them with a preset reference value to derive changed positional information and preventing twisting by winding or unwinding the umbilical cable so that the tension of the cable can be maintained within a certain range according to the position of the sliding part detected by the sensing device.

In addition, it is characterized in that the underwater drone is further formed with an image photographing device for photographing the state of the umbilical cable and transmitting it to the display unit.

In addition, the sensing device is provided with a sensing unit for detecting the position of the sliding unit, a sensing unit control unit for measuring the amount of change in position by comparing the position of the sliding unit detected by the sensing unit with the reference value, and at least one inside the cylinder, It is characterized in that it includes a restoring unit providing a restoring force so that the sliding unit returns to an initial position corresponding to the reference value.

In addition, the sensing device control unit is electrically connected to the underwater drone control unit mounted on the underwater drone through the umbilical cable, and the underwater drone control unit is connected to the umbilical cable to receive power while the underwater drone It is determined whether or not power is applied between the DC-DC converter for supplying power for operation to the motor, the battery charged with the power connected to the motor, the umbilical cable, and the DC-DC converter, but the power is supplied to the DC-DC converter. It is characterized in that it comprises a divider for applying the charging power of the battery to the motor when this is not applied.

Therefore, the present invention has the effect of providing an anti-tangle device for an umbilical cable having an effect of preventing the entanglement of the umbilical cable by controlling the tension of the umbilical cable connected to the underwater drone.

Figure 1a is a block diagram of an umbilical cable entanglement prevention device using an underwater drone according to the present invention.
1B is a block diagram illustrating an imaging process using an imaging device;
2 is a structural diagram of an umbilical cable;
3 is a cross-sectional view of an umbilical cable;
4 is a configuration diagram of a sensing device;
5 is a view showing a state in which the underwater drone moves forward.
6 is a view showing internal changes of the sensing device in FIG. 5;
7 is a view showing a state in which the underwater drone moves backward.
8 is a view showing internal changes of the sensing device in FIG. 7;
9 is an internal block diagram of an underwater drone.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

In addition, since the terms used in this application are only used to describe specific embodiments, it is not intended to limit the present invention, and it is clear in advance that a singular expression also means a plurality of expressions unless the context clearly indicates otherwise. want to leave

Figure 1a is a configuration diagram of an umbilical cable entanglement prevention device using an underwater drone according to the present invention, Figure 1b is a block diagram showing an imaging process using an image capture device, Figure 2 is a structural diagram of an umbilical cable, 3 is a cross-sectional view of an umbilical cable, FIG. 4 is a configuration diagram of a sensing device, FIG. 5 is a view showing a state in which an underwater drone moves forward, and FIG. 6 shows internal changes of the sensing device in FIG. 7 is a view showing a state in which the underwater drone moves backward, FIG. 8 is a view showing the internal change of the sensing device in FIG. 7, and FIG. 9 is an internal block diagram of the underwater drone.

Referring to FIG. 1A, in the present invention, one end of the umbilical cable (C) is coupled to the top of the underwater drone 100, and the underwater drone 100 is used in an area where there is a surface such as the sea or river. It is a device for preventing the entanglement of the umbilical cable (C) when doing.

The underwater drone 100 is a known thing consisting of a body forming a certain outer shape and an operating unit (not shown) provided on the body and controlling steering and driving underwater, and the body of the underwater drone 100 surrounds the entire body and at least One or more thrusters are provided in some parts to accommodate various components such as electronic devices, exploration devices, batteries, etc. in the internal space, and additional facilities for receiving electrical signals from the outside will be additionally provided. can

In addition, the underwater drone 100 is provided with an image capturing device 120 for monitoring the state of the umbilical cable C, and manages the state in real time by capturing an image of the umbilical cable C. It serves to transmit to the display unit 300, which is a monitor of the.

Hereinafter, with reference to FIG. 1B , an operation of photographing the umbilical cable (C) using the image capture device 120 and transmitting it to the display unit 300 will be described.

Its configuration consists of an image capture device 120, a control unit 200, a data storage unit 250, and a display unit 300.

The video recording device 120 has a surveillance camera for capturing a surveillance area inside, and is rotated (Pan) and tilted (Tilt) by the control unit 200 to be described later, and any of the umbilical cables (C) It is possible to shoot the area of .

The image capture device 120 is configured with a high-magnification zoom camera 121 that captures a specific monitoring area and a wide-angle camera 122 that captures surroundings including the specific monitoring area, and includes a dual imaging unit.

The two surveillance cameras are located in the image capture device 120 and display two images on the display unit 300 . At this time, the high-magnification zoom camera 121 intensively monitors a place where a lot of movement of the umbilical cable C occurs, and takes pictures in high-definition area, and the wide-angle camera 122 has a higher magnification than the high-magnification zoom camera 121. The peripheral area including the area photographed by the high-magnification zoom camera 121 (hereinafter referred to as 'whole area') with a relatively low image quality, that is, a quality enough to recognize the occurrence of twisting of the umbilical cable C. ) will be filmed. Due to this, it is possible to grasp not only the intensive monitoring area but also situations occurring outside the intensive monitoring area, enabling efficient monitoring.

In addition, the image capture device 120 is characterized in that an image processing unit 123 for merging and outputting images taken from a high-magnification zoom camera 121 corresponding to an imaging unit and a wide-angle camera 122 is provided. The image processing unit 123 is connected to the high-magnification zoom camera 121 and the wide-angle camera 122 inside the image capture device 120, and transmits the captured image to a large screen and a small screen PIP (Picture In Picture). As an In Picture) image, the image captured by the high-magnification zoom camera 121 is output on a large screen, and the image captured by the wide-angle camera 122 is output on a small screen. Due to this, it is possible for the manager located in the control room to check the events occurring in the centralized monitoring area in detail with high-definition on a large screen, and it is possible to identify whether an event has occurred in the entire area through a small screen.

On the other hand, the high-magnification zoom camera 121 monitors the umbilical cable (C) in the entire area by implementing the Pan/Tilt/Zoom function separately inside the image capture device 120 to obtain the umbilical cable ( C) is preferably configured so that when an abnormality occurs, a manager or the like rotates to the abnormality region and photographs the region in which the abnormality occurs.

In addition, the image processing unit 123 is provided with an OSD device (object storage device) that superimposes a text signal including the current date, time, and surveillance area name on the captured image signal and displays it on the display unit 300. It is desirable to be able to accurately check various abnormal phenomena occurring on a specific day or at a specific time in an area.

In addition, the image processing unit 123 is located together with the high-magnification zoom camera 121 and the wide-angle camera 122 in the image capturing device 120, and processes the captured image signal through an umbilical cable (C). Since transmission is performed through a DVR (Digital Video Recorder), it is possible to reduce the number of cables connected to each camera, and there is no need to allocate a channel (CH) for each camera, reducing work time and cost. It becomes possible.

It is preferable that the image capture device 120 includes a communication unit 124 that transmits an image signal for the monitoring area output through the image processing unit 123 to the control unit 200 .

The control unit 200 controls Pan/Tilt/Zoom control of the high-magnification zoom camera 121 and the wide-angle camera 122 and controls the operation of the image processing unit 123, and a data storage unit to be described later. 250 communicates with the communication unit 124 using data stored in 250 and adjusts the horizontal (Pan) reference angle, vertical (Tilt) reference angle, and zoom state of the high-magnification zoom camera 121 and the wide-angle camera 122 And, the captured image captured by the image processing unit 123 is displayed on the display unit 300.

The display unit 300 is connected to the image capture device 120 and displays each output image provided from the image processing unit 123 on a screen, and the image captured by the high-magnification zoom camera 121 and the wide angle Images captured by the camera 122 are merged and displayed on one screen.

The data storage unit 250 stores the horizontal (rotation) reference angle, vertical (tilt) reference angle, zoom state and data communication protocol of the high-magnification zoom camera 121 and the wide-angle camera 122, and camera unique code (IP). It stores initialization data including, and enables control through the control unit 200. In addition, it is preferable that the data storage unit 250 stores the image captured by the image processing unit 123 so that the image captured by the image processing unit 123 can be checked if necessary.

Hereinafter, the umbilical cable C will be described with reference to FIGS. 2 and 3 .

Referring to FIG. 2, the buoyancy body 40 is coupled to the outer circumference of the mesh tube 90 to maintain neutral buoyancy throughout the umbilical cable C. The buoyancy body 40 allows the umbilical cable (C) to float or have neutral buoyancy so as to maintain a constant water depth. The buoyancy body 40 has a cylindrical shape and a hole (not shown) through which the mesh tube 90 can be inserted is formed in the center. In addition, the buoyancy body 40 may use an appropriate material such as synthetic resin to provide buoyancy, protect the power supply cable 50 and the data cable 60, and unit of the pneumatic hose 80 The size and volume of the buoyancy body 40 should also be designed in consideration of the weight per length. The buoyancy body 40 has positive buoyancy in water, and the positive buoyancy of the buoyancy body 40 offsets the negative buoyancy of the power supply cable 50 to maintain neutral buoyancy.

As shown, the umbilical cable (C) is a power supply cable 50 and the underwater drone 100 serving to receive operating power inside the underwater drone 100 from a power supply unit (not shown) It is made in the form of a housing in which a data cable 60 for transmitting and receiving data is embedded.

The power supply cable 50 receives power provided from the power supply unit from the underwater drone 200 and operates the cable adjusting device 10.

In addition, the data cable 60 transmits and receives signals or data between the underwater drone 100 through the underwater drone control unit 110.

The data cable 60 may be any type capable of transmitting and receiving data or electrical signals, but it is preferable to use a UTP type LAN communication line having neutral buoyancy. Therefore, a command issued by an operator in the underwater drone control unit 110 may be input to a communication board (not shown) of the underwater drone 100 through the data cable 60. In addition, image data of the image capturing device 120 mounted on the underwater drone 100 may be received in real time.

Referring to FIG. 3 , one or more data cables 60 may be provided, and each may be wrapped with a shield 62 made of silicon. In addition, the entire bundle of the data cables 60 may have a shielded structure surrounded by one shielding film 70 .

The shielding film 70 is provided to block the electromagnetic field or electrical noise generated from the power supply cable 50 from interfering with the data transmission performance of the data cable 60 . At this time, the shielding film 70 may be made of a thin plate made of aluminum. That is, the entire data cable 60 may be wrapped with something such as silver foil.

The pneumatic hose 80 injects or removes compressed air from a compressor (not shown) of the cable adjusting device 10 to or from the underwater drone 100 to adjust the pressure inside the underwater drone 100.

The pneumatic hose 80 is made of a flexible material, and a non-metallic material is suitable. The compressor may inject air of a predetermined pressure into the underwater drone 100 with a precision pressure regulator (not shown) attached thereto.

Since the compressed air injected into the underwater drone 100 is controlled in the same way as the water pressure, moisture is prevented from entering the underwater drone 100. Therefore, since the air pressure increases in proportion to the water depth, the pressure of the air to be injected is set according to the water depth, and the compressed air can be controlled to be automatically injected or removed according to the water depth of the underwater drone 100.

The mesh tube 90 is a configuration for maintaining and protecting the shape of the cable by combining the power supply cable 50, the data cable 60, and the pneumatic hose 80 into one cable. That is, the power supply cable 50, the data cable 60, and the pneumatic hose 80 are all accommodated inside the mesh tube 90. At this time, the mesh tube 90 is made of an insulating material and protects the internal cables 50 and 60 and the pneumatic hose 80 from external impact. The mesh tube 90 is made of a net, but is not coupled to a cable or a pneumatic hose, and is provided only to surround it.

Therefore, it is possible to prevent entanglement or twisting of each cable and pneumatic hose due to the mesh tube 90, and fatigue failure due to continuous bending (destruction of solids by repeated loads, such as cutting a metal wire if it is continuously bent and stretched) symptoms) can be prevented. Furthermore, even if water is introduced through the mesh tube 90, the introduced sea water or river water serves as cooling water to cool the power supply cable 50 or the data cable 60 from being heated.

Referring back to FIG. 1A, the cable adjusting device 10 is connected to the umblical cable (C) and coupled to the top of the underwater drone 100 at the bottom to selectively adjust the umblical cable (C). ) is formed.

The cable adjusting device 10 selectively adjusts the length of the umbilical cable C, and adjusts the length by winding the umbilical cable C.

The cable adjusting device 10 manually or automatically winds the umbilical cable C to adjust the length of the umbilical cable C, and the underwater drone operates by the operation of the cable adjusting device 10. The tension of the umbilical cable (C) connected to (100) can be adjusted.

In other words, the cable adjusting device 10 controls the cable (C) so that the tension of the umbilical cable (C) is maintained within a certain range according to the position of the sliding part 32, which will be described later, detected by the sensing device 30. By winding or unwinding C), twisting or tangling of the umbilical cable C may be prevented. The winding part (not shown) formed in the cable adjusting device 10 is in the form of a general pulley, and winds the umbilical cable (C) and selectively adjusts the length of the umbilical cable (C) according to the rotation direction. do.

The winding unit rotates according to the distance from the underwater drone 100 and adjusts the length of the umbilical cable (C). For example, when the underwater drone 100 moves in a direction away from the winding part, the winding part rotates in a direction of increasing the length of the umbilical cable C and the underwater drone 100 moves closer. When moving in the losing direction, the winding unit rotates in a direction reducing the length of the umbilical cable (C). That is, the winding unit adjusts the length of the umbilical cable (C) according to the increase or decrease of the separation distance from the underwater drone 100 so that the tension above a certain level can always be maintained.

Therefore, the cable adjusting device 10 adjusts the umbilical tension so that the tension of the umbilical cable C can be maintained within a certain range according to the position of the sliding part 32 detected by the sensing device 30. It serves to prevent twisting by winding or unwinding the curl cable (C).

Hereinafter, the sensing device 30 and its operational relationship will be described with reference to the drawings.

Referring to FIG. 4, the detection device 30 is provided on the underwater drone 100 and one side is connected to the cable control device 10 through an umbilical cable C, and the underwater drone 100 ) As the movement of the umbilical cable (C), the end of the umbilical cable (C) moves within a certain range, and at the same time as buffering the excessive tension acting on the umbilical cable (C), the movement of the underwater drone (100) According to the inertia, the moving distance of the end of the umbilical cable (C) is sensed.

Specifically, the sensing device 30 protrudes from the underwater drone 100 and is connected while accommodating the end of the umbilical cable C therein along the longitudinal direction, and the umbilical cable C ) The end of the is configured to be movable within a preset range.

As shown, the sensing device 30 includes a housing H having a predetermined space therein, a sensing unit 31, a sliding unit 32, a sensor controller (not shown), and the sliding unit 32. It consists of a restoring unit 33 that provides restoring force to return to the initial position corresponding to the reference value. The sensing device 30 detects the position of the sliding part 32 and compares it with a previously set reference value to derive information on the changed position.

Here, the sensing device 30 compares the position of the sliding part 32 detected by the sensing part 31 and the sensing part 31 with the reference value to detect the position of the sliding part 32, A sensing device controller (not shown) for measuring the amount of change is formed.

The housing (H) protrudes along the longitudinal direction at the rear of the underwater drone 100 and has a receiving space formed therein, and the sliding part 32, the sensing part 31, the sensing device control unit and The restoring part 33 is accommodated. At this time, as shown in the housing (H), a part of the umbilical cable (C) is also disposed inside the accommodation space through one end along the longitudinal direction, and the longitudinal direction inside the underwater drone 100 Accordingly, the position of the umbilical cable (C) is adjustable.

As shown, the housing (H) is formed in a cylindrical shape, one side is fixedly coupled to the underwater drone 100, and a portion of the umbilical cable (C) is inserted into the receiving space on the other side. On the other hand, the sliding part 32 is configured to be slidable along the longitudinal direction of the underwater drone 100 in the accommodation space, and is connected to one end of the umbilical cable (C) to form the umbilical The position changes along with the cable (C).

Hereinafter, the sliding part 32 will be described. The sliding unit 32 is configured to be movable within a preset range according to the movement of the underwater drone 100 .

The sliding part 32 is formed in a shape substantially similar to a piston inside the housing H and configured to be slidable within a predetermined range, and the umbilical cable C is connected to slide together. That is, when the underwater drone 100 is driven forward or backward, the underwater drone 100 and the housing H are integrally coupled and move together, and the sliding part 32 is temporarily caused by inertia. As it does not correspond to the movement of the underwater drone 100, the position inside the housing (H) is changed.

The sliding part 32 is configured to be slidable along the longitudinal direction of the underwater drone 100, and is connected to one end of the umbilical cable C to be positioned together with the umbilical cable C. changes.

Specifically, as shown, the sliding part 32 is formed in a shape similar to a piston and configured to be slidable within a predetermined range, and the umbilical cable C is connected to slide together.

That is, when the underwater drone 100 is driven forward or backward, the underwater drone 100 and the sliding part 32 are integrally coupled and move together. In this way, as the position of the sliding part 32 temporarily changes within the set range, even if a rapid movement change of the underwater drone 100 occurs, the position of the sliding part 32 changes and the umbilical cable (C ) to prevent tension above a certain level from occurring.

In addition, the sensing unit 31 is configured to detect the position of the sliding unit 32, and the sliding unit 32 moves forward or backward from the initial position according to the movement of the underwater drone 100. , it plays a role in detecting it.

In contrast, the sensing unit 31 is provided on the restoring unit 33 to sense the position of the sliding unit 32 according to the change in the strength of the restoring force generated by the movement of the sliding unit 32. It can also be made into a shape.

As shown, the sensing unit 31 includes the first sensor (a) and the second sensor (b), and the relative position change of the first sensor (a) and the second sensor (b) It is possible to measure the position and moving distance of the first sensor (a) through. Although not shown in the drawing, the sensing unit 31 may be provided on the restoration unit 33 to be described later, unlike the above-described form, and the sliding unit ( 32) may be derived.

Specifically, the sensing unit 31 is provided on the restoring unit 33 to detect the elasticity of the length increasing or decreasing based on a preset initial value, and accordingly detects a change in the position of the sliding unit 32. .

The sensing device control unit detects the position of the sliding unit 32 through the information measured by the sensing unit 31 and derives changed information. Furthermore, the sensing device control unit designates the preset reference value, compares the reference value with the position of the sliding part 32 detected by the sensing unit 31, and measures the amount of change in position.

At this time, the reference value is a state in which tension within the allowable range is applied to the umbilical cable (C) in a state in which the underwater drone 100 is not driven, and no external force acts on the sliding part 32. position in an unoccupied state.

That is, the reference value is the position of the sliding part 32 at which the underwater drone 100 does not operate and the tension within the allowable range acts on the umbilical cable C.

By comparing the position of the sliding part 32 detected by the sensing part 31 based on the reference value set as described above, the sensing device control unit may derive the amount of change in the position of the sliding part 32 .

That is, the changed positional information of the sliding part 32 derived by the sensing device controller is transmitted to the cable adjusting device 10 to be described later, and the cable adjusting device 10 controls the position of the umbilical cable C. Allows you to adjust the length.

At least one restoring unit 33 is provided to provide restoring force so that the sliding unit 32 returns to a preset position. Specifically, the restoring unit 33 may be configured in various forms, and is configured in the form of a general elastic member to provide restoring force so that the sliding unit 32 returns to the initial position corresponding to the reference value. At least one restoring part 33 is provided on both sides of the sliding part 32 inside the space of the housing H, and the sliding part 32 returns the initial position to the initial position.

The restoring parts 33 are provided on both sides of the sliding part 32, and when the position of the sliding part 32 changes, one of the restoring parts 33 is stretched and the other is compressed, thereby stably providing a restoring force. Of course, unlike this, it may be configured in various forms that provide restoring force in the form of a leaf spring or damper.

Therefore, the sensing device 30 detects when the relative position of the sliding part 32 is changed by an external force in a state in which it is connected to the umbilical cable C, and derives a positional change amount so that the cable adjusting device 10 At the same time, the restoring force is provided by the restoring part 33 so that the sliding part 32 returns to the initial position. Furthermore, when excessive tension is applied to the umbilical cable (C) due to the rapid movement of the underwater drone 100, the relative position of the sliding part 32 is changed to act as a damper to It is possible to prevent the curl cable (C) from being damaged.

Hereinafter, an operation of preventing twisting of the umbilical cable C by adjusting the tension will be described with reference to the drawings.

5 is a view showing a state in which the underwater drone 100 shown in FIG. 1A moves forward, and FIG. 6 is a view showing internal changes of the sensing device 30 in FIG. 5 .

And, FIG. 7 is a view showing a state in which the underwater drone 100 of FIG. 1A moves backward, and FIG. 8 is a view showing the internal change of the sensing device 30 in FIG.

First, referring to FIG. 5, the underwater drone 100 is in a state of moving forward (left), and in response to this, the cable adjusting device 10 operates to increase the length of the umbilical cable (C). At this time, when the underwater drone 100 moves forward, the sliding part 32 relatively moves backward inside the housing H of the sensing device 30 by inertia, and accordingly, the sliding part 32 ) is out of the initial position.

Specifically, as shown in FIG. 7 , when the sliding part 32 moves backward (to the right), the first sensor a also moves to the right along with the sliding part 32 .

Here, the second sensor (b) is composed of three sensors R1, R2, and R3, and the position of R2 is the initial position corresponding to the reference value.

Therefore, when the sliding part 32 moves to the right, it becomes the R3 sensor that detects the first sensor (a), and the current position of the first sensor (a) moved to the right can be detected.

Through this, the sensing device controller determines that the sliding part 32 has moved to the right, determines that the tension acting on the umbilical cable (C) will increase, and in response to this, the umbilical cable ( C) transmits corresponding information to the cable adjusting device 10 so that the length thereof increases.

At this time, as described above, the sliding part 32 can receive the restoring force by the restoring part 33 and simultaneously serve as a damper, and when the underwater drone 100 moves forward or backward, the umbilical cable It is possible to reduce the rate of change of the tension acting on (C). Accordingly, the cable adjusting device 10 can secure time to adjust the length of the umbilical cable C by receiving the information on the position change of the sliding part 32, thereby securing the umbilical cable. It is possible to prevent excessive tension from acting on (C).

That is, as the sliding part 32 changes its position inside the housing H, it buffers the tension change of the umbilical cable C caused by the position change of the underwater drone 100 and the cable adjusting device The delay time for the operation of (10) can be corrected.

Additionally, as shown, the configuration of the first sensor (a) and the second sensor (b) for detecting the change in position of the sliding part 32 as well as the pressure change acting on the restoring part 33 Through this, a positional change of the sliding part 32 may be sensed.

As shown, the length of the front (left) side of the sliding part 32 increases and the length of the rear side (right side) decreases, so that a relative pressure difference occurs. In particular, when the underwater drone 100 moves forward, the sliding part 32 moves backward in the housing H, and accordingly, the pressure of P2 is relatively higher than the pressure of P1.

can know that

As such, the position of the sliding part 32 may be sensed through the change in pressure between P1 and P2 and the amount of position change may be transmitted to the cable adjusting device 10 .

On the other hand, when the underwater drone 100 moves backward, the cable adjusting device 10 reduces the length of the umbilical cable C, as shown in FIG. 7 . In general, when the underwater drone 100 moves backward, the length of the umbilical cable (C) is often not reduced, but in the above case, the tension of the umbilical cable (C) is reduced Therefore, twisting of the umbilical cable (C) may occur.

Therefore, as shown in FIG. 8, when the underwater drone 100 moves backward, the sensing device 30 detects it and the length of the umbilical cable C through the cable adjusting device 10. By reducing , it is possible to prevent twisting due to slack by maintaining tension by applying a tension of a certain level or more to the umbilical cable (C).

8, when the underwater drone 100 moves backward (right side), the sliding part 32 moves forward (left side) within the cylinder 210.

In this case, unlike the above, it is the R1 sensor that detects the first sensor (a), and accordingly, it is determined that the sliding part 32 moves forward inside the housing (H), and the corresponding information is transmitted to the cable. It is transmitted to the control device (10).

Accordingly, the cable adjusting device 10 reduces the length by winding the umbilical cable C until the sliding part 32 returns to the initial position corresponding to the reference value. The tension of the cable (C) can be maintained.

As such, the sensing device 30 according to the present invention detects a change in position of the sliding part 32 according to the forward or backward movement of the underwater drone 100 and transmits the corresponding information so that the cable adjusting device 10 operates. By transmitting, the umbilical cable (C) is not excessively loosened or tightened, and a constant level of tension is always maintained to prevent entanglement.

In addition, the sensing device control unit of the sensing device 30 is electrically connected to the underwater drone control unit 110 mounted on the underwater drone 100 through an umbilical cable C.

Referring to FIG. 9, the underwater drone control unit 110 built into the underwater drone 100 receives power through the power supply cable 50, and the power necessary for the underwater drone 100 to operate is supplied to the motor (M). Whether or not power is applied between the DC-DC converter 111 applied to the battery 112 charged with the power connected to the motor M and the umbilical cable C and the DC-DC converter 111 However, if power is not applied to the DC-DC converter 111, it is composed of a divider 113 for applying charging power of the battery 112 to the motor M.

As shown, the underwater drone control unit 110 has a DC-DC converter 111, a battery 113 and a divider 115 inside an openable casing (reference numerals are omitted) made of a hollow housing shape at the bottom of the main body. include

The DC-DC converter 111 receives power from the sensing device control unit in the sensing device 30 through the umbilical cable C, and applies the necessary power required for the operation of the underwater drone 100 to the motor M. let it

Here, the DC-DC converter 111 converts DC power of 12V to 48V according to the type of underwater drone 100, and is applied as necessary power to the motor M.

The battery 113 is provided inside the casing to be electrically connected to the motor M, and unlike the DC-DC converter 111, the battery 113 is provided in a charged state with power for operating the motor M in advance. .

The divider 115 is installed inside the casing and is provided to detect whether power applied to the DC-DC converter 111 through the umbilical cable C is applied, and the umbilical cable C If the power applied to the DC-DC converter 111 is not detected through, the circuit is quickly changed so that the power charged in the battery 113 can be applied to the motor M, thereby preventing the underwater drone 100 from operating. prevent.

The underwater drone 100 is operated underwater through the power applied to the DC-DC converter 111 through the umbilical cable C, in an unexpected emergency situation (eg, external power cutoff due to power failure or external power failure). When a disconnection of the power plug, etc.) occurs, a problem arises in that power required for underwater or surface operation is cut off.

Therefore, the underwater drone controller 110 installs the divider 115 inside the casing to determine whether power is applied between the umbilical cable 400 and the DC-DC converter 111, and the DC-DC converter 111 If power is not applied to, to quickly switch the charging power of the battery 113 to be applied to the motor (M) to prevent non-operation of the underwater drone (100).

Those skilled in the art to which the present invention pertains as described above will understand that it can be implemented in other specific forms without changing the technical spirit or essential characteristics of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative and not limiting.

The scope of the present invention is indicated by the appended claims rather than the above 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. do.

10: cable control device 11: winding unit
30: detection device 31: detection unit
32: sliding part 33: restoring part
40: buoyancy body 50: power supply cable
60: data cable 62: shield
70: shielding layer 80: pneumatic hose
90: mesh tube 100: underwater drone
110: underwater drone control unit 111: DC-DC converter
112: battery 113: divider
a: 1st sensor b: 2nd sensor
120: video recording device 121: high-magnification zoom camera
122: wide-angle camera 123: image processing unit
124: communication unit 200: control unit
250: data storage unit 300: display unit C: umbilical cable
H : Housing M : Motor

Claims (4)

In the device for preventing the entanglement of the umbilical cable when an underwater drone with one end of the umbilical cable coupled to the top works under the water surface,

An umbilical cable having a built-in power supply cable for supplying power to the underwater drone and a data cable for transmitting and receiving data to and from the underwater drone;
a cable adjusting device that is connected to the umbilical cable and has a lower end coupled to an upper end of the underwater drone to selectively adjust the umbilical cable;
A sliding part provided on the underwater drone, connected to the cable control device through the umbilical cable, and configured to be movable within a preset range according to the movement of the underwater drone, and the position of the sliding part is determined. A sensing device that detects and compares with a preset reference value to derive changed location information;
a buoyancy body coupled to the outer circumference of the umbilical cable to maintain neutral buoyancy and protect the power supply cable and the data cable;
The detection device
A housing having a certain space therein;
The housing includes a sensing unit configured to detect a position of the sliding unit;
a sensing device control unit that compares the position of the sliding part detected by the sensing unit with the reference value to measure a position change amount;
At least one restoring unit provided inside to provide restoring force for allowing the sliding unit to return to an initial position corresponding to the reference value;
The restoring parts are provided on both sides of the sliding part, and when the position of the sliding part changes, one is extended and the other is compressed to stably provide a restoring force or provide a restoring force with a leaf spring or damper,
The sensing device control unit is electrically connected to the underwater drone control unit mounted on the underwater drone through the umbilical cable,
The underwater drone control unit is connected to the umbilical cable to receive power, a DC-DC converter for applying power to the motor for the underwater drone to operate;
a battery charged with power connected to the motor; and
And a divider for determining whether power is applied between the umbilical cable and the DC-DC converter, but applying charging power of the battery to the motor when power is not applied to the DC-DC converter. Curl cable entanglement device.
According to claim 1,
The umbilical cable entanglement prevention device, characterized in that the underwater drone is further formed with an image photographing device for photographing the state of the umbilical cable and transmitting it to the display unit.
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