KR102563957B1 - Equipment detachable apparatus, equipment system with same, and equipment assembling and disassembling method - Google Patents

Abstract

A device for attaching and detaching an instrument installed in water, an instrument system including the same, and a method for fixing and disassembling the instrument may be disclosed. A device for attaching and detaching a device according to an embodiment includes a device assembly in which a device installed in water is fixed; Fixing block for fixing or disassembling the mechanism assembly according to the request information requesting the fixing or disassembly of the mechanism assembly; and a lifting line fixing motor that is connected to the mechanism assembly and the lifting line and lifts the mechanism assembly to a fixed block or the water surface by winding or unwinding the lifting line according to requested information.

Description

Apparatus for attaching and detaching instrument, instrument system including the same, and instrument fixing and disassembling method

The present invention relates to a detachable device for fixing and disassembling an appliance installed in water, an appliance system including the same, and a method for fixing and disassembling the appliance.

Instruments installed underwater (eg, sonar, sensors, etc.) are usually installed at a depth of 10 to 20 m in consideration of a specific detection range, avoiding ships and other floating objects. Over time, equipment may be damaged by aquatic organisms (eg, barnacles, etc.) and floating objects floating in currents. In order to prevent such damage, it is necessary to periodically repair the equipment installed underwater after lifting it to the ground.

Conventionally, in order to maintain instruments installed underwater, a person dives directly to collect the instruments, and then installs the instruments again in the water. For example, in order to maintain an instrument installed underwater, a diver must dive into the water together with a barge equipped with a crane, release the fastening, and directly connect the instrument to the crane and pull it up. On the other hand, in order to re-install the maintenance equipment in the water, the equipment is moved to the surface using a crane, and the diver grabs the equipment fixed to the crane and dives directly to the fastening position, and then assembles the equipment.

Due to this, when performing the work in the conventional manner, additional manpower of divers is required to fix and disassemble the instrument. In addition, in order for a diver to submerge, the most stable ocean conditions must be obtained, and it is difficult to find the equipment immediately because the underwater vision is blurred. Moreover, there is a problem in that workability is poor because fastenings for fixing the instrument in water must be stored separately.

The present invention can provide a device for attaching and detaching an appliance that is installed in water and automatically fixes and disassembles an appliance that requires periodic maintenance, an appliance system including the same, and a method for fixing and disassembling the appliance.

According to one embodiment of the present invention, a detachable device may be disclosed. A device for attaching and detaching a device according to an embodiment includes a device assembly in which a device installed in water is fixed; a fixing block for fixing or disassembling the instrument assembly according to request information requesting fixing or disassembly of the instrument assembly; and a lifting line fixing motor connected to the mechanism assembly by a lifting line and lifting the mechanism assembly to the fixing block or the water surface by winding or unwinding the lifting line according to the request information.

In one embodiment, the mechanism assembly may have a gradient shape on a surface in contact with the fixing block.

In one embodiment, the instrument assembly includes a buoyancy body having a positive buoyancy so that the instrument assembly floats to the surface of the water; An assembly block installed between the mechanism and the buoyancy body and to which the mechanism is fixed; and a stabilizing assembly for stabilizing the posture of the instrument assembly by moving the center of gravity of the instrument assembly that has risen to the surface.

In one embodiment, the buoyant body includes an engineering plastic block made of engineering plastic made of ultrahigh molecular weight polyethylene (UHMWPE), and the engineering plastic block may be coated with polyurea to protect the outside.

In one embodiment, the buoyancy body is formed inside the engineering plastic block and may include a cavity for increasing the positive buoyancy.

In one embodiment, the assembly block may be formed of a stainless steel material.

In one embodiment, the stabilization assembly comprises a rudder; a bevel gear box connected to the rudder and rotating the rudder at a preset angle; a rudder adjustment motor driven to rotate the rudder according to the requested information; and an assembling rod having one end connected to the bevel gear box and the other end connected to the rudder control motor to transmit rotation of the rudder control motor to the bevel gear box.

In one embodiment, the fixing block may have a gradient shape on a surface in contact with the instrument assembly.

In one embodiment, the fixing block includes a contact detection unit for detecting a contact of the instrument assembly and outputting a detection signal; And it may include a fixing member for fixing the instrument assembly to be disassembled.

In one embodiment, the touch sensor may include a piezoelectric patch.

In one embodiment, the fixing member may include a hydraulic actuator for fixing.

In one embodiment, the detachable device may further include an electronic module that is installed in a sealed state between the buoyancy body and the assembly block and controls fixing and disassembly of the appliance assembly according to the request information. .

In one embodiment, the electronic module may include: a current speed detector configured to detect a current speed and output current speed information including the current speed; a sleep pressure sensor that detects sleep pressure and outputs sleep pressure information including the sleep pressure; a first communication module receiving the request information; And it may include a control unit for controlling the fixing and disassembly of the instrument assembly based on the request information.

In one embodiment, the controller may control the fixing member so that the instrument assembly is fixed to the fixing block or the instrument assembly is disassembled from the fixing block according to the request information.

According to one embodiment of the present invention, an instrument system may be disclosed. An instrument system according to an embodiment includes an instrument installed in water; a control device outputting request information for requesting fixation or disassembly of the instrument; and a detachable instrument connected to the control device, wherein the instrument detachable device includes an instrument assembly to which the instrument is fixed; a fixing block for fixing or disassembling the instrument assembly according to the requested information; and a lifting line fixing motor connected to the mechanism assembly by a lifting line and lifting the mechanism assembly to the fixing block or the water surface by winding or unwinding the lifting line according to the request information.

In one embodiment, the mechanism assembly may have a gradient shape on a surface in contact with the fixing block.

In one embodiment, the instrument assembly includes a buoyancy body having a positive buoyancy so that the instrument assembly floats to the surface of the water; An assembly block installed between the mechanism and the buoyancy body and to which the mechanism is fixed; and a stabilizing assembly for stabilizing the posture of the instrument assembly by moving the center of gravity of the instrument assembly that has risen to the surface.

In one embodiment, the buoyant body includes an engineering plastic block made of engineering plastic made of UHMWPE, and the engineering plastic block may be coated with polyurea to protect the outside.

In one embodiment, the buoyancy body is formed inside the engineering plastic block and may include a cavity for increasing the positive buoyancy.

In one embodiment, the assembly block may be formed of a stainless steel material.

In one embodiment, the stabilization assembly comprises a rudder; a bevel gear box connected to the rudder and rotating the rudder at a preset angle; a rudder adjustment motor driven to rotate the rudder according to the requested information; and an assembling rod having one end connected to the bevel gear box and the other end connected to the rudder control motor to transmit rotation of the rudder control motor to the bevel gear box.

In one embodiment, the fixing block may have a gradient shape on a surface in contact with the instrument assembly.

In one embodiment, the fixing block includes a contact detection unit for detecting a contact of the instrument assembly and outputting a detection signal; And it may include a fixing member for fixing the instrument assembly to be disassembled.

In one embodiment, the touch sensor may include a piezoelectric patch.

In one embodiment, the fixing member may include a hydraulic actuator for fixing.

In one embodiment, the detachable device may further include an electronic module that is installed in a sealed state between the buoyancy body and the assembly block and controls fixing and disassembly of the appliance assembly according to the request information. .

In one embodiment, the electronic module may include: a current speed detector configured to detect a current speed and output current speed information including the current speed; a sleep pressure sensor that detects sleep pressure and outputs sleep pressure information including the sleep pressure; a first communication module receiving the request information; And it may include a control unit for controlling the fixing and disassembly of the instrument assembly based on the request information.

In one embodiment, the controller may control the fixing member so that the instrument assembly is fixed to the fixing block or the instrument assembly is disassembled from the fixing block according to the request information.

In one embodiment, the control device may include a second communication module that transmits the request information to the attachment/detachment device and receives the current speed information and the surface pressure information; and a central processing unit that generates the request information, controls winding or unwinding of the lifting line fixing motor based on the ocean current speed information, and controls the stabilization assembly based on the surface pressure information.

In one embodiment, the central processing unit determines whether the current speed is equal to or greater than a preset speed based on the current speed information, and if it is determined that the current speed is greater than or equal to the preset speed, the lifting line is wound or The lifting line fixing motor may be controlled so that the unwinding speed becomes the first speed.

In one embodiment, the first speed may include 10 m/min.

In one embodiment, the central processing unit determines whether the current speed is greater than or equal to a preset speed based on the current speed information, and if it is determined that the current speed is less than the preset speed, the lifting line is wound or The lifting line fixing motor may be controlled so that the unwinding speed becomes the second speed.

In one embodiment, the second speed may include 20 m/min.

In one embodiment, the central processing unit determines whether the instrument assembly has risen to the surface of the water based on the surface pressure information, and if it is determined that the instrument assembly has risen to the surface of the water, the stabilization assembly to rotate the rudder can control.

According to one embodiment of the present invention, a method for disassembling an instrument in an instrument system including an instrument installed underwater, an instrument detachable device, and a control device may be disclosed. The instrument disassembly method according to an embodiment includes outputting, in the control device, first request information for requesting disassembly of the instrument fixed to the instrument detachable device; disassembling the instrument on the basis of the first request information in the detachable instrument; outputting, by the control device, second request information requesting release of the lifting line connected to the instrument; and controlling release of the lifting line based on the second request information in the device for attaching and detaching the instrument.

In one embodiment, the instrument is fixed to the instrument assembly of the instrument detachable device, the instrument assembly is fixed to the fixing block of the instrument detachable device, and the step of outputting the first request information includes the instrument assembly determining whether the fixed block is fixed; generating the first request information when it is determined that the mechanism assembly is fixed to the fixing block; and transmitting the first request information to the attachment/detachment device.

In one embodiment, the fixing block includes a hydraulic actuator for fixing, and the step of disassembling the mechanism based on the first request information is fixed by the hydraulic actuator for fixing based on the first request information A step of disassembling the mechanism assembly may be included.

In one embodiment, the device for attaching and detaching the instrument includes a lifting line fixing motor for fixing the lifting line, and the step of outputting the second request information requesting release of the lifting line connected to the instrument is performed according to the speed of the ocean current. generating the second request information for adjusting an unwinding speed of the lifting line fixing motor; and transmitting the second request information to the attachment/detachment device.

In one embodiment, the generating of the second request information for adjusting the unwinding speed of the lifting line fixing motor according to the current speed may include acquiring current speed information including the current speed; determining whether the current speed is greater than or equal to a preset speed based on the current speed information; and generating the second request information for adjusting a loosening speed of the lifting line fixing motor to a first speed when it is determined that the current speed is equal to or greater than the preset speed.

In one embodiment, the first speed may include 10 m/min.

In one embodiment, the generating of the second request information for adjusting the loosening speed of the lifting line fixing motor according to the current speed is determined that the current speed is less than the preset speed, the lifting line fixing motor It may include generating the second request information for adjusting the unwinding speed of the second speed.

In one embodiment, the second speed may include 20 m/min.

In one embodiment, the step of outputting second request information requesting release of the lifting line connected to the appliance includes generating the second request information for stopping the release of the lifting line fixing motor according to the water surface pressure. step; and transmitting the second request information to the attachment/detachment device.

In one embodiment, the generating of the second request information for stopping the loosening of the lifting line fixing motor according to the sleep pressure includes obtaining sleep pressure information including the sleep pressure; Determining whether the instrument assembly has risen to the surface of the water based on the surface pressure information; and generating the second request information for stopping the lifting line fixing motor when it is determined that the mechanism assembly has risen to the surface of the water.

In one embodiment, the detachable device includes a stabilizing assembly connected to the mechanical assembly and including a rudder, and the disassembling method includes the rudder so that the posture of the mechanical assembly floating on the surface is stabilized in the control device. Generating the second request information for rotating the; and transmitting, by the control device, the second request information to the attachment/detachment device.

According to one embodiment of the present invention, a method for fixing an instrument in an instrument system including an instrument installed in water, an instrument detachable device, and a control device may be disclosed. A method of fixing an instrument according to an embodiment includes outputting, in the control device, third request information requesting winding of a lifting line connected to the instrument; performing winding of the lifting line based on the third request information in the detachable device; outputting, in the control device, fourth request information for fixing the instrument to the instrument detachable device as the instrument contacts the instrument detachable device; and fixing the appliance on the basis of the fourth requested information in the appliance.

In one embodiment, the device for attaching and detaching the appliance includes a lifting line fixing motor for fixing the lifting line, and the step of outputting third request information requesting winding of the lifting line connected to the appliance is performed according to the speed of the ocean current. generating the third request information for adjusting a winding speed of the lifting line fixing motor; and transmitting the third request information to the attachment/detachment device.

In one embodiment, the generating of the third request information for adjusting the winding speed of the lifting line fixing motor according to the current speed includes obtaining current speed information including the current speed; determining whether the current speed is greater than or equal to a preset speed based on the current speed information; The method may include generating the third request information for adjusting a winding speed of the lifting line fixing motor to a first speed when it is determined that the current speed is equal to or greater than the preset speed.

In one embodiment, the first speed may include 10 m/min.

In one embodiment, in the generating of the third request information for adjusting the winding speed of the lifting line fixing motor according to the current speed, when it is determined that the current speed is less than the preset speed, the lifting line fixing motor It may include generating the third request information for adjusting the winding speed of the second speed.

In one embodiment, the second speed may include 20 m/min.

In one embodiment, the instrument is fixed to the instrument assembly of the instrument detachable device, the instrument detachable device includes a fixing block for detecting whether or not the instrument assembly is in contact, and outputting the fourth request information obtaining a contact detection signal indicating that the instrument assembly is in contact with the fixing block; generating the fourth request information for stopping the lifting line fixing motor and fixing the instrument assembly to the fixing block based on the contact detection signal; and transmitting the fourth request information to the attachment/detachment device.

In one embodiment, the fixing block includes a hydraulic actuator for fixing, and the step of fixing the fixture based on the fourth request information is the fixture by the hydraulic actuator for fixing based on the fourth request information. It may include fixing the assembly to the fixing block.

According to various embodiments of the present invention, it is possible to automatically fix and disassemble an instrument that is installed underwater and requires periodic maintenance, thereby reducing the number of fasteners as well as reducing the manpower needed to assemble and disassemble the instrument. can make it

In addition, it is possible to automatically fix and disassemble the mechanism without assembling or disassembling fasteners, thereby reducing working time, enabling work without being greatly affected by the marine environment, and improving workability. there is.

1 is a diagram schematically showing an instrument system according to an embodiment of the present invention.
Figure 2 is a block diagram schematically showing the configuration of a detachable device according to an embodiment of the present invention.
3 is a perspective view of a detachable instrument according to an embodiment of the present invention.
4 is a cross-sectional view of a detachable instrument according to an embodiment of the present invention.
5 is a perspective view of a mechanism assembly according to an embodiment of the present invention.
6 is a cross-sectional view of a mechanism assembly according to an embodiment of the present invention.
7 is a perspective view of a mechanism assembly in which the mechanism is disassembled according to an embodiment of the present invention.
8 is a perspective view of a stabilization assembly according to one embodiment of the present invention.
9 is a cross-sectional view of a stabilization assembly according to one embodiment of the present invention.
10 is an exemplary view showing rotation of a rudder according to an embodiment of the present invention.
11 is a perspective view of a fixing block according to an embodiment of the present invention.
12 is a partially enlarged view of a fixed block according to an embodiment of the present invention.
13 is an exemplary diagram illustrating the operation of a hydraulic actuator for fixing according to an embodiment of the present invention.
14 is a block diagram schematically showing the configuration of an electronic module according to an embodiment of the present invention.
15 is a block diagram schematically showing the configuration of a control device according to an embodiment of the present invention.
16 is a flowchart illustrating a method of disassembling an instrument according to an embodiment of the present invention.
17 is a flowchart illustrating a method of outputting first request information according to an embodiment of the present invention.
18 is a flowchart illustrating a method of outputting speed control request information as second request information according to an embodiment of the present invention.
19 is a flowchart illustrating a method of outputting motor stop request information and rudder rotation request information as second request information according to an embodiment of the present invention.
20 is an exemplary view showing a state in which a mechanism is disassembled into a mechanism assembly according to an embodiment of the present invention.
21 is a flow chart illustrating a method of fixing a mechanism according to an embodiment of the present invention.
22 is a flowchart illustrating a method of outputting third request information according to an embodiment of the present invention.
23 is a flowchart illustrating a method of outputting motor stop request information and fixation request information as fourth request information according to an embodiment of the present invention.

Embodiments of the present invention are illustrated for the purpose of explaining the technical idea of the present invention. The scope of rights according to the present invention is not limited to the specific description of the embodiments or these embodiments presented below.

All technical terms and scientific terms used in the present invention have meanings commonly understood by those of ordinary skill in the art to which the present invention belongs, unless otherwise defined. All terms used in the present invention are selected for the purpose of more clearly describing the present invention and are not selected to limit the scope of rights according to the present invention.

Expressions such as "comprising", "including", "having", etc. used in the present invention are open-ended terms that imply the possibility of including other embodiments, unless otherwise stated in the phrase or sentence in which the expression includes. (open-ended terms).

Singular expressions described in the present invention may include plural meanings unless otherwise stated, and this applies to singular expressions described in the claims as well.

Expressions such as "first" and "second" used in the present invention are used to distinguish a plurality of components from each other, and do not limit the order or importance of the components.

The term "unit" used in the present invention means software or a hardware component such as a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC). However, "unit" is not limited to hardware and software. A “unit” may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Thus, as an example, "unit" refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, procedures, subroutines, It includes segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and variables. Functions provided within components and “units” may be combined into fewer components and “units” or separated into additional components and “units”.

As used herein, the expression "based on" is used to describe one or more factors that affect the action or operation of a decision judgment, described in a phrase or sentence in which the expression is included, and this expression refers to a decision However, it does not preclude additional factors that affect the act or operation of the judgment.

In the present invention, when an element is referred to as being “connected” or “connected” to another element, that element is directly connectable or connectable to the other element, or a new or different configuration. It should be understood that it can be connected or connected via an element.

Direction indicators such as "upper" and "upper" used in the present invention are based on the direction in which the "detachable device" is located with respect to the "base" in the accompanying drawings, and "downward", "lower", etc. A direction indicator means the opposite direction.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, identical or corresponding elements are given the same reference numerals. In addition, in the description of the following embodiments, overlapping descriptions of the same or corresponding components may be omitted. However, omission of a description of a component does not intend that such a component is not included in an embodiment.

1 is a diagram schematically showing an instrument system according to an embodiment of the present invention. Referring to FIG. 1 , the instrument system 100 may include an instrument 110, a control device 120, and an instrument detachable device 130. In FIG. 1, reference numeral BP denotes a foundation fixed to the seabed.

The instrument 110 can be installed underwater and detect underwater. In one embodiment, the instrument 110 may be installed at a depth of 10 to 20 m in consideration of the detection and measurement range while avoiding ships and other floating objects. For example, the instrument 110 may include a detection unit (not shown) and an instrument communication module (not shown).

In one embodiment, the detection unit for monitoring submersibles invading harbors, underwater infiltrators, sensors for monitoring other underwater weapons, collection of environmental data in the sea area, prevention of disasters such as earthquakes and tsunamis, and marine pollution May include sonar and the like.

In one embodiment, the instrument communication module may be connected to the detection unit and transmit a detection result detected by the detection unit to the control device 120 . For example, the instrument communication module may be wirelessly connected to the control device 120 .

The control device 120 may be connected to the instrument 110 and receive a detection result provided from the instrument 110 . In addition, the control device 120 may output request information requesting that the instrument 110 be fixed to and disassembled from the instrument detachable device 130 . In one embodiment, the control device 120 may generate request information and transmit the generated request information to the attachment/detachment device 130 .

The instrument attachment/detachment device 130 may be connected to the control device 120 . In one embodiment, the instrument detachable device 130 may be connected to the control device 120 by wire. In another embodiment, the attachment and detachment device 130 may be connected to the control device 120 wirelessly. The attachment/detachment device 130 may control fixation or disassembly of the object 110 according to request information provided from the control device 120 .

Figure 2 is a block diagram schematically showing the configuration of a detachable device according to an embodiment of the present invention, Figure 3 is a perspective view of the detachable device according to an embodiment of the present invention, Figure 4 is an embodiment of the present invention It is a cross-sectional view of the attachment/detachment device according to the example. Referring to FIGS. 2 to 4 , the attachment/detachment device 130 may include an instrument assembly 210 , a fixing block 220 and a lifting line fixing motor 230 . In addition, the appliance detachable device 130 may further include an electronic module 240 .

The instrument assembly 210 may be fixed to the instrument 110 installed in water. In one embodiment, the instrument assembly 210 may have a gradient shape on a surface contacting the fixing block 220 . For example, as shown in FIG. 4 , the mechanism assembly 210 may have a gradient shape in order to easily access the fixing block 220 when in contact with the fixing block 220 .

The fixing block 220 may fix or disassemble the instrument assembly 210 according to request information requesting fixing or disassembly of the instrument assembly 210 to which the instrument is fixed. In one embodiment, a surface of the fixing block 220 in contact with the instrument assembly 210 may have a gradient shape. For example, the fixing block 220 may have a gradient shape so that the instrument assembly 210 can easily access it, as shown in FIG. 4 .

The lifting line fixed motor 230 may be connected to the instrument assembly 210 through a lifting line. In one embodiment, the lifting line fixing motor 230 may lift the mechanism assembly 210 to the fixing block 220 by winding the lifting line according to the requested information. In addition, the lifting line fixing motor 230 may release the lifting line according to the request information to lift the mechanism assembly 210 disassembled from the fixing block 220 to the surface of the water. In one embodiment, the lifting line fixing motor 230 may be fixedly installed at a predetermined position of the base part BP. However, the lifting line fixing motor 230 is not necessarily limited thereto, and may be fixed to the fixing block 220 or the like.

The electronic module 240 may receive request information from the control device 120 and control fixing and disassembly of the instrument assembly 210 based on the received request information. In one embodiment, the electronic module 240 may be installed in a sealed state inside the instrument assembly 210 .

Figure 5 is a perspective view of an appliance assembly according to an embodiment of the present invention, Figure 6 is a cross-sectional view of the appliance assembly according to an embodiment of the present invention, Figure 7 is a disassembled appliance according to an embodiment of the present invention It is a perspective view of the assembly. Referring to FIGS. 5 to 7 , the instrument assembly 210 may include a buoyancy body 510 , an assembly block 520 and a stabilization assembly 530 . In FIG. 5, reference numeral CA denotes a cable, and reference numeral LINE denotes a lifting line.

The buoyancy body 510 may have positive buoyancy so that the instrument assembly 210 disassembled from the fixing block 220 floats to the surface. In one embodiment, the buoyancy body 510 may include an engineering plastic block formed of engineering plastic made of ultrahigh molecular weight polyethylene (UHMWPE). In one embodiment, the engineering plastic block may be protectively coated with polyurea on the outside.

In one embodiment, the buoyancy body 510 is formed inside the engineering plastic block as shown in FIG. 6 and may include a cavity 610 for increasing positive buoyancy. In one embodiment, as shown in FIG. 7 , the electronic module 240 may be installed in a sealed state between the buoyancy body 510 and the assembly block 520 .

The assembly block 520 is installed between the instrument 110 and the buoyancy body 510, and the instrument 110 may be fixed. In one embodiment, the assembly block 520 may be bolted to the mechanism 110 . In one embodiment, the assembly block 520 may be formed of a stainless steel material.

The stabilization assembly 530 may stabilize the posture of the instrument assembly 210 by moving the center of gravity of the instrument assembly 210 that has risen to the surface. In one embodiment, the stabilization assembly 530 may move the center of gravity of the floating instrument assembly 210 underwater. Therefore, the mechanism assembly 210 can stay around the base portion BP without departing beyond a certain range.

8 is a perspective view of a stabilization assembly according to an embodiment of the present invention, and FIG. 9 is a cross-sectional view of a stabilization assembly according to an embodiment of the present invention. Referring to FIGS. 8 and 9 , the stabilization assembly 530 may include a rudder 810 , a gear box 820 , a rudder adjustment motor 830 and an assembly rod 840 .

The rudder 810 may be rotated at a predetermined angle. In one embodiment, the rudder 810 may be rotated at a predetermined angle as shown in FIG. 10 when the instrument assembly 210 rises to the surface of the water. For example, the predetermined angle may be 90 degrees. However, the predetermined angle is not necessarily limited thereto. In one embodiment, there may be two rudders 810 . However, the number of rudders 810 is not necessarily limited thereto.

The gear box 820 may be connected to the rudder 810 . The gear box 820 may rotate the rudder 810 at a predetermined angle. In one embodiment, gear box 820 may include a bevel gear box.

The rudder adjustment motor 830 may rotate the rudder 810 at a predetermined angle through the gear box 820 . In one embodiment, the rudder adjusting motor 830 may rotate according to request information provided from the controller 120 to rotate the rudder 810 at a predetermined angle through the gear box 820 .

The assembly rod 840 may be connected to the gear box 820 and the rudder adjustment motor 830 . In one embodiment, the assembly rod 840 may be connected to the gear box 820 at one end and connected to the rudder adjustment motor 830 at the other end. Accordingly, the assembly rod 840 may transmit rotation of the rudder adjustment motor 830 to the gear box 830 .

11 is a perspective view of a fixed block according to an embodiment of the present invention, and FIG. 12 is a partially enlarged view of the fixed block according to an embodiment of the present invention. Referring to FIGS. 11 and 12 , the fixing block 220 may include a contact sensing unit 1110 and a fixing member 1120 .

The contact detection unit 1110 may detect the contact of the instrument assembly 210 and output a detection signal (hereinafter, referred to as a "mechanism assembly contact detection signal"). In one embodiment, a plurality of touch sensing units 1110 may be installed at predetermined positions of the fixing block 220 . In one embodiment, the touch sensor 1110 may include a piezoelectric patch.

The fixing member 1120 may fix the instrument assembly 210 so as to be disassembled. In one embodiment, a plurality of fixing members 1120 may be installed at predetermined positions of the fixing block 220 . In one embodiment, the fixing member 1120 may include a hydraulic actuator for fixing. For example, as shown in FIG. 13, the fixing member 1120 may fix the fixture assembly 210 by protruding the fixing body 1310 of the hydraulic actuator for fixing, and the fixing body of the hydraulic actuator for fixing ( 1310) by settling, the mechanism assembly 210 can be released (ie, disassembled).

14 is a block diagram schematically showing the configuration of an electronic module according to an embodiment of the present invention. Referring to FIG. 14 , the electronic module 240 may include a current speed detector 1410, a surface pressure detector 1420, a first communication module 1430, and a controller 1440.

The current speed detector 1410 may detect the current speed and output current speed information including the current speed. In one embodiment, the current speed sensor 1410 may detect the current speed, generate current speed information including the sensed current speed, and output the generated current speed information.

The sleep pressure sensor 1420 may detect the sleep pressure and output sleep pressure information including the sleep pressure. In an embodiment, the sleep pressure sensor 1420 may detect sleep pressure, generate sleep pressure information including the sensed sleep pressure, and output the generated sleep pressure information.

The first communication module 1430 may be connected to the control device 120 . In one embodiment, the first communication module 1430 may be connected to the control device 120 by wire. For example, the first communication module 1430 may be wired to the control device 120 through a cable CA. In another embodiment, the first communication module 1430 may be wirelessly connected to the control device 120 .

In one embodiment, the first communication module 1430 may transmit current speed information and surface pressure information to the controller 120 . Also, the first communication module 1430 may transmit an instrument assembly contact detection signal to the control device 120 . Moreover, the first communication module 1430 may receive request information from the control device 120 .

The control unit 1440 may be connected to the ocean current speed sensor 1410 , the surface pressure sensor 1430 and the first communication module 1430 . In addition, the controller 1440 may be connected to the instrument assembly 210 , the fixing block 220 and the stabilization assembly 230 . The control unit 1440 may control the operation of each component of the attachment/detachment device 130 .

In one embodiment, the controller 1440 may control the fixed block 220 based on request information from the control device 120 . For example, the controller 1440 may control the fixing block 220 to fix the fixture assembly 210 to the fixing block 220 based on the request information. In addition, the controller 1440 may control the fixing block 220 so that the mechanism assembly 210 is disassembled from the fixing block 220 based on the request information.

In one embodiment, the control unit 1440 may control the stabilization assembly 530 based on requested information from the control device 120 . For example, the controller 1440 may control the stabilization assembly 530 to rotate the rudder 810 at a predetermined angle based on the request information.

In one embodiment, the control unit 1440 may control the lifting line fixing motor 230 based on request information from the control device 120 . For example, the controller 1440 may control the lifting line fixing motor 230 to wind the lifting line based on the request information. Also, the control unit 1440 may control the lifting line fixing motor 230 to release the lifting line based on the request information.

In one embodiment, the control unit 1440 may control the speed of the lifting line fixing motor 230 based on request information from the control device 120 . For example, the control unit 1440 may control the lifting line fixing motor 230 to adjust the winding speed of the lifting line based on the request information. Also, the control unit 1440 may control the lifting line fixing motor 230 to adjust the unwinding speed of the lifting line based on the request information.

15 is a block diagram schematically showing the configuration of a control device according to an embodiment of the present invention. Referring to FIG. 15 , the control device 120 may include a second communication module 1510 and a central processing unit 1520 .

The second communication module 1510 may be connected to the attachment/detachment device 130 . In one embodiment, the second communication module 1510 may be connected to the first communication module 1430 of the attachment/detachment device 130 by wire or wirelessly.

In one embodiment, the second communication module 1510 may transmit the request information generated by the central processing unit 1520 to the first communication module 1430 . Also, the second communication module 1510 may receive ocean current speed information, surface pressure information, and a contact detection signal of an instrument assembly from the first communication module 1430 .

The central processing unit 1520 may output request information for requesting fixation or disassembly of the instrument assembly 210, winding or unwinding of the lifting line, and rotation of the rudder. In one embodiment, the central processing unit 1520 may generate request information and transmit the generated request information to the attachment/detachment device 130 through the second communication module 1510 .

In one embodiment, the central processing unit 1520 generates request information requesting that the instrument assembly 210 be disassembled from the fixing block 220, and the generated request information is attached and detached through the second communication module 1510. device 130.

In one embodiment, the central processing unit 1520 generates request information for requesting that the instrument assembly 210 be fixed to the fixing block 220 based on the instrument assembly contact detection signal, and transmits the generated request information to the second communication It can be transmitted to the attachment/detachment device 130 through the module 1510.

In one embodiment, the central processing unit 1520 generates request information requesting that the winding or unwinding speed of the lifting line be adjusted based on the ocean current speed information, and transmits the generated request information to the second communication module 1510. ) It can be transmitted to the attachment and detachment device 130 through.

In one embodiment, the central processing unit 1520 generates request information for requesting that the lifting line fixing motor 230 stop based on the surface pressure information, and transmits the generated request information through the second communication module 1510. It can be transmitted to the attachment/detachment device 130.

In an embodiment, the central processing unit 1520 generates request information for requesting that the rudder 810 rotate at a predetermined angle based on the surface pressure information, and transmits the generated request information through the second communication module 1510. It can be transmitted to the attachment/detachment device 130.

In one embodiment, the central processing unit 1520 generates request information for requesting that the lifting line fixing motor 230 stop based on the instrument assembly contact detection signal, and transmits the generated request information to the second communication module 1510. It can be transmitted to the instrument detachable device 130 through.

Although process steps, method steps, algorithms, etc. are described in sequential order in the flowcharts shown herein, such processes, methods and algorithms may be configured to operate in any suitable order. In other words, the steps of the processes, methods and algorithms described in the various embodiments of the invention need not be performed in the order described herein. Also, although some steps are described as being performed asynchronously, in other embodiments some of these steps may be performed concurrently. Further, illustration of a process by depiction in the drawings does not mean that the illustrated process is exclusive of other changes and modifications thereto, and that any of the illustrated process or steps thereof may be one of various embodiments of the present invention. It is not meant to be essential to one or more, and it does not imply that the illustrated process is preferred.

16 is a flowchart illustrating a method of disassembling an instrument according to an embodiment of the present invention. Referring to FIG. 16, in step S1602, the control device 120 outputs request information requesting disassembly of the instrument 110 fixed to the instrument detachable device 130 (hereinafter referred to as “first request information”). can do. In one embodiment, the central processing unit 1520 of the control device 120 generates first request information and transmits the generated first request information to the attachment/detachment device 130 through the second communication module 1510. can do.

In step S1604, the appliance detachable device 130 may disassemble the appliance based on the first request information. In one embodiment, the electronic module 240 of the attachment/detachment device 130 receives the first request information, and the instrument assembly 210 is disassembled from the fixing block 220 based on the received first request information. The fixed block 220 can be controlled. Accordingly, the fixing member 1120 of the fixing block 220 may release (ie, disassemble) the fixture assembly 210 to which the fixture 110 is fixed, under the control of the electronic module 240 .

In step S1606, the control device 120 may output request information (hereinafter referred to as "second request information") requesting release of the lifting line connected to the instrument 110. In one embodiment, the central processing unit 1520 of the control device 120 generates second request information and transmits the generated second request information to the attachment/detachment device 130 through the second communication module 1510. can do.

In step S1608, the appliance attachment/detachment device 130 may control release of the lifting line based on the second request information. In one embodiment, the electronic module 240 of the attachment/detachment device 130 may control the release of the lifting line based on the second request information. Accordingly, the lifting line fixing motor 230 may release the lifting line under the control of the electronic module 240 .

17 is a flowchart illustrating a method of outputting first request information according to an embodiment of the present invention. Referring to FIG. 17 , in step S1702 , the control device 120 may determine whether the instrument 110 is fixed to the instrument attachment/detachment device 130 . In one embodiment, the central processing unit 1520 of the control device 120 may determine whether the instrument assembly 210 to which the instrument 110 is fixed is fixed to the fixing block 220 .

If it is determined in step S1702 that the instrument 110 is not fixed to the instrument detachable device 130, in step S1704, the control device 120 may output an error message. In one embodiment, the central processing unit 1520 of the control device 120 generates and generates an error message when it is determined that the instrument assembly 210 to which the instrument 110 is fixed is not fixed to the fixed block 220. error messages can be output.

Meanwhile, if it is determined in step S1702 that the instrument 110 is fixed to the instrument detachable device 130, in step S1706, the control device 120 may generate first request information. In one embodiment, the central processing unit 1520 of the control device 120 generates first request information when it is determined that the instrument assembly 210 to which the instrument 110 is fixed is fixed to the fixed block 220. can do.

In step S1708 , the control device 120 may transmit the first request information to the attachment/detachment device 130 . In one embodiment, the central processing unit 1520 of the control device 120 may transmit the information to the attachment/detachment device 130 through the second communication module 1510 .

18 is a flowchart illustrating a method of outputting second request information according to an embodiment of the present invention. Referring to FIG. 18 , in step S1802, the control device 120 may acquire current speed information. In one embodiment, the central processing unit 1520 of the control device 120 may receive ocean current speed information from the attachment/detachment device 130 through the second communication module 1510 .

In step S1804, the controller 120 may determine whether the current speed is greater than or equal to a preset speed based on the current speed information. In one embodiment, the central processing unit 1520 of the control device 120 may determine whether the current speed is equal to or greater than a preset speed. For example, the preset speed may be 1 knot in consideration of the maximum flow rate and maximum diving speed at which a diver can dive in the manuals of the Navy and the Coast Guard.

When it is determined in step S1804 that the speed of the ocean current is equal to or greater than the preset speed, in step S1806, the controller 120 provides speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the first speed (hereinafter referred to as "the 1 speed adjustment request information) can be created. In one embodiment, the central processing unit 1520 of the control device 120 may generate first speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the first speed as the second request information. there is. For example, the first speed may include 10 m/min.

On the other hand, if it is determined in step S1804 that the current speed is less than the preset speed, in step S1808, the controller 120 provides speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the second speed (hereinafter, Referred to as “second speed adjustment request information”) may be generated. In one embodiment, the central processing unit 1520 of the control device 120 may generate second speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the second speed as the second request information. there is. For example, the second speed may include 20 m/min.

In step S1810, the control device 120 may transmit the generated speed adjustment request information to the attachment/detachment device 130. In one embodiment, the central processing unit 1520 of the control device 120 transmits speed adjustment request information (eg, first speed adjustment request information or second speed adjustment request information) to the second communication module 1510. It can be transmitted to the instrument detachable device 130 through. Accordingly, the electronic module 240 of the attachment/detachment device 130 adjusts the release speed of the lifting line fixing motor 230 based on the second request information (ie, the first speed adjustment request information or the second speed adjustment request information). You can control it.

As such, when the speed of the current is fast (1 knot or more), the loosening speed of the lifting line fixing motor 230 is adjusted slowly, and when the speed of the current is slow (less than 1 knot), the loosening speed of the lifting line fixing motor 230 is adjusted slowly. can be quickly adjusted to prevent the lifting line from breaking.

19 is a flowchart illustrating a method of outputting motor stop request information and rudder rotation request information as second request information according to an embodiment of the present invention. Referring to FIG. 19 , in step S1902, the control device 120 may acquire sleep pressure information. In one embodiment, the central processing unit 1520 of the control device 120 may receive surface pressure information from the attachment/detachment device 130 through the second communication module 1510 .

In step S1904, the control device 120 may determine whether or not the instrument 110 has risen to the surface based on the surface pressure information. In one embodiment, the central processing unit 1520 of the control device 120 may determine whether the instrument assembly 210 to which the instrument 110 is fixed has risen to the surface of the water based on the surface pressure information.

When it is determined in step S1904 that the instrument 110 has risen to the surface, in step S1906, the controller 120 provides request information for requesting the suspension of the lifting line fixing motor 230 (hereinafter referred to as “motor stop request information”). ) can be created. In one embodiment, the central processing unit 1520 of the control device 120 may generate motor stop request information for stopping the rotation (ie, loosening operation) of the lifting line fixing motor 230 as the second request information. there is.

In step S1908 , the control device 120 may transmit motor stop request information to the attachment/detachment device 130 . In one embodiment, the central processing unit 1520 of the control device 120 may transmit motor stop request information to the attachment/detachment device 130 through the second communication module 1510 . Accordingly, the electronic module 240 of the attachment/detachment device 130 may control the stop of the lifting line fixing motor 230 based on the motor stop request information.

In step S1910, the control device 120 may generate request information for requesting rotation of the rudder 810 (hereinafter referred to as "rudder rotation request information"). In an embodiment, the central processing unit 1520 of the control device 120 may generate rudder rotation request information for requesting rotation of the rudder 810 as the second request information.

In step S1912 , the control device 120 may transmit rudder rotation request information to the attachment/detachment device 130 . In one embodiment, the central processing unit 1520 of the control device 120 may transmit rudder rotation request information to the attachment/detachment device 130 through the second communication module 1510 . Accordingly, the electronic module 240 of the attachment/detachment device 130 may control the stabilization assembly 530 so that the rudder 810 rotates at a predetermined angle.

In this way, when the instrument assembly 210 to which the instrument 110 is fixed rises to the surface of the water, the operator disassembles the instrument 110 from the instrument assembly 210 as shown in FIG. 20 to recover the instrument 110, The recovered instrument 110 may be repaired.

21 is a flow chart illustrating a method of fixing an object according to an embodiment of the present invention. Referring to FIG. 21 , in step S2102, the control device 120 outputs request information (hereinafter referred to as "third request information") requesting winding of the lifting line connected to the instrument 110. can In one embodiment, the central processing unit 1520 of the control device 120 generates third request information when the repaired instrument 110 is fixed to the instrument assembly 210, and provides the generated third request information. 2 can be transmitted to the attachment/detachment device 130 through the communication module 1510.

In step S2104, the attachment and detachment device 130 may control winding of the lifting line based on the third request information. In one embodiment, the electronic module 240 of the attachment/detachment device 130 receives third request information from the control device 120 and winds the lifting line based on the received third request information. The lifting line fixing motor 230 may be controlled. Accordingly, the lifting line fixing motor 230 may wind the lifting line LINE under the control of the electronic module 240 .

In step S2106, the control device 120 may output request information (hereinafter, referred to as "fourth request information") for fixing the instrument 110 to the detachable instrument 130. In one embodiment, the central processing unit 1520 of the control device 120 is the instrument assembly 210 to which the instrument 110 is fixed, as the instrument assembly 210 is in contact with the fixing block 220, the instrument assembly 110 is fixed ( 210) may be generated to fix the block 220 to the fixing block 220, and the generated fourth request information may be transmitted to the attachment/detachment device 130 through the second communication module 1510.

In step S2108, the appliance attachment/detachment device 130 may fix the appliance 110 based on the fourth requested information. In one embodiment, the electronic module 240 of the appliance detachable device 130 receives the fourth request information, and the appliance assembly 210 to which the appliance 110 is fixed is fixed based on the received fourth request information. It can be controlled to be fixed to block 220. Accordingly, the fixing block 220 may fix the instrument assembly 210 under the control of the electronic module 240 .

22 is a flowchart illustrating a method of outputting third request information according to an embodiment of the present invention. Referring to FIG. 22 , in step S2202, the control device 120 may obtain current speed information. In one embodiment, the central processing unit 1520 of the control device 120 may receive ocean current speed information from the attachment/detachment device 130 through the second communication module 1510 .

In step S2204, the control device 120 may determine whether the current speed is greater than or equal to a preset speed based on the current speed information. In one embodiment, the central processing unit 1520 of the control device 120 may determine whether the current speed is equal to or greater than a preset speed. For example, the preset speed may be 1 knot.

When it is determined in step S2204 that the current speed is equal to or greater than the preset speed, in step S2206, the control device 120 provides speed adjustment request information for adjusting the winding speed of the lifting line fixing motor 230 to the first speed (hereinafter referred to as "second speed"). 3 speed adjustment request information) can be created. In one embodiment, the central processing unit 1520 of the control device 120 may generate third speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the first speed as the third request information. there is. For example, the first speed may include 10 m/min.

On the other hand, if it is determined in step S2204 that the current speed is less than the preset speed, in step S2208, the controller 120 provides speed adjustment request information for adjusting the winding speed of the lifting line fixing motor 230 to the second speed (hereinafter, Referred to as “fourth speed adjustment request information”) may be generated. In one embodiment, the central processing unit 1520 of the control device 120 may generate fourth speed adjustment request information for adjusting the unwinding speed of the lifting line fixing motor 230 to the second speed as the third request information. there is. For example, the second speed may include 20 m/min.

In step S2210, the control device 120 may transmit the generated speed adjustment request information to the attachment/detachment device 130. In one embodiment, the central processing unit 1520 of the controller 120 transmits speed adjustment request information (eg, third speed adjustment request information or fourth speed adjustment request information) to the second communication module 1510. It can be transmitted to the instrument detachable device 130 through. Accordingly, the electronic module 240 of the attachment/detachment device 130 may control the winding speed of the lifting line fixing motor 230 based on the third request information (ie, speed adjustment request information).

As such, when the speed of the ocean current is high (1 knot or more), the winding speed of the lifting line fixing motor 230 is adjusted slowly, and when the speed of the current is slow (less than 1 knot), the winding speed of the lifting line fixing motor 230 is adjusted slowly. can be quickly adjusted to prevent the lifting line from breaking.

23 is a flowchart illustrating a method of outputting motor stop request information and fixation request information as fourth request information according to an embodiment of the present invention. Referring to FIG. 23 , in step S2302, the control device 120 may obtain a touch detection signal. In one embodiment, the central processing unit 1520 of the control device 120 contacts the mechanism assembly 210 to the fixing block 220 from the mechanism detachable device 130 through the second communication module 1510, that is, the mechanism A touch detection signal indicating that the assembly 210 contacts the touch sensor 1110 may be received.

In step S2304, the control device 120 may generate motor stop request information for requesting a stop of the lifting line fixing motor 230. In one embodiment, the central processing unit 1520 of the control device 120 may generate motor stop request information for requesting a stop of the lifting line fixing motor 230 based on the touch detection signal.

In step S2306 , the control device 120 may transmit motor stop request information to the attachment/detachment device 130 . In one embodiment, the central processing unit 1520 of the control device 120 may transmit motor stop request information to the attachment/detachment device 130 through the second communication module 1510 . Accordingly, the electronic module 240 of the attachment/detachment device 130 may control the stop of the lifting line fixing motor 230 based on the motor stop request information.

In step S2308, the control device 120 may generate request information (hereinafter referred to as “fixing request information”) for fixing the instrument 110 to the detachable instrument 130. In one embodiment, the central processing unit 1520 of the control device 120 is fixing request information requesting that the mechanism assembly 210 to which the mechanism 110 is fixed is fixed to the fixing block 220 as fourth request information. can create

In step S2310, the control device 120 may transmit the fixing request information to the attachment/detachment device 130. In one embodiment, the central processing unit 1520 of the control device 120 may transmit the fixing request information to the attachment/detachment device 130 through the second communication module 1510 . Therefore, the electronic module 240 of the appliance attachment/detachment device 130 can control the fixing block 220 so that the appliance assembly 210 is fixed to the fixing block 220, and the fixing block 220 is the electronic module 240 ) It is possible to fix the instrument assembly 210 using the fixing member 1120 (eg, a hydraulic actuator for fixing) according to the control of the.

Although the above method has been described through specific embodiments, it is also possible to implement the above method as computer readable code on a computer readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium is distributed in computer systems connected through a network, so that computer-readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the above embodiments can be easily inferred by programmers in the technical field to which the present invention belongs.

Although the technical idea of the present invention has been described by the examples shown in some embodiments and the accompanying drawings, it does not deviate from the technical spirit and scope of the present invention that can be understood by those skilled in the art to which the present invention belongs. It will be appreciated that various substitutions, modifications and alterations may be made within the range. Moreover, such substitutions, modifications and alterations are intended to fall within the scope of the appended claims.

100: instrument system, 110: instrument, 120: control device, 130: instrument attachment/detachment device, 210: instrument assembly, 220: fixing block, 230: lifting line fixed motor, 240: electronic module, 510: buoyancy body, 520: assembly Block, 530: stabilization assembly, 610: cavity, 810: rudder, 820: gear box, 830: rudder adjustment motor, 840: assembly rod, 1110: contact sensor, 1120: fixed member, 1310: fixed body, 1410: ocean current Speed sensor, 1420: surface pressure sensor, 1430: first communication module, 1440: control unit, 1510: second communication module, 1520: central processing unit, BP: foundation, CA: cable, LINE: lifting line

Claims (53)

As a device for attaching and detaching instruments,
Instrument assembly to which the instrument installed in the water is fixed;
a fixing block for fixing or disassembling the instrument assembly according to request information requesting fixing or disassembly of the instrument assembly; and
A lifting line fixing motor connected to the mechanism assembly by a lifting line and lifting the mechanism assembly to the fixed block or the water surface by winding or unwinding the lifting line according to the request information.
including,
The mechanism assembly is
a buoyancy body having positive buoyancy so that the mechanism assembly floats to the surface of the water;
An assembly block installed between the mechanism and the buoyancy body and to which the mechanism is fixed; and
A stabilization assembly for stabilizing the posture of the mechanism assembly so as to be within a certain range of the foundation where the lifting line fixing motor is installed by moving the center of gravity of the mechanism assembly that has risen to the surface
Mechanism detachable device comprising a. The apparatus of claim 1, wherein a surface of the appliance assembly in contact with the fixing block has a gradient shape. delete The method of claim 1, wherein the buoyant body comprises an engineering plastic block formed of an engineering plastic made of ultrahigh molecular weight polyethylene (UHMWPE),
The engineering plastic block is a device for attaching and detaching equipment that is protectively coated with polyurea on the outside. The apparatus of claim 4, wherein the buoyancy body is formed inside the engineering plastic block and includes a cavity for increasing the positive buoyancy. The apparatus of claim 1, wherein the assembly block is made of stainless steel. The method of claim 1, wherein the stabilizing assembly
rudder;
a bevel gear box connected to the rudder and rotating the rudder at a preset angle;
a rudder adjustment motor driven to rotate the rudder according to the requested information; and
An assembly rod connected to the bevel gear box at one end and connected to the rudder control motor at the other end to transfer rotation of the rudder control motor to the bevel gear box.
Mechanism detachable device comprising a. The apparatus of claim 1, wherein the fixing block has a gradient shape on a surface in contact with the appliance assembly. The method of claim 1, wherein the fixed block
a contact detection unit detecting a contact of the instrument assembly and outputting a detection signal; and
A fixing member for fixing the mechanism assembly to be disassembled
Mechanism detachable device comprising a. 10. The device of claim 9, wherein the contact sensing unit includes a piezoelectric patch. 10. The apparatus of claim 9, wherein the fixing member includes a hydraulic actuator for fixing. According to claim 9,
An electronic module that is installed in a sealed state between the buoyancy body and the assembly block and controls fixing and disassembly of the instrument assembly according to the requested information.
A device for attaching and detaching the instrument further comprising a. 13. The method of claim 12, wherein the electronic module
a current speed detection unit that detects a current speed and outputs current speed information including the current speed;
a sleep pressure sensor that detects sleep pressure and outputs sleep pressure information including the sleep pressure;
a first communication module receiving the request information; and
A controller for controlling fixing and disassembly of the instrument assembly based on the request information
Mechanism detachable device comprising a. The apparatus of claim 13, wherein the control unit controls the fixing member so that the appliance assembly is fixed to the fixing block or the appliance assembly is disassembled from the fixing block according to the request information. As a mechanism system,
Instruments installed underwater;
a control device outputting request information for requesting fixation or disassembly of the instrument; and
Attachment/detachment device connected to the control device
including,
The device for attaching and detaching the instrument
a mechanism assembly to which the mechanism is fixed;
a fixing block for fixing or disassembling the instrument assembly according to the requested information; and
A lifting line fixing motor connected to the mechanism assembly by a lifting line and lifting the mechanism assembly to the fixed block or the water surface by winding or unwinding the lifting line according to the request information.
including,
The mechanism assembly is
a buoyancy body having positive buoyancy so that the mechanism assembly floats to the surface of the water;
An assembly block installed between the mechanism and the buoyancy body and to which the mechanism is fixed; and
A stabilization assembly for stabilizing the posture of the mechanism assembly so as to be within a certain range of the foundation where the lifting line fixing motor is installed by moving the center of gravity of the mechanism assembly that has risen to the surface
Instrumentation system comprising a. [Claim 16] The instrument system according to claim 15, wherein a surface of the instrument assembly in contact with the fixing block has a gradient shape. delete The method of claim 15, wherein the buoyancy body includes an engineering plastic block formed of engineering plastics made of UHMWPE,
The engineering plastic block is a tool system that is coated with polyurea on the outside. [Claim 19] The device system according to claim 18, wherein the buoyancy body is formed inside the engineering plastic block and includes a cavity for increasing the positive buoyancy. [16] The appliance system of claim 15, wherein the assembly block is made of stainless steel. 16. The method of claim 15, wherein the stabilizing assembly
rudder;
a bevel gear box connected to the rudder and rotating the rudder at a preset angle;
a rudder adjustment motor driven to rotate the rudder according to the requested information; and
An assembly rod connected to the bevel gear box at one end and connected to the rudder control motor at the other end to transfer rotation of the rudder control motor to the bevel gear box.
Instrumentation system comprising a. [Claim 16] The instrument system of claim 15, wherein a surface of the fixing block in contact with the instrument assembly has a gradient shape. The method of claim 21, wherein the fixed block
a contact detection unit detecting a contact of the instrument assembly and outputting a detection signal; and
A fixing member for fixing the mechanism assembly to be disassembled
Instrumentation system comprising a. 24. The instrument system of claim 23, wherein the touch sensor comprises a piezoelectric patch. 24. The appliance system of claim 23, wherein the fixing member includes a fixing hydraulic actuator. The method of claim 23, wherein the appliance detachable device
An electronic module that is installed in a sealed state between the buoyancy body and the assembly block and controls fixing and disassembly of the instrument assembly according to the requested information.
Instrumentation system further comprising a. 27. The electronic module of claim 26,
a current speed detection unit that detects a current speed and outputs current speed information including the current speed;
a sleep pressure sensor that detects sleep pressure and outputs sleep pressure information including the sleep pressure;
a first communication module receiving the request information; and
A controller for controlling fixing and disassembly of the instrument assembly based on the request information
Instrumentation system comprising a. 28. The instrument system of claim 27, wherein the control unit controls the fixing member so that the instrument assembly is fixed to the fixing block or the instrument assembly is disassembled from the fixing block according to the request information. 28. The method of claim 27, wherein the control device
a second communication module for transmitting the request information to the attachment/detachment device and receiving the current speed information and the surface pressure information; and
A central processing unit that generates the request information, controls winding or unwinding of the lifting line fixing motor based on the ocean current speed information, and controls the stabilization assembly based on the surface pressure information.
Instrumentation system comprising a. The method of claim 29, wherein the central processing unit
determining whether the current speed is greater than or equal to a preset speed based on the current speed information;
When it is determined that the current speed is equal to or greater than the preset speed, the instrument system controls the lifting line fixing motor so that the winding or unwinding speed of the lifting line becomes a first speed. 31. The instrument system of claim 30, wherein the first speed comprises 10 m/min. The method of claim 29, wherein the central processing unit
determining whether the current speed is greater than or equal to a preset speed based on the current speed information;
When it is determined that the current speed is less than the preset speed, the instrument system controls the lifting line fixing motor so that the winding or unwinding speed of the lifting line becomes a second speed. 33. The instrument system of claim 32, wherein the second speed comprises 20 m/min. The method of claim 29, wherein the central processing unit
Based on the surface pressure information, it is determined whether the instrument assembly has risen to the surface of the water,
When it is determined that the instrument assembly has risen to the surface, the instrument system controls the stabilization assembly to rotate the rudder. delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete