KR102675244B1 - Spilled oil recovery device - Google Patents

Abstract

The present invention includes a self-navigation unit that receives information about spilled oil and provides propulsion for autonomous navigation by traveling back and forth between the first coordinates where the spilled oil is located and the second coordinates corresponding to the starting point; and a main body that recovers spilled oil around the first coordinates. It relates to an unmanned autonomous spilled oil recovery robot including a.

Description

Spilled oil recovery device}

The present invention relates to a spilled oil recovery device.

In the event of a water oil spill, in order to prevent the spread of oil, it is necessary to quickly arrive at the scene of the accident and use various equipment to prevent the spread of the oil spill and recover the spilled oil.

Quick oil recovery is required before the oil spreads. When an accident occurs, the relevant organizations are notified and oil recovery personnel are dispatched equipped with various equipment. The time required for communication between organizations, preparation of transportation, and preparation of equipment, etc. This makes it difficult to respond quickly. When an oil spill occurs, if a quick response is not made, the oil spreads widely due to the effects of wind and ocean currents, and oil recovery becomes more and more difficult as time passes.

To solve these problems, research is needed on technologies that enable rapid response to oil spills.

Registration number KR 10-2114966

In order to solve the above problems, the purpose of the present invention is to provide an unmanned self-propelled oil recovery robot for quickly recovering spilled oil when an oil spill accident occurs on the water.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the above task, the unmanned self-propelled oil recovery robot according to an embodiment of the present invention receives information about the spilled oil and autonomously navigates to recover the spilled oil.

The unmanned self-propelled oil recovery robot according to an embodiment of the present invention receives information about spilled oil and provides propulsion for autonomous navigation by traveling back and forth between the first coordinates where the spilled oil is located and the second coordinates corresponding to the starting point. wealth; And a main body for recovering the spilled oil around the first coordinates.

The self-navigation unit includes a GPS device that generates location information; A communication device that receives information about the area of the spilled oil and coordinate information of the spilled oil from a drone; It includes a propulsion device that provides propulsion for autonomous navigation based on the location information, information on the area of the spilled oil, and coordinate information of the spilled oil.

The propulsion device includes a pipe extending downward from the main body; and a thruster connected to the lower end of the pipe so as to be able to rotate about the pipe.

The thruster induces a change in direction of movement as it rotates the pipe about its axis.

The main body includes a pair of floats that provide buoyancy; and an oil recovery unit disposed between the pair of floats and recovering the spilled oil through movement of the belt.

The float provides a space within which an electronic device is placed.

The unmanned self-propelled spilled oil recovery robot according to an embodiment of the present invention further includes a storage unit that moves with the main body by the propulsion force and stores the spilled oil recovered by the main body while floating on the water surface.

The storage portion is formed to be detachable from the main body.

The storage portion includes a body portion; a horizontal shape maintaining frame portion disposed at the upper or lower portion of the body portion and extending in the width direction of the body portion; and a vertical shape maintaining frame portion connected to the horizontal shape maintaining frame portion and extending in the vertical direction.

The unmanned self-propelled spilled oil recovery robot according to an embodiment of the present invention further includes a structure that protects the propulsion device and maintains a flow of water generated by the propulsion force.

The structure performs the function of a hydrofoil.

The height of the structure is greater than the length of the pipe.

The structure includes: a first protection portion disposed in front of the propulsion device; a second protection unit disposed behind the propulsion device; and a connection part connecting the first protection part and the second protection part to the main body.

The first protection unit includes a lower plate that supports the main body by contacting the ground when placed on the ground, and the second protection unit includes a lower plate that supports the main body by contacting the ground when placed on the ground. Includes a lower plate.

When switching from an autonomous navigation mode to a wireless control mode, the communication device receives a signal for controlling at least one of the self-navigation unit and the main body from a wireless controller.

Specific details of other embodiments are included in the detailed description and drawings.

According to the present invention, one or more of the following effects are achieved.

First, by receiving information about spilled oil and quickly moving to the accident site through autonomous navigation to recover the spilled oil, the time delay after the accident occurs is minimized, resulting in the effect of efficiently recovering the spilled oil before the oil spreads widely. there is.

Second, the propulsion device is designed simply and steering can be performed through the propulsion device, which makes it easier to manufacture the robot and increases its durability.

Third, by providing a recovery oil storage unit that is detachable and can float on the water surface, there is an effect of allowing oil recovery by replacing a plurality of storage units depending on the amount of spilled oil.

Fourth, providing the structure has the effect of protecting the propulsion device from foreign substances such as seaweed in the water and allowing the robot to be mounted on the ground.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a diagram referenced for explaining a system according to an embodiment of the present invention.
2 to 6 are views of a robot according to an embodiment of the present invention from various angles.
Figure 7 is a diagram referenced for explaining the oil recovery operation according to an embodiment of the present invention.
8A to 8I are diagrams referenced for explaining a storage unit according to an embodiment of the present invention.
9A to 9G are diagrams referenced for explaining a storage unit according to an embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves. Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

In this specification, the front is defined as the direction in which the robot 1 moves forward, and the rear is defined as the direction opposite to the front. Upward is defined as the direction toward the sky, and downward is defined as the opposite direction of upward.

1 is a diagram referenced for explaining a system according to an embodiment of the present invention.

Referring to the drawing, the oil recovery system (SYS) is a system for recovering oil (OL) spilled in water. Oil recovery system (SYS) can be utilized in case of oil (OL) spill at sea.

The oil recovery system (SYS) may include a robot (1) and a drone (DR). Depending on the embodiment, the oil recovery system (SYS) may further include a command center (SH).

The drone (DR) can obtain coordinate information of the oil (OL) spill point by flying toward the oil (OL) spill point.

The drone (DR) can determine the coordinates of the spilled oil according to the shape of the oil (OL) that has leaked and is floating on the water surface. For example, the drone DR can acquire a plurality of coordinate information according to the shape of the oil OL that has leaked and is floating on the water surface. For example, a drone (DR) can obtain coordinate information about the center point of oil (OL) that has leaked and is floating on the water surface.

The drone (DR) can acquire coordinate information based on the efficient movement pattern of the robot (1) within the range where the oil (OL) is spread. For example, the drone (DR) can acquire coordinate information according to the linear reciprocating movement, zigzag movement, circular movement, triangle pattern movement, and square pattern movement of the robot 1 according to the floating shape of the oil (OL). You can.

The drone (DR) may provide the acquired coordinate information to at least one of the robot 1 and the command center (SH). For example, a drone (DR) may provide acquired coordinate information through wired or wireless communication. For example, a drone (DR) may provide acquired coordinate information through wired communication, wireless communication, or data storage media.

Meanwhile, a drone (DR) refers to a device that moves unmanned and acquires information, and can be explained as a concept including unmanned aerial vehicles, unmanned ships, and unmanned submarines.

The robot 1 can receive coordinate information of the oil (OL) leak point from the drone (DR). For example, the robot 1 may receive coordinate information acquired by the drone DR through wired or wireless communication. For example, the robot 1 may receive coordinate information acquired by the drone DR through a data storage medium.

The robot 1 may receive coordinate information directly from the drone (DR) or receive coordinate information through the command center (SH).

The robot 1 can move to the received coordinates and perform an oil recovery operation. In this case, the robot 1 can navigate autonomously and move to the coordinates.

Meanwhile, depending on the embodiment, each of the plurality of robots 1 may receive different coordinate information, move to the received coordinates, and perform an oil recovery operation. A plurality of robots 1 may be assigned a work area based on coordinate information, move to the corresponding work area, and perform oil recovery operations.

The command center (SH) can command the overall oil recovery operation. The command center SH can receive coordinate information from the drone DR and command the oil recovery operation of the robot 1.

The command center (SH) may be a mobile ship or a specific location located on the ground.

The command center (SH) may include a charging station for charging the batteries of the drone (DR) and the robot (1).

The command center (SH) may be the departure and return point of the drone (DR) and robot (1). The drone (DR) can depart from the command center (SH), acquire coordinate information of the oil (OL) spill point, and return to the command center (SH). The robot 1 can start from the command center (SH), move to the provided coordinates, collect spilled oil, and return to the command center (SH).

2 to 6 are views of a robot according to an embodiment of the present invention from various angles.

Figure 7 is a diagram referenced for explaining the oil recovery operation according to an embodiment of the present invention.

Referring to the drawing, the robot 1 can navigate unmanned and autonomously and perform operations to recover spilled oil. This robot 1 may be named an unmanned autonomous spilled oil recovery robot.

The robot 1 may include an autonomous navigation unit 400, a main body 10, a storage unit 20, a structure 500, a control unit 600, and a battery 650. Depending on the embodiment, the robot 1 may further include various sensors.

The self-navigation unit 400 can perform autonomous navigation operations of the robot 1. The self-navigation unit 400 may receive information about spilled oil (OL) from an external device and perform autonomous navigation operations based on the information. The self-navigation unit 400 provides propulsion for autonomous navigation by traveling back and forth between the first coordinates where the spilled oil (OL) is located and the second coordinates corresponding to the starting point (e.g., command center) of the robot 1. You can.

The self-navigation unit 400 may include a Global Positioning System (GPS) device 410, a communication device 420, and a propulsion device 430.

The GPS device 410 can generate location information of the robot 1.

The communication device 420 can exchange signals with an external device. The communication device 220 may exchange signals with at least one of the drone (DR) and the command center (SH). The communication device 420 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication device 420 may receive information about the spilled oil (OL). For example, the communication device 420 may receive at least one of information about the area of the spilled oil (OL) and coordinate information of the spilled oil (OL). The coordinate information of the spilled oil may include coordinate information of the center of the spilled oil (OL) or coordinate information of a point among the boundaries.

Information about spilled oil (OL) can be generated from a drone (DR). Depending on the embodiment, information about spilled oil (OL) may be provided from a manned aircraft or ship.

The communication device 420 may receive environmental information from an external device (eg, server, drone, ship). For example, the communication device 420 may receive ocean current information, wind information, and information about ships. Information about the ship may include ship route information and ship location information.

In situations where autonomous navigation is difficult, the communication device 420 may receive a control signal from a wireless controller. When switching from the autonomous navigation mode to the wireless control mode, the communication device 420 may receive a signal for controlling at least one of the self-navigation unit and the main body from the wireless controller.

When switching from the autonomous navigation mode to the wireless control mode, the robot 1 may be operated by a control signal received from the wireless control device. The control signal is a control signal for controlling the propulsion force from the propulsion device 430, a control signal for operation of the belt 701, and a control signal for moving the spilled oil from the storage unit 740 to the storage unit 20 through the transfer device 750. ) may include at least one of a control signal for transfer to the robot 1 and a control signal for rotation of the thruster 432 centered on the pipe 431 to change the direction of the robot 1.

The propulsion device 430 can provide propulsion to the robot 1. The robot 1 can move by the propulsion force provided by the propulsion device 430. The propulsion device 430 may provide propulsion for autonomous navigation based on the location information of the robot 1, information on the area of the spilled oil, and coordinate information of the spilled oil.

The propulsion device 430 may include a pipe 431, a thruster 420, and a motor.

The pipe 431 may extend downward of the main body 10.

The pipe 431 may extend from the main body 10 in a downward direction of the main body 10. In this case, a hole may be formed in the lower plate of the connection portion 520 for the pipe 431 to pass through.

A space may be formed inside the pipe 431. In the inner space of the pipe 431, wires for electrical connection between the control unit 600 and the thruster 432 and wires for electrical connection between the battery 650 and the thruster may be disposed. When a motor for driving the thruster 432 is disposed inside the main body 10, a power transmission unit for transmitting power generated by the motor to the thruster 432 may be disposed inside the pipe 431.

The pipe 431 may extend downward from the connection portion 520. In this case, the connection part 520 may form a space inside for electrical connection between the control unit 600 and the thruster 432, and the battery 650 and the thruster. The wire for the electrical connection between the control unit 600 and the thruster 432 and the wire for the electrical connection between the battery 650 and the thruster are arranged in the inner space of the connection part 520 and the inner space of the pipe 431. It can be. At this time, the inner space of the connection portion 520 and the inner space of the pipe 431 may be in communication. A motor for driving the thruster 432 is placed around the thruster 432, and the motor receives signals and power supplied by wires placed in the inner space of the connection portion 520 and the inner space of the pipe 431. You can.

The thruster 432 may generate propulsion force based on the power generated by the motor.

The motor may be disposed in the main body 10. When the motor is disposed in the main body 10, the pipe 431 may extend from the main body 10 in a downward direction of the main body 10. Inside the pipe 431, a power transmission unit (eg, gear, shaft) may be disposed to transmit power generated by the motor to the thruster 432.

The motor may be placed around the thruster 432. When the motor is disposed around the thruster 432, the pipe 431 may extend from the connection portion 520 in a downward direction of the main body 10.

The thruster 432 may be connected to the bottom of the pipe 431. The thruster 432 may be connected to the lower end of the pipe 431 so as to be rotatable about the pipe 431.

Due to the rotation of the thruster 410 around the pipe 431, the thruster 410 may perform a steering function. The thruster 410 may induce a change in the direction of movement by rotating the pipe 431 about its axis. As the thruster 410 rotates in the left and right directions about the pipe 431 as its axis, the movement direction of the robot 1 may be changed.

The main body 10 can recover spilled oil. The main body 10 can recover spilled oil while being moved. Depending on the embodiment, the main body 10 may recover spilled oil in a stopped state.

The main body 10 can recover the spilled oil around the first coordinate. The control unit 10 can control the oil recovery unit 11 while the robot 10 is located around the first coordinate. If it is determined that the robot 1 is located within a preset distance from the first coordinate, the control unit 600 may control the oil recovery unit 11 to operate. Through such control, power can be used efficiently.

The main body 10 may include floats 12a and 12b and an oil recovery unit 11.

The floats 12a and 12b may be configured as a pair to provide buoyancy to the robot 1. The floats 12a and 12b may provide buoyancy to the robot 1 by containing air in a space provided therein.

Meanwhile, depending on the embodiment, the float may not be composed of a pair, but may be composed of one or three or more floats.

A space is provided inside the floats 12a and 12b, and various electronic devices can be placed in the space. For example, in the space inside the floats 12a and 12b, a motor for driving the belt 701, a motor for generating propulsion through the thruster 432, a motor for steering through the thruster 432, and GPS At least one of the device 410, the communication device 420, and the battery 650 may be disposed.

The oil recovery unit 11 may be disposed between a pair of floats 12a and 12b.

The oil recovery unit 11 can recover spilled oil. The oil recovery unit 11 can recover spilled oil through the movement of the belt.

As illustrated in FIG. 7, the oil recovery unit 11 includes a motor 710, a rotating unit (e.g., roller or chain) 720, a belt 701, a scraper 730, and a storage unit 740. It can be included. The belt 701 may be connected to the rotating unit 720. As the power generated by the motor 710 is transmitted to the rotating unit 720 and the rotating unit 720 rotates by the power, the belt 701 can move.

The belt 701 may be arranged at an angle so that the front side faces downward and the back side faces upward. The exposed portion of belt 701 can move backwards and upwards.

The belt 701 may be made of an oleophilic material to which spilled oil easily adheres. Depending on the embodiment, the belt 701 may have a mesh shape.

The scraper 730 can separate oil from the belt 701. The scraper 730 may have one end in contact with the belt or may be arranged to be spaced apart from the belt by a small distance. As the belt 701 rotates, the oil attached to the belt may be separated by the scraper 740. The separated oil may be collected in the storage unit 740 disposed inside the main body.

Oil stored in the storage unit 740 may be transferred to the storage unit 20. For example, the oil recovery unit 11 further includes a screw-type transfer device 750, and the oil in the storage unit 740 can be transferred to the storage unit 20 through the transfer device 750.

Meanwhile, for the skim recovery unit 11, contents of a previously known belt-type skimmer can be applied.

The storage unit 20 may be connected to the main body 10. The storage unit 20 may be connected to the rear end of the main body 10.

When the storage unit 20 is connected to the main body 10, the storage unit 20 can move together with the main body 10 by the propulsion force generated by the propulsion device 430.

The storage unit 20 can flow oil from the storage unit 740 and store it.

The storage unit 20 may be formed to be detachable from the main body 10. The storage unit 20 filled with oil can be separated from the main body 10. Afterwards, the empty storage unit 20 can be mounted on the main body 10 to perform an oil recovery operation.

The storage unit 20 may float on the water surface. The storage unit 20 can store the spilled oil recovered by the main body 10 while floating on the water surface.

The storage unit 20 can float on water. The storage unit 20 where oil is stored can float on water. If the storage part 20 where the oil is stored is separated from the main body 10 and left floating on the water, the storage part 20 where the oil is stored can be recovered while the ship moves.

The storage unit 20 may be formed of a flexible material to be foldable. The storage unit 20 can reduce its volume when stored and moved.

The storage unit 20 may include at least one fluorescent unit 230. The fluorescent part 230 may be formed on the surface of the storage part 20. When a ship retrieves the storage unit 20 where oil is stored at night, the storage unit 20 can be easily discovered through the light reflected by the fluorescent unit 230.

The structure 500 may be mounted on the lower part of the main body 10.

The structure 500 can protect the propulsion device 430. The structure 500 can maintain the flow of water generated by the propulsion force while protecting the propulsion device 430. In other words, the structure 500 does not impede the flow of water generated by driving force.

Structure 500 may be shaped to surround propulsion device 430 when viewed from the front or back. For example, the structure 500 may have a hexagonal shape with the propulsion device 430 located therein when viewed from the front or back.

The height (H) of the structure 500 may be greater than the length (L) of the pipe. Due to this shape, the propulsion device 430 protruding downward from the main body can be protected. In particular, the propulsion device 430 can be protected by the structure 500 even when the robot 1 is located on the ground rather than underwater.

The structure 500 may include a first protection part 511, a second protection part 512, and a connection part 520.

The first protection portion 511 may be disposed in front of the propulsion device 430. The first protection unit 511 may have a polygonal shape when looking at the robot 1 from the front or back of the robot 1. The first protection portion 511 may have a longitudinal cross-section of a polygonal shape.

The first protection unit 511, together with the second protection unit 512, can support the robot 1 on the ground. By providing the first protective beam 511 and the second protective portion 512, the robot 1 can be mounted on the ground.

The first protection portion 511 may include a plurality of plates forming a polygon. When the robot 1 is located on the ground, the first protection unit 511 may include a lower plate 511a that supports the main body 10 by contacting the ground.

The first protection portion 511 may include at least two bent portions 511b. In order for the lower plate 511a to support the robot 1, a bent portion 511b must exist between the side plate 511c and the lower plate 511b.

The second protection unit 512 may be disposed behind the propulsion device 430. The second protection unit 512 may have a polygonal shape when looking at the robot 1 from the front or back of the robot 1. The second protection portion 512 may have a longitudinal cross-section of a polygonal shape.

The second protection unit 512, together with the first protection unit 511, can support the robot 1 on the ground.

The second protection portion 512 may include a plurality of plates forming a polygon. When the robot 1 is located on the ground, the second protection unit 512 may include a lower plate 512a that supports the main body 10 by contacting the ground.

The second protection portion 512 may include at least two bent portions 512b. In order for the lower plate 512b to support the robot 1, a bent portion 512b must exist between the side plate 512c and the lower plate 512b.

The connection part 520 may connect the first protection part 511 and the second protection part 512 to the main body 10 .

The connection portion 520 may have a space formed therein to maintain the flow of water.

The upper part of the connection part 520 may be attached to the main body 10. The connection portion 520 may be attached to the lower portion of the floats 12a and 12b.

The lower part of the connection part 520 may be attached to the first protection part 511 and the second protection part 512. The lower part of the connection part 520 may be attached to the upper part of the first protective part 511 and the upper part of the second protective part 512.

Meanwhile, the structure 500 can implement the function of a hydrofoil. By attaching the structure 500 to the lower part of the main body 10, water resistance is reduced. When the structure 500 is provided, the amount of energy consumed when the robot 1 moves is reduced compared to when the structure 500 is not provided, and energy efficiency improves.

The control unit 600 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, and controllers ( It may be implemented using at least one of controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The control unit 600 may be electrically connected to the GPS device 410, communication device 420, propulsion device 430, battery 650, and various sensors.

The control unit 600 may receive information from at least one of the GPS device 410, the communication device 420, and various sensors.

The control unit 600 may generate a self-navigation route based on the received information.

The control unit 600 may generate a self-navigation path based on location information of the robot 1, information on spilled oil, and environmental information. For example, the control unit 600 can predict the movement of spilled oil based on coordinate information of spilled oil, ocean current information, and wind information, and predict the coordinates of spilled oil at the time of dispatch of the robot 1. The control unit 600 may generate a self-navigation path based on the coordinates of the spilled oil at the time of dispatch of the robot 1.

The control unit 600 may generate a self-navigation route based on information about the area of spilled oil. For example, the control unit 600 may receive information about a plurality of coordinates used when calculating the area of spilled oil and create a self-navigation route that sets the plurality of coordinates as a waypoint.

The control unit 600 may control the propulsion device 430 so that the robot 1 sails according to a self-navigation path.

The battery 650 can supply power to each unit of the robot 1 according to the control of the control unit 600.

The battery 650 may be placed inside the main body 10. The battery 650 may be placed in the lower part of the main body 10. For example, the battery 650 may be placed below the belt 11.

Since the battery 650 is disposed in the lower part of the main body 10, it can function as a ballast. In this case, the battery 650 enables autonomous navigation while the robot 1 is balanced on the water.

8A to 8I are diagrams referenced for explaining a storage unit according to an embodiment of the present invention.

Figure 8a is a view showing a buoyancy body disposed on the upper/lower surface of the storage unit and the body part according to an embodiment of the present invention, and Figure 8b is a view showing the lower surface of the tip of the storage unit according to an embodiment of the present invention. Compared to this, it is a diagram showing that it has a streamlined shape so that it can easily overcome waves when towing a ship, etc., and Figure 8c is a diagram showing the shape-maintaining frame portion disposed on the upper and lower surfaces of the body portion according to an embodiment of the present invention. Figure 8d is a diagram showing that the upper and lower surfaces of the storage unit according to an embodiment of the present invention may become full and overturn, and Figure 8e is a diagram showing the middle part of the body according to an embodiment of the present invention. It is a diagram showing the spilled oil pumping unit and the air vent unit arranged in, and Figure 8f is a diagram showing a hose connected to the pumping connection part according to an embodiment of the present invention to pump the internal oil to the outside, Figure 8g is a diagram showing an internal cross-section of the body portion according to an embodiment of the present invention, and FIGS. 8H and 8I are diagrams showing that the storage portion can be folded according to an embodiment of the present invention.

As shown in FIG. 8A, the storage unit 20 is composed of a body unit 310 capable of storing recovered oil. The body portion 310 is preferably made of a material that is easy to float on water and is flexible, or a material that can bend the body portion. Accordingly, it may be made of polyester or/and PVC vinyl fabric material. The body portion 310 may be made of a flexible material or a flexible material and can be folded as shown in FIGS. 8H and 8I, which has the advantage of being convenient for storage and transportation.

The body portion 310 can be roughly divided into an inlet portion (311), an inlet region (311), a middle region (312), and a trailing region (313). The inflow unit 311 receives recovered oil from the storage unit 740. The recovered oil is gradually moved to the middle part 312 and the aft part 313 through the inlet part 311, and when the recovered oil is full, the storage part 20 can be separated and floated in the sea.

As shown in FIG. 8A, the first and second buoyancy bodies 321 and 322 are arranged and fixed at regular intervals on the upper surface of the middle part 312 of the body 310, and the first and second buoyancy bodies 321 and 322 are arranged and fixed on the lower surface of the middle part 312. 3 and 4 buoyancy bodies 323 and 324 are arranged and fixed at regular intervals. The buoyancy body 320 is arranged and fixed to the upper and lower surfaces of the body 310, respectively, so that the body 310 floats well on the sea surface by buoyancy. The buoyancy body 320 is composed of foam and a protection part (or cover part) that protects and surrounds the foam. The protective part may be made of the same material as the body part or may be made of a tent material. In Figure 8b, the lower surface of the inlet part 311 of the body part 310 is curved compared to Figure 8a, so that it can be towed better without receiving water resistance when towed by a ship, etc.

Since the body portion 310 is foldable or foldable, the overall shape of the body may not be maintained when towed by a ship, etc. Furthermore, as shown in FIG. 8D, a phenomenon of fullness occurs on the upper and lower surfaces of the body, causing it to capsize. There is a risk of Therefore, as shown in FIG. 8C, the shape-maintaining frame part 330 (shape-maintaining part) is arranged in the middle part 312 at a constant distance in the longitudinal direction of the body to maintain the shape and prevent tipping over. That is, as shown in FIG. 8C, the first, second, and third shape maintaining frame parts 331, 332, and 333 are arranged at regular intervals on the upper surface of the body 312, and the fourth and fifth shape maintaining frame parts 331, 332, and 333 are placed on the lower surface of the body 312. ,6 The shape-retaining frame parts 334, 335, and 336 are arranged while maintaining regular intervals. By arranging the shape maintaining frame portion 330, durability can be secured and the overall shape of the body can be maintained. Furthermore, by maintaining the shape in the width direction and bending or deforming only in the direction of movement of the body (preventing deformation or distortion in directions other than the straight direction or direction of movement), the body portion 310 is formed by traction by a ship, etc. When moving in a straight or forward direction, you can prevent a rollover by making the body sway only in the longitudinal direction. In other words, it can be bent or deformed in the longitudinal direction depending on the height of the wave, allowing it to flexibly pass over the wave. Even if the shape maintaining frame portion 330 is disposed, the body portion 310 can be folded in the longitudinal direction. Therefore, there is an advantage that the body portion 310 can be folded and stored. The shape-maintaining frame part 330 includes an insertion part 331a that is adhesively fixed to the bottom of the upper or lower surface and has an insertion space for inserting an aluminum bar therein, and an aluminum bar 331b inserted into the insertion part. do.

Meanwhile, depending on the embodiment, the shape maintaining portion 330 may further include a vertical shape maintaining frame portion 332a extending in the vertical direction. In contrast to the vertical shape maintaining frame portion 332a, the shape maintaining frame portions 331, 332, 333, 334, 335, and 336 may be referred to as horizontal shape maintaining frame portions. The horizontal shape maintaining frame portions 331, 332, 333, 334, 335, and 336 may be disposed at the upper or lower portion of the body portion 310 and extend in the width direction of the body portion 310. Meanwhile, the direction in which the storage unit 20 moves can be defined as the longitudinal direction of the storage unit 20, and the direction perpendicular to the longitudinal direction while remaining horizontal can be defined as the width direction of the storage unit 20.

The vertical shape maintaining frame portion may be connected to the horizontal shape maintaining frame portion and extend in the vertical direction.

A plurality of vertical shape maintaining frame units may be provided. The vertical shape maintaining frame portion 332a may be formed to extend from the horizontal shape maintaining frame portions 331, 332, 333, 334, 335, and 336.

For example, the first vertical shape maintaining frame portion (not shown) extends in the vertical direction from the first horizontal shape maintaining frame portion 331 on the left side of the storage unit 20 to form a fourth horizontal shape maintaining frame portion 334. ) can be connected to. The second vertical shape maintaining frame unit (not shown) extends in the vertical direction from the first horizontal shape maintaining frame 331 on the right side of the storage unit 20 and may be connected to the fourth horizontal shape maintaining frame unit 334. .

The third and fourth vertical shape maintaining frame parts have a similar shape to the above-described first and second vertical shape maintaining frame parts, and may be connected to the second and fifth horizontal shape maintaining frame parts 332 and 335.

The fifth and sixth vertical shape maintaining frame parts have a similar shape to the first and second vertical shape maintaining frame parts described above, and may be connected to the third and sixth horizontal shape maintaining frame parts 333 and 336.

Due to the horizontal shape maintaining frame portion and the vertical shape maintaining frame portion, fluid can smoothly flow into the storage portion even at the beginning of the oil recovery operation.

As shown in Figure 8e, the effluent pumping part 341 is disposed on the upper surface of the body part 310 and includes a pumping connection part 341a and an air hole part 341b. The pumping connection portion 341a is connected to pump the stored recovery oil to the outside as shown in FIG. 8F. At this time, the air hole portion 341b is opened to ensure smooth pumping of the recovered oil. The arrangement position of the effluent pumping unit 341 may be arranged differently from the drawing as needed. That is, the recovered oil can be stored more stably toward the aft portion 313, and because oil and water may be separated again due to differences in specific gravity at times, it is preferable that the pumping connection portion 341a is arranged to be biased toward the aft portion. can do. In Figures 8e and 8f, first and second air vent parts 342a and 342b are formed, respectively, to discharge the air inside the body part 310 to the outside. As shown in Figures 8e and 8f, the second shape maintaining frame part 332 is disposed between the first and second buoyancy bodies 321 and 322, and the effluent pumping part 341 and the air vent part 342 are 1 and 2 are arranged on an imaginary square line around the outside of the buoyancy bodies 321 and 322.

The recovered oil flows from the storage unit 740 to the storage unit 20, and the recovered oil flowing into the storage unit 20 gradually flows to the rear part 313 along a path indicated by the arrow shown in FIG. 8G. A vertical baffle portion 351 (outflow oil direction change portion) having a predetermined width from the upper surface to the lower surface of the body portion 310 is disposed in the middle portion 312 of the body portion 310. By arranging the baffle portion 351 arranged in the vertical direction, the flow rate of the recovered oil can be slowed while changing the flow direction of the recovered oil as shown by the dotted line arrow shown in FIG. 8G. It is preferable that the baffle portion 351 has no baffle plate for a certain width from the lower surface to the upper surface so that the recovered oil flows backward. In addition, at the rear of the baffle part 351, the first and second mesh networks 352 and 353 are arranged and fixed at a certain inclination at regular intervals. The first and second mesh networks 352 and 353 may be made of a fiber mesh network, and are fixed at a predetermined angle so that the lower surface is positioned relatively at the front and the upper surface is positioned relatively at the rear. Accordingly, the first and second mesh networks 352 and 353 prevent the recovered oil from rapidly moving backward, thereby maintaining the center of gravity of the body portion 310 and preventing the body portion from tipping over. Furthermore, the vertical rigidity of the body portion 310 can be reinforced by the arrangement of the first and second mesh networks 352 and 353 disposed in the middle portion 312 area.

Meanwhile, when recovered oil is stored in the storage unit 20 through the inlet 311, the recovered oil may be secondarily separated into oil and water due to the difference in specific gravity. At this time, there is an advantage in that the moisture content can be dramatically lowered by opening the seawater discharge unit 360 to discharge the seawater. The seawater discharge portion 360 is formed at the lower end of the aft portion 313, and may be configured to be always open or to be selectively open/closed. The recovered oil flowing into the storage unit 20 is secondarily separated into oil and water due to the difference in specific gravity, and only the oil floating on the water surface can be pumped to the outside by the spilled oil pumping unit 341. Therefore, in the present invention, the oil separated from oil and water in the storage unit 20 can be pumped and discharged to the outside, or the storage unit 20 itself can be floated on the sea and later recovered all at once on a ship.

The body portion 310 is preferably made of a material that is waterproof and foldable in the longitudinal direction. Meanwhile, as shown in FIGS. 8H and 8I, the body portion 310 can be folded toward the upper end of the body, making storage and transportation very convenient. However, although not shown in the drawing, it may be folded toward the lower end of the body.

9A to 9G are diagrams referenced for explaining a storage unit according to an embodiment of the present invention.

FIG. 9A is a diagram showing the approximate configuration of the storage unit 20 according to an embodiment of the present invention, FIG. 9B is a diagram showing a slide support unit according to an embodiment of the present invention, and FIG. 9C is a diagram showing an embodiment of the present invention. It is a diagram showing the first and second slide guide parts according to an embodiment, Figure 9d is a cross-section showing the slide part according to an embodiment of the present invention, and Figure 9e is a nano mesh filter filter in the slide part according to an embodiment of the present invention. It is a diagram showing the attached part, and Figure 9f is a diagram showing the slide body part moving to the right due to the traction of the second slide traction part according to an embodiment of the present invention, and Figure 9g is an embodiment of the present invention. This is a diagram showing that the slide body part according to is moved to the right, so that the water discharge groove and the slide water discharge groove are aligned with each other, and water is discharged to the outside.

As shown in FIG. 9A, a seawater discharge unit 150 is connected to the aft bottom portion 113a of the storage unit 20 to discharge the separated oil and water into the sea. A seawater discharge slide unit 200, which will be described later, is disposed in one area of the seawater discharge unit 150. In one embodiment of the present invention, it will be explained that the seawater discharge slide unit 200 is disposed at point 'A', but the placement point is not necessarily limited to this and is provided at a selected point of the seawater discharge unit 150 as necessary. It can be. Meanwhile, the storage unit 20 according to an embodiment of the present invention can be used in both the sea and river oil spill areas.

The seawater discharge slide unit 200 according to an embodiment of the present invention moves in a sliding manner to discharge the separated water stored in the storage unit 20 to the outside (hereinafter referred to as discharge mode) or not discharge it to the outside. It can be prevented (hereinafter referred to as closed form). In one embodiment, when the storage unit 20 recovers spilled oil from an oil spill area, it enters the discharge mode, and when oil recovery is completed and the storage unit 20 is collected, it switches to the closed mode. Accordingly, the seawater discharge slide unit 200 includes a slide support unit 210, first and second slide guide units 220 and 230, a slide unit 240, and first and second slide traction units 250 and 260.

As shown in Figure 9b, the slide support part 210 includes a support body part 211, a water discharge groove 212, and a sealing part 213.

The support body 211 may be made of an acrylic plate, for example. A water discharge groove 212 through which separated oil and water can be discharged is formed in the central area of the support body 211.

The sealing portion 213 is disposed along the outer edge of the water discharge groove 212. That is, the diameter of the sealing portion 213 is wider than the diameter of the water discharge groove 212. The sealing portion 213 may be made of an O-ring. The sealing portion 213 prevents water from being discharged to the outside when in contact with one surface of the slide body portion 241, which will be described later. On the other hand, when the sealing part 213 is aligned with the slide water discharge groove 242 formed in the slide body 241, oil and water are separated to the outside through the water discharge groove 212 and the slide water discharge groove 242. Drain the water.

The support body portion 211 is supported and fixed to the inner bottom surface of the aft bottom portion 113a, and the sealing portion 213 is disposed on the outside of the aft bottom portion 113a, thereby following the sliding of the slide body portion 241. It contacts one surface of the slide body portion 241.

As shown in FIG. 9C, the first slide guide 220 is horizontally arranged and fixed in the upper area of the slide support 210, and the second slide guide 230 is located in the lower area of the slide support 210. It is placed and fixed in the horizontal direction. Hereinafter, the first slide guide 220 will be described, and the description of the second slide guide 230 will replace the description of the first slide guide 220.

The first slide guide portion 220 includes a first guide body portion 221 and a first slide guide groove 222. The first guide body 221 may be made of an acrylic plate. With reference to FIG. 9C, a first slide guide groove 222 is formed in the lower area of the first guide body 221, through which the slide body 241, which will be described later, can slide in the horizontal direction. Accordingly, the slide body 241 can slide in the horizontal direction along the first and second slide guide grooves 222 and 232.

The first and second slide guide portions 220 and 230 are disposed at a distance that allows the slide body portion 241 to slide along the first and second slide guide grooves 222 and 232.

As shown in FIGS. 9D and 9E, the slide portion 240 includes a slide body portion 241, a slide water discharge groove 242, a detachable nano mesh filter portion 243, and a plurality of locking portions 244a, 244b, and 244c. , 244d).

The slide body portion 241 may be made of an acrylic plate. A slide water discharge groove 242 is formed at a point deviated to the left with respect to the center of the slide body 241, and an O-ring contact surface 241a is formed at a point deviated to the right. The diameter of the slide water discharge groove 242 is preferably formed to be approximately the same as the diameter of the water discharge groove 212. Therefore, when the slide body 241 moves to the right based on FIGS. 9D and 9F, the water discharge groove 212 and the slide water discharge groove 242 are aligned with each other as shown in FIG. 9G, so that the stored separated water is discharged to the outside. may be discharged. Additionally, in Figure 9g, when the slide body 241 moves to the left, the O-ring contact surface 241a comes into contact with the O-ring 213, so that the separated water is not discharged to the outside.

As shown in Figure 9e, the detachable nano mesh filter unit 243 is attached and arranged to cover the slide water discharge groove 242, so that the stored oil-water separated water can be separated once more before discharging it to the outside. Therefore, it is preferable that the detachable nano mesh filter unit 243 is detachable because the nano mesh filter needs to be replaced.

A plurality of locking portions 244a, 244b, 244c, and 244d are formed at four corner areas of the slide body 241, and the slide body 241 moves in a horizontal direction along the first and second slide guide grooves 222 and 232. You can limit the horizontal movement distance when moving. That is, when the slide body 241 moves to the right, the first and third locking parts 244a and 244c are caught to limit movement to the right, and when the slide body 241 moves to the left, the second and fourth locking parts 244a and 244c are locked. The locking portions 244b and 244d are locked to restrict movement to the left.

As shown in FIGS. 9F and 9G, the first slide traction unit 250 is fixedly disposed in the left area of the slide body 241, and the second slide traction unit 260 is attached to the slide body 241. It is fixedly placed in the right area. In addition, the third slide traction unit 270 is fixedly disposed on the left side of the first and second slide guide parts 220 and 230, and the fourth slide traction unit 280 is fixed on the right side of the first and second slide guide parts 220 and 230. It is fixedly placed in the area.

The first slide traction portion 250 includes a fixing portion 251 and a traction portion 252. The fixing part 251 is arranged to fix the traction part 252 to the end area of the left area of the slide body part 241. The second slide traction portion 260 includes a fixing portion 261 and a traction portion 262. The fixing part 261 is arranged to fix the traction part 262 to the end area of the right area of the slide body part 241.

The third slide traction unit 270 includes first and second fixing units 271 and 272 and first and second traction units 273 and 274. The first fixing part 271 is disposed to fix the first traction part 273 in the right area of the first slide guide part 220. The second fixing part 272 is disposed to fix the second traction part 274 in the right area of the second slide guide part 230.

The fourth slide traction portion 280 includes first and second fixing portions 281 and 282 and first and second traction portions 283 and 284. The first fixing part 281 is disposed to fix the first traction part 283 to the left area of the first slide guide part 220. The second fixing part 282 is disposed to fix the second traction part 284 to the left area of the second slide guide part 230.

Therefore, when you want to move the slide body 241 to the right, pull the first and second traction parts 283 and 284 of the fourth slide traction part 280 and simultaneously pull the second slide traction part 260. . Conversely, when you want to move the slide body 241 to the left, pull the first and second traction parts 273 and 274 of the third slide traction part 270 and simultaneously pull the first slide traction part 250. .

The tow portion 252 may be a tow rope, as an example. Therefore, when the operator pulls the towing rope, the slide body portion 241 slides to the left. According to the same principle, when the operator pulls the traction part 262 of the second slide traction part 260, the slide body 241 slides to the right. As another example, a towing rope may be pulled by driving a motor.

Meanwhile, since the above-mentioned towing part can be embodied as a rope of a certain length, when the storage part 20 recovers spilled oil, it may be contaminated by oil or the like or interfere with the recovery operation. Accordingly, although not shown in the drawing, a detachable ring portion that can organize and secure each tow line by hanging each tow line with a detachable ring may be added to the upper surface of the rear portion 113 of FIG. 9A. Each tow line detachably fixed to the detachable ring is separated from the ring when the slide body portion 241 is moved to the left or right. Each tow line is wound once or several times in the circumferential direction of the rear portion 113 and is attached and detachable to the detachable hook.

The above-described present invention can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is. Additionally, the computer may include a processor or control unit. Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

SYS: Oil recovery system
1: Unmanned self-propelled oil recovery robot
10: main body
20: storage unit
400: Self-Aircraft Department
500: structure
600: Control unit
650: Battery

Claims (15)

A main body for recovering spilled oil; and
A propulsion device that provides propulsion for movement of the main body; and
A structure that protects the propulsion device and maintains the flow of water generated by the propulsion force,
The structure is,
a first protection portion disposed in front of the propulsion device;
a second protection unit disposed behind the propulsion device; and
A connection part connecting the first protection part and the second protection part to the main body. According to clause 1,
GPS devices that generate location information; and
It further includes a communication device that receives information about the area of the spilled oil and coordinate information of the spilled oil from a drone,
The propulsion device is,
A spilled oil recovery device that provides propulsion for autonomous navigation based on the location information, information on the area of the spilled oil, and coordinate information of the spilled oil. According to clause 2,
The propulsion device is,
a pipe extending downward from the main body; and
A spilled oil recovery device comprising a thruster connected to the lower end of the pipe so as to be rotatable about the pipe. According to clause 3,
The thruster is,
A spilled oil recovery device that induces a change in direction of movement by rotating the pipe about its axis. According to clause 1,
The main body is,
a pair of floats to provide buoyancy; and
A spilled oil recovery device comprising: an oil recovery unit disposed between the pair of floats and recovering spilled oil through movement of a belt. According to clause 5,
The float is,
A spilled oil recovery device that provides space for electronic devices to be placed inside. According to clause 1,
A storage unit that moves with the main body by the driving force and stores the spilled oil recovered by the main body while floating on the water surface. According to clause 7,
The storage unit,
A spilled oil recovery device formed to be detachable from the main body. According to clause 8,
The storage unit,
body part;
a horizontal shape maintaining frame portion disposed at the upper or lower portion of the body portion and extending in the width direction of the body portion; and
A spilled oil recovery device comprising: a vertical shape-maintaining frame part connected to the horizontal shape-maintaining frame part and extending in a vertical direction. delete According to clause 1,
The structure is,
A spilled oil recovery device that performs the function of a hydrofoil. According to clause 3,
The height of the structure is,
Spilled oil recovery device larger than the length of the pipe. delete According to clause 1,
The first protective part,
When located on the ground, it includes a lower plate that supports the main body by contacting the ground,
The second protection unit,
When located on the ground, a lower plate that supports the main body by contacting the ground. A spilled oil recovery device comprising a. According to clause 2,
The communication device is,
A spilled oil recovery device that receives a signal for controlling at least one of the propulsion device and the main body from a wireless controller when switching from the autonomous navigation mode to the wireless control mode.