KR102859211B1 - AI autonomous driving environment dredging robot - Google Patents

Abstract

The present invention relates to an artificial intelligence autonomous driving environmental dredging robot for removing pollutants contained in underwater sediment, comprising: a main body having a roller arranged therein; a support having one end connected to the upper surface of the main body and the other end connected to a middle frame; a cylinder having one end connected to the support and the other end connected to an upper frame; a track arranged on the outside of the middle frame; and a control unit for controlling the cylinder. Through this, the dredging robot can escape when the track of the dredging robot placed underwater is buried in the bottom, and has the advantage of being less affected by obstacles during movement by controlling the shear height of the main body.

Description

AI autonomous driving environment dredging robot

The present invention relates to a dredging robot, and more particularly, to an artificial intelligence autonomous environmental dredging robot for removing contaminants contained in underwater sediments.

Generally, underwater sediments provide habitat for organisms while also purifying various pollutants flowing in from the ground. Sediment particles larger than 70 ㎛ in diameter are sediments originally present on the river and ocean floor and do not require removal. Sediment particles between 30 and 70 ㎛ in diameter contain various pollutants, including sediment, heavy metals, and organic substances such as nitrogen and phosphorus. These contaminants contaminate the aquatic environment and therefore require removal.

Conventional dredging robots remove pollutants from underwater sediment by floating a barge in the target water area, sucking up the sediment with a suction device and hauling it onto the barge. The barge then uses a treatment tank and a natural drying device to remove the pollutants before returning the sediment to the target water area. However, because the barges require multiple pieces of equipment, including treatment tanks, suction devices, and drying devices, they become larger, leading to higher installation costs and uneconomical implementation.

Additionally, the bottom is often unstable due to underwater sediment, causing the dredging robot's tracks to become buried and unable to move. Previously, if the robot could not move backwards, it would be transferred to a barge, which was a significant waste of time and energy.

Additionally, existing dredging robots using heavy equipment have the problem of destroying underwater facilities.

Korean Patent Publication No. 1999-0030399 (Dredging and water purification system using a barge)

Accordingly, the present invention has been devised to solve the problems of the prior art as described above, and provides an artificial intelligence autonomous environmental dredging robot that does not rely on heavy equipment and minimizes destruction of underwater facilities.

Additionally, the goal is to provide an artificial intelligence autonomous environmental dredging robot that can free itself without the help of external devices when its orbit is buried in the ground.

The present invention relates to a dredging robot deployed underwater, comprising: a main body having a roller disposed therein; a support having one end coupled to the upper surface of the main body and the other end coupled to a middle frame; a cylinder having one end coupled to the support and the other end coupled to an upper frame; a track disposed outside the middle frame; and a control unit for controlling the cylinder.

In addition, the support is characterized in that it rotates around the stop frame by the operation of the cylinder, and the height of the main body vertically rises or falls.

Additionally, the control unit includes a movement mode for controlling the cylinder so that the main body is separated from the floor surface.

Additionally, the control unit includes a dredging mode that controls the cylinder so that the lower surface of the main body is adjacent to the ground.

Additionally, the control unit includes an escape mode that controls the cylinder so that the main body is lowered vertically to pressurize the floor surface and the orbit is separated from the ground.

Additionally, it includes a motor disposed on the outer surface of the main body and a connecting member connecting the motor and the rotational axis of the roller exposed from the main body.

In addition, it further includes a pair of structures arranged on the inner upper surface of the main body and formed diagonally toward the center, an air supply unit arranged on the outer side of the structure and connected to an air supply line, and a suction unit arranged between the structures and connected to a suction line.

In addition, it includes a housing disposed at the center of the main body and connected to an air supply line, a reflector disposed spaced apart from the upper side of the housing and formed to be convex upward, a bubble injection nozzle formed on the upper surface of the housing and disposed toward the reflector, and a high-pressure water nozzle.

In addition, the bubbles sprayed from the bubble spray nozzle remain on the lower surface of the reflector, and the bubbles burst due to the sprayed high-pressure water, thereby having a sterilizing effect.

In addition, the track is composed of a belt, a plurality of wheels, and a structure that connects the wheels, and the wheels include a gear that transmits rotational power, a first wheel that is arranged at the front and rear and adjusts the tension of the belt according to the position, and a second wheel that is arranged parallel to the ground to support the load of the dredging robot.

In addition, the structure includes a wheel coupling portion that couples the first wheel and the second wheel, and the wheel coupling portion includes a first through hole formed in an area where the second wheel is arranged and a second through hole formed on an upper surface adjacent to the first wheel.

In addition, the dredging robot includes a sonar sensor for detecting the seabed topography, and the control unit is characterized in that it receives data from the sonar sensor and displays it on a monitor.

In addition, the dredging robot includes a sonar sensor that detects the seabed topography, and the control unit includes an artificial intelligence that receives data from a preset work area and the sonar sensor and sets the direction and distance of movement.

In addition, the artificial intelligence is characterized by receiving real-time input of the seabed situation from the sonar sensor and correcting the movement distance and movement direction according to the seabed situation.

Additionally, the orbit includes a bed coupled to the outer surface and arranged horizontally with respect to the ground.

Additionally, the bed includes an oblique surface formed upwardly with both ends facing the water surface.

Additionally, the dredging robot includes an internal space in which air is injected into the bed so that the weight is reduced through buoyancy.

The present invention enables escape by controlling the shear height of the main body when the track of a dredging robot placed underwater is buried in the bottom surface.

In addition, the present invention can control the shear height of the main body so that it is less affected by obstacles when moving.

In addition, the present invention can prevent sediments floating by the roller from spreading outward from the main body by arranging a negative pressure plate and a suction unit.

In addition, the present invention has the advantage of being formed in a smaller volume than existing dredging robots because it does not include heavy equipment, and can avoid obstacles during dredging work and is easy to work with.

Additionally, it has the advantage of being able to operate independently from the barge, enabling efficient operation.

Figure 1 is an embodiment of the present invention.
Figure 2 is a perspective view of the present invention.
Figure 3 is a perspective view of the orbit.
Figure 4 is an exploded perspective view of the frame.
Figure 5 is a side view of the bed arrangement.
Figure 6 is an exploded perspective view of the main body.
Figure 7 is an example of dredging mode.
Figure 8 is an example of the internal structure of the main body.
Figure 9 is an example of a side cross-sectional view of the main body.
Figures 10 and 11 are examples of rollers.
Figure 12 is an example diagram showing the arrangement of a bubble supply device.
Figure 13 is an example diagram showing the arrangement of a bubble injection device.
Figure 14 is an example of escape mode.

The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, but rather to encompass all modifications falling within the spirit and technical scope of the present invention.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

Hereinafter, with reference to the attached drawings, an artificial intelligence autonomous driving environmental dredging robot according to an embodiment of the present invention will be described in detail.

FIG. 1 is an embodiment of the present invention. Referring to FIG. 1, the present invention relates to a dredging robot deployed underwater, comprising: a main body (100) having rollers arranged therein; a middle frame (202) having a square frame shape and arranged on the upper side of the main body and arranged horizontally to the ground; a lower frame formed on the lower side of the middle frame; an upper frame formed on the upper side of the middle frame; a first support and a second support having one end coupled to the upper surface of the main body and the other end coupled to the middle frame; a cylinder having one end coupled to the outer surface of the second support and the other end coupled to the upper frame; an orbital coupling portion formed in a plate shape and arranged on both sides of the middle frame and the lower frame; an orbital coupling portion arranged on the outer surface of the orbital coupling portion and comprising a belt having protrusions formed on the outer surface and a plurality of wheels; and a control portion that controls the cylinder.

The dredging robot is deployed underwater, where sediment has accumulated on the bottom. The dredging robot is connected to a vessel (1) or an external device deployed on land. The dredging robot operates by receiving control signals from an external source via a control signal line. These signals can be transmitted in a wired or wireless manner. Furthermore, the dredging robot receives air or bubble-containing water from an external source via an air supply line (20), and the sediment is removed from the water via a suction line (30).

The main body (100) forms an internal space in which a dredging device is arranged. Inside the main body (100), rollers for dredging sediment and a bubble spray device for removing contaminants are arranged. The bubble spray device receives air or bubble-containing water from a vessel or an external device. At this time, the bubble spray device can receive nano-sized bubbles.

The main body (100) is coupled to a frame (200) to which a track (300) is coupled. The frame, which includes the main body, a lower frame, a middle frame, and an upper frame, supports a load on the track. The shape of the frame (200) illustrated in the drawing is simplified for easy explanation. The purpose of the frame (200) includes supporting the main body (100) and coupling the main body (100) and the track (300).

Let us explain the shape of the frame (200) by taking the shape of Fig. 1 as an example. At this time, the longitudinal direction is the forward and backward direction of the dredging robot, and the width direction is a direction perpendicular to the longitudinal direction and parallel to the ground. The frame (200) is attached to the upper side of the main body (100). The frame (200) is formed in the height direction by an upper frame (201), a middle frame (202), and a lower frame (203).

The intermediate frame (203) is coupled with a support (220) that is coupled to the upper part of the main body (100), and the upper frame (201) is provided with a cylinder (210) coupled with the support. The support rotates relative to the intermediate frame by the movement of the cylinder. The main body moves up and down according to the rotation. In other words, the main body (100) has the feature that the height can be controlled by controlling the cylinder (210).

A track (300) is arranged on the outer surface of the frame (200). The track (300) applied to the present invention has the characteristic of being formed as an endless track. As shown, the track may be formed as a triangular endless track in cross-section, or may be formed as an oval or the like. The outer surface of the track (300) is formed with a rough surface, so that it can easily pass over an irregular floor surface. In addition, it can escape from an unstable terrain by moving backwards or when the track (300) is buried by sediment.

The dredging robot includes a sonar sensor for detecting underwater terrain, and the control unit receives data from the sonar sensor and displays it on a monitor. The dredging robot moves and operates remotely from a worker. The sonar sensor detects surrounding obstacles. The data obtained from the sonar sensor detects and maps underwater terrain features in 3D. The data obtained from the sonar sensor is displayed on the monitor, and the worker determines the route by referring to the surrounding obstacles.

Additionally, dredging robots incorporate artificial intelligence, which pre-sets the direction of movement, distance traveled, and work area. Controlling the dredging robot requires the operator's full concentration, and the dredging process itself takes a long time. Errors can occur due to operator fatigue, so we propose a dredging method utilizing artificial intelligence.

The dredging robot includes a sonar sensor that detects the seabed topography, and the control unit includes a preset work area and artificial intelligence that receives data from the sonar sensor and sets the direction and distance of movement.

The AI receives input from the control unit, specifying the work area to be dredged. Based on this input, it sets the direction and distance of movement. These directions and distances are determined based on data collected through sonar sensors and reference to seabed conditions. This allows the dredging robot to learn where to work and where not to work.

Additionally, the AI receives real-time information about the underwater conditions from the sonar sensor and adjusts the travel distance and direction based on the information. The AI-equipped dredging robot receives real-time information about underwater features through the sonar sensor and has the ability to avoid obstacles. This has the advantage of preventing the dredging robot from capsizing or getting caught on obstacles underwater.

Fig. 2 is a perspective view of the present invention. Referring to Fig. 2, one or more rollers (110) are arranged inside the main body (100). A frame (200) in which a plurality of structures are combined is arranged on the upper side of the main body (100). A cylinder (210) capable of moving the main body (100) up and down is arranged on the frame (200). A track (300) is arranged on the left and right sides of the frame (200) so that a dredging robot can move. A detailed description of the shapes of the main body (100), the frame (200), and the track (300) will be described later.

Fig. 3 is a perspective view of a track. Referring to Fig. 3, the track is composed of a belt, a plurality of wheels, and a structure connecting the wheels. The wheels include a gear that transmits rotational power, a first wheel that is positioned at the front and rear and adjusts the tension of the belt depending on the position, and a second wheel that is positioned parallel to the ground to support the load of the dredging robot.

The track (300) has a caterpillar (300) shape composed of a plurality of wheels and a belt (310). The caterpillar (300) shape has the advantage of being easy to move over obstacles. The belt (310) of the track (300) rotates through a gear (330) coupled with a motor, and the dredging robot moves forward or backward. The track (300) is formed with a track coupling part (321) coupled to the left and right sides of the frame (200). The track coupling part (321) is coupled to a structure (320) that couples each component of the track (300). The structure (320) is formed with a wheel coupling part (323) coupled to a plurality of wheels arranged to be in contact with the belt (310) and a bed coupling part (322) coupled to a bed (360) of the dredging robot.

The wheels connected to the wheel coupling unit (323) are divided into two types. They are divided into a first wheel (340) that adjusts the tension of the belt (310) and a second wheel (350) that supports the load of the dredging robot. The first wheels (340) are respectively arranged at the front and rear of the track (300). The first wheels (340) are connected to the wheel coupling unit (323) and can be moved forward or backward to adjust the tension of the belt (310). The first wheel (340) arranged at the front has the advantage of being arranged higher than the ground, allowing it to overcome obstacles. The first wheel (340) arranged at the rear can be arranged so that the belt (310) is in contact with the ground. A plurality of second wheels (350) are arranged and are arranged so that the belt (310) is in contact with the ground.

When a dredging robot moves, foreign substances such as gravel are introduced into the track (300). Since these foreign substances damage the first wheel (340) and the second wheel (350), a structure for discharging them is required. The structure of the present invention includes a wheel coupling portion that couples the first wheel and the second wheel, and the wheel coupling portion includes a first through hole formed in an area where the second wheel is arranged and a second through hole formed on an upper surface adjacent to the first wheel.

A first through hole (324) is formed between the second wheels (350) to allow the introduced gravel to be discharged to the outside. The first through hole (324) is formed on the upper surface and side surface of the wheel coupling portion (323), and gravel rising by the second wheel (350) is discharged to the outside.

The wheel coupling portion (323) forms a second through hole (325) to discharge gravel that has entered the first wheel (340). The second through hole (325) is formed on the upper surface of the wheel coupling portion (323) adjacent to the first wheel (340). Gravel that rises by the first wheel (340) is discharged to the outside.

Fig. 4 is an exploded perspective view of the frame. Referring to Fig. 4, the frame (200) is composed of an upper frame (201), a middle frame (202), and a lower frame (203) formed in a horizontal direction. The upper frame (201), the middle frame (202), and the lower frame (203) are welded to form one frame.

The upper frame (201) has a cylinder (210) that raises or lowers the main body (100). The middle frame (200) has a first support (204) and a second support (220) that are coupled to the upper surface of the main body (100). Both ends of the first support (204) and the second support (220) include a hinge structure. The first support and the second support are hinge-coupled to the middle frame (202). The upper surface of the second support (220) is coupled to an end of the cylinder (210). Both ends of the cylinder include a hinge structure. The first support (204) and the second support (220) rise by the contraction of the cylinder (210), and the first support (204) and the second support (220) descend by the extension of the cylinder (210). At this time, the main body (100) has the characteristic of vertically descending or vertically rising with respect to the ground without tilting.

On both sides of the frame (200), track coupling parts (321) are arranged to be coupled with the track (300). The frame (200) includes a front frame (205) formed at the front. The front frame (205) is connected to the upper frame (201) and the middle frame (202) and is arranged diagonally. A bumper is arranged on the upper surface of the front frame (205). The bumper prevents the dredging robot from being damaged by collision when moving on land and underwater. At this time, the location of the bumper is not limited, and it can be further arranged on the side, rear, etc. as needed.

Fig. 5 is a side view of a bed arrangement. Referring to Fig. 5, a main body is arranged on the lower side of a frame (200), and a track is arranged on the outer side of the frame (200). A bed coupling portion (322) is formed protrudingly on the outer surface of the track (300), and a bed (360) is coupled to the bed coupling portion (322). The bed (360) protrudes from the track (300) and is arranged horizontally with respect to the ground.

The bed (360) has the advantage of colliding with sediment placed outside the dredging robot and lowering its height. The bed (360) has the advantage of lowering sediment in areas where the dredging robot cannot pass to a certain height, thereby cleaning the bottom surface.

When viewed from the side, the bed (360) includes an oblique plane formed with both ends pointing upward toward the water surface, similar to the shape of a ski. When the track is buried in the seabed (mud), the seabed and the bed come into contact. At this time, the bed has the effect of preventing burial beyond a certain depth (the height from the bottom of the track to the bottom of the bed) by increasing the area in contact with the seabed. In addition, there is an advantage in that the oblique plane of the bed and the seabed come into contact, and the dredging robot can escape by sliding.

When viewed from the front, the bed (360) is formed in a circular or oval shape. The bed has an internal space. Air is placed within the internal space to create buoyancy. This reduces the weight of the dredging robot deployed underwater, preventing it from sinking too deep into the mud.

A hydraulic unit (400) is mounted on the upper side of the frame (200). The hydraulic unit (400) is composed of a solenoid valve, a hydraulic pump, a hydraulic flow distributor, etc. Conventional hydraulic units are placed on a barge, and have the disadvantage of requiring a high load because the barge and the dredging robot are separated. The present invention has the advantage of reducing the load when the dredging robot is hydraulically operated underwater by mounting a hydraulic unit and facilitating maintenance. The hydraulic unit (400) is connected to a cylinder to control the height of the main body. The hydraulic unit applied to the present invention has the feature of being able to operate on land and underwater.

Fig. 6 is an exploded perspective view of the main body. Referring to Fig. 6, a plurality of rollers (110) are arranged on the lower side of the main body (100). A connecting member (103) is formed on the upper surface of the main body (100) to protrude and be connected to the first support member (204) and the second support member (220). The first support member (204) and the second support member (220) are hinge-connected to the connecting member (103).

A plurality of motors are arranged on the outer surface of the main body (100). The motors are connected to rotate the roller (110). Each motor is arranged in a 1:1 correspondence with the roller (110), and can control whether the roller (110) rotates, the direction of rotation, and the rotation speed.

An air supply unit (21) connected to an air supply line and a suction unit (31) connected to a suction line are arranged on the upper surface of the main body (100). Air supplied from the ship is injected into the inside of the main body (100), and floating foreign substances can be removed through the suction unit (31).

The present invention is divided into a movement mode, a dredging mode, and an escape mode depending on the position of the main body (100). The movement mode is a state in which the main body is raised so that the rollers are separated from the ground. The dredging mode is a state in which the main body is positioned so that the rollers are in contact with the ground. The escape mode is a state in which the main body is lowered to pressurize the ground and the track and frame are raised.

Figure 7 is an exemplary diagram of the dredging mode. Referring to Figure 7, the control unit includes a dredging mode that controls the cylinder so that the front end of the main body is adjacent to the ground surface. The main body (100) is controlled through the movement mode of the dredging robot to reach the area requiring dredging. Thereafter, the dredging robot changes to the dredging mode in which the cylinder (120) is expanded by a control signal from the control unit and the main body (100) is lowered so that the front end is positioned close to the ground.

The dredging mode has one or more functions of floating sediment through a roller (130), washing sediment through bubble supply, and discharging sediment through a suction unit.

The main body (100) is controlled to be in contact with the ground, and a pair of rollers (110) have the characteristic of rotating in opposite directions. Sediment is moved between the pair of rollers by the rollers. The rotation crushes the sediment accumulated on the bottom surface and mixes it with water to float it.

An air supply unit (21) connected to an air supply line (20) and a suction unit (31) connected to an intake line (30) are arranged in the central interior of the main body. Sediment moved between a pair of rollers is mixed with the sprayed air and then discharged to the outside. At this time, air supply units are arranged on both sides of the suction unit.

Fig. 8 is an example of a cross-sectional view of the main body. Referring to Fig. 8, the roller (110) positioned inside the main body (100) receives power from a motor (M) positioned outside the main body and rotates. Each roller is equipped with a motor, and the rotational axis (111) of the roller is connected to a connecting member (102) coupled to the motor.

An air supply unit (21) and an intake unit (31) are arranged on the upper inner surface of the main body (100), and the air supply unit and the intake unit are arranged to be spaced apart from each other by a structure (101). The air supply unit (21) is arranged on the outer side of the structure (101), and the intake unit (31) is arranged between the structures (101). The structure (101) is formed diagonally toward the center, and the air supply unit is arranged toward the center to supply air. Sediments mixed with air in the center rise toward the intake unit and are discharged to the outside.

A negative pressure plate (120) may be further disposed on the outer surface of the main body and formed to be in contact with the floor surface. The roller (110) disposed inside the main body (100) rotates to float sediment, but there are cases where the floated sediment flows out of the main body (100). This causes a problem in that the efficiency of the dredging robot is reduced due to the flow of sediment that has not been sterilized or cleaned.

The present invention arranges a negative pressure plate on the outer surface of the main body (100) to prevent sediments floating by the roller (130) from flowing out to the outside of the main body (100). The negative pressure plate is installed close to the ground.

Additionally, a protective layer is placed on the exterior of the main body. The protective layer is made of rubber, which helps reduce impact from rocks, gravel, and other objects.

Fig. 9 is a side cross-sectional view of a main body. Referring to Fig. 9, a roller (110) is arranged inside the main body (100), and the rotational axis (111) of the roller is exposed to the outside of the main body. A motor (M) is arranged on the upper outer surface of the main body. The rotational axis of the motor is arranged parallel to the rotational axis of the roller, and a connecting member (102) connecting the rotational axis of the motor and the rotational axis of the roller is arranged. The connecting member transmits the rotation of the motor to the roller. A plurality of suction parts (31) are formed on the outer surface of the main body. Sediments stirred by the rotation of the roller are discharged through the suction parts.

Figures 10 and 11 are exemplary drawings of rollers. Figure 10(a) is an exemplary drawing in which multiple brushes are arranged on the outer surface of a rotating shaft. This is an embodiment of a commonly used roller. The roller of Figure 10(b) has a brush (112) formed on the outer surface of a rotating shaft (111), and has a feature in that a protrusion (113) is formed at the end of the brush. The end of the brush, which comes into contact with the ground containing sediments multiple times, is prone to wear. The protrusion has the advantage of improving the durability of the end of the brush and of improving the agitation of the sediments.

The roller of Fig. 11(a) has a centrally located rotating shaft and is composed of a circular plate (114) and an arc-shaped groove (115). During rotation, the groove removes sediment. The roller of Fig. 11(b) has a plurality of springs (115) formed on the outer surface of the rotating shaft (111). The springs rotate along the rotating shaft, moving the sediment to the center of the main body.

The shape of the roller can be changed as in the above embodiment, and is not limited to the illustrated embodiment.

Fig. 12 is an exemplary diagram of a bubble supply device arrangement. Referring to Fig. 12, sediments suspended by a roller (111) are washed away by a bubble spray device (130) arranged inside a main body (100). The bubble spray device is arranged on the lower side of the suction unit. The housing (131) of the bubble spray device is connected to an air supply line (20) to receive air. Nano/micro bubbles are created by mixing air and water. A reflector (132) is arranged on the upper side of the housing, and bubbles are sprayed toward the reflector.

That is, the waves generated by the collapse and creation of nano/microbubbles have a sterilizing effect, removing sediment contaminants and bacteria accumulated in sediment. Furthermore, air injection has the advantage of increasing dissolved oxygen levels in water.

Fig. 13 is an exemplary diagram of a bubble injection device. Referring to Fig. 13, the bubble injection device includes a housing (131) connected to an air supply line (20), a reflector (132) spaced apart from and positioned on the upper side of the housing, a bubble injection nozzle (133) positioned toward the reflector, and a high-pressure water nozzle (134).

The reflector (132) is formed to be convex toward the upper side. The housing (131) and the reflector (132) are spaced apart from each other by a connecting member (not shown).

The housing (131) receives air or bubbles from the air supply line. When only air is supplied, it sucks in water and creates bubbles internally. Bubbles are sprayed through a bubble spray nozzle (133) positioned toward the reflector. A certain amount of bubbles remain on the lower surface of the reflector (132).

High-pressure water is sprayed through a high-pressure water nozzle (134) with a structure corresponding to a sonic nozzle. The high-pressure water collides with the bubbles remaining on the underside of the reflector. The nano/micro bubbles are burst by the high-pressure water, forming micro bubbles. The water has a sterilizing effect due to the energy generated by the bursting of the nano bubbles.

The structure of the spray device, which receives water and spray energy, can be modified based on factors such as resources and energy. The structure of the spray device can be modified based on factors such as the depth of the water into which the dredging robot is deployed and the size of the bubble spray device (140). One example of a spray device is one that receives water through a suction port formed on the exterior surface of the housing and sprays high-pressure water through a pump located within the housing. Another example of a spray device is one that receives high-pressure water from an external device located on a ship or land and sprays it.

Sediments are sterilized and cleaned by bubbles emitted from the bubble jet device. The waves generated by the collapse and creation of nano/microbubbles have a sterilizing effect, removing sediment contaminants and bacteria accumulated in the sediment. Furthermore, air injection increases the dissolved oxygen level in the water.

Figure 14 is an example of an escape mode. Referring to Figure 14, the present invention includes an escape mode in which the orbit (300) escapes through the main body (100) when buried in the ground.

When the track (300) is buried in the ground, the main body (100) is lowered to raise the track (300). To be more specific, the cylinder (210) protrudes, the first support (220) and the second support (204) rotate, and the main body (100) is lowered vertically. The main body (100) presses the ground, so that the track (300) is separated from the ground. In the raised state, the track (300) is rotated to escape. At this time, the main body (100) is formed of a material and structure having sufficient strength and durability to support the dredging robot.

The present invention is not limited to one embodiment, and the scope of application is diverse, and various modifications can be made without departing from the gist of the present invention as claimed in the claims.

1: Ship
10: Control signal line
20: Air supply line 21: Air supply section
30: Suction line 31: Suction part
100: Body
101: Structure 102: Connecting member
103: Joining member
110: Roller
111: Rotation axis 112: Brush
113: Protrusion 114: Disk
120: Negative pressure plate
130: Bubble spray device
131: Housing 132: Reflector
133: Bubble spray nozzle 134: High-pressure water nozzle
200: Frame
201: Top Frame 202: Middle Frame
203: Lower frame 204: First support
205: Front frame
210: Cylinder
220: Second support zone
300: Orbit
310: Belt
320: Structure
321: Orbital joint 322: Bed joint
323: Wheel joint 324: First through hole
325: Second penetration hole
330: Gear
340: First wheel
350: Second wheel
360: Bed
400: Hydraulic pump

Claims (17)

In the case of dredging robots deployed underwater,
A body with rollers placed inside,
A middle frame having a square frame shape, positioned on the upper side of the main body, and positioned horizontally to the ground;
A lower frame formed on the lower side of the above-mentioned stop frame,
The upper frame formed on the upper side of the above-mentioned stop frame,
First and second supports, which are connected to the upper surface of the main body at one end and connected to the stop frame at the other end;
A cylinder having one end connected to the outer surface of the second support and the other end connected to the upper frame;
A track joint formed in a plate shape and arranged on both sides of the above-mentioned intermediate frame and the above-mentioned lower frame,
A track comprising a belt and a plurality of wheels, which are arranged on the outer surface of the above-mentioned track joint and have a protrusion formed on the outer surface, and
A control unit for controlling the above cylinder is included,
The above body, the lower frame, the middle frame, and the upper frame support the load on the orbit,
The cylinder, the first support, and the second support have hinge structures at both ends,
The above second support member rotates around the stop frame by the operation of the cylinder,
A dredging robot characterized in that the height of the main body vertically rises or falls by rotation of the second support.
delete In the first paragraph,
A dredging robot including a movement mode that controls the cylinder so that the main body is separated from the bottom surface.
In the first paragraph,
A dredging robot including a dredging mode in which the control unit controls the cylinder so that the lower surface of the main body is adjacent to the ground.
In the first paragraph,
A dredging robot including an escape mode in which the control unit controls the cylinder so that the main body is lowered vertically to pressurize the bottom surface and the orbit is separated from the ground.
In the first paragraph,
A motor placed on the outer surface of the above body and
A dredging robot including a connecting member connecting the rotational axis of the roller exposed from the above motor and the above body.
In the first paragraph,
A pair of structures arranged on the inner upper surface of the above body and formed diagonally toward the center,
An air supply unit disposed on the outside of the above structure and connected to an air supply line, and
A dredging robot further comprising a suction unit disposed between the above structures and connected to a suction line.
In the case of dredging robots deployed underwater,
A body with rollers placed inside,
A middle frame having a square frame shape, positioned on the upper side of the main body, and positioned horizontally to the ground;
A lower frame formed on the lower side of the above-mentioned stop frame,
The upper frame formed on the upper side of the above-mentioned stop frame,
First and second supports, which are connected to the upper surface of the main body at one end and connected to the stop frame at the other end;
A cylinder having one end connected to the outer surface of the second support and the other end connected to the upper frame;
A track joint formed in a plate shape and arranged on both sides of the above-mentioned intermediate frame and the above-mentioned lower frame,
A track comprising a belt and a plurality of wheels, which are arranged on the outer surface of the above track joint and have a protrusion formed on the outer surface,
A control unit that controls the above cylinder,
A housing placed in the center of the above body and connected to the air supply line,
A reflector arranged spaced apart from the upper side of the housing and formed to be convex upward,
A dredging robot including a bubble injection nozzle and a high-pressure water nozzle formed on the upper surface of the housing and positioned toward the reflector.
In paragraph 8,
The above control unit controls the bubble injection nozzle to inject bubbles onto the lower surface of the reflector,
A dredging robot characterized in that the high-pressure water nozzle is controlled to spray high-pressure water toward a bubble arranged on the lower surface of the reflector.
In the first paragraph,
The above track is composed of a belt, a plurality of wheels, and a structure that connects the wheels,
The above wheel is a gear that transmits rotational power,
A first wheel positioned at the front and rear, and adjusting the tension of the belt according to the position, and
A dredging robot including a second wheel arranged parallel to the ground to support the load of the dredging robot.
In Article 10,
The above structure includes a wheel coupling portion that couples the first wheel and the second wheel,
A dredging robot, wherein the wheel coupling part includes a first through-hole formed in an area where the second wheel is placed and a second through-hole formed on an upper surface adjacent to the first wheel.
In the first paragraph,
The above dredging robot includes a sonar sensor that detects the seabed terrain,
A dredging robot characterized in that the control unit receives data from the sonar sensor and displays it on a monitor.
In the first paragraph,
The above dredging robot includes a sonar sensor that detects the seabed terrain,
The above control unit is a dredging robot including an artificial intelligence that receives data from a preset work area and the sonar sensor and sets the movement direction and distance.
In Article 13,
A dredging robot characterized in that the artificial intelligence receives real-time input of the seabed situation from the sonar sensor and corrects the movement distance and movement direction according to the seabed situation.
In the first paragraph,
The above orbit is
A bed joint formed inside the belt and protruding on the outer surface of the track; and
A dredging robot comprising a bed coupled to the above bed joint and arranged horizontally with respect to the ground.
In Article 15,
The above bed is a dredging robot including an oblique surface formed upwards with both ends facing the water surface.
In Article 15,
The above dredging robot is a dredging robot in which the bed includes an internal space in which air is injected so that the weight is reduced through buoyancy.