KR20100091041A - Auv retrieval apparatus - Google Patents

Auv retrieval apparatus Download PDF

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Publication number
KR20100091041A
KR20100091041A KR1020090010316A KR20090010316A KR20100091041A KR 20100091041 A KR20100091041 A KR 20100091041A KR 1020090010316 A KR1020090010316 A KR 1020090010316A KR 20090010316 A KR20090010316 A KR 20090010316A KR 20100091041 A KR20100091041 A KR 20100091041A
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KR
South Korea
Prior art keywords
underwater equipment
pressure
resistant housing
underwater
buoyancy balloon
Prior art date
Application number
KR1020090010316A
Other languages
Korean (ko)
Inventor
박요섭
Original Assignee
(주)유에스티21
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Publication date
Application filed by (주)유에스티21 filed Critical (주)유에스티21
Priority to KR1020090010316A priority Critical patent/KR20100091041A/en
Publication of KR20100091041A publication Critical patent/KR20100091041A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/06—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which lifting action is generated in or adjacent to vessels or objects
    • B63C7/10—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which lifting action is generated in or adjacent to vessels or objects using inflatable floats external to vessels or objects

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE: An underwater equipment collecting system is provided to enable the underwater equipment to rise to the surface by an automatic operation when the underwater equipment cannot be operated or collected. CONSTITUTION: An underwater equipment collecting system comprises an internal pressure housing(10), a buoyant balloon(20), a gas tank(30), and a control unit(50). The buoyant balloon is formed outside the internal pressure housing. The gas tank is connected to the buoyant balloon through the electronic control valve. The gas tank injects gas into the buoyant balloon. The control unit is connected to the electronic control valve.

Description

Underwater Equipment Recovery Equipment {AUV retrieval apparatus}

The present invention relates to an apparatus for recovering underwater equipment having a new structure that is automatically operated when underwater equipment used for underwater exploration, etc., is in an unrecoverable situation, so that the underwater equipment floats to the sea surface and is recovered.

Recently, water is used for resource exploration or research in deep water bands that are difficult to work with, such as self-powered submersible submarines (AUVs) or underwater towings that are cabled to floating tugs. The use of heavy equipment is increasing.

On the other hand, such an underwater equipment is a failure of the equipment, if the operator accidentally failed to recover the AUV until the battery discharged AUV power, or if the cable connecting the tugboat and the underwater human body is broken, Underwater equipment sinks into the deep sea.

 However, when the underwater equipment is sunk in this way, it is not only difficult to specify the location where the underwater equipment is sunk, but also to inject other AUVs or underwater human bodies to recover such underwater equipment, which requires a lot of cost and time. There was this. In particular, when underwater equipment sinks into the deep sea, recovery is impossible.

Therefore, when the underwater equipment becomes impossible to recover, there is a need for a new equipment that can safely recover the underwater equipment.

The present invention is to solve the above problems, when the underwater equipment operating in the underwater space is inoperable or irretrievable state, it is automatically operated, the underwater equipment recovery of a new structure to allow the underwater equipment to float to the sea surface recovery The object is to provide a device.

The present invention for achieving the above object, the buoyancy balloon 10, the buoyancy balloon 20 provided on the outside of the pressure-resistant housing 10, and the buoyancy balloon 20 through the electronic control valve 40 Is connected to the gas tank 30 for injecting gas into the buoyancy balloon 20 in accordance with the operation of the electronic control valve 40, and the pressure-resistant housing 10 is provided in the electronic control valve 40 It includes a control unit 50 is connected, connected to the underwater equipment (1) to inject a gas to the buoyancy balloon 20 in accordance with the control signal of the control unit 50 to infuse the underwater equipment (1) An underwater equipment recovery apparatus is provided.

According to claim 1, wherein one end is connected to the pressure-resistant housing (10) and the other end further comprises a wire (60) connected to the lifting hook (2) provided in the underwater equipment (1) A recovery device is provided.

The apparatus of claim 1, further comprising an auxiliary housing (13) configured to be openable and close at one side of the pressure resistant housing (10) and having the buoyancy balloon (20) embedded therein. Is provided.

The apparatus of claim 1, wherein the control unit (50) is provided with at least one of a timer (51) or a pressure sensing sensor for measuring the pressure applied to the pressure resistant housing (10). do.

Underwater equipment recovery apparatus according to the present invention is automatically operated when the underwater equipment (1) is not recovered within a predetermined time, or when the underwater equipment (1) is lowered below a predetermined depth, it is automatically operated to inject gas into the buoyancy balloon (20) Thus, by using the buoyancy of the buoyancy balloon 20 to float the underwater equipment (1) to the sea level, there is an advantage that can easily recover the underwater equipment (1).

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

Underwater equipment recovery apparatus according to the present invention is connected to one side of the underwater equipment (1), when the underwater equipment (1) falls into the state of non-recovery, to automatically float the underwater equipment (1), the underwater equipment One side of the upper surface of the (1) is provided with a lifting hook (2), by connecting a crane to the lifting hook (2), to lift the underwater equipment (1) by boat, or on the underwater equipment (1) Can be put down to the sea.

In addition, the underwater equipment recovery apparatus, as shown in Figures 1 to 3, the pressure-resistant housing 10, the buoyancy balloon 20 provided on the outside of the pressure-resistant housing 10, and the electronic control valve 40 Is connected to the buoyancy balloon 20 through the gas tank 30 for injecting gas into the buoyancy balloon 20 according to the operation of the electronic control valve 40, and is provided inside the pressure resistant housing 10. And a control unit 50 connected to the electronic control valve 40, and a wire 60 connecting the pressure resistant housing 10 and the lifting ring.

The pressure resistant housing 10 is manufactured in a cylindrical shape of a metal that can withstand the water pressure acting on the submersible water level of the underwater equipment 1, and the gas tank 30 and the control unit 50 are mounted therein. In this case, a gas passage 11 connecting the gas tank 30 and the buoyancy balloon 20 is formed at one side of the pressure resistant housing 10. In addition, the pressure-resistant housing 10 is temporarily fixed to the outer surface of the underwater equipment 1 by an adhesive tape, a magnet or a vacuum suction plate 12, etc., when the buoyancy is applied to the pressure-resistant housing 10, the pressure-resistant housing 10 This leaves the underwater equipment (1).

The buoyancy balloon 20 is composed of a synthetic resin material capable of withstanding water pressure, one end is connected, the gas stored in the gas tank 30 is injected into the buoyancy balloon 20 through the gas passage (11). It is configured to be. At this time, one side of the pressure-resistant housing (10) is provided with an auxiliary housing (13) for protecting the buoyancy balloon (20), the buoyancy balloon (20) of the auxiliary housing 13 in a small volume folded state It is mounted inside. The auxiliary housing 13 is provided with a cover 14 on one side, one side is coupled to the hinge (14a) is rotated in the outward direction, one side is formed with a through hole (13a) in communication with the outside, The water is introduced into the inside and configured to maintain the same water pressure inside and outside. Therefore, when the buoyancy balloon 20 mounted therein is inflated, the cover 14 is pushed outward by the buoyancy balloon 20 to be opened, and the buoyancy balloon 20 inside is exposed to the outside and inflated. .

The gas tank 30 is installed inside the pressure resistant housing 10 and connected to the gas passage 11. The electronic control valve 40 is installed in the middle of the gas passage 11 connecting the gas tank 30 and the buoyancy balloon 20, and is turned on in accordance with the control signal of the control unit 50 to the gas passage By opening 11, the gas stored in the gas tank 30 can be supplied to the buoyancy balloon 20.

The control unit 50 receives a timer 51, a water pressure sensor 52, a signal from the timer 51 and the water pressure sensor 52 to operate the controller 53 to operate the electronic control valve 40 And a battery 54 connected to the controller 53, which is installed inside the pressure resistant housing 10, and the hydraulic pressure sensor 52 penetrates the circumferential surface of the pressure resistant housing 10. Probe 52a is provided to extend to the outside of the housing 10, it is configured to measure the water pressure acting on the outside of the pressure-resistant housing (10). The controller 53 is provided with a non-illustrated memory for storing the working limit time or the threshold pressure value, and monitors the output values of the timer 51 and the water pressure sensor 52, so that the operation time of the underwater equipment 1 is working. When it is longer than the limit time, or when the hydraulic pressure applied to the pressure-resistant housing 10 is greater than the threshold pressure value, the electronic control valve 40 serves to turn on. At this time, the working limit time is set by calculating the limit time for the underwater equipment (1) can work using the battery 54 in consideration of the force of the battery 54 built in the underwater equipment (1), The threshold pressure value is determined in consideration of the safe working depth of the underwater equipment 1. In addition, the controller 53 is connected to the connection terminal 53a provided on the wall of the pressure resistant housing 10 and stored in the memory using an external input device 55 connected to the connection terminal 53a. It is configured to change the setting of the timetable or the threshold pressure value, or to charge the battery 54.

One end of the wire 60 is fixed to the circumferential surface of the pressure-resistant housing 10, the other end is provided with a hook 61 is connected to the lifting hook (2) provided in the underwater equipment (1), the internal pressure The housing 10 is fixed to the underwater equipment (1).

Reference numeral 56, which is not described, illustrates a control panel provided on the outside of the pressure resistant housing 10, and an operator may operate the control panel 56 to control the control unit 50 on-off. have.

Therefore, as shown in FIG. 2, by using the suction plate 12 or the like, the apparatus for recovering the underwater equipment is fixed to the upper surface of the underwater equipment 1, and the wire 61 is lifted up of the underwater equipment 1. When the underwater equipment 1 starts to work on the hook 2, the controller 53 of the control unit 50 continuously outputs the output data of the timer 51 and the pressure sensor 52. If the working time is longer than the working time limit stored in the memory, or the cable connecting the underwater equipment 1 and the tug is broken and the underwater equipment 1 sinks below the safety working depth, the control unit ( 50 turns on the electronic control valve 40 so that the gas stored in the gas tank 30 is supplied to the buoyancy balloon 20. When gas is injected into the buoyancy balloon 20, as shown in FIG. 3, the buoyancy balloon 20 swells upward while pushing the cover 14 of the auxiliary housing 13 outward and floating upward. As the pressure-resistant housing 10 rises together with the buoyancy balloon 20, the pressure housing 10 is separated from the underwater equipment 1. At this time, since the pressure-resistant housing 10 is connected to the underwater equipment 1 by the wire 60, the underwater equipment 1 may be lifted to the surface by the buoyancy of the buoyancy balloon 20 to be recovered.

The underwater equipment recovery apparatus configured as described above is provided with a timer 51 and a water pressure sensor 52, so that the battery 54 provided in the underwater equipment 1 is discharged, or the cable connecting the underwater equipment 1 and the tug is disconnected. If the underwater equipment (1) sinks below the threshold level and becomes impossible to recover, the buoyant balloon (20) is automatically inflated, thereby bringing the underwater equipment (1) to the surface using the buoyancy of the buoyancy balloon (20). Injury. Therefore, even when the battery 54 of the underwater equipment 1 of AVU, which is a kind of the underwater equipment 1, is discharged and becomes inoperable, or in the worst case in which the cable of the underwater towed body and the tug is disconnected, the underwater equipment 1 is removed. It has the advantage of safe recovery.

In addition, the underwater equipment recovery device is connected to the lifting ring (2) of the underwater equipment (1) by a wire 60 connected to the pressure-resistant housing (10), so that the underwater equipment recovery apparatus is connected to the underwater equipment (1) There is an advantage that does not need to provide a separate connection structure. That is, the underwater equipment (1) must withstand high pressure, it is almost impossible to provide a separate fixing device, but the lifting hook (2) is provided in almost all kinds of underwater equipment (1), By connecting the underwater equipment recovery apparatus to the underwater equipment 1 using the lifting hook 2, the underwater equipment recovery apparatus is firmly secured to the underwater equipment 1 without impairing the structural strength of the underwater equipment 1. There is an advantage that can be fixed.

In addition, since the auxiliary housing 13 in which the buoyancy balloon 20 is built-in is provided at one side of the pressure resistant housing 10, the buoyancy balloon 20 is prevented from being damaged by hitting the sea bottom or the like during the operation of the underwater equipment 1. There is an advantage to this.

In the present embodiment, the control unit 50 is provided with a timer 51 and the pressure sensor 52 at the same time, but it is also possible to include only one of the timer 51 or the pressure sensor 52, it is necessary According to the present invention, it is also possible to provide other types of sensors and the like to automatically detect this when an abnormality occurs in the underwater equipment 1 and to inject gas into the buoyancy balloon 20.

1 is a side cross-sectional view showing an underwater equipment recovery apparatus according to the present invention,

2 is a reference diagram showing an installation state of another underwater equipment recovery apparatus in the present invention,

3 is a reference diagram showing an operating state of the underwater equipment recovery apparatus according to the present invention.

Claims (4)

The pressure resistant housing 10, the buoyancy balloon 20 provided on the outside of the pressure resistant housing 10, and the electronic control valve 40 are connected to the buoyancy balloon 20 to provide A gas tank 30 for injecting gas into the buoyancy balloon 20 according to the operation, and a control unit 50 provided inside the pressure-resistant housing 10 and connected to the electronic control valve 40. Underwater equipment recovery device, characterized in that connected to the heavy equipment (1) to inject the gas to the buoyancy balloon (20) in accordance with the control signal of the control unit 50 to float the underwater equipment (1). According to claim 1, wherein one end is connected to the pressure-resistant housing (10) and the other end further comprises a wire (60) connected to the lifting hook (2) provided in the underwater equipment (1) Recovery device. The apparatus of claim 1, further comprising an auxiliary housing (13) configured to be openable and close at one side of the pressure resistant housing (10) and having the buoyancy balloon (20) embedded therein. . The apparatus of claim 1, wherein the control unit (50) is provided with at least one of a timer (51) or a hydraulic pressure sensor for measuring the hydraulic pressure applied to the pressure resistant housing (10).
KR1020090010316A 2009-02-09 2009-02-09 Auv retrieval apparatus KR20100091041A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020090010316A KR20100091041A (en) 2009-02-09 2009-02-09 Auv retrieval apparatus

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Application Number Priority Date Filing Date Title
KR1020090010316A KR20100091041A (en) 2009-02-09 2009-02-09 Auv retrieval apparatus

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101140604B1 (en) * 2011-03-30 2012-05-02 엘아이지넥스원 주식회사 Buoyancy maintaing apparatus of underwater moving object for controling attitude
KR101145114B1 (en) * 2010-11-24 2012-05-21 국방과학연구소 Variable pressure switch, underwater vechicle having the same and method of operating the variable pressure switch
CN102642606A (en) * 2011-02-16 2012-08-22 刘陈英 Novel submarine
CN102642605A (en) * 2011-02-16 2012-08-22 刘陈英 Diving device for diving facility
RU2476347C2 (en) * 2011-04-26 2013-02-27 Юрий Алексеевич Берков Gas generator for raising ships from deep sea, device and method to this end
KR101387153B1 (en) * 2012-09-10 2014-04-21 한국해양과학기술원 Retrieval apparatus for oceanographic observation device
KR101444271B1 (en) * 2013-02-22 2014-09-26 삼성중공업 주식회사 Robotic device for installation of fastening objects
KR101489805B1 (en) * 2013-07-05 2015-02-04 한국해양과학기술원 Apparatus and method for submarine positioning measurements
KR101535413B1 (en) * 2013-11-22 2015-07-09 김기준 Floating recovery equipment of underwater device
CN104960645A (en) * 2015-07-12 2015-10-07 赵烨 Compressed airbag for sunk ship rescue
CN106394828A (en) * 2016-11-18 2017-02-15 国家海洋局第二海洋研究所 Fishing device
CN109941406A (en) * 2019-04-08 2019-06-28 付大猛 A kind of middle-size and small-size floatage-type ocean marine salvage equipment
KR102015766B1 (en) * 2018-12-19 2019-08-29 국방기술품질원 Training system equipment for laying sea floor and recovering method thereof
CN112407203A (en) * 2020-11-29 2021-02-26 中国船舶重工集团公司七五0试验场 Electronic cabin with anti-collision function
KR20230024579A (en) 2021-08-12 2023-02-21 한국해양과학기술원 Underwater rope collector

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101145114B1 (en) * 2010-11-24 2012-05-21 국방과학연구소 Variable pressure switch, underwater vechicle having the same and method of operating the variable pressure switch
CN102642606A (en) * 2011-02-16 2012-08-22 刘陈英 Novel submarine
CN102642605A (en) * 2011-02-16 2012-08-22 刘陈英 Diving device for diving facility
KR101140604B1 (en) * 2011-03-30 2012-05-02 엘아이지넥스원 주식회사 Buoyancy maintaing apparatus of underwater moving object for controling attitude
RU2476347C2 (en) * 2011-04-26 2013-02-27 Юрий Алексеевич Берков Gas generator for raising ships from deep sea, device and method to this end
KR101387153B1 (en) * 2012-09-10 2014-04-21 한국해양과학기술원 Retrieval apparatus for oceanographic observation device
KR101444271B1 (en) * 2013-02-22 2014-09-26 삼성중공업 주식회사 Robotic device for installation of fastening objects
KR101489805B1 (en) * 2013-07-05 2015-02-04 한국해양과학기술원 Apparatus and method for submarine positioning measurements
KR101535413B1 (en) * 2013-11-22 2015-07-09 김기준 Floating recovery equipment of underwater device
CN104960645A (en) * 2015-07-12 2015-10-07 赵烨 Compressed airbag for sunk ship rescue
CN106394828A (en) * 2016-11-18 2017-02-15 国家海洋局第二海洋研究所 Fishing device
KR102015766B1 (en) * 2018-12-19 2019-08-29 국방기술품질원 Training system equipment for laying sea floor and recovering method thereof
CN109941406A (en) * 2019-04-08 2019-06-28 付大猛 A kind of middle-size and small-size floatage-type ocean marine salvage equipment
CN109941406B (en) * 2019-04-08 2021-08-24 山东华航高分子材料有限公司 Middle and small buoyancy type ocean fishing equipment
CN112407203A (en) * 2020-11-29 2021-02-26 中国船舶重工集团公司七五0试验场 Electronic cabin with anti-collision function
KR20230024579A (en) 2021-08-12 2023-02-21 한국해양과학기술원 Underwater rope collector

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