KR20140058877A - Water transportation type multiful apparatus for collecting sediment and sampling water using unmanned surface vehicle - Google Patents

Water transportation type multiful apparatus for collecting sediment and sampling water using unmanned surface vehicle Download PDF

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KR20140058877A
KR20140058877A KR1020120125284A KR20120125284A KR20140058877A KR 20140058877 A KR20140058877 A KR 20140058877A KR 1020120125284 A KR1020120125284 A KR 1020120125284A KR 20120125284 A KR20120125284 A KR 20120125284A KR 20140058877 A KR20140058877 A KR 20140058877A
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South Korea
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collecting
water
controller
unmanned ship
wire
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KR1020120125284A
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Korean (ko)
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KR101469611B1 (en
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혁 백
이판묵
전봉환
김방현
박진영
심형원
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한국해양과학기술원
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • 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
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D1/00—Investigation of foundation soil in situ
    • E02D1/02—Investigation of foundation soil in situ before construction work
    • E02D1/04—Sampling of soil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N2001/1006—Dispersed solids
    • G01N2001/1012—Suspensions
    • G01N2001/1025—Liquid suspensions; Slurries; Mud; Sludge

Abstract

The present invention relates to a water movable multiple apparatus for collecting river sediment and sampling water using an unmanned ship, which comprises: an unmanned ship which mounts a deck controller capable of controlling sailing, collecting, and sampling in a wireless communication method; a moon pool which is formed on the center of the floor of the unmanned ship; a winch where a wire is wound in order to elevate through the moon pool, and which is installed at the back of the unmanned ship; multiple washing nozzles which are installed at the back of the unmanned ship in a width direction of the moon pool in order to inject toward the center of the moon pool; and a collecting and sampling unit where an underwater controller is mounted in order to communicate with the deck controller, and which is fixated to the end of the wire. Therefore, the water movable multiple apparatus can rapidly and accurately collect samples with high quality whose contamination is minimized because of being appropriate for sediment collecting and water sampling in a river, etc.

Description

무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치{WATER TRANSPORTATION TYPE MULTIFUL APPARATUS FOR COLLECTING SEDIMENT AND SAMPLING WATER USING UNMANNED SURFACE VEHICLE}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a water-

본 발명은 무인선박을 이용하여 수상을 이동하면서 하천 퇴적물 채집은 물론 채수 작업을 용이하게 한 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치에 관한 것이다.
The present invention relates to an apparatus and method for collecting river sediments and collecting water using an unmanned ship which is capable of collecting river sediments and facilitating the operation of collecting water while moving a watercraft using an unmanned vessel.

일반적으로, 해양수산자원 개발 및 관리, 의약품 및 신물질 개발을 위한 생명공학적 연구, 그리고 기후변화 및 환경오염과 연관된 수생생태계 영향 연구 등을 수행하기 위해서는 필요로 하는 시료의 채집기술 확보가 선행되어야 한다.Generally, in order to carry out marine fisheries resource development and management, biotechnology research for the development of medicines and new materials, and aquatic ecosystem impact studies related to climate change and environmental pollution, etc., it is necessary to acquire necessary sampling techniques.

지금까지 해양에서 주로 사용되는 채집기술 및 장비는, 주로 선상에서 긴 줄에 채집장비를 연결하여 수심 수십에서 수천 미터 깊이까지 줄은 내려 원거리에서 시료를 채취하거나, 얕은 수심의 경우에는 잠수부가 직접 장비를 들고 수중으로 들어가서 시료를 채취하는 경우가 대부분이었다.So far, sampling techniques and equipments mainly used in marine have been used to collect samples from long distances down to several tens to thousands of meters depth by connecting sampling devices to long lines on the ship, or in case of shallow depth, And most of the samples were taken in the water.

선상채집의 경우 대부분 박스코어러나 퇴적물 그랩, 저인망 트롤, 그물망 등을 사용하게 되는데 이들의 경우 선상에서 해저까지 긴 줄을 내려 원거리에서 채집을 시도하므로 시료 채취위치의 정확도가 떨어지며, 시료의 종류별, 시간별 선별 채취가 불가능하다는 단점이 있다.Most of them use a night scorer, a sediment grab, a trawler, a net, etc. In this case, the long line from the ship to the sea bottom is tried to collect at a long distance. Therefore, the accuracy of the sampling position is lowered. There is a disadvantage that it is not possible to collect it selectively.

또한, 잠수부에 의한 시료 채취의 경우 잠수부의 판단에 의한 선별채취는 가능하나 잠수시간에 제한이 있고, 모든 판단을 잠수부 단독으로 결정하여야 하며, 잠수가능 수심 이상의 해저에서는 작업이 불가능한 단점이 있다.In addition, in the case of sampling by the diver, it is possible to collect the sample by the judgment of the diver, but there is a restriction on the diving time and all the judgment should be decided by the diver alone.

이와 관련하여 본 연구원에서는 무인채집 기술을 확보하기 위해 다각적인 노력을 기울여 왔으며, 그 성과로 등록특허 제0727590호, 등록특허 제1122237호 등의 기술을 개발하여 보유하고 있다.In this regard, our researchers have made various efforts to secure unmanned collection technology. As a result of this, we have developed technologies such as registered patent No. 0727590 and registered patent No. 1122237.

본 발명과 관련된 다른 선행기술로는 한국지질자원연구원에서 개발한 등록특허 제1048528호가 개시되어 있다.Another prior art related to the present invention is disclosed in Korean Patent No. 1048528 developed by Korea Institute of Geoscience and Mineral Resources.

그런데, 개시된 기술에 나타난 무인잠수정을 이용한 경우는 심해에서 운용되는 수단으로서 비용이 많이 들고 정교한 제어기술이 요구되는 단점이 있다.However, in the case of using the unmanned submersible as shown in the disclosed technology, there is a drawback in that it is costly and requires elaborate control technology as means for operating in the deep sea.

뿐만 아니라, 당해 선행기술들에 나타난 수상 이동형 무인선박을 이용하는 경우에는, 대부분 다수의 AUV(Autonomous Underwater Vehicle)를 복합적으로 운용하거나 혹은 해저로 투입되는 무인잠수정을 복합적으로 결합하여 운용하고 있는 구조여서 이들 시스템을 하천과 같은 천해에 적용하기 어렵다는 단점이 있다.In addition, when the water-moving type unmanned vessel shown in the related arts is used, most of them are operated by a combination of a plurality of AUV (Autonomous Underwater Vehicle) or a combination of unmanned submersibles to be introduced into the sea floor. It is difficult to apply the system to the sea such as rivers.

때문에, 주로 하천 등에서 수행되는 채집 방식은 주로 잠수부에 의존하고 있어 인력과 비용측면에서 개선의 필요성이 있으며, 더구나 정확하고 용이하면서 짧은 시간에 오염되지 않는 고품질의 퇴적물을 채집하고, 채수하기에 적합한 장치의 개발이 요구되었다.
Therefore, the collection methods mainly performed in the rivers mainly depend on the divers. Therefore, there is a need to improve the manpower and the cost, and it is also possible to collect high quality sediments which are not easily contaminated in a short time, .

본 발명은 상술한 바와 같은 종래 기술상의 제반 필요성에 의해 창출된 것으로, 무인선박을 통해 수상을 이동하면서 주로 하천 등지에서 퇴적물을 채집하거나 혹은 채수하되, 작업에 사용된 와이어를 비롯한 채집, 채수 유닛을 즉시 세척가능하게 하여 오염을 신속하게 방지할 수 있도록 한 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치를 제공함에 주된 목적이 있다.
The present invention has been made in view of the above-described necessity in the prior art as described above, and it is an object of the present invention to provide a method of collecting or collecting sediments mainly from rivers or the like while moving watercraft through an unmanned vessel, The present invention has a main purpose of providing an apparatus for collecting and collecting river sediments by using an unmanned ship,

본 발명은 상기한 목적을 달성하기 위한 수단으로, 무선통신 방식으로 운항 및 채집, 채수 제어가능한 선상제어기를 탑재한 공지의 무인선박; 상기 무인선박의 바닥 중앙에 형성된 문풀; 상기 문풀을 통해 승하강되는 와이어가 권취되고, 상기 무인선박의 후측에 설치된 윈치; 상기 문풀 중앙을 향해 분사되도록 무인선박 후측에 문풀의 폭방향으로 설치된 다수의 세척노즐; 상기 선상제어기와 통신할 수 있는 수중제어기가 탑재되고, 상기 와이어의 단부에 고정된 채집채수유닛;을 포함한 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치를 제공한다.Disclosure of Invention Technical Goals The present invention relates to a known unmanned ship equipped with a shipboard controller capable of operating and collecting and collecting water in a wireless communication system; A portal provided at the bottom of the unmanned ship; A winch wound on a wire lifted and lowered through the door frame and installed on the rear side of the unmanned ship; A plurality of cleaning nozzles provided in the width direction of the door frame on the rear side of the unmanned ship so as to be sprayed toward the center of the door frame; And a collecting water collecting unit mounted on an end of the wire, the water collecting controller having an underwater controller capable of communicating with the line card controller, and a collecting water collecting unit fixed to an end of the wire.

이때, 상기 문풀의 양측 선체 상에 고정되고, 상기 문풀의 중앙 상부로 연장 배치된 삼각대와, 상기 삼각대의 중앙에 고정된 가이드를 더 구비하고, 상기 가이드를 통해 상기 와이어를 안내하는 것에도 그 특징이 있다.At this time, a tripod is fixed on the both side hulls of the door frame, and is extended to a central upper portion of the door frame, and a guide fixed to the center of the tripod, and guiding the wire through the guide .

또한, 상기 선체에는 상기 윈치의 구동상태를 영상으로 촬영하여 감시할 수 있도록 상기 선상제어기와 연결되어 제어되는 윈치감시용 카메라가 더 설치된 것에도 그 특징이 있다.In addition, the hull is further provided with a winch monitoring camera connected to and controlled by the shipboard controller so as to photograph and monitor the driving state of the winch.

뿐만 아니라, 상기 채집채수유닛에는 퇴적물 채집 또는 채수용 샘플러 유닛과, 해양상태 계측용 다수의 센서가 탑재되고, 상기 샘플러 유닛의 작동상태를 실시간 확인할 수 있도록 수중카메라 및 수중조명이 더 탑재되며, 수중카메라와 수중조명은 수중제어기와 전기적으로 연결된 것에도 그 특징이 있다.In addition, a plurality of sensors for collecting or collecting sediments and a plurality of sensors for measuring marine conditions are mounted on the collection and collection unit, and an underwater camera and an underwater light are further installed so that the operational status of the sampler unit can be confirmed in real time, And underwater lighting are also electrically connected to the underwater controller.

아울러, 상기 선상제어기와 수중제어기는 LAN 안테나를 통해 무선통신되는 것에도 그 특징이 있다.In addition, the onboard controller and the underwater controller are wirelessly communicated via a LAN antenna.

또한, 상기 선상제어기와 수중제어기는 상기 와이어에 고정된 케이블을 통해 유선통신되는 것에도 그 특징이 있다.
The linear controller and the underwater controller are also characterized in that they are wired through a cable fixed to the wire.

본 발명에 따르면, 하천 등지에서 퇴적물의 채집과 채수에 적당한 수상 이동형 멀티플 장치를 통해 신속하고 정확하면서 오염이 최소화된 고품질의 시료를 채취하는 효과를 얻을 수 있다.
According to the present invention, it is possible to obtain a high-quality sample which is quickly, accurately and minimally contaminated through a water-moving type multiple apparatus suitable for collecting and collecting sediments in rivers and the like.

도 1은 본 발명에 따른 멀티플 장치의 예시적인 사시도이다.
도 2는 본 발명에 따른 멀티플 장치의 제어관계를 보인 구성 블럭도이다.
도 3은 본 발명에 따른 멀티플 장치의 운용예를 보인 예시도이다.
도 4는 본 발명에 따른 멀티플 장치의 저면도이다.
도 5는 본 발명에 따른 멀티플 장치의 측면도이다.1 is an exemplary perspective view of a multiple device in accordance with the present invention.
2 is a block diagram showing the control relationship of the multiple apparatuses according to the present invention.
3 is an exemplary diagram showing an example of the operation of the multiple apparatus according to the present invention.
4 is a bottom view of a multiple device according to the present invention.
Figure 5 is a side view of a multiple device in accordance with the present invention.

이하에서는, 첨부도면을 참고하여 본 발명에 따른 바람직한 실시예를 보다 상세하게 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명 설명에 앞서, 이하의 특정한 구조 내지 기능적 설명들은 단지 본 발명의 개념에 따른 실시예를 설명하기 위한 목적으로 예시된 것으로, 본 발명의 개념에 따른 실시예들은 다양한 형태로 실시될 수 있으며, 본 명세서에 설명된 실시예들에 한정되는 것으로 해석되어서는 아니된다.Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

또한, 본 발명의 개념에 따른 실시예는 다양한 변경을 가할 수 있고 여러 가지 형태를 가질 수 있으므로, 특정 실시예들은 도면에 예시하고 본 명세서에 상세하게 설명하고자 한다. 그러나, 이는 본 발명의 개념에 따른 실시예들을 특정한 개시 형태에 한정하려는 것이 아니며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경물, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다.In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

도 1 내지 5에 도시된 바와 같이, 본 발명에 따른 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치는 무인선박(USV:UNMANNED SURFACE VEHICLE)(100)을 포함한다.As shown in FIGS. 1 to 5, the water moving type river sediment collecting and collecting multiple apparatus using an unmanned ship according to the present invention includes an unmanned ship (USV) 100.

상기 무인선박(100)은 수상에 부유된 상태로 무선 제어기술을 통해 사람이 탑승하지 않은 상태로 운항될 수 있도록 구성된 공지의 선박이다.The unmanned ship 100 is a well-known ship which is configured to be able to be operated in a state in which a person is not boarded through a radio control technology in a state floating on the water.

상기 무인선박(100)은 공지된 것이기 때문에 굳이 구체적인 설명을 덧붙일 필요는 없지만, 무인 운항을 위해 항법에 필요한 GPS(110), 그리고 정보 송수신 및 기구 제어를 위한 LAN 안테나(120), 무선통신을 위한 RF 안테나(130)를 기본적으로 탑재하고 있다.Although it is not necessary to add a specific description to the unmanned ship 100 because it is a known one, the GPS 110 required for navigation for unmanned navigation, the LAN antenna 120 for transmitting and receiving information and controlling the apparatus, And an RF antenna 130 are basically mounted.

그리고, 이들은 상기 무인선박(100)에 구비된 선상제어기(140)와 전기통신 가능하게 연결설치된다.These are connected and installed so as to be in electrical communication with the shipboard controller 140 provided in the unmanned ship 100.

또한, 상기 무인선박(100)은 제어 및 구동에 필요한 배터리(150)를 내장하고 있으며, 상기 배터리(150)에 의해 구동되는 프로펠러형 추진기(160)를 포함하고 있다.In addition, the unmanned ship 100 includes a propeller-type propeller 160 having a built-in battery 150 for controlling and driving and driven by the battery 150.

아울러, 상기 무인선박(100)의 중앙에는 문풀(Moon Pool)(170)이 구비되는데, 상기 문풀(170)은 선체 바닥에 구비된 원통상 공동(空洞)으로서 주로 기자재를 오르내리기 위한 용도로 활용된다.In addition, a moon pool 170 is provided at the center of the unmanned ship 100. The moon pool 170 is a hollow cavity provided at the bottom of the hull and is used mainly for raising and lowering equipment. do.

뿐만 아니라, 상기 문풀(170)의 후측 선체 상에는 윈치(180)가 설치되며, 상기 윈치(180)에는 와이어(182)가 권취되고, 상기 와이어(182)의 단부에는 채집채수유닛(200)이 고정된다.In addition, a winch 180 is installed on the rear hull of the door frame 170, a wire 182 is wound around the winch 180, and a collection and collection unit 200 is fixed to an end of the wire 182 do.

이 경우, 상기 와이어(182)에는 상기 채집채수유닛(200)을 제어할 수 있는 케이블(미도시)이 함께 결선된다.In this case, a cable (not shown) capable of controlling the collection and collection unit 200 is connected to the wire 182 together.

그리고, 상기 와이어(182)는 무인선박(100)의 문풀(170) 상부에 설치된 삼각대(T)와 가이드(G)를 통해 문풀(170)의 정중앙을 통해 승하강되도록 안내된다.The wire 182 is guided up and down through the middle of the door frame 170 via the tripod T and the guide G installed on the upper side of the door frame 170 of the unmanned ship 100.

특히, 본 발명에 따른 특징적인 사항으로 상기 무인선박(100)의 후측, 바람직하기로는 상기 문풀(170)의 후방 측벽에는 문풀(170)의 폭에 맞게 다수의 세척노즐(190)이 설치된다.Particularly, according to the present invention, a plurality of cleaning nozzles 190 are installed on the rear side of the unmanned vessel 100, preferably on the rear side wall of the door frame 170, to match the width of the door frame 170.

상기 세척노즐(190)은 와이어(182)의 승강시 세척수를 분사하여 와이어(182)를 비롯한 채집채수유닛(200)에 부착된 오염물질을 세척함으로써 보다 건전한 시료를 확보할 수 있도록 동작하게 된다.The washing nozzle 190 operates to spray a washing water when the wire 182 moves up and down to clean a contaminant attached to the collection water collecting unit 200 including the wire 182 to secure a healthier sample.

또한, 도 2에서와 같이, 선상제어기(140)에는 공지된 다수의 제어유닛들이 구비되는데, 이들에 대해서는 설명을 생략한다. 다만, 본 발명에서는 윈치(180)의 동작을 영상으로 감시 판독할 수 있도록 윈치감시용 카메라(C)가 더 포함되며, 아울러 상기 세척노즐(190)로 세척수를 공급할 수 있는 워터펌프(P)가 더 포함된다.2, the line-by-line controller 140 includes a plurality of known control units, and a description thereof will be omitted. However, the present invention further includes a winch monitoring camera (C) to monitor and monitor the operation of the winch (180), and a water pump (P) capable of supplying wash water to the wash nozzle .

한편, 상기 채집채수유닛(200)에는 도 2에서와 같이 수중제어기(300)가 탑재된다.On the other hand, the underwater controller 300 is mounted on the collection and collection unit 200 as shown in FIG.

상기 수중제어기(300)도 당해 분야에서 공지된 것으로, 이를 테면 마이크로프로세서의 일종이다.The underwater controller 300 is also well known in the art and is, for example, a type of microprocessor.

그리고, 상기 수중제어기(300)에는 채수 또는 퇴적물 채집을 위한 샘플러 유닛(U)과, 수질환경을 측정할 수 있는 각종 센서(S)들이 연결되며, 이들은 모두 상기 채집채수유닛(200) 상에 탑재된다.The underwater controller 300 is connected to a sampler unit U for sampling or collecting sediments and various sensors S for measuring a water quality environment and they are all mounted on the collection and collection unit 200 do.

이때, 이들 샘플러 유닛(U)과 센서(S)들은 수질환경 측정용 장비를 제작 판매하는 KC Denmark RESEARCH EQUIPMENT社(www.kc-denmark.dk)로부터 구매하여 사용되는 것으로, 하기한 참고사진과 같은 것이 될 수 있다.The sampler unit U and the sensors S are purchased from KC Denmark RESEARCH EQUIPMENT (www.kc-denmark.dk), which manufactures and sells equipment for measuring the water quality environment. Can be.

(참고사진)(Reference picture)

Figure pat00001

Figure pat00001

본 발명에서는 이와 같이 시판중인 제품을 구매하여 사용하는 것이므로 이에 대한 구성 및 제어에 관한 설명은 생략하며, 다만 수중 채집, 채수시 작업상황을 실시간으로 확인할 수 있도록 채집채수유닛(200) 상에 수중카메라(310)와 수중조명(320)이 더 탑재되며, 이들은 상기 수중제어기(300)와 연결 제어된다.In the present invention, since a commercially available product is purchased and used, a description of the configuration and control will be omitted. However, in order to confirm the operation status at the time of water collection and collection, (310) and an underwater light (320), which are connected and controlled by the underwater controller (300).

이 경우, 상기 수중조명(320)은 LED램프로 구비됨이 바람직하다.In this case, it is preferable that the underwater light 320 is provided as an LED lamp.

이에 따라, 수중 작업상황을 실시간 영상으로 확인하면서 채취 작업, 채수 작업이 가능하게 되어 더욱 더 정확하고 건전한 시료를 채취할 수 있게 된다.
Accordingly, it is possible to perform sampling work and water sampling work while confirming the underwater work situation in real time image, so that more accurate and sound sample can be collected.

100 : 무인선박 110 : GPS
120 : LAN 안테나 130 : RF 안테나
140 : 선상제어기 150 : 배터리
160 : 추진기 170 : 문풀
180 : 윈치 190 : 세척노즐
200 : 채집채수유닛 300 : 수중제어기
310 : 수중카메라 320 : 수중조명100: unmanned vessel 110: GPS
120: LAN antenna 130: RF antenna
140: Onboard controller 150: Battery
160: propeller 170:
180: Winch 190: Cleaning nozzle
200: collection and collection unit 300: underwater controller
310: underwater camera 320: underwater illumination

Claims (6)

무선통신 방식으로 운항 및 채집, 채수 제어가능한 선상제어기를 탑재한 공지의 무인선박;
상기 무인선박의 바닥 중앙에 형성된 문풀;
상기 문풀을 통해 승하강되는 와이어가 권취되고, 상기 무인선박의 후측에 설치된 윈치;
상기 문풀 중앙을 향해 분사되도록 무인선박 후측에 문풀의 폭방향으로 설치된 다수의 세척노즐;
상기 선상제어기와 통신할 수 있는 수중제어기가 탑재되고, 상기 와이어의 단부에 고정된 채집채수유닛;을 포함한 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.
A known unmanned ship equipped with a line-in-line controller capable of operating and collecting and collecting water using a wireless communication system;
A portal provided at the bottom of the unmanned ship;
A winch wound on a wire lifted and lowered through the door frame and installed on the rear side of the unmanned ship;
A plurality of cleaning nozzles provided in the width direction of the door frame on the rear side of the unmanned ship so as to be sprayed toward the center of the door frame;
And a collection water unit mounted on the end of the wire, the water controller being capable of communicating with the shipboard controller, and being connected to the end of the wire.
청구항 1에 있어서;
상기 문풀의 양측 선체 상에 고정되고, 상기 문풀의 중앙 상부로 연장 배치된 삼각대와, 상기 삼각대의 중앙에 고정된 가이드를 더 구비하고, 상기 가이드를 통해 상기 와이어를 안내하는 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.
The method of claim 1,
Further comprising a tripod fixed on both side hulls of the door frame and extended to a central upper portion of the door frame, and a guide fixed to the center of the tripod, and guiding the wire through the guide Stream - type sediment collection and collection system using water.
청구항 1에 있어서;
상기 선체에는 상기 윈치의 구동상태를 영상으로 촬영하여 감시할 수 있도록 상기 선상제어기와 연결되어 제어되는 윈치감시용 카메라가 더 설치된 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.
The method of claim 1,
Wherein the hull is further provided with a winch surveillance camera connected to and controlled by the shipboard controller so as to photograph and monitor the driving state of the winch.
청구항 1에 있어서;
상기 채집채수유닛에는 퇴적물 채집 또는 채수용 샘플러 유닛과, 해양상태 계측용 다수의 센서가 탑재되고, 상기 샘플러 유닛의 작동상태를 실시간 확인할 수 있도록 수중카메라 및 수중조명이 더 탑재되며, 수중카메라와 수중조명은 수중제어기와 전기적으로 연결된 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.
The method of claim 1,
A plurality of sensors for collecting or collecting sediments and a plurality of sensors for measuring marine conditions are mounted on the collection and collection unit and further include underwater cameras and underwater lights for real time checking of the operation status of the sampler units, Is connected electrically to an underwater controller. The apparatus for collecting and collecting river sediments of water moving type using an unmanned vessel.
청구항 1에 있어서;
상기 선상제어기와 수중제어기는 LAN 안테나를 통해 무선통신되는 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.
The method of claim 1,
Wherein the shipboard controller and the underwater controller are wirelessly communicated via a LAN antenna.
청구항 1에 있어서;
상기 선상제어기와 수중제어기는 상기 와이어에 고정된 케이블을 통해 유선통신되는 것을 특징으로 하는 무인선박을 이용한 수상 이동형 하천 퇴적물 채집 및 채수 멀티플 장치.The method of claim 1,
Wherein the shipboard controller and the underwater controller are connected to each other via a cable fixed to the wire.
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