KR20150116652A - Unmanned Surface Boat for Environmental Recovery - Google Patents

Unmanned Surface Boat for Environmental Recovery Download PDF

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KR20150116652A
KR20150116652A KR1020140041799A KR20140041799A KR20150116652A KR 20150116652 A KR20150116652 A KR 20150116652A KR 1020140041799 A KR1020140041799 A KR 1020140041799A KR 20140041799 A KR20140041799 A KR 20140041799A KR 20150116652 A KR20150116652 A KR 20150116652A
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South Korea
Prior art keywords
collecting
unit
buoyant body
control
bridge
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KR1020140041799A
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Korean (ko)
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KR101606037B1 (en
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최형식
김덕수
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한국해양대학교 산학협력단
김덕수
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    • 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
    • B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/046—Collection of oil using vessels, i.e. boats, barges
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10—Devices for removing the material from the surface
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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

Abstract

The present invention relates to an unmanned boat for an environmental recovering work, comprising: a pair of buoyant body members spaced apart from each other with a guide flow path of a longitudinal direction between them; a propulsion unit including propellers installed under each of the buoyant body members, and a drive motor to drive each of the propellers; a bridge to interconnect the pair of buoyant body members; a collecting net unit having a collecting arm installed in a bow area of the buoyant body member, diffused towards a front, and a collecting net mounted in the collecting arm having a guide opening part to guide flotsam to a guide flow path by collecting the flotsam on the front when the buoyant body members progress; a collecting fence installed in a stern area of the buoyant body member to collect the flotsam guided through the guide flow path; and a control box having a wireless communication unit and a control unit to control a propulsion unit in accordance to a control signal received from the wireless communication unit mounted on the bridge. As such, all flotsam diffused in water can be collected and if necessary, articles in the diffused water can be moved to a desired location; that is, the unmanned boat can be widely used as conversion of usage is possible, thus maximizing work efficiency.

Description

방제작업용 무인선 {Unmanned Surface Boat for Environmental Recovery}Unmanned Surface Boat for Environmental Recovery

본 발명은 방제작업용 무인선에 관한 것이다.The present invention relates to an unmanned line for a cleaning work.

일반적으로 바다나 호수와 같은 수상에는 사고나 다른 이유로 의한 기름덩어리 또는 사고 파손물등 부유된 쓰레기가 다수 존재한다. 부유쓰레기는 환경을 오염시킬 뿐만 아니라 미관상으로도 좋지 않기 때문에 신속한 제거가 필요하다. In general, there are many floating wastes such as oil lumps or accidental damage due to accidents or other reasons in water such as sea or lake. Floating garbage not only pollutes the environment but also is not good for cosmetics, so it needs to be removed quickly.

이러한 부유쓰레기의 처리는 선박을 이용하여 사람이 직접 수거하거나, 암초 등으로 인해 선박의 접근이 어려운 경우 또는 인력에 의한 수거가 어려운 경우나 경제적인 부유물 수거가 필요한 경우에 활용 가능한 무인선(등록특허공보 제10-0280205)이 개발되어있다. Such flooded garbage disposal can be carried out by a person himself or herself by using a ship, or when the ship is difficult to access due to a reef or the like, or when it is difficult to collect by manpower, or when an economic float is required to be collected, Publication No. 10-0280205) has been developed.

하지만, 상기 무인선(등록특허공보 제10-0280205)은 유출된 기름의 수거에 한정되어 있어 사고 파손물이나 수상의 부유쓰레기의 수거에는 적합하지 못하다.However, since the unmanned line (registered patent publication No. 10-0280205) is limited to the collection of outflowed oil, it is not suitable for collection of accidental damage or floating waste of the watercraft.

따라서, 본 발명의 목적은 기름뿐만 아니라 부유쓰레기등과 같이 수상에 흩어져있는 모든 부유물의 수거가 가능하며, 또 다른 목적은 수상에 떠있는 부유체나 부유쓰레기를 목적하는 위치로 이동시키거나 한곳으로 모아 수거함으로써 부유물의 수거와는 다른 용도로의 전환이 가능한 방제작업용 무인선을 제공하는 것이다. Accordingly, it is an object of the present invention to collect all floating matters scattered in the water such as floating oil, as well as oil, and another object is to move floating fluid or floating waste floating in the water to a desired position, The present invention provides an unmanned line for an anti-pollution work capable of switching to a use different from collection of suspended matters by collecting collected items.

상기 목적은 본 발명에 따라, 방제작업용 무인선에 있어서, 길이방향의 안내유로를 사이에 두고 상호 이격된 한 쌍의 부유동체와; 상기 각 부유동체의 하부에 설치되는 프로펠러와, 상기 각 프로펠러를 구동하는 구동모터를 갖는 추진부와; 상기 한 쌍의 부유동체를 상호 연결하는 브릿지와; 상기 부유동체의 선수 영역에 설치되며 전방을 향해 확산되는 포집아암과 상기 포집아암에 장착되는 포집망을 가지고, 상기 부유동체의 진행시 전방의 부유물을 포집하여 상기 안내유로로 안내하는 안내개구를 갖는 포집망유니트와; 상기 부유동체의 선미 영역에 설치되어 상기 안내유로를 통해 안내되는 부유물을 수집하는 수집펜스와; 무선통신부와, 상기 무선통신부로부터 수령한 제어신호에 따라 상기 추진부를 제어하는 제어부를 가지고, 상기 브릿지에 장착되는 컨트롤박스를 포함하는 것을 특징으로 하는 방제작업용 무인선에 의해 달성된다.According to the present invention, there is provided an unmanned line for a cleaning operation, comprising: a pair of floating bodies spaced apart from each other with a longitudinal guide passage therebetween; A propeller provided at a lower portion of each of the floating bodies, and a propulsion unit having a driving motor for driving the respective propellers; A bridge interconnecting the pair of the floating bodies; A collecting arm installed in the forefront region of the floating body for diffusing forward and a collecting net mounted on the collecting arm and having a guide opening for collecting suspended matters in front of the floating body in advance and guiding the floating body to the guide passage A collection network unit; A collecting fence installed in a stern area of the floating body for collecting suspended matters guided through the guide passage; And a control box mounted on the bridge, the control box having a control unit for controlling the propulsion unit according to a control signal received from the wireless communication unit.

여기서, 주행방향 전방의 영상을 촬영하는 카메라를 더 포함하며, 상기 제어부는 상기 카메라의 영상신호를 상기 무선통신부를 통해 원격송신하는 것을 포함하면 야간작업 또는 시야확보가 어려운 작업환경에서도 작업이 가능하여 작업성을 현저히 향상시킬 수 있다.Here, the mobile communication terminal may further include a camera for photographing an image ahead of the driving direction, and the control unit may transmit the video signal of the camera remotely through the wireless communication unit, The workability can be remarkably improved.

상기 브릿지에 장착되어 작업위치의 수질을 측정하는 수질모니터링 센서를 더 포함하며, 상기 제어부는 상기 수질모니터링의 측정값을 상기 무선통신부를 통해 원격송신하는 것이 바람직하다. 이로 인해 실시간으로 수중에 녹아 있는 물질의 농도를 측정하여 효율적인 작업이 가능하다.And a water quality monitoring sensor mounted on the bridge for measuring the quality of the working position, wherein the controller transmits the measurement value of the water quality monitoring remotely via the wireless communication unit. As a result, it is possible to work efficiently by measuring the concentration of dissolved substances in water in real time.

상기 제어부는 상기 카메라의 영상신호에 기초하여 전방의 부유물의 존재 및 양을 평가하고 부유물의 양이 많은 방향으로 방향전환하여 이동하도록 상기 제어부를 제어하는 것을 특징으로 한다. Wherein the control unit controls the controller to evaluate the presence and amount of the float in front of the camera based on the image signal of the camera and to move and change the direction of the float in the direction of the amount of float.

본 발명에 따른 방제작업용 무인선은, 수상에 흩어져있는 모든 부유물의 수거가 가능함과 동시에 부유쓰레기의 수거 외 필요시 수상에 떠있는 물건을 목적하는 위치로 이동시킬 수 있는 등 다른 용도로의 전환이 가능하여 다용도로 사용이 가능함으로써 작업효율성을 극대화 할 수 있는 효과를 제공한다.The unmanned line for controlling work according to the present invention is capable of collecting all the floating matters scattered in the water phase and at the same time, it is possible to move floating objects to a desired position, if necessary, So that it is possible to maximize the work efficiency.

도 1은 본 발명에 따른 방제작업용 무인선의 전방을 나타낸 전방사시도,
도 2는 방제작업용 무인선의 수집펜스가 제거된 상태의 후방사시도,
도 3은 포집망유니트를 나타낸 사시도이다.1 is a front perspective view showing a front side of an unmanned line for a cleaning work according to the present invention,
2 is a rear perspective view showing a state in which the collecting fence of the unmanned line for the cleaning work is removed,
3 is a perspective view showing a collection network unit.

도 1은 본 발명에 따른 방제작업용 무인선의 전방을 나타낸 전방사시도이고, 도 2는 방제작업용 무인선의 후방을 나타낸 후방사시도이다. 이들 도면에서 볼 수 있는 바와 같이, 방제작업용 무인선은 길이방향의 안내유로를 사이에 두고 상호 이격된 한 쌍의 부유동체(100)와, 각 부유동체(100)를 상호 연결하는 브릿지를 갖는다.FIG. 1 is a front perspective view showing the front of the unmanned line for the cleaning work according to the present invention, and FIG. 2 is a rear perspective view showing the rear of the unmanned line for the cleaning work. As can be seen from these drawings, the unmanned line for cleaning work has a pair of the floating bodies 100 spaced apart from each other with a longitudinal guide passage therebetween, and bridges interconnecting the respective floating bodies 100.

부유동체(100)는 막대형상의 부력체를 가지며, 하부에는 프로펠러(110)가 설치되어 있다. 프로펠러(110)는 부유동체(100)의 내부에 마련된 구동모터를 갖는 추진부에 의해 수상에서 이동할 수 있다. 각 부유동체(100)는 브릿지(200)에 의해 연결된다.The floating body 100 has a rod-like buoyant body, and a propeller 110 is provided at a lower portion thereof. The propeller 110 can be moved in the water phase by a propulsion unit having a driving motor provided inside the floating body 100. Each of the floating bodies 100 is connected by a bridge 200.

브릿지(200)의 전면에는 주행방향 전방의 영상을 촬상하는 카메라(600)가 설치되고, 브릿지(200)의 하부에는 수중으로 연장되어 작업위치의 수질을 측정하는 수질모니터링 센서(700)가 장착된다. 브릿지의 상부에는 무선통신이 가능한 컨트롤박스(400)와 무선통신의 원활한 송수신을 위해 안테나(420)가 장착된다.A camera 600 for capturing an image of the forward direction of the traveling direction of the bridge 200 is installed on the front surface of the bridge 200 and a water quality monitoring sensor 700 for measuring the water quality of the working position is installed below the bridge 200 . The control box 400 capable of wireless communication and the antenna 420 are installed at the upper portion of the bridge for smooth transmission and reception of wireless communication.

컨트롤박스(400)는 브릿지(200)에 착탈가능하게 장착되며 휴대가 용이한 가방형태로 방수플라스틱을 이용하여 제작된다. 이러한 컨트롤박스(400)는 무선 송수신이 가능한 무선통신부와 상기 무선통신부로부터 수령한 제어신호에 따라 상기 추진부를 제어하는 제어부를 갖는다. 또한, 동력용 배터리, GPS등을 탑재하고 있으며, 부유동체(100)와는 방수컨넥터 및 케이블(410)에 의해 연결된다. The control box 400 is detachably mounted on the bridge 200 and is made of waterproof plastic in the form of a bag that is easy to carry. The control box 400 includes a wireless communication unit capable of wireless transmission and reception and a control unit for controlling the propulsion unit according to a control signal received from the wireless communication unit. Also, a power battery, GPS, and the like are mounted, and the floating body 100 is connected by a waterproof connector and a cable 410.

제어부는 야간작업 또는 기상악화에 의한 시야확보가 어려운 상황에서의 작업시 전방의 영상신호 및 작업위치의 수질모니터링 측정값을 상기 무선통신부를 통해 원격 송신한다. 또한, 제어부는 작업자의 컨트롤 없이 카메라(600)의 영상신호에 기초하여 전방의 부유물(10)의 존재 및 양을 평가하고 양이 많은 방향으로 방향전환하여 이동하도록 제어될 수 있다.The control unit remotely transmits the video signal of the forward video signal and the water quality monitoring measurement value of the working position through the wireless communication unit when the work is performed in a situation where it is difficult to secure a view due to night work or weather deterioration. Further, the control unit can be controlled so as to evaluate the presence and amount of the front float 10 based on the video signal of the camera 600 without operator's control, and to move and turn in a direction in which the amount is large.

도 3은 포집망유니트를 나타낸 사시도이다. 도 3에 도시된 바와 같이, 포집망유니트는 부유동체(100)의 선수 영역에 설치되며 전방을 향해 V자 형상으로 확산되는 포집아암(310)과 포집아암(310)에 장착되어 수상의 부유물(10)을 포집하는 포집망(320)을 가진다. 포집망유니트(300)의 중앙영역에는 부유동체(100)의 안내유로로 포집된 부유물(10)을 안내하는 안내개구를 가진다. 또한 포집망유니트(300)는 안내개구를 필요 시 착탈가능하게 차단하는 중간차단망(330)을 가진다. 중간차단망(330)은 포집망 유니트의 안내개구 양측에 마련된 결합홈(340)에 장착된다. 중간차단망이 장착된 상태에서는 소량의 부유물(10) 혹은 수상에 떠있는 작업물 등을 목적하는 위치로 이동시킬 수 있다.3 is a perspective view showing a collection network unit. As shown in FIG. 3, the collecting network unit is installed in a forefront region of the floating body 100 and is mounted on the collecting arm 310 and the collecting arm 310, which are diffused in a V- 10). The collecting network unit 300 has a guide opening for guiding the suspended matter 10 collected by the guide channel of the floating body 100. Further, the collecting network unit 300 has an intercepting network 330 that removably disconnects the guide openings as necessary. The intermediate shielding net 330 is mounted on the coupling grooves 340 provided on both sides of the guiding openings of the collecting network unit. In the state where the intermediate screening net is installed, a small amount of float (10) or floating work can be moved to a desired position.

이와 같은 구조에 의해 다음과 같이 동작한다.With this structure, it operates as follows.

원격 통신에 의해 무선통신부로부터 수령한 제어신호에 따라 제어부를 컨트롤하여 프로펠러(110)의 추진부를 구동하여 부유동체(100)를 전방으로 이동시키거나 각 프로펠러(110)의 속도를 제어해 방향전환이 가능하다. 포집망유니트(300)의 중간차단망(340)이 제거된 상태에서는 프로펠러(110)에 의해 부유동체(100)가 전방으로 이동하게되면 포집망유니트(300)에 의해 수상에 흩어져있는 부유물(10)을 포집하게 된다. 포집된 부유물(10)은 안내개구를 통해 안내유로를 따라 후방으로 이동하게 된다. 후방으로 이동된 부유물(10)은 수집펜스(500)에 모이게 되고, 수집펜스(500)에 모인 부유물(10)은 목적하는 위치에서 수거하게 된다. The controller controls the control unit in accordance with the control signal received from the wireless communication unit by remote communication to drive the propulsion unit of the propeller 110 to move the floating body 100 forward or to control the speed of each propeller 110, It is possible. When the floating body 100 is moved forward by the propeller 110 in the state where the middle blocking net 340 of the collecting network unit 300 is removed, the floating body 100, which is scattered in the water by the collecting network unit 300, ). The collected scum 10 moves backward along the guide passage through the guide opening. The scoop 10 moved rearward is collected in the collecting fence 500 and the scoop 10 collected in the collecting fence 500 is collected at the desired position.

또한, 소량의 부유물(10) 혹은 수상에 떠 있는 작업물을 목적하는 위치에 모으거나, 이동시켜야 할 때에는 포집망유니트(300)의 중간차단망(340)을 설치하고, 수집펜스(500)를 제거한다. 중간차단망(340)이 설치된 포집망유니트(300)에 소량의 부유물(10) 혹은 작업물이 포집되면 목적하는 위치로 이동시키게 된다.When a small amount of suspended matter 10 or a workpiece floating in the water is collected or moved to a desired position, a middle screening network 340 of the collecting network unit 300 is installed and a collecting fence 500 Remove. When a small amount of suspended matter (10) or workpiece is collected in the collecting network unit (300) provided with the intermediate screening net (340), it is moved to a desired position.

10: 부유물 100: 부유동체
110: 프로펠러 200: 브릿지
300: 포집망유니트 310: 포집아암
320: 포집망 330: 중간차단망
340: 결합홈 400: 컨트롤박스
410: 방수컨넥터 및 케이블 420: 안테나
500: 수집펜스 600: 카메라
700: 수질모니터링 센서10: float 100: floating body
110: Propeller 200: Bridge
300: Capture network unit 310: Capture arm
320: collection network 330:
340: coupling groove 400: control box
410: Waterproof connector and cable 420: Antenna
500: Collection Fence 600: Camera
700: Water quality monitoring sensor

Claims (5)

방제작업용 무인선에 있어서,
길이방향의 안내유로를 사이에 두고 상호 이격된 한 쌍의 부유동체와;
상기 각 부유동체의 하부에 설치되는 프로펠러와, 상기 각 프로펠러를 구동하는 구동모터를 갖는 추진부와;
상기 한 쌍의 부유동체를 상호 연결하는 브릿지와;
상기 부유동체의 선수 영역에 설치되며 전방을 향해 확산되는 포집아암과 상기 포집아암에 장착되는 포집망을 가지고, 상기 부유동체의 진행시 전방의 부유물을 포집하여 상기 안내유로로 안내하는 안내개구를 갖는 포집망유니트와;
상기 부유동체의 선미 영역에 설치되어 상기 안내유로를 통해 안내되는 부유물을 수집하는 수집펜스와;
무선통신부와, 상기 무선통신부로부터 수령한 제어신호에 따라 상기 추진부를 제어하는 제어부를 가지고, 상기 브릿지에 장착되는 컨트롤박스를 포함하는 것을 특징으로 하는 방제작업용 무인선.In the unmanned line for the control work,
A pair of floating bodies spaced apart from each other with a longitudinal guide passage therebetween;
A propeller provided at a lower portion of each of the floating bodies, and a propulsion unit having a driving motor for driving the respective propellers;
A bridge interconnecting the pair of the floating bodies;
A collecting arm installed in the forefront region of the floating body for diffusing forward and a collecting net mounted on the collecting arm and having a guide opening for collecting suspended matters in front of the floating body in advance and guiding the floating body to the guide passage A collection network unit;
A collecting fence installed in a stern area of the floating body for collecting suspended matters guided through the guide passage;
And a control box mounted on the bridge, the control box having a controller for controlling the propulsion unit according to a control signal received from the wireless communication unit. 제 1항에 있어서,
상기 안내개구를 착탈가능하게 차단하는 중간차단망을 더 포함하는 것을 특징으로 하는 방제작업용 무인선.The method according to claim 1,
Further comprising an intermediate shielding net for detachably blocking the guide opening. 제 1항에 있어서,
주행방향 전방의 영상을 촬영하는 카메라를 더 포함하며,
상기 제어부는 상기 카메라의 영상신호를 상기 무선통신부를 통해 원격송신하는 것을 특징으로 하는 방제작업용 무인선.The method according to claim 1,
Further comprising a camera for photographing an image ahead of the driving direction,
Wherein the control unit remotely transmits the video signal of the camera through the wireless communication unit. 제 1항에 있어서,
상기 브릿지에 장착되어 작업위치의 수질을 측정하는 수질모니터링 센서를 더 포함하며,
상기 제어부는 상기 수질모니터링의 측정값을 상기 무선통신부를 통해 원격송신하는 것을 특징으로 하는 방제작업용 무인선.The method according to claim 1,
And a water quality monitoring sensor mounted on the bridge for measuring a quality of a working position,
Wherein the control unit remotely transmits the measured value of the water quality monitoring through the wireless communication unit. 제 1항에 있어서,
상기 제어부는 상기 카메라의 영상신호에 기초하여 전방의 부유물의 존재 및 양을 평가하고 부유물의 양이 많은 방향으로 방향전환하여 이동하도록 상기 제어부를 제어하는 것을 특징으로 하는 방제작업용 무인선.The method according to claim 1,
Wherein the control unit controls the control unit to evaluate the presence and amount of the float in front of the camera based on the image signal of the camera and to change direction and move in a direction in which the amount of float is large.
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