KR20160015935A - Attachable moving mass unit for Autonomous underwater vehicle having gliding capability - Google Patents

Abstract

The present invention relates to a method for compensating for the disadvantages of long-time operation and long-distance operation of an autonomous unmanned submersible, and more particularly, to a self-moving submersible self- A submersible mode, an underwater glider mode, and a glider function.
To this end, the present invention produces a hybrid autonomous unmanned submersible vehicle capable of attaching and detaching a payload mechanism of an autonomous unmanned submersible and a gravity centering device of an underwater glider. Also, the payload and the center-of-gravity moving device are developed so that they can be attached and detached with one independent mechanical part. The removable center-of-gravity shifter consists of a center-of-gravity driven motor, a center-of-gravity battery, a center-of-gravity axis and an infrared distance sensor. At this time, the infrared range sensor can measure the moving distance of the center-of-gravity battery from the center-of-gravity driving motor and move the desired distance to change the center of gravity. The payload mechanism and the center-of-gravity movement device can be attached to and detachable from the apparatus hybrid autonomous unmanned submersible, respectively, and are capable of attaching and detaching the respective mechanical parts required to perform a given underwater mission.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a gliding capability of an autonomous underwater vehicle having a glider function,

The present invention relates to a method for compensating for the disadvantages of an autonomous unmanned submersible in an underwater robot, and more particularly, to a self-moving submersible vehicle which can be operated in an underwater glider mode by attaching and detaching a center- And a method of compensating for the disadvantages of the submersible.

Generally, in underwater robots, unmanned submersible can be largely divided into ROV (romotely operated vehicle) and AUV (autonomous underwater vehicle). The ROV is an unmanned submersible that receives the necessary power for operation through the cable connected to the bus and is controlled through the control signal. The AUV has a built-in battery to supply the power required for operation, and a self- It is a submersible. ROV is controlled not only by the movement of the enclosure but also by the movement of the robotic arm mounted for collection of marine samples, while the AUV has a high degree of autonomy through the various radio communications, such as RF communication, Which requires more electronics and therefore requires a higher level of control. The AUV has also been developed as a conventional autonomous unmanned submersible operated by a propeller propeller and an underwater glider operated by gravity and buoyancy, respectively.

For example, as shown in FIG. 1, an autonomous unmanned submersible operated using a propeller propeller and a structure of an underwater glider operated using gravity and buoyancy will be described. First, as shown in FIG. 1 (a) A control system 4, a built-in battery 5 and vertical / horizontal tail wing drive motors 6 in the main body 1 , And a vertical / horizontal tail blade (7) and a propeller propeller (8) on the outside of the main body (1). Such an autonomous unmanned submersible is controlled by the control system 5 and is driven by the vertical and horizontal tail wing 7 and the propeller propeller 8. The control system 4 controls the motion of the autonomous unmanned submersible by the programmed navigation and processes various sensor data. And the vertical tail wing 7-a is used as a rudder to control the direction in the horizontal motion of the autonomous unmanned submersible while the horizontal tail wing 7-b is used as an elevator for the depth And the propeller propeller 8 is used for providing a propulsion force required when the autonomous unmanned submersible vehicle is moved. This autonomous unmanned submersible has the advantages of a fast navigation speed and a small turning radius. However, since the size and the capacity of the built-in battery are limited, the operation time is short and the long-distance operation can not be performed.

The underwater glider has a torpedo type main body 10 as shown in FIG. 1 (B), and the main body 10 includes a control system 11 and a buoyancy control and gravity center moving device 12, A fixed water-like wing (13) is attached to the outside of the main body (10). This underwater glider is controlled by the control system 11 and is driven by the buoyancy adjustment and center of gravity device 12 and the stationary underwater blades 13. The control system 11 controls the motion of the underwater glider by means of a programmed navigation and processes various sensor data. The buoyancy adjusting and center of gravity moving device 12 changes the center of gravity and the center of gravity of the underwater glider to generate a force in the vertical direction, and the fixed water wing 13 moves the force generated in the vertical direction by the glider Switch to the required momentum. Since the underwater glider obtains the necessary thrust through the buoyancy control and the center-of-gravity moving device 12, it has a high energy efficiency and can operate for a long time, thereby maximizing the range of the probe. On the other hand, the underwater glider has a problem that the navigation speed is slow, the turning radius is large, and the vertical direction movement is essential.

In the related technology field, it is possible to increase the energy efficiency by adding the propulsion system of the underwater glider to the conventional autonomous unmanned submersible, and if necessary, use the propeller to perform the effective and wide underwater mission due to the long- It is required to develop a technology for a hybrid autonomous unmanned submersible vehicle capable of achieving such a small size.

The present invention is made with a detachable center-of-gravity moving device, such as a payload of an autonomous unmanned submersible, using a buoyancy control and a gravity centering device, which is characteristic of an underwater glider. Hybrid autonomous unmanned submersible is able to attach and detach the center of gravity moving device and payload, and can operate in autonomous unmanned submersible mode with autonomous unmanned submersible mode, underwater glider mode, and glider function depending on whether the gravity center moving device is detachable or not. The hybrid autonomous unmanned submersible is intended to compensate for the shortcomings of long - time operation and long - distance operation of the existing autonomous unmanned submersible by supplementing the power required for operation through the removable center of gravity moving device.

The present invention relates to a hybrid autonomous unmanned submersible vehicle in which a payload mechanism portion of a conventional autonomous unmanned submersible vehicle is detachably mountable, and a center-of-gravity moving device includes a center-of-gravity driving motor, a center- It is made of a mechanism part of detachable type. Such a hybrid autonomous unmanned submersible can operate in autonomous unmanned submersible mode by combining only the payload mechanism. In addition, the payload mechanism and the center-of-gravity movement device can be combined to operate the autonomous unmanned submersible mode with the glider function. The autonomous unmanned submersible mode with glider function can solve the long-time operation and long-distance operation of the existing autonomous unmanned submersible because it can supplement the power required for navigation by using not only the propeller propeller but also the center of gravity movement device. The user is characterized in that the center-of-gravity moving device can be detached and operated according to the purpose of use and underwater mission.

The present invention can be operated in three modes, that is, an underwater glider mode, an autonomous unmanned submersible mode, and an autonomous unmanned submersible mode having a glider function, depending on whether the center-of-gravity moving device is detachable or attachable. Hybrid autonomous unmanned submersible can be operated for a long time, so it can be operated at long distance and can perform a wide range of underwater missions.

1 is a side cross-sectional view of a torpedo type autonomous unmanned submersible and an underwater glider.
FIG. 2 is a side cross-sectional view of the hybrid autonomous unmanned submersible according to an operation mode; FIG.
3 is a schematic view of a removable center-of-gravity moving device.

The present invention will now be described in detail with reference to the accompanying drawings.

2 is a view showing a part of the configuration of the inside and the outside of the hybrid autonomous unmanned submersible. Referring to FIG. 2, the internal configuration of the hybrid autonomous unmanned submersible varies depending on the operating mode. 2 (a), the camera 21, the payload 22, the control system 23, the built-in battery 24, the vertical and horizontal tail wing The camera 21, the removable center of gravity moving device 28, and the control system 23 are mounted on the stern inside the main body 20 as shown in (B) of FIG. 2 when operated in the underwater glider mode, A built-in battery 24, and a vertical / horizontal tail wing drive motor 25. In the case of operating the autonomous unmanned submersible mode having the glider function, the camera 21, the payload 22, the removable gravity center moving device 28, the control system (23), an internal battery (24), and a vertical / horizontal tail wing drive motor (25). A vertical / horizontal tail blade (26) and a propeller propeller (27) are disposed outside the main body (20) of the hybrid autonomous unmanned submersible, regardless of the mode of operation, at the stern. The vertical and horizontal tail wing 26 is made of a plastic frame and disposed on the outer stern side and upper and lower ends of the hybrid autonomous idle main body 20. The vertical tail wing 26a is used as a rudder to control the direction in the horizontal motion of the hybrid autonomous unmanned submersible and is driven by the vertical tail wing drive motor 25a. The horizontal tail wing 26b is used as an elevator for controlling the depth (depth) in the vertical motion of the hybrid autonomous unmanned submersible, and is driven by the horizontal tail wing drive motor 25b. The propeller propeller 27 is a power source for producing a propulsive force required for the hybrid autonomous unmanned submersible vehicle to be moved, and is disposed at the aft end of the main body 20. The removable center of gravity moving device 28 is a removable center of gravity movable device 28 which can be attached to and detached from the stand of the autonomous unmanned submersible main body 20 as a detachable mechanical part such as a payload 22, When the mobile device 28 is coupled, it can operate in the underwater glider mode. When the removable gravity center mobile device 28 is separated and the payload 22 is coupled, it is possible to operate in a torpedo type autonomous unmanned submersible mode. In addition, when both the payload 22 and the center-of-gravity mobile device 28 are combined, it is possible to operate in an autonomous unmanned submersible mode having a glider function. This removable center of gravity moving device 28 is composed of a center of gravity driving motor 30, an infrared distance sensor 31, a center of gravity battery 32 and a center of gravity axis 33. The main body 20 of the hybrid autonomous unmanned submersible 20 ) Between the payload (22) and the control system (23). The center-of-gravity battery 32 supplies the power necessary to drive the center-of-gravity shifter 28 and serves as a weight for the center-of-gravity shifter 28. An infrared distance sensor 31 is positioned between the center-of-gravity battery 32 and the center-of-gravity driving motor 30 and the infrared distance sensor 31 measures the distance between the center-of-gravity driving motor 30 and the center- . The center-of-gravity driving motor 30 drives the center-of-gravity battery 32 on the center-of-gravity axis 33 by using the distance between the center-weight driving motor 30 and the center-weight battery 32 measured from the infrared- Moves horizontally to move the center of gravity of the hybrid autonomous unmanned submersible back and forth. As the center-of-gravity battery 32 moves forward and backward, the center of gravity of the hybrid autonomous unmanned submersible moves forward and backward to obtain the propulsive force necessary for the hybrid autonomous unmanned submersible movement in place of the propeller propeller 27. This increases the efficiency of the built-in battery 24, thereby enabling long-time operation and long-distance operation. A propeller propeller 27 is mounted on the stern of the hybrid autonomous idle main body 2, and the propeller propeller 27 serves as a power source for generating propulsive force when necessary. In other words, such a hybrid autonomous unmanned submersible can be operated in an underwater glider mode, a torpedo type autonomous unmanned submersible mode, and an autonomous unmanned submersible mode having a glider function depending on whether the removable gravity centering device 28 is engaged or not, By increasing the energy efficiency of autonomous unmanned submersible, it is possible to operate for a long time and long distance, and the turning radius is small, so it can be effectively applied to a wide range of underwater missions such as searching for submarine topography, exploration of underwater ecosystem,

DESCRIPTION OF THE EMBODIMENTS
1: Body of autonomous unmanned submersible
2: Camera and sensor of autonomous unmanned submersible
3: payload of autonomous unmanned submersible
4: Control system of autonomous unmanned submersible
5: Built-in battery of autonomous unmanned submersible
6a: Vertical tail wing of autonomous unmanned submersible
6b: Horizontal tail wing of autonomous unmanned submersible
7a: Vertical tail wing drive motor of autonomous unmanned submersible
7b: Horizontal tail wing drive motor of autonomous unmanned submersible
8: Propeller propeller of autonomous unmanned submersible
10: Body of underwater glider
11: Underwater glider control system
12: Center of gravity movement of underwater glider
13: fixed underwater wing of underwater glider
20: Body of hybrid autonomous unmanned submersible
21: Camera and sensor of hybrid autonomous unmanned submersible
22: detachable paylaod
23: Hybrid autonomous unmanned submersible control system
24: Hybrid autonomous unmanned submersible battery
25a: Vertical tail wing drive motor of hybrid autonomous unmanned submersible
25b: Horizontal tail wing drive motor of hybrid autonomous unmanned submersible
26a: Vertical tail wing of a hybrid autonomous unmanned submersible
26b: Horizontal tail wing of hybrid autonomous unmanned submersible
27: Hybrid autonomous unmanned submersible propeller propeller
28: detachable center of gravity moving device
30: center-of-gravity driven motor
31: Infrared distance sensor
32: Center of gravity battery
33: center of gravity axis

Claims (2)

In an autonomous unmanned submersible of an underwater robot,
A hybrid autonomous unmanned submersible to be removably attached to the center of gravity moving device 28 and the payload 22 according to the purpose of the operation;

Wherein the operating mode of the hybrid autonomous unmanned submersible can be changed according to whether the center of gravity moving device (28) and the payload (22) mechanism part are detachable or not. The method according to claim 1,
The removable center of gravity moving device 28 includes a center-of-gravity axis 33 formed by integrally connecting the center-of-gravity driving motor 3, the infrared distance sensor 31, and the center-of-gravity battery 32;
The center-of-gravity battery 32 is formed on the center-of-gravity axis 33. The center-of-gravity center driving motor 30 is formed at the end of the center-of-gravity axis 33 and the infrared distance sensor 31 ) Is attached.
An infrared distance sensor 31 is formed at the rear end of the center-weight driving motor 30 and at the front end of the center-weight battery 32. The center-weight battery 32 is connected to the center- , Wherein the function of controlling the center of gravity to the upper and the rear ends is performed by the control system.

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