KR20220149276A - Tangle Prevention Apparatus of umbilical cable using underwater - Google Patents

Abstract

Disclosed is an umbilical cable tangle prevention device using an underwater drone. In accordance with the present invention, the umbilical cable tangle prevention device, wherein the umbilical cable tangle prevention device prevents a tangle of an umbilical cable when an underwater drone having an upper end coupled with one end of the umbilical cable is working under the water, includes: an umbilical cable comprising a housing in which a power supply cable for supplying power to the underwater drone and a data cable for transmitting and receiving data with the underwater drone; a cable adjustor connected to the housing, and having a lower end coupled to the upper end of the underwater drone to selectively adjust the umbilical cable; a sliding unit provided on the underwater drone to be connected to the tensile spring, and formed to be movable within a preset range in accordance with the movement of the underwater drone; a buoyancy body coupled to the outer circumference of the housing to maintain neutral buoyancy and protect the power supply cable and the data cable; and a sensing device sensing a position of the sliding unit and comparing the position with a preset reference value to derive changed positional information. The cable adjustor winds or unwinds the umbilical cable to prevent the tangle of the umbilical cable so as to maintain the tension of the cable within a predetermined range according to a position of the sliding unit sensed by the sensing device. The outcome based on the present invention has been supported by Innovative University Research Project of Tongmyong University of Innovative University Research Project of Busan Metropolitan City.

Description

Tangle Prevention Apparatus of umbilical cable using underwater}

The present invention relates to a device for preventing tangle of an umbilical cable using an underwater drone for preventing tangle of an umbilical cable during underwater work using an underwater drone, etc. to achieve a smooth operation.

Umbilical cables are defined as composite cables used in offshore plant engineering, and are used for offshore plants, energy exploration and drilling, unmanned submersibles, or underwater drones.

Such umbilical cables are connected to underwater marine equipment to supply power and hydraulic pressure, control equipment, and send and receive equipment status signals.

In particular, as is known, the umbilical cable used when using an underwater drone has a lot of dynamic movement, so to reduce damage as a lot of tangles and damage occur, a buoy ( Buoy) is also used to maintain proper tension on the umbilical cable.

However, when the unmanned submersible is swimming near the water surface because the position of the buoy is fixed, or when the buoy floats on the water surface during salvage and launch, the umbilical cable is sagging or tangled. It often interfered with the work, so there were many difficulties in working.

Korean Patent Publication No. 2021-0037487 Korean Patent Publication No. 2020-0073167 Korean Patent Publication No. 2019-0112244

Accordingly, the present invention prevents the umbilical cable from being separated from a predetermined position when connecting the umbilical cable through an underwater drone, etc. It aims to be able to provide a device.

In addition, by adjusting the length of the cable connected to the underwater drone according to the movement of the underwater drone, it is possible to provide an umbilical cable tangle prevention device using an underwater drone that can prevent twisting by maintaining a certain tension on the cable. do it with

In order to solve this problem, the present invention provides a device for preventing the tangle of the umbilical cable when the underwater drone having one end of the umbilical cable coupled to the top works under the water surface, A power supply cable for supplying power and a housing in which a data cable for transmitting and receiving data to and from the underwater drone is built in is connected to the housing and the lower end is coupled to the upper end of the underwater drone A cable adjusting device for selectively adjusting the blickal cable, a sliding unit provided on the underwater drone, one side connected to the tension spring, and movable within a preset range according to the movement of the underwater drone, and the housing A sensing device that is coupled to the outer periphery of the to maintain neutral buoyancy, detects the positions of the buoyancy body and the sliding part that protect the power supply cable and the data cable, and compares it with a preset reference value to derive the changed position information and the cable control device According to the position of the sliding part sensed by the sensing device, the umbilical cable is wound or unwound so that the tension of the cable can be maintained within a predetermined range to prevent kinking.

In addition, it is characterized in that the underwater drone is further formed with an image photographing device for photographing the state of the umbilical cable and transmitting it to the display unit.

In addition, the sensing device is provided with at least one inside the cylinder and a sensing unit for detecting the position of the sliding unit, a sensing unit controlling the position of the sliding unit detected by the sensing unit and measuring the amount of position change by comparing the reference value with the reference value. It is characterized in that it includes a restoration unit that provides a restoring force to return the sliding unit to the initial position corresponding to the reference value.

In addition, the sensing device control unit is electrically connected to the underwater drone control unit mounted on the underwater drone through the umbilical cable, and the underwater drone control unit is connected to the umbilical cable to receive power. A DC-DC converter that applies power for operation to the motor, a battery charged with power connected to the motor, and whether power is applied between the umbilical cable and the DC-DC converter is provided, but power is supplied to the DC-DC converter. If this is not applied, it is characterized in that it includes a device for applying the charging power of the battery to the motor.

Therefore, the present invention has the effect of providing an umbilical cable tangle prevention device that has the effect of preventing the tangle of the umbilical cable by controlling the tension of the umbilical cable connected to the underwater drone.

Figure 1a is a configuration diagram of an umbilical cable tangle prevention device using an underwater drone according to the present invention.
Fig. 1B is a block diagram showing an image capturing process using an image capturing apparatus.
2 is a structural diagram of an umbilical cable.
3 is a cross-sectional view of an umbilical cable.
4 is a block diagram of a sensing device;
5 is a view showing a state in which the underwater drone advances forward.
Fig. 6 is a view showing internal changes of the sensing device in Fig. 5;
7 is a view showing a state in which the underwater drone moves backwards.
Fig. 8 is a view showing internal changes of the sensing device in Fig. 7;
9 is an internal block diagram of the underwater drone.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are marked on different drawings.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, since the terms used in the present application are only used to describe specific embodiments, it is not intended to limit the present invention, and the singular expression means a plural expression unless the context clearly indicates otherwise. we want to leave

Figure 1a is a configuration diagram of an umbilical cable tangle prevention device using an underwater drone according to the present invention, Figure 1b is a block diagram showing an imaging process using an image photographing device, Figure 2 is a structural diagram of an umbilical cable, 3 is a cross-sectional view of an umbilical cable, FIG. 4 is a configuration diagram of a sensing device, FIG. 5 is a view showing a state in which the underwater drone advances forward, and FIG. 6 is an internal change of the sensing device in FIG. 7 is a view showing a state in which the underwater drone moves backwards, FIG. 8 is a view showing the internal change of the sensing device in FIG. 7, and FIG. 9 is an internal block diagram of the underwater drone.

Referring to Figure 1a, the present invention is the underwater drone 100, one end of the umbilical cable (C) is coupled to the upper end, using the underwater drone 100 in an area where the water surface such as the sea or river exists. It is a device for preventing the tangle of the umbilical cable (C) when doing this.

The underwater drone 100 is a well-known thing consisting of a body forming a certain external shape and an operation part (not shown) that is provided on the body and controls steering and driving in water, and the body of the underwater drone 100 wraps around the whole and at least Various components such as electronic devices, exploration devices, and batteries are accommodated in the internal space by having one or more thrusters in some parts, and a separate facility for receiving electrical signals from the outside will be additionally provided. can

In addition, the underwater drone 100 is provided with an image photographing device 120 for monitoring the state of the umbilical cable (C), by taking an image of the umbilical cable (C) to manage the state in real time It serves to transmit to the display unit 300, which is a monitor of

Hereinafter, with reference to FIG. 1B , the operation of photographing the umbilical cable C using the image photographing apparatus 120 and transferring the photographing to the display unit 300 will be described.

The configuration includes an image capturing device 120 , a control unit 200 , a data storage unit 250 , and a display unit 300 .

The image photographing apparatus 120 is provided with a monitoring camera for photographing the monitoring area therein, and is rotated (Pan) and tilted by the control unit 200 to be described later, and is optionally connected to the umbilical cable (C). of the area can be photographed.

The image photographing apparatus 120 has a high magnification zoom camera 121 for photographing a specific monitoring area and a wide-angle camera 122 for photographing the surroundings including the specific monitoring area in a form having an imaging unit configured as a dual.

The two surveillance cameras are located in the image capturing device 120 to display the two images on the display unit 300 . At this time, the high magnification zoom camera 121 captures a high-resolution area by intensively monitoring a place where a lot of movement of the umbilical cable C occurs, and the wide-angle camera 122 is higher than the high magnification zoom camera 121 . Relatively low image quality, that is, a peripheral area including an area photographed by the high magnification zoom camera 121 (hereinafter referred to as 'total area') with image quality sufficient to recognize occurrence of kinking of the umbilical cable (C). ) will be filmed. As a result, it is possible to grasp the situation occurring outside the intensive monitoring area as well as the intensive monitoring area, thereby enabling efficient monitoring.

In addition, it is characterized in that the image processing unit 123 for merging images captured by the high magnification zoom camera 121 and the wide-angle camera 122 corresponding to the image capturing unit is provided inside the image capturing apparatus 120 . The image processing unit 123 is connected to each of the high magnification zoom camera 121 and the wide-angle camera 122 inside the image capturing device 120 to display the captured image on a large screen and a small screen PIP (Picture). In Picture) as an image, the image captured by the high magnification zoom camera 121 is output on a large screen, and the image captured by the wide-angle camera 122 is output on a small screen. Due to this, it is possible for the manager located in the control room to check the events occurring in the centralized monitoring area in detail on a large screen with high resolution, and it is possible to identify whether an event has occurred through the small screen in the entire area.

On the other hand, the high magnification zoom camera 121 monitors the umbilical cable (C) in the entire area so that the Pan/Tilt/Zoom function is implemented separately inside the image photographing device 120, and the umbilical cable ( When C) occurs, it is preferable to rotate to the abnormal region by an administrator or the like to photograph the abnormal region.

In addition, the image processing unit 123 is provided with an OSD device (object storage device) for superimposing a character signal including the current date, time, and monitoring area name on the captured image signal and displaying it on the display unit 300 , It is desirable to be able to accurately identify various abnormal occurrences occurring on a specific day or at a specific time in the region.

In addition, the image processing unit 123 is located together with the high-magnification zoom camera 121 and the wide-angle camera 122 in the image photographing device 120, so as to process the photographed image signal through the umbilical cable (C). Since it is transmitted to DVR (Digital Video Recorder), it is possible to reduce the number of cables connected to each camera, and since it is not necessary to allocate a channel (CH) to each camera, it is possible to shorten work time and reduce costs. it becomes possible

Preferably, the image photographing apparatus 120 includes a communication unit 124 that transmits an image signal for the monitoring area output through the image processing unit 123 to the control unit 200 .

The control unit 200 controls the pan/tilt/zoom control of the high magnification zoom camera 121 and the wide-angle camera 122 and the operation of the image processing unit 123, and a data storage unit to be described later. Using the data stored in 250, it communicates with the communication unit 124 and adjusts the horizontal (Pan) reference angle, vertical (Tilt) reference angle, and zoom state of the high magnification zoom camera 121 and the wide-angle camera 122. Then, the image captured by the image processing unit 123 is displayed on the display unit 300 .

The display unit 300 is connected to the image capturing device 120 to display each output image provided from the image processing unit 123 on a screen, and the image captured by the high magnification zoom camera 121 and the wide angle The images captured by the camera 122 are merged and displayed on one screen.

The data storage unit 250 includes a horizontal (rotational) reference angle, a vertical (tilt) reference angle, a zoom state and data communication protocol, and a camera unique code (IP) of the high magnification zoom camera 121 and the wide-angle camera 122. It stores initialization data including In addition, it is preferable that the data storage unit 250 stores the image captured by the image processing unit 123 so that the image captured by the image processing unit 123 can be checked when necessary.

Hereinafter, the umbilical cable C will be described with reference to FIGS. 2 and 3 .

2, the buoyancy body 40 is coupled to the outer periphery of the mesh tube 90 to maintain neutral buoyancy throughout the umbilical cable (C). The buoyancy body 40 has neutral buoyancy so that the umbilical cable C floats or maintains a constant water depth. The buoyancy body 40 is cylindrical and a hole (not shown) through which the mesh tube 90 can be penetrated and inserted is formed in the center. And, the buoyancy body 40 may use an appropriate material such as synthetic resin to provide buoyancy, protect the power supply cable 50 and the data cable 60, and a unit of the pneumatic hose 80 The size and volume of the buoyancy body 40 should also be designed in consideration of the weight per length. The buoyancy body 40 is positive buoyancy in water, and the positive buoyancy of the buoyancy body 40 is offset with the negative buoyancy force of the power supply cable 50 to maintain neutral buoyancy.

As shown, the umbilical cable (C) is a power supply cable 50 and the underwater drone 100, which serve to receive operating power inside the underwater drone 100 from the power supply unit (not shown). and a housing type in which a data cable 60 for transmitting and receiving data is built-in.

The power supply cable 50 receives the power provided by the power supply unit from the underwater drone 200 to operate the cable control device 10 .

And, the data cable 60 transmits and receives signals or data between the underwater drones 100 through the underwater drone control unit 110 .

Any type of data cable 60 capable of transmitting and receiving data or electrical signals may be used, but it is preferable to use a UTP type LAN communication line having neutral buoyancy. Therefore, it is possible to input the command issued by the operator from the underwater drone control unit 110 through the data cable 60 to the communication board (not shown) of the underwater drone 100 . In addition, the image data of the image photographing device 120 mounted on the underwater drone 100 may be received in real time.

Referring to FIG. 3 , one or more data cables 60 may be provided, and each of the data cables 60 may be covered with a shield 62 made of silicon. In addition, the entire bundle of the data cables 60 may have a shielded structure surrounded by one shielding film 70 .

The shielding film 70 is provided to block an electromagnetic field or electrical noise generated from the power supply cable 50 from interfering with the data transmission performance of the data cable 60 . In this case, the shielding film 70 may be formed of a thin plate made of an aluminum material. That is, the entire data cable 60 may be wrapped around the data cable 60 , such as silver foil.

The pneumatic hose 80 injects or removes compressed air from the compressor (not shown) of the cable control device 10 to the underwater drone 100 to adjust the pressure inside the underwater drone 100 .

The pneumatic hose 80 is made of a flexible material, and a non-metal material is suitable. The compressor may be equipped with a precision pressure regulator (not shown) to inject air of a predetermined pressure into the underwater drone 100 .

The compressed air injected into the underwater drone 100 is controlled to be the same as the water pressure, so that moisture is prevented from flowing into the underwater drone 100 . Therefore, since the air pressure is proportionally increased according to the water depth, the pressure of the air to be injected is set according to the water depth, and it is possible to control such that compressed air is automatically injected or removed according to the water depth of the underwater drone 100 .

The mesh tube 90 is configured to maintain and protect the cable shape by bundling all of the power supply cable 50, the data cable 60, and the pneumatic hose 80 into one cable. That is, the power supply cable 50 , the data cable 60 , and the pneumatic hose 80 are all accommodated in the mesh tube 90 . At this time, the mesh tube 90 is made of an insulating material and protects the internal cables 50 and 60 and the pneumatic hose 80 from external impact. The mesh tube 90 is made of a net, not coupled with a cable or a pneumatic hose, but is provided to cover only.

Therefore, due to the mesh tube 90, it is possible to prevent entanglement or kinking of each cable and pneumatic hose, and fatigue destruction due to continuous bending (the destruction of solids due to repeated loads as if the metal wire is continuously bent and unfolded is cut) symptoms) can be prevented. Furthermore, even if water is introduced through the mesh tube 90 , the introduced seawater or river water also serves as cooling water to cool the heating of the power supply cable 50 or data cable 60 .

Referring back to FIG. 1A, the cable adjusting device 10 is connected to the umbilical cable (C) and is coupled to the upper end of the underwater drone 100 at the lower end to selectively control the umbilical cable (C). ) is formed.

The cable adjusting device 10 selectively adjusts the length of the umbilical cable (C), and adjusts the length by winding the umbilical cable (C).

The cable adjusting device 10 adjusts the length of the umbilical cable (C) by manually or automatically winding the umbilical cable (C), and by the operation of the cable adjusting device (10), the underwater drone The tension of the umbilical cable (C) connected to (100) can be adjusted.

In other words, the cable adjusting device 10 controls the cable (C) so that the tension of the umbilical cable (C) is maintained within a certain range according to the position of the sliding part (32), which will be described later, sensed by the sensing device (30). It is possible to prevent twisting or tangling of the umbilical cable (C) by winding or unwinding C). A winding portion (not shown) formed in the cable adjusting device 10 is in the form of a general pulley, which winds the umbilical cable (C) and selectively adjusts the length of the umbilical cable (C) according to the rotational direction. do.

The winding unit rotates according to the distance from the underwater drone 100 and adjusts the length of the umbilical cable (C). For example, when the underwater drone 100 moves in a direction away from the winding part, the winding part rotates in a direction to increase the length of the umbilical cable (C) and the underwater drone 100 is close. When moving in the losing direction, the winding part rotates in a direction to reduce the length of the umbilical cable (C). That is, the winding unit adjusts the length of the umbilical cable (C) according to the increase or decrease of the separation distance from the underwater drone 100 so that the tension above a certain level can always be maintained.

Therefore, the cable adjusting device 10 is configured to maintain the tension of the umbilical cable C within a certain range according to the position of the sliding part 32 sensed by the sensing device 30 . It is to prevent twisting by winding or unwinding the curled cable (C).

Hereinafter, the sensing device 30 and its operation relationship will be described with reference to the drawings.

When the sensing device 30 is described with reference to FIG. 4 , it is provided on the underwater drone 100 and one side is connected to the cable adjusting device 10 through an umbilical cable (C), and the underwater drone 100 ), the end of the umbilical cable (C) moves within a certain range and at the same time buffers the action of excessive tension on the umbilical cable (C), the movement of the underwater drone (100) According to the inertia, the distance the end of the umbilical cable (C) moves is sensed.

Specifically, the sensing device 30 is formed to protrude on the underwater drone 100 and is connected while accommodating the end of the umbilical cable (C) inside along the longitudinal direction, and the umbilical cable (C) ) is configured to be movable within a preset range.

As shown, the sensing device 30 includes a housing (H) having a predetermined space therein, a sensing unit 31, a sliding unit 32, a magnetic sensing device control unit (not shown) and the sliding unit 32. and a restoration unit 33 that provides a restoring force for returning to the initial position corresponding to the reference value. The sensing device 30 detects the position of the sliding unit 32 and compares it with a preset reference value to derive information on the changed position.

Here, the sensing device 30 compares the position of the sensing unit 31 that detects the position of the sliding unit 32 and the position of the sliding unit 32 sensed by the sensing unit 31 with the reference value to position A sensing device control unit (not shown) for measuring the amount of change is formed.

The housing (H) is formed to protrude along the longitudinal direction at the rear of the underwater drone 100, and an accommodation space is formed therein, and the sliding part 32, the sensing part 31, the sensing device control unit and The restoration part 33 is accommodated. At this time, the housing (H) is a part of the umbilical cable (C) through one end along the longitudinal direction as shown in the figure is also disposed inside the receiving space, the underwater drone 100 in the longitudinal direction Accordingly, the position of the umbilical cable (C) is adjustable.

As shown, the housing (H) is formed in a cylindrical shape, and one side is fixedly coupled to the underwater drone 100, and the other side is a part of the umbilical cable (C) inserted into the receiving space. On the other hand, the sliding part 32 is configured to be slidable along the longitudinal direction of the underwater drone 100 in the receiving space, and is connected to one end of the umbilical cable (C) to connect the umbilical The position changes with the cable (C).

Hereinafter, the sliding part 32 will be described. The sliding unit 32 is configured to allow movement within a preset range according to the movement of the underwater drone 100 .

The sliding part 32 is formed in a shape substantially similar to that of a piston inside the housing (H) to be slidable within a preset range, and the umbilical cable (C) is connected to slide together. That is, when the underwater drone 100 drives forward or backward, the underwater drone 100 and the housing (H) are integrally coupled and move together, and the sliding part 32 is temporarily due to inertia. As a result, the position within the housing (H) is changed because it cannot respond to the movement of the underwater drone (100).

The sliding part 32 is configured to be slidable along the longitudinal direction of the underwater drone 100, is connected to one end of the umbilical cable (C) and is located together with the umbilical cable (C) is changing

Specifically, as shown, the sliding part 32 is formed in a shape similar to a piston and is configured to be slidable within a preset range, and the umbilical cable C is connected to slide together.

That is, when the underwater drone 100 drives forward or backward, the underwater drone 100 and the sliding part 32 are integrally coupled and move together. As such, as the position of the sliding unit 32 temporarily changes within a set range, even if a sudden change in movement of the underwater drone 100 occurs, the position of the sliding unit 32 changes and the umbilical cable (C) ) to prevent the occurrence of tension above a certain level.

And, the sensing unit 31 is a configuration that detects the position of the sliding unit 32, the sliding unit 32 according to the movement of the underwater drone 100, the position is moved forward or backward from the initial position. , to detect it.

In addition, unlike this, the sensing unit 31 is provided on the restoration unit 33 to detect the position of the sliding unit 32 according to the change in the strength of the restoring force generated by the movement of the sliding unit 32 . It may be in the form

As shown, the sensing unit 31 includes the first sensor (a) and the second sensor (b), and the relative position change between the first sensor (a) and the second sensor (b) It is possible to measure the position and the moved distance of the first sensor (a) through . Although not shown in the drawings, the sensing unit 31 may be provided on the restoration unit 33 to be described later, unlike the above-described form, and through a change in the extension length of the restoration unit 33, the sliding unit ( 32) can also be derived.

Specifically, the sensing unit 31 is provided on the restoration unit 33 to sense the elasticity increasing or decreasing in length based on a preset initial value, and accordingly detects a change in the position of the sliding unit 32 . .

The sensing device control unit detects the position of the sliding unit 32 through the information measured through the sensing unit 31 and derives changed information. Furthermore, the sensing device control unit designates the preset reference value, and compares the reference value with the position of the sliding unit 32 sensed by the sensing unit 31 to measure the amount of position change.

At this time, the reference value is a state in which a tension within an allowable range is applied to the umbilical cable (C) in a state in which the underwater drone 100 is not driven, and a separate external force is not applied to the sliding part 32. It means the position in the non-existent state.

That is, the reference value is the position of the sliding part 32 where the underwater drone 100 does not operate, and the tension within the allowable range acts on the umbilical cable (C).

By comparing the position of the sliding unit 32 sensed by the sensing unit 31 based on the set reference value as a reference, the sensing device control unit may derive the amount of change in the position of the sliding unit 32 .

That is, the changed position information of the sliding part 32 derived by the sensing device controller is transmitted to the cable adjusting device 10 to be described later, and the cable adjusting device 10 is the umbilical cable (C). Allows you to adjust the length.

At least one restoring unit 33 is provided to provide restoring force so that the sliding unit 32 returns to a preset position. Specifically, the restoration part 33 may be configured in various forms, and is configured in the form of a general elastic member to provide a restoring force so that the sliding part 32 returns to an initial position corresponding to the reference value. At least one restoration part 33 is provided on both sides of the sliding part 32 in the space of the housing H, and the sliding part 32 returns the initial position to the initial position.

The restoration part 33 is provided on both sides of the sliding part 32, respectively, so that when the position of the sliding part 32 changes, one of them is extended and the other is compressed, thereby stably providing a restoring force. Of course, unlike this, it may be configured in various forms that provide restoring force in the form of a leaf spring or a damper.

Therefore, the sensing device 30 detects when the relative position changes due to an external force while the sliding part 32 is connected to the umbilical cable C, and derives the amount of position change by detecting the change in the position of the cable adjusting device 10. The restoring force is provided by the restoring unit 33 so that the sliding unit 32 returns to the initial position at the same time as it is transmitted to the Furthermore, when excessive tension is applied to the umbilical cable (C) due to the abrupt movement of the underwater drone 100, the relative position of the sliding part 32 changes, and serves as a damper to serve as the umbilical It is possible to prevent the curl cable (C) from being damaged.

Hereinafter, an operation of preventing twisting of the umbilical cable C by adjusting the tension with reference to the drawings will be described.

FIG. 5 is a view showing a state in which the underwater drone 100 shown in FIG. 1A advances forward, and FIG. 6 is a view showing an internal change of the sensing device 30 in FIG. 5 .

And, FIG. 7 is a view showing a state in which the underwater drone 100 of FIG. 1a moves backward, and FIG. 8 is a view showing an internal change of the sensing device 30 in FIG. 7 .

First, looking at FIG. 5, the underwater drone 100 is in a state of moving forward (left), and in response to this, the cable adjusting device 10 operates to increase the length of the umbilical cable (C). At this time, when the underwater drone 100 moves forward, the sliding part 32 moves relative to the rear inside the housing (H) of the sensing device 30 by inertia, and accordingly, the sliding part 32 ) is out of the initial position.

Specifically, as shown in FIG. 7 , when the sliding unit 32 moves backward (right), the first sensor a also moves to the right along with the sliding unit 32 .

Here, the second sensor (b) is composed of three sensors R1, R2, and R3, and the position of R2 is the initial position corresponding to the reference value.

Accordingly, when the sliding unit 32 moves to the right, it is the R3 sensor that detects the first sensor (a), and it is possible to detect the current position where the first sensor (a) moves to the right.

Through this, the sensing device control unit determines that the sliding unit 32 has moved to the right, and determines that the tension acting on the umbilical cable C will increase, and in response to this, the umbilical cable ( C) transmits the corresponding information to the cable adjusting device 10 to increase the length.

At this time, the sliding unit 32 may serve as a damper while receiving the restoring force by the restoration unit 33 as described above, and an umbilical cable when the underwater drone 100 moves forward or backward. It is possible to reduce the rate of change of tension acting on (C). Accordingly, the cable adjusting device 10 can secure a time margin to adjust the length of the umbilical cable (C) by receiving information about the position change of the sliding part (32). It is possible to prevent excessive tension from acting on (C).

That is, the sliding part 32 buffers the change in tension of the umbilical cable (C) due to the change in the position of the underwater drone 100 as the position changes inside the housing (H), and the cable adjustment device The delay time for the operation of (10) can be corrected.

Additionally, as shown, the configuration of the first sensor (a) and the second sensor (b) for detecting a change in the position of the sliding part 32 as well as the pressure change acting on the restoration part 33 are measured. It is also possible to sense a change in the position of the sliding part 32 through the

As shown, the length of the front (left) is increased and the length of the rear (right) is decreased based on the sliding part 32, resulting in a relative pressure difference. In particular, when the underwater drone 100 moves forward, the sliding part 32 moves backward within the housing H, and thus the pressure of P2 is relatively increased than the pressure of P1.

it can be seen that

In this way, the position of the sliding part 32 may be sensed through the pressure change of P1 and P2 and the amount of position change may be transmitted to the cable adjusting device 10 .

On the other hand, when the underwater drone 100 moves to the rear, as shown in FIG. 7 , the cable adjusting device 10 reduces the length of the umbilical cable (C). In general, when the underwater drone 100 moves to the rear, there are many cases that do not reduce the length of the umbilical cable (C), but in such a case, the tension of the umbilical cable (C) is reduced The umbilical cable (C) may be twisted as a result of being loosely disposed.

Therefore, as shown in FIG. 8 , when the underwater drone 100 moves backward, the sensing device 30 detects it and the length of the umbilical cable C through the cable adjusting device 10 . By reducing the umbilical cable (C), it is possible to prevent kinking due to loosening by maintaining the tension by applying a tension of a certain level or more to the umbilical cable (C).

Referring to FIG. 8 , when the underwater drone 100 moves to the rear (right side), the sliding unit 32 moves forward (left side) within the cylinder 210 .

In this case, unlike the above, it is the R1 sensor that senses the first sensor (a), and accordingly, it is determined that the sliding part 32 has moved forward inside the housing (H), and the corresponding information is transmitted to the cable. It is transmitted to the control device (10).

Accordingly, the cable adjusting device 10 reduces the length by winding the umbilical cable C until the sliding part 32 returns to the initial position corresponding to the reference value, and the umbilical The tension of the cable (C) can be maintained.

In this way, the sensing device 30 according to the present invention detects a change in the position of the sliding unit 32 according to the forward or backward of the underwater drone 100 and provides the corresponding information so that the cable adjustment device 10 operates. By transferring, the umbilical cable (C) is not excessively loosened or taut, and always maintains a certain level of tension to prevent tangling.

And, the sensing device control unit of the sensing device 30 is also electrically connected to the underwater drone control unit 110 mounted on the underwater drone 100 through the umbilical cable (C).

9, the underwater drone control unit 110 built in the underwater drone 100 receives power through the power supply cable 50, and the power required for the underwater drone 100 to operate is supplied to the motor (M). Whether power is applied between the DC-DC converter 111 and the battery 112 charged with power connected to the motor M, and the umbilical cable C and the DC-DC converter 111 However, if power is not applied to the DC-DC converter 111 , it is composed of a divider 113 that applies the charging power of the battery 112 to the motor M.

As shown, the underwater drone control unit 110 is a DC-DC converter 111, a battery 113 and a divider 115 with an openable and openable casing (reference numerals omitted) formed in a hollow housing shape at the bottom of the main body. include

The DC-DC converter 111 receives power from the sensing device control unit in the sensing device 30 through the umbilical cable (C), and applies the power required for the operation of the underwater drone 100 to the motor (M) make it

Here, the DC-DC converter 111 is applied as a necessary power to the motor (M) by changing the DC power of 12V to 48V depending on the type of the underwater drone 100.

The battery 113 is provided inside the casing so that it can be electrically connected to the motor M, and unlike the DC-DC converter 111, the power for operating the motor M is charged in advance. .

The divider 115 is installed inside the casing, and is provided to detect whether power applied to the DC-DC converter 111 through the umbilical cable (C) is applied, and the umbilical cable (C) If the power applied to the DC-DC converter 111 is not detected through the prevent.

The underwater drone 100 is operated underwater through the power applied to the DC-DC converter 111 through the umbilical cable (C). If the power plug is disconnected, etc.), there is a problem in that the power required for underwater or surface operation is cut off.

Therefore, the underwater drone control unit 110 determines whether power is applied between the umbilical cable 400 and the DC-DC converter 111 by installing the divider 115 inside the casing, and the DC-DC converter 111. If the power is not applied to, the switching operation to quickly apply the charging power of the battery 113 to the motor (M) to prevent the non-operation of the underwater drone (100).

Those skilled in the art to which the present invention pertains as described above will understand that the present invention may be implemented in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative and not restrictive.

The scope of the present invention is indicated by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

10: cable control device 11: winding part
30: detection device 31: detection unit
32: sliding part 33: restoration part
40: buoyancy body 50: power supply cable
60: data cable 62: shield
70: shielding layer 80: pneumatic hose
90: mesh tube 100: underwater drone
110: underwater drone control unit 111: DC-DC converter
112: battery 113: divide
a: first sensor b: second sensor
120: video recording device 121: high magnification zoom camera
122: wide-angle camera 123: image processing unit
124: communication unit 200: control unit
250: data storage unit 300: display unit C: umbilical cable
H : Housing M : Motor

Claims (4)

In the device for preventing the tangle of the umbilical cable when the underwater drone with one end of the umbilical cable coupled to the top works under the water surface,
A power supply cable for supplying power to the underwater drone and a data cable for transmitting and receiving data to and from the underwater drone are embedded therein;
a cable adjusting device connected to the umbilical cable, the lower end of which is coupled to the upper end of the underwater drone to selectively control the umbilical cable;
It is provided on the underwater drone and is connected to the cable control device through the umbilical cable, and includes a sliding part configured to be movable within a preset range according to the movement of the underwater drone, the position of the sliding part a sensing device for detecting and comparing with a preset reference value and deriving changed position information;
a buoyancy body coupled to the outer periphery of the umbilical cable to maintain neutral buoyancy and to protect the power supply cable and the data cable;
The cable adjusting device includes preventing twisting by winding or unwinding the umbilical cable so that the tension of the umbilical cable can be maintained within a certain range according to the position of the sliding part sensed by the sensing device. An umbilical cable tangle prevention device.
The method of claim 1,
Umbilical cable tangle prevention device, characterized in that the underwater drone is further formed with an image photographing device for photographing the state of the umbilical cable and transmitting it to the display unit.
The method of claim 1, wherein the sensing device is
a housing having a predetermined space therein;
The housing includes a sensing unit for detecting the position of the sliding unit;
a sensing device control unit for measuring a position change amount by comparing the position of the sliding unit sensed by the sensing unit with the reference value;
Umbilical cable tangle prevention device, characterized in that it is provided inside at least one, and comprising a restoring force to provide a restoring force for the sliding part to return to the initial position corresponding to the reference value.
4. The method of claim 3,
The sensing device control unit is electrically connected to the underwater drone control unit mounted on the underwater drone through the umbilical cable,
The underwater drone control unit is connected to the umbilical cable to receive power, a DC-DC converter for applying power for operating the underwater drone to the motor;
a battery charged with power connected to the motor; and
and a device that determines whether power is applied between the umbilical cable and the DC-DC converter, but applies the charging power of the battery to the motor if power is not applied to the DC-DC converter. Curl cable tangle prevention device.

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