KR20220166014A - System for underwater driving control of underwater vehicle - Google Patents

Abstract

An objective of the present invention is to provide a driving control system capable of reducing resistance at depth and being adjustable at various angles to increase the main function of underwater work. According to one embodiment of the present invention, provided is a driving control system for controlling the underwater drive of an underwater vehicle. The driving control system comprises: a propulsion module including a propulsion motor for underwater driving of the underwater vehicle; a motion platform coupled with the propulsion module and controlling a driving angle of the propulsion module to control underwater driving of the underwater vehicle; an acoustic sensor for detecting an underwater obstacle around the underwater vehicle; and a control unit generating a control signal for controlling driving of the motion platform based on a result detected by the acoustic sensor.

Description

Driving control system for underwater driving control of underwater vehicle {SYSTEM FOR UNDERWATER DRIVING CONTROL OF UNDERWATER VEHICLE}

The present invention relates to a drive control system for controlling underwater driving of an underwater moving body, and more particularly, to a drive control system including a waterproof type electric actuator.

Recently, demand for underwater robots such as remotely operated vehicles (ROVs) and autonomous unmanned underwater vehicles (AUVs) for underwater work and marine exploration is increasing.

Most ROVs and AUVs use screw-type actuators to move or hover underwater.

Underwater robots of this type have difficulty performing precise work on the seabed because it is difficult to accurately control their position in an underwater environment with strong currents.

In the case of the West Sea of Korea, there are adverse environmental conditions such as strong currents and bad visibility. In order to perform underwater work in such an environment, a different type of underwater robot from the existing type is required.

The technical problem to be achieved by the present invention is to smoothly run the submersible even without a rudder (head angle control) and an elevator mounted on a conventional submersible, so that the resistance force in the water depth can be reduced, and it is possible to adjust at various angles. It is possible to provide a driving control system that can enhance the main function of underwater work.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to achieve the above technical problem, one embodiment of the present invention is a drive control system for controlling underwater driving of an underwater vehicle, a propulsion module including a propulsion motor for driving the underwater vehicle, the propulsion module and Combined, a motion platform for controlling the driving angle of the propulsion module to control the underwater driving of the underwater vehicle, an acoustic sensor for detecting an underwater obstacle around the underwater vehicle, and It provides a driving control system including a control unit for generating a control signal for controlling the driving of the motion platform.

In an embodiment of the present invention, the motion platform includes a base frame, one side of which is fixed to the body of the underwater vehicle, a plurality of base connection links, one side of which is connected to the other side of the base frame and rotates, and the base connection A plurality of linear actuators connected to each of the links and moving linearly, a plurality of sub-links having one side connected to each of the linear actuators and the other side connected to the propulsion module and rotating, and the propulsion module For the coupling, it may include a coupling member formed in a form surrounding the central axis of the propulsion motor.

In an embodiment of the present invention, a driving motor located on one side of the linear actuator and providing a driving force to the linear actuator may be further included, and each linear actuator may extend or contract its entire length through piston movement. there is.

In an embodiment of the present invention, the base connecting link includes a first hinge member attached to the surface of the base frame, and a first rod coupled to the first hinge member located at one end of the drive motor And, the sub-connection link includes a second hinge member attached to the coupling member, located on the other side of the linear actuator, and coupled to the second hinge member in a form extending along the longitudinal direction of the linear actuator. Can contain 2 rods.

In an embodiment of the present invention, the linear actuator includes an inner cylinder that performs a piston motion, an outer cylinder that covers the inner cylinder, and a bearing that surrounds both sides of the inner cylinder and assists the movement of the linear actuator. can include

In an embodiment of the present invention, an aqua sealing process is performed between the driving motor and the linear actuator, and the outer cylinder may accommodate a material having a higher specific gravity or viscosity than water.

In an embodiment of the present invention, detection information is transmitted to the controller by receiving a result detected by the acoustic sensor and detecting at least one of a speed of an underwater obstacle, a distance to the underwater moving body, and a bearing of the underwater obstacle. It may further include a detection module that does.

In an embodiment of the present invention, the control unit may generate the control signal in consideration of the detection information.

According to an embodiment of the present invention, since the submersible can smoothly run even without a rudder (head angle control) and an elevator mounted on a conventional submersible, it is possible to reduce resistance in the water depth and to adjust various angles. It is possible to increase the main function of underwater work.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the description of the present invention or the configuration of the invention described in the claims.

1 is a schematic diagram for explaining the configuration of an underwater vehicle according to an embodiment of the present invention.
2 is a diagram for explaining a motion platform according to an embodiment of the present invention.
3 is a diagram for explaining a linear actuator according to an embodiment of the present invention in more detail.
4 is an enlarged view showing a linear actuator and a sub-connection link part according to an embodiment of the present invention.
5 is a view showing a state in which a propulsion motor and a motion platform are driven together according to another embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

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

The present invention will be described in detail with respect to a drive control system for controlling an underwater drive of an underwater vehicle, and an underwater vehicle including the drive control system. For example, the underwater vehicle of the present invention may be a remotely operated vehicle or an autonomous underwater vehicle.

1 is a schematic diagram for explaining the configuration of an underwater vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an underwater vehicle 10 according to an embodiment of the present invention includes a propulsion module 100, a motion platform 300 mounted inside the propulsion module 100, an acoustic sensor 500, and a housing 700. ). In addition, although not shown in the drawings, the underwater vehicle 10 of the present invention may further include a detection module (not shown) and a control unit (not shown).

In addition, in the present invention, the driving control system may be composed of a propulsion module 100, a motion platform 300, an acoustic sensor 500, a detection module (not shown), and a controller (not shown).

The propulsion module 100 according to an embodiment of the present invention is a configuration for propelling the underwater vehicle 10, and may be implemented as a propulsion motor.

It may be located at the rear end of the underwater vehicle 10 of the propulsion module 100.

In addition, the motion platform 300 according to an embodiment of the present invention may operate in conjunction with the propulsion module 100 to control driving of the propulsion module 100 . The motion platform 300 according to this embodiment is implemented as being mounted in the inner space of the rear end of the housing 700 of the underwater moving body 10 .

2 is a diagram for explaining a motion platform according to an embodiment of the present invention.

Referring to FIG. 2, a motion platform 300 according to an embodiment of the present invention includes a base frame 310, base connection links 320, linear actuators 330, and drive motors 340. , sub connection links 350, a coupling member 360, and a power connector 370.

One side of the base frame 310 may be fixed to the main body of the underwater vehicle 10. Here, the body of the underwater vehicle 10 means a body module inside the housing 700, and the base frame 310 according to this embodiment is installed inside the housing 700 in a form attached to the body module. It can be.

In one embodiment, the base frame 310 of the present invention may be formed of a plate having three vertices as shown in FIG. 2, and in another embodiment, it may be implemented as a polygonal plate such as a triangle or a quadrangle. In addition, the base frame 310 may be implemented with a metal material of a corrosion-resistant material.

The base connection link 320 of the present invention may be provided with a plurality of base connection links 320 attached to each of the plurality of linear actuators 330 provided. In this embodiment, it is illustrated with three base connecting links 320 .

Each base connection link 320 is provided in a form in which one side is connected to each linear actuator 330 and the other side is coupled to one surface of the base frame 310 and can rotate.

The base connection link 320 of the present invention is located at one end of the first hinge member 321 attached to the surface (other side) of the base frame 310 and the driving motor 340, the first hinge member 321 It may be configured to include a first rod 323 coupled with.

The base connection link 320 connects between the base frame 310 and the linear actuator 330 and is configured to drive linear rotation by the linear actuator 330 .

The linear actuator 330 according to the embodiment of the present invention is connected to the base connection link 320 and can move linearly. More specifically, the linear actuator 330 may extend or contract its entire length through a piston motion.

As shown in FIG. 2, the linear actuator 330 according to the present embodiment is provided with a plurality of linear actuators 330, and controls the propulsion module 100 according to different driving, thereby driving the underwater vehicle 10 You can control the direction. For example, in this specification, it is assumed that three linear actuators 330 are provided and driven, but three or more are provided according to the design of those skilled in the art, and finer control of the propulsion module 100 may be implemented.

3 is a diagram for explaining a linear actuator according to an embodiment of the present invention in more detail. Each linear actuator 330 of the present invention may include an outer cylinder 331, an inner cylinder 333, a first bearing 335, and a second bearing 337.

The outer cylinder 331 covers the inner cylinder 333, and the inner cylinder 333 is configured to perform a piston motion. According to one embodiment of the present invention, the inner space of the inner cylinder 333 has a higher specific gravity than water. Alternatively, it may be filled with a material having a lower viscosity, and the inner space of the outer cylinder 331 may be filled with a material having a higher specific gravity or viscosity than water. For example, mineral oil, which is a material having a higher specific gravity or viscosity than water at atmospheric pressure and room temperature, is accommodated in the outer cylinder 331, thereby enhancing the waterproof function of the motion platform of the present invention.

At this time, the mineral oil creates a space capable of internal and external movement, and the pressure of the internal and external oil is maintained constant during the vertical movement of the linear actuator 330, thereby preventing external substances from penetrating into the internal.

The first bearing 335 may be formed to surround one end shaft of the outer cylinder 331 adjacent to the driving motor 340 and a portion of the inner cylinder 333 .

The second bearing 337 is formed to surround the other end of the rotating shaft of the inner cylinder 333 adjacent to the sub connecting link 350 to facilitate rotation.

The first bearing 335 and the second bearing 337 are components for assisting the movement of the linear actuator 330 .

The linear actuators 330 of the present invention include not only the bearings as described above, but also the area where the drive motor 340 and the power connector 370 are located, and the connection between the ball screw and the drive motor, in consideration of areas where waterproofing is weak. The space composed of the coupling of can significantly deteriorate the waterproof function during operation, so a waterproof aqua seal can be attached.

The driving motor 340 according to an embodiment of the present invention may be positioned between the linear actuator 330 and the first rod 323 to provide a driving force to the linear actuator 330 . The driving motor 340 of the present invention may be implemented as, for example, an electric motor or a hydraulic motor.

The power connector 370 is a connector that receives power for turning on/off the driving motor 340 from an external power supply mounted inside the underwater vehicle 10, and is formed by being connected to one surface of the driving motor 340. can

And, referring to FIGS. 2 and 3 , the sub connection link 350 of the present invention may be provided with a plurality of sub connection links 350 attached to each of the plurality of linear actuators 330 . In this embodiment, three sub connection links 350 are illustrated.

Each sub connection link 350 is provided in a form in which one side is connected to each linear actuator 330 and the other side is coupled to the surface of the coupling member 360 and can rotate.

The sub connection link 350 of the present invention is attached to the second hinge member 351 coupled to the second bearing 337 of the linear actuator 330 and the coupling member 360, and the second hinge member 351 It may be configured to include a second rod 353 coupled with.

The sub connection link 350 connects between the coupling member 360 and the linear actuator 330 and is configured to drive linear rotation by the linear actuator 330 .

4 is an enlarged view showing a linear actuator and a sub-connection link part according to an embodiment of the present invention.

Referring to FIG. 4, the second hinge member 351 is coupled to one end of the second bearing 337 along the longitudinal direction of the outer cylinder 331 and the inner cylinder 333 of the linear actuator 330. It is formed, and as shown in FIG. 4, it may be implemented in a 'c' shape. In the second hinge member 351 according to the present embodiment, fastening holes for fastening with the second rod 353 may be formed at positions facing each other.

The first hinge member 321 of the present invention is also provided in a 'c' shape similar to the second hinge member 351 as shown in FIG. They may be formed facing each other.

5 is a view showing a state in which a propulsion motor and a motion platform are driven together according to another embodiment of the present invention.

Referring to FIG. 5 , the coupling member 360 of the present invention may be formed in a shape surrounding the central axis 113 of the propulsion motor 110 for coupling with the propulsion module 100 .

According to this embodiment, as each of the plurality of linear actuators 330 is driven differently, by adjusting the length differently from each other, the propulsion module 100 connected to the coupling member 360 is the first as shown in (a) of FIG. It can be directed in one direction or directed in a second direction as shown in FIG. 5(b). Thus, the linear actuator 330 can control the driving direction of the underwater vehicle 10 .

Reference is made to FIG. 1 again.

The acoustic sensor 500 of the present invention is a sensor for detecting underwater obstacles around the underwater moving body 10, and emits sound wave signals in all directions, and the emitted sound wave signals are reflected by the underwater obstacles and return sound wave signals. can receive Accordingly, the acoustic sensor 500 may transmit the received sound wave signal to a detection module (not shown).

The detection module (not shown) receives the detected result from the acoustic sensor 500, the underwater moving speed of the underwater obstacle, the distance between the underwater obstacle and the underwater moving object 10, and the azimuth angle of the underwater obstacle with respect to the underwater moving object 10. At least one of the detection information may be generated as an electrical signal.

In addition, the control unit (not shown) receives the detection information generated from the detection module (not shown), and measures the underwater movement speed of the detected underwater obstacle, the distance between the underwater obstacle and the underwater vehicle 10, the azimuth angle of the underwater obstacle, and the like. A control signal for controlling driving of the motion platform 300 may be generated in consideration of at least one detection information among location information.

According to another embodiment of the present invention, the driving control system may further include an image acquisition module and a communication module.

The communication module is a component that receives a signal from an external terminal on land or underwater or transmits a generated signal to the external terminal. The communication module may receive information about coordinate values, such as coordinates of a location to be reached, from the external terminal.

Also, the image acquisition module may be provided at a position facing forward in a portion adjacent to the acoustic sensor 500 to obtain an image of a viewing angle. Here, the video may be a single image or a moving picture.

The controller (not shown) considers the result (sound signal) detected by the acoustic sensor, the image obtained from the image acquisition module, and the coordinate information on the destination received from the communication module, but information to be considered according to a predetermined weight. It is possible to determine the control angle of the propulsion module 100 and determine the traveling speed of the underwater vehicle 10 by setting the priority of .

In one embodiment, the control unit (not shown) controls the position of the underwater obstacle detected using the acoustic sensor and the image acquisition module between the coordinate information on the destination received from the communication module and the coordinates where the underwater vehicle 10 is currently located. It is possible to generate information on a main route considering , speed, etc., and a candidate route to replace the main route, and calculate an expected arrival time according to each route. In addition, by comparing the calculated expected arrival times for each route, a route that takes the minimum time is selected, and a control signal for determining and controlling the speed and drive angle of each section of the propulsion module for driving along the selected route may be generated. .

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: underwater movement
100: propulsion module
300: motion platform
310: base frame
320: base connection link
330: linear actuator
340: drive motor
350: sub connection link
360: coupling member
370: power connector
500: acoustic sensor
700: housing

Claims (8)

In the drive control system for controlling the underwater drive of an underwater vehicle,
A propulsion module including a propulsion motor for underwater driving of the underwater vehicle;
a motion platform coupled with the propulsion module and controlling a driving angle of the propulsion module to control underwater driving of the underwater vehicle;
An acoustic sensor for detecting an underwater obstacle around the underwater vehicle;
A driving control system comprising a control unit generating a control signal for controlling driving of the motion platform based on a result detected by the acoustic sensor.
According to claim 1,
The motion platform,
A base frame having one side fixed to the body of the underwater moving body;
A plurality of base connection links, one side of which is connected to the other side of the base frame and rotates;
A plurality of linear actuators connected to each of the base connection links and linearly moving;
A plurality of sub-connection links having one side connected to each of the linear actuators and the other side connected to the propulsion module to pivot;
The drive control system comprising a coupling member formed in a form surrounding a central axis of the propulsion motor for coupling with the propulsion module.
According to claim 2,
Further comprising a drive motor located on one side of the linear actuator to provide a driving force to the linear actuator,
The drive control system, characterized in that each of the linear actuators extends or contracts the entire length through piston movement.
According to claim 3,
The base connecting link,
A first hinge member attached to the surface of the base frame;
It is located at one end of the drive motor and includes a first rod coupled to the first hinge member,
The sub connection link,
A second hinge member attached to the coupling member;
and a second rod located on the other side of the linear actuator and coupled to the second hinge member in a form extending along a longitudinal direction of the linear actuator.
According to claim 3,
The linear actuator,
An inner cylinder with a piston movement;
an outer cylinder covering the inner cylinder;
and a bearing surrounding both sides of the inner cylinder and assisting the movement of the linear actuator.
According to claim 5,
Aqua sealing is processed between the drive motor and the linear actuator,
The drive control system, characterized in that the outer cylinder accommodates a material having a higher specific gravity or viscosity than water.
According to claim 1,
Further comprising a detection module for transmitting detection information to the control unit by receiving a result detected from the acoustic sensor and detecting at least one of the speed of the underwater obstacle, the distance to the underwater vehicle, and the orientation of the underwater obstacle. characterized drive control system.
According to claim 7,
The control unit generates the control signal in consideration of the detection information.

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