Horizontally divided hull and unmanned underwater vehicle using the same

Abstract

The present invention proposes a segmented hull that is formed with a structure horizontally divided along the longitudinal direction, thereby enhancing convenience for manufacturing and maintenance while simultaneously ensuring pressure resistance. The segmented hull may include a housing formed by dividing along the longitudinal direction and having an internal space, a cover that seals both ends of the housing along the longitudinal direction, and a clamp that secures the cover to the housing.

Description

Technology Field

[0001] The present invention relates to an unmanned underwater vehicle (UUV). More specifically, the invention relates to a segmented hull structure formed by horizontally dividing the hull along the longitudinal direction, which improves ease of manufacturing and maintenance and ensures pressure resistance, and to an unmanned underwater vehicle utilizing the same. Background Technology

[0002] Unmanned Underwater Vehicles (UUVs) refer to underwater robotic equipment designed to perform missions autonomously or remotely in underwater environments without direct human operation. These UUVs are utilized for a wide range of military and civilian purposes, including underwater surveillance, marine geological exploration, inspection of underwater structures, and mine removal. In particular, the demand for UUVs is increasing rapidly due to their ability to reduce risks to human life and improve operational efficiency.

[0003] Generally, unmanned submersibles are classified into autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) based on their operational methods, and are being developed in various forms such as rescue, exploration, measurement, and mine removal depending on the mission objective. Among these, mine-removing unmanned submersibles are equipment designed to approach mines detected in dangerous waters to safely remove or neutralize them, and thus watertightness, maneuverability, and the stability of the pressure-resistant structure serve as particularly important technical elements.

[0004] The hull of such an unmanned submersible is manufactured based on a cylindrical housing structure. In other words, the hull is formed as a single integrated structure by extruding aluminum material into a cylinder. This integrated extruded hull structure can ensure a certain level of durability in terms of strength.

[0005] However, the one-piece extruded hull structure presented a problem where assembling and maintaining complex internal components, such as sensors, control boards, and battery packs, was difficult. This required precise insertion using hand tools or specialized equipment, and the closed nature of the structure resulted in reduced workability during the disassembly and reassembly process. Prior art literature

[0006] Korean Patent Publication No. 10-2301815, 'Unmanned Submersible and Power Control Method', (Registered Sep 8, 2021) The problem to be solved

[0007] Accordingly, one objective of the present invention is to provide a segmented hull that can improve the convenience of manufacturing and maintenance and simultaneously secure pressure resistance by forming the hull in a structure that is horizontally divided along the longitudinal direction.

[0008] In addition, another objective of the present invention is to provide an unmanned submersible using a segmented hull.

[0009] The technical problems of the present invention are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0010] To achieve the technical objectives described above, the present invention proposes a segmented hull structure formed by horizontally dividing the hull along the longitudinal direction, which enhances the convenience of manufacturing and maintenance while simultaneously ensuring pressure resistance. The segmented hull may include a housing formed by dividing along the longitudinal direction and having an internal space, a cover that seals both ends of the housing along the longitudinal direction, and a clamp that secures the cover to the housing.

[0011] Specifically, the housing is characterized by comprising a lower housing having an open top and a first internal space formed therein, and an upper housing coupled to the open top of the lower housing, having an open bottom and a second internal space formed therein that communicates with the first internal space of the lower housing.

[0012] The lower housing is formed in a semi-cylindrical shape with an open top, and is characterized by including a lower body portion having a first internal space formed along the longitudinal direction, and a lower coupling portion protruding from both ends of the lower body portion in the longitudinal direction, having a first coupling groove formed for coupling with the cover.

[0013] The upper housing is formed in a semi-cylindrical shape with an open bottom, forming a second internal space along the longitudinal direction, and is characterized by including an upper body part coupled to the upper part of the lower body part and an upper coupling part formed at both ends in the longitudinal direction of the upper body part, having a second coupling groove formed for coupling with the cover.

[0014] The above cover is characterized by comprising a pair of plate bodies formed to seal each end portion in the longitudinal direction of the housing, and a cover coupling portion formed protruding from each of the pair of plate bodies and coupled to the lower coupling portion and the upper coupling portion through the clamp, and having a third coupling groove formed for coupling with the lower coupling portion and the upper coupling portion.

[0015] The clamp is characterized by having a pair of protrusions formed therein that are inserted into the first coupling groove or the third coupling groove, the second coupling groove or the third coupling groove when the housing and the cover are combined.

[0016] The lower housing is characterized by having a pair of ribs formed along the longitudinal direction on the surface in contact with the upper housing, and the upper housing is characterized by having a pair of guide grooves formed on the surface in contact with the lower housing that correspond to the pair of ribs of the lower housing.

[0017] The above-described split hull is characterized by further including a sensor installed at each end of each of the pair of ribs to detect pressure generated when the pair of ribs contact the pair of guide grooves at four points corresponding to each of the longitudinal ends and both sides of the width direction of the lower housing, an output unit that outputs sound according to the pressure detected by the sensor, and a controller that compares the pressure values ​​of each of the four points detected by the sensor to determine the coupling alignment state between the lower housing and the upper housing, and controls the output unit according to the result of the determination.

[0018] The above output unit is installed at four points corresponding to the installation location of each of the sensors, and the controller controls each of the output units with different sound volumes, timbres, or output patterns corresponding to the pressure values ​​at each point detected by the sensors, thereby supporting intuitive determination and correction of the coupling alignment state between the lower housing and the upper housing.

[0019] The present invention proposes an unmanned submersible that can improve the convenience of manufacturing and maintenance and simultaneously secure pressure resistance by forming the hull in a structure that is horizontally divided along the longitudinal direction. The unmanned submersible may include a divided hull comprising a housing formed by being divided along the longitudinal direction and having an internal space, a cover that seals both ends of the housing along the longitudinal direction, and a clamp that secures the cover to the housing, and a driving unit installed on the divided hull to drive the divided hull.

[0020] Specific details of other embodiments are included in the detailed description and drawings. Effects of the invention

[0021] According to various embodiments of the present invention, by forming the hull into a structure that is horizontally divided along the longitudinal direction, the convenience of manufacturing and maintenance can be improved compared to the existing integral through-work structure.

[0022] In addition, according to various embodiments of the present invention, by securing safe stress distribution and deformation characteristics even under external water pressure conditions, a pressure-resistant structure capable of stable operation even in deep underwater environments can be realized.

[0023] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art to which the present invention pertains from the description in the claims. Brief explanation of the drawing

[0024] FIG. 1 is an exemplary diagram showing an unmanned submersible according to one embodiment of the present invention. FIG. 2 is a perspective view showing a segmented hull according to one embodiment of the present invention. FIG. 3 is a perspective view showing a lower housing according to one embodiment of the present invention. FIG. 4 is a perspective view showing an upper housing according to one embodiment of the present invention. FIG. 5 is a perspective view showing a cover according to one embodiment of the present invention. FIG. 6 is a perspective view showing a clamp according to one embodiment of the present invention. FIG. 7 is an exemplary diagram showing the combined state of a clamp according to one embodiment of the present invention. FIG. 8 is an exemplary diagram showing a divided hull according to another embodiment of the present invention. FIGS. 9 to 13 are exemplary diagrams showing the structural analysis results of a segmented hull according to various embodiments of the present invention. Specific details for implementing the invention

[0025] It should be noted that technical terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Furthermore, unless specifically defined otherwise in this specification, technical terms used in this specification should be interpreted in the sense generally understood by those skilled in the art to which the invention pertains, and should not be interpreted in an overly broad or overly narrow sense. Additionally, if a technical term used in this specification is an incorrect technical term that fails to accurately express the spirit of the invention, it should be understood as being replaced by a technical term that can be correctly understood by those skilled in the art. Moreover, general terms used in this invention should be interpreted according to their prior definitions or the context, and should not be interpreted in an overly narrow sense.

[0026] Additionally, singular expressions used in this specification include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "composed of" or "have" should not be interpreted as necessarily including all of the various components or steps described in the specification, and should be interpreted as potentially including some of the components or steps, or including additional components or steps.

[0027] Additionally, terms including ordinal numbers, such as first, second, etc., used herein may be used to describe various components, but said components shall not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0028] When it is stated that one component is "connected" or "connected" to another component, it may be directly connected or connected to that other component, or there may be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0029] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols are given the same reference number, and redundant descriptions thereof will be omitted. Furthermore, in describing the present invention, if it is determined that a detailed description of related known technology may obscure the essence of the present invention, such detailed description will be omitted. Additionally, it should be noted that the attached drawings are intended only to facilitate an easy understanding of the concept of the present invention and should not be interpreted as limiting the concept of the present invention. The concept of the present invention should be interpreted as extending to all modifications, equivalents, and substitutions other than those shown in the attached drawings.

[0031] Meanwhile, the hull of the unmanned submersible is manufactured based on a cylindrical housing structure. That is, the hull is formed as a single integrated structure by extruding aluminum material into a cylinder. This integrated extruded hull structure can ensure a certain level of durability in terms of strength.

[0032] However, the one-piece extruded hull structure presented a problem where assembling and maintaining complex internal components, such as sensors, control boards, and battery packs, was difficult. This required precise insertion using hand tools or specialized equipment, and the closed nature of the structure resulted in reduced workability during the disassembly and reassembly process.

[0033] To overcome these limitations, the present invention proposes various means to enhance the convenience of manufacturing and assembly while simultaneously ensuring pressure resistance performance.

[0035] FIG. 1 is an exemplary diagram showing an unmanned submersible according to one embodiment of the present invention.

[0036] Referring to FIG. 1, an unmanned submersible according to one embodiment of the present invention may be configured to include at least one segmented hull (100), a first propulsion unit (200), and a second propulsion unit (300).

[0037] Meanwhile, as described above, the unmanned submersible according to one embodiment of the present invention is described as an example of a mine disposal unit, but is not limited thereto and can be applied to unmanned submersibles for various purposes, such as unmanned submersibles for seabed reconnaissance, unmanned submersibles for monitoring the underwater environment, and unmanned submersibles for inspecting marine structures.

[0038] To describe each configuration, at least one segmented hull (100) is formed in a cylindrical shape and has a structure that can be divided and assembled along the longitudinal direction, and a sealed internal space can be formed inside to accommodate electronic equipment, batteries, sensors, etc.

[0039] Specifically, the split hull (100) may be configured to include a first hull (100-1) forming the front part of the hull and a second hull (100-2) forming the rear part.

[0040] The first hull (100-1) and the second hull (100-2) may each be composed of a cylindrical metal housing. For example, the first hull (100-1) and the second hull (100-2) may be made of an aluminum alloy or a titanium alloy with excellent corrosion resistance to seawater.

[0041] Meanwhile, the specific configuration of the divided hull (100) will be described later with reference to the drawings below.

[0042] In the following configuration, the first propulsion unit (200) is installed on each side of the split hull (100) to provide control force for steering in the left and right directions or for vertical ascent and descent.

[0043] More specifically, the first propulsion unit (200) may be configured to include a support arm (210) formed to protrude from the outside of the hull and a rotating propeller (220) installed at the end of the support arm (210). For example, the support arm (210) may be formed of high-strength engineering plastic or carbon fiber composite, and a through path into which power lines and control signal lines are inserted may be provided inside.

[0044] The rotating propeller (220) can be driven by a low-noise, high-output motor and can be formed into a three-bladed or four-bladed spiral blade optimized for underwater propulsion characteristics. For example, the material of the propeller can be composed of polyacetal (POM, Polyoxymethylene) or seawater-grade stainless steel. The first propulsion unit (200) can be controlled independently left and right according to a control algorithm and can be utilized for horizontal attitude control, turning rotation, fine position adjustment, etc.

[0045] In the following configuration, the second propulsion unit (300) is a main propulsion means positioned at the rear of the split hull (100) and can provide propulsion for the forward and backward movement of the unmanned submersible.

[0046] This second propulsion unit (300) may be composed of a drive shaft fixed to the rear end of a cylindrical housing and a rotating propeller (310).

[0047] The rotating propeller (310) is directly connected to a high-torque underwater brushless motor, and the rotational speed can be precisely controlled. For example, the propeller may be configured with a multi-blade structure and may incorporate a design that minimizes underwater resistance and prevents cavitation. Additionally, the material of the rotating propeller (310) may be made of high-strength resin or aluminum that is resistant to seawater corrosion.

[0048] In this way, the unmanned submersible according to one embodiment of the present invention has a hull (100) formed in a structure that is horizontally divided along the longitudinal direction, thereby increasing the convenience of manufacturing and maintenance compared to the existing integrated through-process structure.

[0049] Hereinafter, a divided hull (100) according to one embodiment of the present invention will be described in detail with reference to the drawings.

[0050] FIG. 2 is a perspective view showing a segmented hull according to one embodiment of the present invention.

[0051] Referring to FIG. 2, a split hull (100) according to one embodiment of the present invention may be configured to include a housing (110), a cover (120), and a clamp (130).

[0052] To describe each configuration, the housing (110) may be formed in a cylindrical shape extending along the longitudinal direction. This housing (110) has a sealed space inside and can accommodate various functional components, such as electronic devices, control modules, and battery packs, for operating an unmanned submersible.

[0053] In particular, the housing (110) may be formed by horizontally dividing it along the longitudinal direction of the hull. Specifically, the housing (110) may be composed of a lower housing (111) and an upper housing (115).

[0054] Such a housing (110) can be formed from a material capable of maintaining excellent corrosion resistance and mechanical strength even in a seawater environment. For example, the housing (110) can be composed of an aluminum alloy, a titanium alloy, carbon fiber reinforced plastic (CFRP), etc.

[0055] In the following configuration, the cover (120) may be formed in a disc shape that seals both ends of the housing (110).

[0056] Such a cover (120) is installed to be in precise contact with both ends of the housing (110) and can perform the function of protecting internal electronic devices and components from water pressure and maintaining an airtight internal space. Such a cover (120) may be formed of a metal material or a composite material with excellent corrosion resistance, identical to the material of the housing (110).

[0057] Additionally, the cover (120) may be configured to further include an auxiliary cover (126) attached to the outer surface. The auxiliary cover (126) is attached to the side of the cover (120) and can function as an auxiliary structure to facilitate the fixation and storage of the unmanned submersible in states such as transport, movement, or non-use. Such an auxiliary cover (126) may be formed in a loop shape or a ring-shaped plate structure and can be utilized as a transport ring, a fastening latch, a mounting bracket, etc.

[0058] In the following configuration, the clamp (130) can be a fastening means for detachably securing the cover (120) to the end of the housing (110).

[0059] The clamp (130) may be formed as a ring-shaped structure placed between the housing (110) and the cover (120), and may secure the housing (110) and the cover (120) by wrapping around a portion of the housing (110) and the cover (120). The clamp (130) may be formed from a metal material or a composite material having excellent corrosion resistance, identical to the material of the housing (110).

[0060] In particular, the clamp (130) is formed with a structure divided into multiple parts, thereby supporting rapid disassembly and assembly during docking operations, maintenance, and replacement processes, and improving maintenance convenience.

[0061] Meanwhile, the specific structure of the housing (110), cover (120), and clamp (130) will be described later with reference to the drawings.

[0063] Hereinafter, the configuration of the housing (110) according to one embodiment of the present invention will be described in more detail.

[0064] FIG. 3 is a perspective view showing a lower housing according to one embodiment of the present invention, and FIG. 4 is a perspective view showing an upper housing according to one embodiment of the present invention.

[0065] Referring to FIGS. 3 and 4, a housing (110) according to one embodiment of the present invention may be configured to include a lower housing (111) and an upper housing (115).

[0066] To describe each configuration, the lower housing (111) is a structure that constitutes the lower part of the split hull (100), and may have a space formed inside for accommodating electronic devices and control components, and may be configured to include various components for coupling with the upper housing (115) and the cover (120).

[0067] Such a lower housing (111) may be configured to include a lower body portion (112) and a lower coupling portion (113).

[0068] The lower body portion (112) may have a structural shape in which the cross-section is formed in a semi-cylindrical shape, so that when combined with the upper housing (115), a cylindrical shape is completed. The shape of the lower body portion (112) may be designed as a curved surface structure having curvature to minimize underwater resistance and secure pressure resistance, and may be formed of an aluminum alloy or composite material to simultaneously achieve rigidity and lightweighting.

[0069] Additionally, a first internal space (112a) may be formed extending along the longitudinal direction within the lower body portion (112). Here, the first internal space (112a) may accommodate various electronic components such as a battery pack, a control circuit, and a communication module. Furthermore, the first internal space (112a) may be connected to the second internal space (116a) of the upper housing (115) and together with the second internal space (116a) may form a single sealed storage structure.

[0070] Additionally, the lower body portion (112) may have a plurality of screw grooves (112b) formed at regular intervals on the coupling surface that contacts the upper housing (115). Here, a fixing member, such as a screw for fastening with the upper housing (115), is inserted into the screw groove (112b), thereby improving the positional alignment accuracy during coupling and ensuring airtightness and fastening stability in an underwater environment. In particular, according to one embodiment of the present invention, the screw grooves (112b) may be formed in 32 numbers.

[0071] The lower connecting portion (113) may be integrally extended and formed at both ends of the lower body portion (112). This lower connecting portion (113) functions as a structural element for connection with a cover (120) that seals both ends of the housing (110), and a first connecting groove (113a) for connection with the cover (120) may be formed. This first connecting groove (113a) may be formed in a semicircular shape along the outer surface of the lower connecting portion (113).

[0072] Additionally, a first partition (113b) may be installed inside the lower connecting part (113). Here, the first partition (113b) can partially partition the interior to perform functions such as aligning the position of cables, fixing them, and supporting internal components. Such a first partition (113b) can contribute to improving overall functional stability and durability by preventing shaking or damage to wires in vibration and shock environments.

[0073] In the following configuration, the upper housing (115) is a structure constituting the upper part of the split hull (100), and may have a space formed inside for accommodating electronic devices and components, and may be configured to include various components for coupling with the lower housing (111) and the cover (120).

[0074] The upper housing (115) may be configured to include an upper body portion (116) and an upper coupling portion (117).

[0075] The upper body portion (116) may have a structural shape in which the cross-section is formed in a semi-cylindrical shape, so that when combined with the lower housing (111), a cylindrical shape is completed. The shape of the upper body portion (116) may be designed as a curved surface structure having curvature to minimize underwater resistance and secure pressure resistance, and may be formed of an aluminum alloy or composite material to simultaneously achieve rigidity and lightweighting.

[0076] Additionally, a second internal space (116a) may be formed extending along the longitudinal direction within the upper body portion (116). Here, the second internal space (116a) may accommodate various electronic components such as control circuits, communication devices, and wiring. Furthermore, the second internal space (116a) may be connected to the first internal space (112a) of the lower housing (111) and together with the first internal space (112a) may form a single sealed storage structure.

[0077] Additionally, a plurality of screw holes (116b) may be formed at regular intervals on the coupling surface of the upper body part (116) that contacts the lower housing (111). Here, a fixing member, such as a screw for fastening with the lower housing (111), is inserted into the screw hole (116b) and inserted into the screw groove (112a) of the lower body part (112), thereby allowing the upper body part (116) and the lower body part (112) to be coupled. In particular, according to one embodiment of the present invention, the screw holes (116b) may be formed in 36 numbers.

[0078] The upper connecting portion (117) may be integrally extended at both ends of the upper body portion (116). This upper connecting portion (117) functions as a structural element for connection with a cover (120) that seals both ends of the housing (110), and a second connecting groove (117a) for connection with the cover (120) may be formed. This second connecting groove (117a) may be formed in a semicircular shape along the outer surface of the upper connecting portion (117).

[0079] Additionally, a second partition (117b) may be installed inside the upper connecting part (117). Here, the second partition (117b) can partially partition the interior to perform functions such as aligning the position of cables, fixing them, and supporting internal components. Such a second partition (117b) can contribute to improving overall functional stability and durability by preventing shaking or damage to wires in vibration and shock environments.

[0081] Hereinafter, the configuration of the cover (120) according to one embodiment of the present invention will be described in more detail.

[0082] FIG. 5 is a perspective view showing a cover according to one embodiment of the present invention.

[0083] Referring to FIG. 5, a cover (120) according to one embodiment of the present invention can seal both ends in the longitudinal direction of the housing (110).

[0084] Such a cover (120) may be configured to include a pair of plates (121), a cover joint (125), and an auxiliary cover (126).

[0085] To explain each configuration, a pair of plates (121) are disc-shaped structures formed to seal each of the open ends of the housing (110), and can perform the function of maintaining airtightness of the internal space through connection with the housing (110).

[0086] In this case, a plurality of fastening holes (121a) may be formed along the outer surface of the plate (121). Here, a fixing member such as a screw may be inserted into the plurality of fastening holes (121a) to be firmly fixed to an auxiliary cover (126) or other components constituting the unmanned submersible.

[0087] Additionally, a third bulkhead (121b) may be formed on the inner side of the plate body (121) to be aligned with the first bulkhead (113b) of the lower housing (111) or the internal structure of the upper housing (115). Here, the third bulkhead (121b) may perform the function of assisting in the alignment and fixation of cables placed inside, and improving the stability of internal components against vibrations or shocks in an underwater environment.

[0088] In the following configuration, the cover coupling portion (125) may be formed to protrude from the outer surface or outer side of the plate body (121) and may be formed in a structure that can be joined through a clamp (130) by contacting the lower coupling portion (113) and the upper coupling portion (117) of the housing (110).

[0089] The cover coupling portion (125) is formed with a ring-shaped third coupling groove (125a) that corresponds to the shape of the first coupling groove (112a) and the second coupling groove (117a), and can be coupled to the lower coupling portion (113) and the upper coupling portion (117) through a clamp (130). That is, the third coupling groove (125a) can be formed symmetrically with respect to the first coupling groove (112a) and the second coupling groove (117a) with respect to the contact surface when the housing (110) and the cover (120) come into contact. The cover coupling portion (125) can perform the function of preventing the cover (120) from coming off and maintaining airtightness.

[0090] Additionally, a groove into which a sealing material or packing can be inserted is formed on the outer surface of the cover joint (125), so as to ensure a watertight structure when joined. Here, a packing that maintains airtightness may be placed on the surface that contacts the cover joint (125), the lower joint (113), and the upper joint (117).

[0091] The auxiliary cover (126) is a component additionally formed on the outer surface of the cover (120) and can function as a structure to facilitate the transport, fixing, storage, or external connection of the unmanned submersible. The auxiliary cover (126) is formed in a loop shape or a ring-shaped bracket structure, allowing the user to easily move or fix the unmanned submersible using equipment such as a rope, hook, or crane.

[0093] With reference to the drawings below, the configuration of a clamp (130) according to one embodiment of the present invention will be described in detail.

[0094] FIG. 6 is a perspective view showing a clamp according to one embodiment of the present invention, and FIG. 7 is an exemplary diagram showing the combined state of a clamp according to one embodiment of the present invention.

[0095] Referring to FIGS. 6 and 7, the clamp (130) can be a fastening means for maintaining and securing the connection between the housing (110) and the cover (120) when they are combined.

[0096] The clamp (130) may be formed to include a pair of protrusions (131, 132) inside. The protrusions (131, 132) are formed to protrude symmetrically on the inner surface of the clamp (130) and can be inserted into the first coupling groove (113a) and the second coupling groove (117a), respectively, to provide a fixing force. That is, the protrusions (131, 132) may be formed to correspond to the first coupling groove (113a) of the lower housing (110), the second coupling groove (117a) of the upper housing (115), and the third coupling groove (125a) of the cover (120).

[0097] The protrusions (131, 132) may be formed in a curved or trapezoidal shape to correspond to the shapes of the first coupling groove (113a), the second coupling groove (117a), and the third coupling groove (125a), and may function to align the housing (110) and the cover (120) when the clamp (130) is fastened, and to prevent rotation or detachment.

[0098] Additionally, fastening holes (133) may be formed at both ends of the clamp (130). Here, the fastening holes (133) may support the insertion of a fixing member, such as a screw, to fix the clamps (130) facing each other.

[0099] As shown in FIG. 7, the clamp (130) can be positioned to wrap around the first coupling groove (113a), the second coupling groove (117a), and the third coupling groove (125a) of the lower housing (110), the upper housing (115), and the cover (120).

[0100] For example, the clamp (130) may be composed of four, and two may be placed at each end of the housing (110) in the longitudinal direction. Here, each clamp (130) may be fastened by wrapping the first coupling groove (113a), the second coupling groove (117a), and the third coupling groove (125a) from the top and bottom, respectively.

[0101] More specifically, an upper clamp and a lower clamp are positioned opposite each other for a single joint end, and are respectively inserted into the first joint groove (113a), the second joint groove (117a), and the third joint groove (125a) at the upper and lower ends, so that the cover (120) can be integrally fixed in an aligned state with respect to the housing (110). This fastening method can ensure airtightness, fastening balance, and structural stability of the cover (120), and allows the clamps (130) to be individually separated or fastened, thereby providing ease of operation even during maintenance work or internal parts replacement.

[0103] A segmented hull according to another embodiment of the present invention will be described in detail below with reference to the drawings.

[0104] FIG. 8 is an exemplary diagram showing a divided hull according to another embodiment of the present invention.

[0105] Meanwhile, the divided hull (400) according to another embodiment of the present invention has substantially the same structure as the divided hull (100) according to one embodiment of the present invention, except for some structure of the housing. Therefore, the same reference numerals are assigned to identical components, and redundant descriptions are omitted.

[0106] Referring to FIG. 8, a split hull (400) according to one embodiment of the present invention may be configured to include a housing (410), a cover (120), a clamp (130), a sensor (440), an output unit (450), and a controller (460).

[0107] In particular, the housing (410) may be configured to include a lower housing (411) and an upper housing (415).

[0108] The lower housing (411) has a structure with a semi-cylindrical cross-section, and a space for accommodating electronic components or a driving unit may be provided inside. A pair of ribs (412) extending along the longitudinal direction may be formed protruding from the upper edge of the lower housing (411). Here, the ribs (412) can perform the function of aligning with the guide groove (416) of the upper housing (415) upon joining to improve the accuracy of the joining position. Four points corresponding to both ends in the longitudinal direction and both sides in the width direction of the ribs (412) may each be installed with sensors (440) to be described later.

[0109] The upper housing (415) is formed in a semi-cylindrical shape and is coupled to the top of the lower housing (411) so that the entire housing (410) can be completed in a cylindrical shape. Guide grooves (416) may be formed on the lower inner surface of the upper housing (415) to correspond to the ribs (412) of the lower housing (411).

[0110] The combination of the rib (412) and the guide groove (416) can precisely align the lower housing (411) and the upper housing (415), and at the same time, serve as a mechanical reference point capable of effectively detecting pressure changes occurring at the installation location of the sensor (440).

[0111] The sensor (440) is installed at four points of the rib (412), namely at both ends in the longitudinal direction and both ends in the width direction of the lower housing (411), respectively, so as to detect pressure generated when the rib (412) of the lower housing (411) is inserted into and contacts the guide groove (416) of the upper housing (415).

[0112] For example, the sensor (440) may be composed of a piezoelectric sensor, a force sensor, a strain gauge, etc. Accordingly, the sensor (440) can detect pressure generated by contact between the rib (415) and the guide groove (416) during the process of connecting the lower housing (411) and the upper housing (415) and convert it into an electrical signal.

[0113] The output unit (450) may be installed at a location corresponding to each sensor (440), that is, at four points where the sensor (440) is installed, in a one-to-one correspondence. For example, the output unit (450) may be composed of a speaker or a buzzer. Such output unit (450) may output different sound levels, frequencies, timbres, or output patterns according to pressure signals transmitted from each sensor (440) under the control of the controller (460).

[0114] Through this, if the connection state is unbalanced or misaligned, the operator can intuitively determine the connection state in that direction by the specific sound or volume output from the output unit (450) at that location.

[0115] The controller (460) receives pressure values ​​at four points detected by each sensor (440) and compares and analyzes them to determine the alignment status of the lower housing (411) and the upper housing (415). Additionally, the controller (450) can control each output unit (450) according to the determination result.

[0116] For example, the controller (460) can control the output unit (450) at a specific location to output a high sound, a warning sound, a high volume, etc., when the pressure value at a specific point among the four sensors (440) differs from that of other points.

[0117] Additionally, the controller (460) can control each output unit (450) to output a simple normal sound or terminate the output when the pressure values ​​at all points are balanced within a certain allowable range.

[0118] Additionally, the controller (460) can control the volume of each output unit (450) by gradually changing it according to the pressure value so that the operator can recognize in real time which direction the tilt has occurred.

[0119] Additionally, although not illustrated, a split hull (400) according to another embodiment of the present invention may additionally include a battery module for power supply.

[0120] The battery may be mounted in the internal space of the lower housing (411) and may be configured to supply autonomous power to electrical components such as a sensor (440), an output unit (450), and a controller (460). For example, the battery may be composed of a lithium-ion battery, a lithium-polymer battery, etc., and may be configured together with a charging circuit and a power stabilization circuit as needed.

[0121] In this way, the split hull (400) according to another embodiment of the present invention can receive real-time feedback on the alignment status without visual means, and can support the operator to intuitively and immediately understand the direction and degree of adjustment based on auditory information.

[0122] Through this, the split hull (400) according to another embodiment of the present invention can be expected to have effects such as improved assembly quality, reduced working time, and reduced assembly defects.

[0124] Hereinafter, the results of verifying the structural safety of a segmented hull under external pressure underwater according to various embodiments of the present invention will be explained.

[0125] Meanwhile, in order to verify the structural stability of the segmented hull under external pressure underwater according to various embodiments of the present invention, structural analysis was performed for each case by classifying the fixed members into conditions where they were fully fastened to the lower housing and the upper housing (32 locations) and conditions where they were partially fastened (12 locations).

[0126] Each analysis condition was set based on an external pressure of 25 bar, taking into account the actual operating environment underwater, and in some conditions, the external pressure was gradually increased from 25 bar to 50 bar in increments of 5 bar to comprehensively evaluate the total deformation, equivalent stress, and minimum safety factor.

[0127] Meanwhile, Figure 9 is a structural analysis result diagram under overall fastening conditions and an external pressure of 25 bar.

[0128] As a result of the analysis, as shown in Fig. 9, when the external pressure was 25 bar under conditions where all fixed members were fastened (32 locations), the maximum total deformation was approximately 0.298 mm and the maximum equivalent stress was 78.68 MPa. The minimum safety factor at this time was evaluated to be 1.83 (excluding the edge section), confirming that the split-type hull is structurally stable under underwater operating conditions.

[0129] Meanwhile, Figure 10 is a structural analysis result under some fastening conditions and an external pressure of 25 bar.

[0130] On the other hand, as shown in Fig. 10, under conditions where only some of the fastening members were fastened (12 locations), the maximum deformation was measured to be 0.262 mm and the maximum equivalent stress was 80.89 MPa under the same external pressure of 25 bar, and the minimum safety factor was analyzed to be 1.78 (based on excluding the edge section). This indicates that although there is some stress concentration due to the reduction in the number of fastenings, the structural stability is still maintained within the allowable range.

[0131] Meanwhile, Figures 11 and 12 are structural analysis results according to overall fastening conditions and an increase in external pressure (25 to 50 bar), and Figure 13 is a graph showing the change in the minimum safety factor according to overall fastening conditions and an increase in external pressure (25 to 50 bar).

[0132] As shown in FIGS. 11 to 13, according to the analysis results under conditions where the external pressure was increased to 50 bar, the maximum deformation increased to approximately 0.598 mm and the maximum equivalent stress increased to 158.24 MPa, and the minimum safety factor was found to decrease to 0.91 (based on the excluding edge portion).

[0133] This suggests that if external pressure increases above the rated operating pressure, the split-type hull may structurally exceed safety limits; accordingly, this implies the need to ensure an appropriate number of fasteners and comply with external pressure limiting operating conditions in actual operating environments.

[0134] Accordingly, the split-type hull according to various embodiments of the present invention can secure sufficient structural stability under normal underwater operating pressure, and since changes in the safety factor due to housing fastening conditions and changes in external pressure can also be quantitatively reviewed at the design stage, it can have excellent applicability as a split-type housing structure for mine disposal systems or other underwater equipment.

[0136] As described above, preferred embodiments of the present invention have been disclosed in this specification and drawings; however, it is obvious to those skilled in the art that other variations based on the technical spirit of the present invention are possible in addition to the embodiments disclosed herein. Furthermore, although specific terms have been used in this specification and drawings, they are used merely in a general sense to facilitate the explanation of the technical content of the present invention and to aid in understanding the invention, and are not intended to limit the scope of the present invention. Accordingly, the detailed description above should not be interpreted restrictively in any respect and should be considered illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included within the scope of the present invention. Explanation of the symbols

[0137] 100: Split hull 200: 1st propulsion unit 300: 2nd Propulsion Unit 110 : Housing 111 : Lower housing 115 : Upper housing 120 : Cover 121 : Plate body 125 : Cover joint 126 : Auxiliary cover 130 : Clamp

Claims

Claim 1 A housing formed by being divided along the longitudinal direction and having a space formed inside; a cover that seals both ends along the longitudinal direction of the housing; and a clamp that fixes the cover to the housing; wherein the housing comprises: a lower housing with an open top and a first internal space formed therein; and an upper housing coupled to the open top of the lower housing, having an open bottom and a second internal space formed therein that communicates with the first internal space of the lower housing; wherein the lower housing comprises: a lower body part formed in a semi-cylindrical shape with an open top and having the first internal space formed along the longitudinal direction; and a lower coupling part formed protruding from both ends along the longitudinal direction of the lower body part and having a first coupling groove formed therein for coupling with the cover; and wherein the upper housing comprises: an upper body part formed in a semi-cylindrical shape with an open bottom and having a second internal space formed along the longitudinal direction and coupled to the top of the lower body part; and an upper coupling part formed at both ends along the longitudinal direction of the upper body part and having a second coupling groove formed therein for coupling with the cover. The cover comprises a pair of plate bodies formed to seal each of both ends in the longitudinal direction of the housing; and a cover coupling part formed protruding from each of the pair of plate bodies, coupled to the lower coupling part and the upper coupling part through the clamp, and having a third coupling groove formed for coupling with the lower coupling part and the upper coupling part.A split hull, comprising: a clamp having a pair of protrusions formed thereon that are inserted into the first coupling groove or the third coupling groove, the second coupling groove or the third coupling groove when the housing and the cover are coupled; a lower housing having a pair of ribs formed along the longitudinal direction on the surface abutting the upper housing; an upper housing having a pair of guide grooves formed on the surface abutting the lower housing that correspond to the pair of ribs of the lower housing; a sensor installed at each end of each of the pair of ribs to detect pressure generated when the pair of ribs contact the pair of guide grooves at four points corresponding to each end in the longitudinal direction and both sides in the width direction of the lower housing; an output unit that outputs sound according to the pressure detected by the sensor; and a controller that compares the pressure values ​​of each of the four points detected by the sensor to determine the coupling alignment state between the lower housing and the upper housing, and controls the output unit according to the result of the determination. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 A split hull according to claim 1, wherein the output unit is installed at each of four points corresponding to the installation location of each of the sensors, and the controller controls each of the output units with different sound volumes, timbres, or output patterns corresponding to the pressure values ​​at each point detected by the sensors, thereby supporting intuitive determination and correction of the coupling alignment state between the lower housing and the upper housing. Claim 10 A divided hull comprising: a housing formed by being divided along the longitudinal direction and having an internal space formed therein; a cover that seals both ends along the longitudinal direction of the housing; and a clamp that secures the cover to the housing; and a driving unit installed on the divided hull to drive the divided hull; wherein the housing comprises: a lower housing having an open top and a first internal space formed therein; and an upper housing coupled to the open top of the lower housing, having an open bottom and a second internal space formed therein that communicates with the first internal space of the lower housing; wherein the lower housing comprises: a lower body part formed in a semi-cylindrical shape with an open top and having the first internal space formed along the longitudinal direction; and a lower coupling part formed protruding from both ends along the longitudinal direction of the lower body part and having a first coupling groove formed for coupling with the cover; and wherein the upper housing comprises an upper body part formed in a semi-cylindrical shape with an open bottom and having a second internal space formed along the longitudinal direction and coupled to the top of the lower body part. and an upper coupling portion formed at both ends in the longitudinal direction of the upper body portion, having a second coupling groove formed therein for coupling with the cover; wherein the cover comprises a pair of plate bodies formed to seal each end in the longitudinal direction of the housing; and a cover coupling portion formed protruding from each of the pair of plate bodies, coupled to the lower coupling portion and the upper coupling portion through the clamp, and having a third coupling groove formed therein for coupling with the lower coupling portion and the upper coupling portion.An unmanned submersible, further comprising: a clamp having a pair of protrusions formed thereon that are inserted into the first coupling groove or the third coupling groove, the second coupling groove or the third coupling groove when the housing and the cover are coupled; a lower housing having a pair of ribs formed along the longitudinal direction on a surface in contact with the upper housing; an upper housing having a pair of guide grooves formed on a surface in contact with the lower housing that correspond to the pair of ribs of the lower housing; a sensor installed at each end of each of the pair of ribs to detect pressure generated when the pair of ribs contact the pair of guide grooves for four points corresponding to each end in the longitudinal direction and both sides in the width direction of the lower housing; an output unit that outputs sound according to the pressure detected by the sensor; and a controller that compares the pressure values ​​of each of the four points detected by the sensor to determine the coupling alignment state between the lower housing and the upper housing, and controls the output unit according to the result of the determination.

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