Method and apparatus for connecting modular underwater structures

Abstract

The present invention relates to a method and apparatus for connecting modular underwater structures. Specifically, the present invention relates to a method and apparatus for connecting tubular underwater structures without a person entering the water by moving a connecting module to an underwater main module using an unmanned underwater moving device under the control of a user terminal, and then connecting the connecting module and the main module by controlling a hydraulic cylinder.

Description

Technology Field

[0001] The present invention relates to a method and apparatus for connecting modular underwater structures. Specifically, the present invention relates to a method and apparatus for connecting tubular underwater structures without a person entering the water by moving a connecting module to an underwater main module using an unmanned underwater moving device under the control of a user terminal, and then connecting the connecting module and the main module by controlling a hydraulic cylinder. Background Technology

[0003] The installation and maintenance of underwater structures play a crucial role in various fields, including the marine industry, hydroelectric power generation, and ocean research. In particular, the installation of seabed structures is an essential task for the development of marine resources and the installation of communication cables and pipelines. These underwater operations often require high accuracy and safety; since relying on manual work or divers entails human error or risk, an efficient system is necessary.

[0004] Conventional methods for connecting underwater structures have relied primarily on manual labor. These methods involved divers directly fastening structural connections or performing connection operations via remotely operated vehicles (ROVs). However, this approach had drawbacks, such as being affected by variability in the underwater environment and making it difficult to guarantee accurate connections. Furthermore, manual methods lead to high levels of fatigue during prolonged work and can compromise worker safety.

[0005] An automated underwater structure connection system is necessary to enhance the efficiency and safety of underwater operations. Due to the many unpredictable factors in the underwater environment, such as weather conditions, water temperature, and currents, a precise automation system must be introduced. This can significantly improve the accuracy and speed of connection operations. The implementation of such an automation system can also greatly enhance worker safety.

[0006] Recently, unmanned underwater mobile devices have been playing a significant role in marine operations. Because these devices can autonomously navigate underwater environments and perform precise tasks, they offer higher precision and efficiency compared to manual operations. Furthermore, as they enable operations in deep seabeds that are difficult for humans to access, they are considered an optimal technology for connecting underwater structures.

[0007] Hydraulic systems enable precise force control and deliver stable performance even in high-pressure environments. Underwater structure connection operations require technology capable of precisely fastening or disconnecting joints using hydraulic cylinders. Particularly in underwater environments, where accurate connections are difficult due to water pressure and external environmental factors, the utilization of hydraulic systems can be an effective solution.

[0008] One of the critical technical challenges when connecting underwater structures is maintaining airtightness and watertightness. If water penetrates the interior of the structure, it can degrade the performance of the joints or damage internal systems. Therefore, technical measures are essential to ensure watertightness at the connection points and maintain airtightness within the internal space. While various sealing technologies are being developed to address this, applying them in an automated manner remains a challenge.

[0009] Precise pressure control is crucial in underwater structure connection operations because minute errors can occur at the connection points. If the connection is slightly misaligned or the joint is inaccurate underwater, the error can be corrected by adjusting the pressure stepwise through a multi-stage hydraulic control system. This plays a vital role in minimizing physical impact or deformation during the joining process and enhancing the accuracy of the connection.

[0010] The present invention presents a method for automatically connecting modular structures underwater using an unmanned underwater mobile device and a hydraulic control system. In particular, the present invention provides a technology that enhances the precision of the joints through a multi-stage hydraulic control system and maintains the airtightness and watertightness of the structure's interior through a barrier wall and a pressure control system. This maximizes the efficiency of underwater operations and enables safe connection work. Prior art literature

[0012] Registered Patent No. 10-1220995 (Method for installing large concrete blocks) The problem to be solved

[0013] Based on the discussion described above, the present invention provides a method and apparatus for precisely connecting modular structures underwater.

[0014] In addition, the present invention provides a method and apparatus capable of correcting errors that may occur during coupling through a hydraulic control system.

[0015] In addition, the present invention provides a method and apparatus capable of controlling airflow inside a structure while maintaining airtightness and watertightness.

[0016] In addition, the present invention provides a method and device capable of automatically combining and separating structures using an unmanned underwater moving device.

[0017] In addition, the present invention provides a method and apparatus capable of stably controlling module coupling underwater through wired and wireless communication. means of solving the problem

[0019] According to various embodiments of the present invention, a method for connecting a modular underwater structure by control of a user terminal comprises: the modular underwater structure including a main module and a connecting module; the step of connecting the connecting module for connecting to the main module located underwater to an unmanned underwater mobile device; wherein the main module includes a first body, a first opening for connecting to the connecting module, a cylindrical first connecting pipe connected to the first opening, a first flange connected to the first connecting pipe, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting pipe, and a locking device capable of fixing the connection between the main module and the connecting module; wherein the first connecting part includes a first protrusion capable of engaging with a second connecting part of the connecting module and a second protrusion engaging with the locking device; and wherein the locking device includes a gear for controlling the rotation of the first connecting part by engaging with the second protrusion and rotating the second protrusion, a rotating rod connected to the gear, and the rotating A first hydraulic cylinder for controlling the rotation of a rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the connection module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part, and the second connecting part comprises a third protrusion capable of engaging with the first protrusion.The above-described unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the above-described unmanned underwater mobile device, a work unit for transporting and controlling the connection module, a second control unit for controlling each component of the above-described unmanned underwater mobile device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the work unit comprises a jig capable of engaging and being fastened with the second flange of the connection module, a frame for fastening the jig to the above-described unmanned underwater mobile device, and a second hydraulic cylinder unit disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig, and after moving the above-described unmanned underwater mobile device so that the jig engages and is fastened with the second flange, the above By pulling the jig to contract the bellows tube,The method comprises the steps of: connecting the above-mentioned connection module and the above-mentioned unmanned underwater mobile device; moving the above-mentioned unmanned underwater mobile device so that the second connection part comes into contact with the first connection part; loosening the bellows tube so that the bellows tube is connected to the first connection part by pushing the second flange connected to the jig through the first hydraulic cylinder; connecting the first connection part and the second connection part by controlling the locking device while the first connection part surrounding the third protrusion is in a state where the first connection part and the bellows tube are connected and the first protrusion of the first connection part and the third protrusion of the second connection part are engaged, thereby preventing the third protrusion from coming off the first connection part; and separating the above-mentioned connection module and the above-mentioned unmanned underwater mobile device by pushing the jig through the second hydraulic cylinder part while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange. A method is provided that includes the step of moving the above-mentioned unmanned underwater mobile device to the surface of the water.

[0020] According to various embodiments of the present invention, in a system for connecting modular underwater structures by control of a user terminal, the system comprises: a main module included in the modular underwater structure; and a connection module included in the modular underwater structure. The unmanned underwater mobile device includes a main module comprising a first body, a first opening for connecting to the connection module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connection module, wherein the first connecting part comprises a first protrusion capable of engaging with a second connecting part of the connection module and a second protrusion engaging with the locking device, wherein the locking device comprises a gear engaging with the second protrusion and controlling the rotation of the first connecting part by rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are wired using a cable The connection module is connected via communication or wireless communication, and the connection module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube and for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part, and the second connecting part comprises a third protrusion capable of engaging with the first protrusion.The above unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the above unmanned underwater mobile device, a work unit for transporting and controlling the connection module, a second control unit for controlling each component of the above unmanned underwater mobile device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the work unit comprises a jig capable of engaging and being fastened with the second flange of the connection module, a frame for fastening the jig to the above unmanned underwater mobile device, and a second hydraulic cylinder unit disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig, and the system, based on the control of the user terminal: moves the above unmanned underwater mobile device so that the jig engages and is fastened with the second flange. Afterward, by pulling the jig through the second hydraulic cylinder part to contract the bellows tube, the connection module and the unmanned underwater mobile device are connected, and after moving the unmanned underwater mobile device so that the second connection part contacts the first connection part, the bellows tube is connected to the first connection part by pushing the second flange connected to the jig through the first hydraulic cylinder, and while the first connection part and the bellows tube are connected and the first protrusion of the first connection part and the third protrusion of the second connection part are engaged, the locking device is controlled to rotate the first connection part surrounding the third protrusion so that the third protrusion does not come off the first connection part, thereby connecting the first connection part and the second connection part.A system is provided configured to separate the connection module and the unmanned underwater mobile device by pushing the jig through the second hydraulic cylinder while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange, and to move the unmanned underwater mobile device to the surface after the first connection part and the second connection part are connected. Effects of the invention

[0022] The present invention can provide a method and apparatus for precisely connecting modular structures underwater.

[0023] In addition, the present invention can provide a method and apparatus capable of correcting errors that may occur during coupling through a hydraulic control system.

[0024] In addition, the present invention can provide a method and apparatus capable of controlling airflow inside a structure while maintaining airtightness and watertightness.

[0025] In addition, the present invention can provide a method and device for automatically combining and separating structures using an unmanned underwater moving device.

[0026] In addition, the present invention can provide a method and device capable of stably controlling module coupling underwater through wired and wireless communication. Brief explanation of the drawing

[0028] FIG. 1 illustrates an example of a connected modular underwater structure according to various embodiments of the present invention. FIG. 2 illustrates an example of a main module and a connection module according to various embodiments of the present invention. FIG. 3 illustrates an example of an unmanned underwater mobile device and a connection module according to various embodiments of the present invention. FIG. 4 illustrates an example of an unmanned underwater mobile device and a connection module according to various embodiments of the present invention. FIG. 5 illustrates an example of a method for connecting modular underwater structures by controlling a user terminal according to various embodiments of the present invention. FIG. 6 illustrates an example of the process of connecting a main module and a connection module according to various embodiments of the present invention. FIG. 7 illustrates an example of the process of connecting a main module and a connection module according to various embodiments of the present invention. FIG. 8 illustrates an example of a jig for connecting a connection module in an unmanned underwater mobile device according to various embodiments of the present invention. FIG. 9 illustrates an example of a bellows tube and a second connecting part according to various embodiments of the present invention. FIG. 10 illustrates an example of a bellows tube according to various embodiments of the present invention. FIG. 11 illustrates an example of a second connection part of a connection module according to various embodiments of the present invention. FIG. 12 illustrates an example of a first connection part of a main module according to various embodiments of the present invention. FIG. 13 illustrates an example of a first connection part of a main module according to various embodiments of the present invention. FIG. 14 illustrates an example of a first connection part and a locking device of a main module according to various embodiments of the present invention. FIG. 15 illustrates an example of a monitoring unit of a main module according to various embodiments of the present invention. FIG. 16 illustrates an example of a main module and a connection module connected according to various embodiments of the present invention. FIG. 17 illustrates an example of test measurement results for water tightness when the main module and the connection module are connected according to various embodiments of the present invention. Specific details for implementing the invention

[0029] Hereinafter, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein.

[0031] FIG. 1 illustrates an example of a connected modular underwater structure according to various embodiments of the present invention.

[0032] In the present invention, the main module and the connecting module are connected through a tubular connecting passage. The connecting passage enables mechanical coupling between the two modules while simultaneously maintaining a smooth flow of air or fluid. In particular, this tubular passage is designed to facilitate seamless coupling operations underwater, and once coupling is complete, the passage between the modules is sealed to maintain airtightness and watertightness. This design enables efficient coupling operations in a marine environment.

[0033] Once the connection is complete, the main module and the connecting module can maintain a pressure of 1 atmosphere by allowing air to pass between them. This ensures safety underwater by maintaining a constant internal pressure. To minimize the pressure difference between the two connected modules underwater, the connection automatically circulates air to equalize the internal pressure. In this state, where the pressure is maintained at 1 atmosphere, the internal space of the module provides a safe environment for people or equipment to move.

[0034] After the main module and the connection module are combined, the internal space is designed to allow human passage. People and equipment can move freely through the connection passage, enabling maintenance or connection work within the underwater structure. This system ensures the safe movement of people and equipment while maintaining internal airtightness even in an underwater environment, and plays a significant role in providing a secure connection and workspace for underwater structures.

[0036] FIG. 2 illustrates an example of a main module and a connection module according to various embodiments of the present invention.

[0037] Figure 2 illustrates the process of joining a main module and a connecting module underwater through a bellows tube and a connecting device. The main module and the connecting module are connected through a tubular structure, and the joining between the two modules is achieved through the bellows tube. The bellows tube is contracted or expanded by a hydraulic control system, thereby allowing for precise control of the joining between the two modules.

[0038] The bellows tube plays an important role in the joining process, maintaining the distance between modules and the pressure balance. A hydraulic control device allows the bellows tube to contract with precise force so that the two modules can interlock. At this time, precise adjustment of the connection is important, and the role of the bellows tube is critical in minimizing errors that may occur during the joining process.

[0039] The connection jig is an essential device for accurately joining two modules and operates in conjunction with an unmanned underwater mobile device. The unmanned underwater mobile device can be implemented as an Underwater Module Carrier (UMC), an Unmanned Underwater Vehicle (UUV), etc. This jig stably secures the bellows tube and prevents the modules from shaking during the joining process. In addition, precise positioning is possible to ensure that the connection device interlocks properly.

[0040] After the connection between the main module and the connecting module is completed, the bellows control device relaxes the bellows tube again to adjust the internal pressure and ensures that the two modules remain stably connected. In this process, the internal pressure difference is reduced, allowing the module to maintain airtightness and watertightness underwater.

[0042] FIG. 3 illustrates an example of an unmanned underwater mobile device and a connection module according to various embodiments of the present invention.

[0043] Figure 3 shows the state in which an unmanned underwater mobile device is transporting a connection module. The unmanned underwater mobile device moves automatically underwater and serves to transport the connection module to the correct location. The connection module is moved by the unmanned underwater mobile device to the location where it is to be joined, and before the joining operation begins, preparation for connection with the main module is made through a connection construction jig. In Figure 3, the unmanned underwater mobile device operates in conjunction with a hydraulic device to secure the connection module.

[0044] The bellows expansion / expansion flange plays a key role in the joining process. The bellows tube physically connects the two modules through expansion and contraction during the joining process, enhancing the stability of the joint. The flange is connected to the bellows tube and adjusts the connection with the assistance of a hydraulic device when expansion or contraction is required. This is a technical element designed to facilitate easier joining in underwater environments.

[0045] The hydraulic unit is an essential control device for joining operations, responsible for adjusting the bellows tube to ensure the connecting module is precisely joined to the main module. It is designed to minimize errors that may occur during module connections and to respond to changes in the external environment during underwater operations. This device ensures the stability of the joint by precisely controlling the movement of the flange and bellows tube.

[0046] The connection jig is used to secure the connection module and the main module in precise positions. This jig stabilizes the modules to prevent shaking during the joining process and provides a stable foundation for the hydraulic system and flange to perform the joining operation. Designed to enable precise positioning of the connection, the jig facilitates the joining of modules at accurate angles and locations.

[0048] FIG. 4 illustrates an example of an unmanned underwater mobile device and a connection module according to various embodiments of the present invention.

[0049] Figure 4 illustrates the process of an unmanned underwater mobile device transporting a connection module and retracting a bellows tube using a hydraulic device. After moving the connection module to the correct position, the unmanned underwater mobile device retracts the bellows tube through the hydraulic device to begin joining the main module and the connection module. This process is automatically controlled underwater and is designed to ensure a precise joining.

[0050] Bellows tubes play a crucial role in the joining process, ensuring stable connection between two modules through the adjustment of physical distance and pressure control between the joints. Since bellows tubes can contract and expand, they allow for the adjustment of minute discrepancies between modules through hydraulic control, facilitating a precise interlocking of the two modules. This is a critical technical element in underwater joining operations.

[0051] The hydraulic device is a key component that controls the movement of the bellows tube and is designed to respond to various variability that may occur in an underwater environment. The hydraulic device contracts or expands the bellows tube to ensure smooth joining between the connecting module and the main module. During this process, watertightness and airtightness are guaranteed, and the stability of the joint is maximized.

[0052] The collaboration between unmanned underwater mobile devices and hydraulic systems plays a crucial role in enhancing the automation and precision of underwater operations. Unmanned underwater mobile devices operate based on control from user terminals connected via wired or wireless communication, without the need for manual operation, and control modular coupling in conjunction with hydraulic systems. This increases operational efficiency and ensures the safety of underwater structure installation and maintenance tasks.

[0054] FIG. 5 illustrates an example of a method for connecting modular underwater structures by controlling a user terminal according to various embodiments of the present invention.

[0055] Figure 5 shows a flowchart illustrating the step-by-step connection procedure of a modular underwater structure. The entire process begins with the fastening of the connection modules and concludes with the separation of the unmanned underwater mobile device and the floating of the modules. Each step visually illustrates the key processes of the connection operation performed underwater.

[0056] The first step is the connection module attachment. In this step, the connection module is prepared for underwater operation and ready to be coupled to the connection point. Once the connection module is ready, it is moved to the work site along with the unmanned underwater mobile device.

[0057] The second step is the launching of the connection module and the unmanned underwater vehicle. The unmanned underwater vehicle is used to transport the connection module to the desired underwater location, and precise movement to this position plays a crucial role in this process. Once launched, the unmanned underwater vehicle adjusts the connection module to the correct position and prepares for the joining operation.

[0058] The third step is module placement using an unmanned underwater mobile device. Once the connecting module arrives at the designated location, it is precisely secured via the device in a position where it can be combined with the main module. At this stage, the stable placement of the module significantly impacts the success of the combination process.

[0059] The fourth step is the connection fastening. This stage involves the joining of the connecting module and the main module, where mechanisms such as hydraulic devices and bellows tubes operate to securely fasten the joint. Once the joining is complete, the connecting module and the main module become a single integrated structure.

[0060] The final step is the detachment and surfacing of the unmanned underwater vehicle. Once the connection operation is complete, the unmanned underwater vehicle separates from the connection module, allowing the entire structure to surface. After the operation is finished, the unmanned underwater vehicle and the connection module are separated to prepare for other tasks or retrieved.

[0062] FIG. 6 illustrates an example of the process of connecting a main module and a connection module according to various embodiments of the present invention.

[0063] Figure 6 illustrates the connection process of a modular underwater structure, and in particular, shows in detail the process of connecting a main module and a connecting module using a connection jig, a bellows tube, and a hydraulic device. This process includes key technologies that enable safe and precise connection in an underwater environment.

[0064] The bellows tube is capable of contracting and expanding and serves to adjust the physical distance between the two modules during the joining process. In this drawing, the bellows tube is contracting by a hydraulic device, which allows the connecting module to move closer to the main module to facilitate the joining. The bellows tube performs the function of correcting minute errors that may occur during the connection and ensures the stability of the joint.

[0065] The hydraulic system is a critical element in controlling the contraction and expansion of the bellows tube. This device contracts the bellows tube to ensure proper interlocking of the connections and expands it again once the connection is complete, maintaining a stable connection between the modules. In underwater environments, precise control via the hydraulic system is required due to the significant variability of water pressure and external factors.

[0066] The connection jig is a device that helps ensure the main module and the connection module are accurately aligned. Combined with a hydraulic system, the jig adjusts the connection module to a precise position, ensuring that the module remains stable and does not shake during the joining process. This minimizes errors in the joint and guarantees high precision in underwater operations.

[0067] The main module is ready for assembly and is waiting for the connecting module to be properly fastened. As the bellows tube contracts, the connecting module comes into contact with the main module, thereby mechanically joining the two modules. This process is a critical step in ensuring the integrity of the entire underwater structure.

[0068] Finally, the bellows contraction / relaxation flange is connected to the bellows tube and expands again once the connection is complete, ensuring airtightness and watertightness between the modules. This flange precisely controls the movement of the bellows tube and ensures that the joint remains stable even after the connection is finished.

[0070] FIG. 7 illustrates an example of the process of connecting a main module and a connection module according to various embodiments of the present invention.

[0071] Figure 7 shows the connection of the modular underwater structure in detail and visually explains how the connection on the main module side and the connection on the connecting module side are joined. It also includes key components necessary to understand the specific mechanism of the connection. Through this, it is possible to explain how the two modules are stably connected underwater.

[0072] The upper left figure in Fig. 7 illustrates the process of joining two modules as the bellows tube contracts. The bellows tube pulls the connecting module and the main module closer together, ultimately helping the connection to be precisely interlocked. The bellows tube is controlled by a hydraulic device, and through this process, the two modules are adjusted to a state where they can be fully joined.

[0073] The upper right figure of Fig. 7 shows the detailed structure of the connection part on the connection module side. This connection part is designed in a cylindrical shape and includes a sealing system inside to maintain airtightness after connection. In addition, devices are installed to absorb shocks that may occur during connection and to help ensure accurate positioning between the connection parts.

[0074] The figure in the lower left of Fig. 7 illustrates the connection part on the main module side. The connection part on the main module side features a toothed design, allowing it to be strongly secured when combined with the connection module. Additionally, it includes a rotatable part that enables automatic engagement during connection. As a result, precise manual operation is not required, and the connection process can be performed automatically.

[0075] The coupling mechanism shown in Fig. 7 is designed to account for pressure changes and shocks that may occur underwater, ensuring airtightness and a stable connection even after coupling. In particular, precise fitting and fixing between the two connection parts is a critical step not only for the physical coupling between the connecting module and the main module but also for facilitating internal airflow and pressure regulation. Once this coupling process is complete, the main module and the connecting module are securely connected, enabling internal operations to be performed under 1 atmosphere of pressure. This is a critical factor for performing structure installation or maintenance work on the seabed, ensuring both worker safety and equipment protection.

[0077] FIG. 8 illustrates an example of a jig for connecting a connection module in an unmanned underwater mobile device according to various embodiments of the present invention.

[0078] Figure 8 illustrates the process of joining a connection module using an unmanned underwater mobile device and a C-shaped jig. The left side of Figure 8 shows the unmanned underwater mobile device carrying a connection module, and the right side of Figure 8 shows the detailed structure of the C-shaped jig used to join the connection module and the main module. This jig is an important device for performing the joining at an accurate position underwater.

[0079] Hydraulic cylinders play an important role in this joining process. Hydraulic cylinders physically connect or disconnect modules by contracting or expanding the bellows tube through a jig. Hydraulic cylinders enable very precise operation underwater and serve to minimize joining errors between modules.

[0080] The C-shaped jig shown in the figure on the right of Fig. 8 helps the connecting module and the main module interlock accurately. This jig serves to stably secure the main module and the connecting module, preventing the module from shaking and ensuring that the joining process is performed precisely. The jigs on the left and right further enhance the stability of the module.

[0081] The jig is designed in a U-shape and operates by wrapping around and tightly securing the module. This structure plays an important role in absorbing shocks that may occur during the joining of modules and maintaining a stable connection. Additionally, with the jig holding the module in place, the connection is completed by pushing or pulling the joint part via a hydraulic cylinder.

[0082] The connection part of the unmanned underwater mobile device shown in Fig. 8 illustrates the connection between the unmanned underwater mobile device and the jig, through which the process of accurately transporting and aligning the module to the location for connection is achieved. The unmanned underwater mobile device is an automated system capable of performing connection operations underwater without human intervention.

[0083] Once the coupling process between the unmanned underwater mobile device and the jig is completed, the connection between the unmanned underwater mobile device and the module is maintained in a stable and airtight state, thereby ensuring safety during the installation or maintenance of seabed structures. The combination of a hydraulic cylinder and a U-shaped jig is a very important element in underwater coupling operations, enhancing precision and stability.

[0085] FIG. 9 illustrates an example of a bellows tube and a second connecting part according to various embodiments of the present invention.

[0086] FIG. 9 illustrates the structure of an underwater connection device including a bellows tube and a locking part. This device is a component designed to stably connect modules underwater and is mainly divided into an underwater connection part and a surface connection part, containing elements responsible for each function. Through this drawing, one can see how the connection and precise fitting between modules are achieved.

[0087] Bellows tubes enable flexible connection between modules during assembly. The bellows tubes can contract and expand to adjust the distance between modules and correct minute errors that may occur during assembly. This allows for more stable and precise connection work in underwater environments. In addition, bellows tubes play an important role in maintaining airtightness and watertightness after assembly.

[0088] The locking part serves to strongly secure the modules when the connection is completed. This locking part perfectly secures the physical connection between the modules and provides stability to prevent the connection from separating. In particular, since the connection may shake or come loose due to external pressure and force during underwater connection work, the strong fixing power of the locking part is a very important factor.

[0089] The jig joint assists in precise positional control during the joining process. It secures the modules in the exact position while connecting them and, in conjunction with hydraulic cylinders, enables the joining to be completed stably and without shaking. This part plays a crucial role in ensuring that the connecting module and the main module interlock perfectly.

[0090] The underwater connection and the surface connection described in Fig. 9 are designed with structures that support connection operations underwater and on the surface, respectively. The underwater connection uses a bellows tube to mitigate physical shock during underwater connection operations and maintains airtightness after connection to prevent water from penetrating the interior. On the other hand, the surface connection is used when connection is made in an underwater working environment.

[0091] The coupling mechanism shown in Fig. 9 is essential for providing a stable connection during underwater structure installation work. This structure, which combines a locking part, a bellows tube, a jig coupling part, etc., is designed to enable stable and rapid connection work both underwater and on the surface. In particular, this design ensures strong durability against various physical and environmental variables that may occur in an underwater environment.

[0093] FIG. 10 illustrates an example of a bellows tube according to various embodiments of the present invention.

[0094] FIG. 10 illustrates in detail a system combining a bellows tube and a mechanical device. This device is a mechanical device designed to accurately perform coupling between modules in an underwater environment, and serves to join and secure modules through the contraction and expansion of the bellows tube. In particular, it explains how various devices, including gears and a hydraulic system, operate.

[0095] The bellows tube plays a very important role in the joining process. This tube is flexible, allowing the distance between modules to be adjusted during joining, thereby assisting in the process of physically joining the two modules. In addition, it is designed to withstand pressure changes or external shocks that may occur underwater.

[0096] The gear mechanism shown in Fig. 9 serves to accurately mesh the modules during the joining process. The gear rotates the joining part in conjunction with the movement of the bellows tube, thereby helping the two modules to be perfectly joined. This automatic rotation mechanism significantly improves work efficiency underwater.

[0097] The hydraulic cylinder is a device that controls the contraction and expansion of the bellows tube. This cylinder precisely regulates the movement of the bellows tube to push or pull the joint. The operation of the hydraulic cylinder is highly stable underwater and helps compensate for errors that may occur during the joining process.

[0098] FIG. 9 shows that the module can be stably fixed after joining by including a fixing mechanism. After joining is complete, the mechanical device firmly secures the joint, thereby maintaining the joined state. This system has strong durability against external shocks or environmental changes underwater.

[0099] According to various embodiments of the present invention, a system for supporting automated underwater joining operations is designed such that various components, such as bellows tubes, hydraulic cylinders, and gear mechanisms, operate together to enable accurate and rapid joining of modules. The system according to various embodiments of the present invention can be very useful in the installation or maintenance of underwater structures.

[0101] FIG. 11 illustrates an example of a second connection part of a connection module according to various embodiments of the present invention.

[0102] Figure 11 is an image showing the main joint of the underwater connection device in detail, illustrating the core structure of the connection operation. The main feature is a combination of a metal ring-shaped fixing device and an internal cylindrical connecting part, incorporating design elements to ensure stable connection between modules. This allows us to understand how the underwater connection operation is performed.

[0103] In FIG. 11, the cylindrical connector is a component that fits inside when two modules are joined, and maintains a physically very stable state once the joining is complete. This connector is precisely manufactured to ensure watertightness and airtightness, and is designed to allow joining work to be performed easily and quickly underwater.

[0104] The metal ring serves to firmly secure the joint. When the modules engage during the joining process, the ring rotates or locks to complete the connection, providing a very high-strength fixing force after joining. This structure ensures that the modules do not separate even under external impacts or environmental changes underwater.

[0105] In FIG. 11, the bolt and screw fasteners further strengthen the fixing force of the joint. These fasteners serve to additionally secure the modules after joining and provide a function to correct minute errors between the modules. This maintains long-term stability and increases the efficiency of underwater structure installation work.

[0106] The system according to various embodiments of the present invention can operate in conjunction with a hydraulic device. By controlling bellows tubes or other connecting parts through the hydraulic system, the joining of modules is facilitated, and errors that may occur during the joining process are minimized. This automated mechanism minimizes the input of manpower in underwater operations and improves work speed.

[0107] The structure of the joint in Fig. 11 is designed to allow the underwater structure to be installed stably. By ensuring airtightness and watertightness between modules in a fixed state, it prevents water from penetrating into the interior after joining and enables stable operation over a long period. These technical elements play an important role in the installation of various structures on the seabed.

[0109] FIG. 12 illustrates an example of a first connection part of a main module according to various embodiments of the present invention.

[0110] Figure 12 shows the detailed components of an underwater structure coupling system. Figure 12 visually illustrates how each component operates to perform coupling between modules, and the key components include hydraulic cylinders, rotary devices, locking devices, conical connectors, and sealants. These components play an essential role in achieving a stable and accurate coupling underwater.

[0111] Hydraulic cylinders are devices that provide mechanical force for joining modules. These cylinders act to push or pull the modules to be joined, operating with great precision to ensure the modules interlock. The hydraulic cylinders are designed with a structure capable of withstanding pressure and physical forces in external environments, particularly underwater.

[0112] The rotating device controls the rotation of the joint. During the module joining process, the rotating device operates to facilitate the interlocking between the modules and maintains a fixed position after joining. This rotation mechanism ensures precise joining underwater and prevents the modules from shaking or being fixed in the wrong position.

[0113] The locking device functions to firmly secure the module after the connection is completed. The locking device works in conjunction with a rotating device to verify that the module is securely connected, then fixes it in place to ensure the connection is maintained. This system is characterized by its ability to maintain a robust connection even against external forces or impacts that may occur underwater.

[0114] The conical connectors and sealants serve to maintain airtightness and watertightness between modules. While the connectors physically join the modules, the sealants prevent water from penetrating the interior, thereby maintaining a sealed state between them. This airtightness is a critical factor in underwater operations, protecting internal equipment and structures from damage.

[0115] The module flange is the main fixing part where the module is joined, and it plays an important role in aligning the module's position and maintaining the joined state. The flange is designed to receive the force of the rotating device and the locking device so that the module can be accurately engaged and fixed, thereby further enhancing the stability of underwater joining operations.

[0117] FIG. 13 illustrates an example of a first connection part of a main module according to various embodiments of the present invention.

[0118] Figure 13 shows important parts of the mechanical elements used in the underwater module connection system. The rotary gear mechanism and the fixed connection are primarily highlighted, and these two elements are essential for efficiently performing coupling and fixing between modules. This design helps ensure that coupling operations are performed safely and precisely underwater.

[0119] In FIG. 13, the rotary gear mechanism plays an important role in facilitating the coupling between modules. This gear transmits rotational force to rotate the coupling part, thereby allowing the modules to be meshed and fixed. The gear mechanism is designed with great precision so that even minute errors that may occur during coupling can be adjusted.

[0120] The fixed connection serves to maintain the connection state once the coupling between modules is complete. Constructed of metal, this connection possesses strong durability and can safely maintain the connection between modules even in underwater environments. Additionally, this part is designed to withstand external impacts or pressure.

[0121] The precise alignment of gears and connecting parts contributes to increasing the accuracy of the coupling between modules. Gears are used to rotate and mesh the connecting parts, and once engaged, the fixed connecting parts maintain the coupled state. This ensures that the coupling between modules remains stable and wobble-free.

[0122] The system according to various embodiments of the present invention is designed to support an automated joining process. The rotary gear mechanism operates in conjunction with a hydraulic system, thereby enabling precise joining operations while minimizing human input. This automated system maximizes work efficiency underwater and enables the joining operation to be completed more quickly.

[0123] In FIG. 13, the connection can improve the convenience and efficiency of installation and maintenance of underwater structures. In FIG. 13, the connection can strongly withstand strong external pressure or physical impact and maintain a stable connection state for a long time. Such a design contributes to significantly improving the safety of underwater operations.

[0125] FIG. 14 illustrates an example of a first connection part and a locking device of a main module according to various embodiments of the present invention.

[0126] Figure 14 illustrates design elements that highlight mechanical rotation and fixing mechanisms. This design ensures stable coupling between modules in an underwater environment and visually illustrates how precise mechanical parts interact to achieve this.

[0127] The gear mechanism shown in Fig. 14 is essential for rotating the modules to align the coupling position. This gear operates in conjunction with a hydraulic cylinder and transmits rotational force to ensure that the two modules to be coupled mesh precisely. This provides a function to correct for errors that may occur when the coupling operation is performed underwater.

[0128] The fixing bolts around the gear serve to secure the modules after they are accurately joined. This fixing mechanism plays a crucial role in maintaining the connection between the modules and prevents detachment caused by external impacts or water pressure after joining. Furthermore, a precise design has been implemented to minimize errors in the fixed state.

[0129] The rotating device ensures that the joining process between modules proceeds smoothly. This device operates in conjunction with gears and supports the rotation of modules to the desired angle. Through the precise control of the rotating device, the joint is secured in an optimal state, thereby enhancing the stability of the joining operation.

[0130] The system according to various embodiments of the present invention focuses on automating underwater joining operations. Both the gear and the rotary mechanism are linked to a hydraulic system, enabling the joining and fixing of modules without manual intervention. This contributes to reducing manpower consumption in underwater operations and improving the speed of joining operations.

[0131] The fixture and gear mechanism shown in Fig. 14 are designed to provide high durability even in underwater environments. By using corrosion-resistant metal materials, stable operation is ensured even during long-term underwater use, and the connection remains very rigid after the modules are assembled.

[0133] FIG. 15 illustrates an example of a monitoring unit of a main module according to various embodiments of the present invention.

[0134] The monitoring section is structured to include a device that monitors in real time to smoothly perform the coupling process between the main module and the connection module, and is equipped with functions to ensure the accuracy and safety of the coupling process.

[0135] The role of the monitoring unit is to monitor the connection status of the main module and the connection module in real time. This allows users to immediately recognize any errors that may occur during the connection process and to remotely adjust the connection status if necessary. The monitoring device includes a high-resolution camera and transmits the minute movements and status of the connection points to the user.

[0136] The camera system is a key device for monitoring the interior and exterior of the joint and the main module. The camera is positioned to clearly verify the internal structure of the main module and the condition of the joint, enabling users to precisely analyze the status of the joint. Additionally, the camera features robust waterproof and pressure-resistant performance, making it suitable for underwater use.

[0137] The monitoring unit is installed closest to the joint, designed to detect minute errors occurring during the joining process in real time. This position allows for accurate determination of the alignment status between the main module and the connecting module, and is optimized to enable the camera to capture the joint from various angles.

[0138] The monitoring system connected to the main module is linked to a user terminal and transmits real-time data to the user. Through this, users can remotely check the connection status and take action if necessary. This monitoring function plays a crucial role in determining whether the joint is fully secured.

[0139] The communication function of the monitoring system transmits data via wired or wireless communication, enabling it to immediately notify the user of not only the connection status of the joints but also various problems that may occur during the connection process. This significantly contributes to enhancing the safety and efficiency of the connection work and provides an environment for more precise control of the fastening of the joints.

[0141] FIG. 16 illustrates an example of a main module and a connection module connected according to various embodiments of the present invention.

[0142] FIG. 16 specifically illustrates the connection between a main module and a connecting module according to various embodiments of the present invention. FIG. 16 clearly explains the connection process between the two modules and includes important elements for understanding the connection method of the entire structure.

[0143] The joining process between the main module and the connecting module is performed with great precision, and the cylindrical structure of the main module interlocks with the flange structure of the connecting module. This connection ensures a robust and stable bond even underwater and maintains airtightness within the structure.

[0144] The bellows tube physically connects the main module and the connection module, providing flexibility at the connection point. This flexibility absorbs minute errors or movements that may occur during connection, preventing structural damage and helping to maintain a perfect seal.

[0145] The hydraulic device adjusts the coupling force between the two modules and provides the necessary pressure to ensure a precise connection. This system can be operated remotely, and the coupling status can be checked and adjusted in real time from a user terminal.

[0146] The combination of the main module and the connecting module is designed to withstand underwater pressure and environmental changes, ensuring a stable connection while maintaining airtightness. This enables the long-term use of the underwater structure and is designed to maintain the joint even under external impacts or pressure fluctuations.

[0148] FIG. 17 illustrates an example of test measurement results for water tightness when the main module and the connection module are connected according to various embodiments of the present invention.

[0149] Figure 17 shows the measurement results of how a water leak test was performed with the main module and the connecting module connected. Figure 17 provides important data on whether the module maintains leaks while connected, and how the operation of the hydraulic cylinder and changes in air pressure occur.

[0150] The displacement of the hydraulic cylinder is clearly shown in Fig. 17. The hydraulic cylinder is used for coupling and fixing between modules, and the operating status of the cylinder can be confirmed in the displacement graph shown at the top of Fig. 17. It is observed that the displacement remains constant, but changes rapidly when the air pressure changes. This demonstrates that pressure changes that may occur during the coupling process can be appropriately absorbed and controlled.

[0151] The results of the pressure change are shown at the bottom of Fig. 17. The pressure undergoes a process of decreasing from an initial 2 bar to 0 bar and then increasing again to 4 bar. This pressure change plays an important role in testing the airtightness inside the connected module and is a process to verify whether the pressure inside the module is maintained at the same level as the outside. Through the module's response to the pressure change, it is possible to verify whether the airtightness is properly maintained.

[0152] Figure 17 illustrates the correlation between hydraulic cylinder displacement and changes in air pressure. Since changes in air pressure occur when the displacement of the hydraulic cylinder changes rapidly, it can be seen that there is a close relationship between the two systems. This serves as important data for maintaining the stability of the module during airtightness testing.

[0153] One of the objectives of the present invention, stable connection and airtightness maintenance between underwater structures, is demonstrated through FIG. 17. It can be confirmed that airtightness from the external environment is maintained by maintaining displacement at a certain level even after the atmospheric pressure drops to 0 bar.

[0154] As shown in FIG. 17, real-time data collection and monitoring are possible. The displacement of the hydraulic cylinder and changes in air pressure are monitored simultaneously, and based on this data, the stability and airtightness of the module connection can be evaluated. This clearly demonstrates the practicality of the system provided by the present invention.

[0156] According to various embodiments of the present invention, a method for connecting modular underwater structures by controlling a user terminal is provided. The modular underwater structure includes a main module and a connecting module.

[0157] According to various embodiments of the present invention, a method for connecting a modular underwater structure by controlling a user terminal comprises: a step of attaching a connection module to an unmanned underwater mobile device for connecting to a main module located underwater; a step of moving the unmanned underwater mobile device so that a second connection part comes into contact with a first connection part; a step of loosening a bellows tube so that the bellows tube is connected to a first connection part by pushing a second flange connected to a jig through a first hydraulic cylinder; a step of connecting the first connection part and the second connection part by controlling a locking device to rotate the first connection part surrounding the third protrusion while the first connection part and the bellows tube are connected and the first protrusion of the first connection part and the third protrusion of the second connection part are engaged, thereby preventing the third protrusion from coming off the first connection part; and a step of separating the connection module and the unmanned underwater mobile device by pushing a jig through a second hydraulic cylinder part while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange. It includes the step of moving an unmanned underwater mobile device to the surface.

[0158] According to various embodiments of the present invention, the main module includes a first body, a first opening for connecting to a connecting module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connecting module.

[0159] According to various embodiments of the present invention, the first connecting portion includes a first protrusion that can engage with the second connecting portion of the connecting module, and a second protrusion that engages with the locking device.

[0160] According to various embodiments of the present invention, the locking device includes a gear for controlling the rotation of a first connecting part by engaging with a second protrusion and rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and a user terminal. The first communication unit and the user terminal are connected via wired communication using a cable or wireless communication. The first control unit may include at least one processor and a memory. The first communication unit may include a transmitter, a receiver, or a transceiver.

[0161] According to various embodiments of the present invention, the connection module comprises a second body, a second opening for connecting to a main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to a first connecting part.

[0162] According to various embodiments of the present invention, the second connecting portion includes a third protrusion that can engage with the first protrusion.

[0163] According to various embodiments of the present invention, an unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the unmanned underwater mobile device, a work unit for transporting and controlling a connection module, a second control unit for controlling each component of the unmanned underwater mobile device, and a second communication unit for communication between the second control unit and a user terminal. The second communication unit and the user terminal are connected via wired communication using a cable or wireless communication.

[0164] The drive unit is a key component that provides the propulsion necessary for unmanned underwater vehicles to move underwater. It typically includes an electric motor and thrusters, with the motor generating thrust underwater as it rotates. Due to the high resistance in underwater environments, the drive unit is designed to efficiently transmit power and operate smoothly at various speeds and directions. Furthermore, durability and water resistance are critical, as it must maintain consistent performance under varying depths and pressures.

[0165] The steering control unit is the component responsible for steering the unmanned underwater vehicle so that it can move in the desired direction. Typically, it controls direction using multiple thrusters or fins to enable vertical and horizontal maneuvering. Designed to allow for precise control in complex underwater environments, the steering control unit is operated via an automated control system to avoid underwater obstacles or move accurately to a target point. This ensures maneuverability and stability underwater.

[0166] The sensor unit plays the role of collecting necessary data so that the unmanned underwater mobile device can perceive the underwater environment and perform tasks autonomously. Commonly used sensors include ultrasonic sensors, sonar, pressure sensors, and cameras. Ultrasonic sensors and sonar enable detection and obstacle avoidance underwater, while pressure sensors measure the depth and water pressure at the device's location. Cameras provide real-time video to help visually grasp the surrounding environment. Based on this diverse sensor data, the unmanned underwater mobile device can perform tasks safely and accurately.

[0167] Batteries serve to power unmanned underwater vehicles and are an essential component for their continuous operation. Since external power supply is impossible in underwater environments, high-efficiency, high-capacity batteries are required. Lithium-ion batteries are primarily used to achieve lightweight design and high efficiency, with battery capacity determined by the size of the device and operating time. Waterproofing is essential for the battery system, and it is designed to adapt to changes in temperature and pressure to ensure a stable power supply.

[0168] The second control unit is a device that integrally controls all systems of the unmanned underwater mobile device. The second control unit collects and analyzes data from each component, such as the drive unit, steering control unit, work unit, and sensor unit, to enable the autonomous operation of the device. In addition, the second control unit monitors whether the device is operating normally and provides a function to respond immediately in the event of an abnormal situation. It can switch between manual control and autonomous control modes as needed, and allows for real-time adjustment for precise operations. The second control unit may include at least one processor and memory.

[0169] The second communication unit is responsible for communication between the unmanned underwater mobile device and the user terminal. The second communication unit transmits and receives data via wired or wireless methods and delivers the device's status and operation results to the user in real time. In the case of wireless communication, acoustic communication or high-frequency electromagnetic waves are generally used because underwater communication is challenging, while in the case of wired communication, stable communication is achieved through physical cables. The communication unit plays an important role in enabling effective control of the device even from a remote location. The second communication unit may include a transmitter, a receiver, or a transceiver.

[0170] According to various embodiments of the present invention, the working part includes a jig that can be engaged and fastened with a second flange of a connecting module, a frame for fastening the jig to an unmanned underwater moving device, and a second hydraulic cylinder part disposed between the frame and the jig for controlling the contraction and expansion of a bellows tube by pushing or pulling the second flange through the jig.

[0171] According to various embodiments of the present invention, the unmanned underwater moving device is moved so that the jig engages with the second flange and is fastened, and then the jig is pulled through the second hydraulic cylinder to contract the bellows tube, thereby connecting the connection module and the unmanned underwater moving device.

[0172] According to various embodiments of the present invention, the end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube.

[0173] According to various embodiments of the present invention, the first hydraulic cylinder and the second hydraulic cylinder are configured to adjust the pressure in steps.

[0174] According to various embodiments of the present invention, the main module further includes a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at a user terminal.

[0175] According to various embodiments of the present invention, the second hydraulic cylinder section includes a plurality of second hydraulic cylinders. The plurality of second hydraulic cylinders are configured to operate independently to balance the fastening of the jig, frame, and bellows tube.

[0176] According to various embodiments of the present invention, the main module further includes a first barrier wall that is openable and closable between the first connecting part and the interior of the main module. The connecting module further includes a second barrier wall that is openable and closable between the second connecting part and the connecting module. By controlling the opening and closing of the first barrier wall, the main module is configured to block the airflow between the first connecting part and the interior of the main module before the first connecting part and the second connecting part are connected, and to allow air to pass between the first connecting part and the interior of the main module after the first connecting part and the second connecting part are connected.

[0177] According to various embodiments of the present invention, the connection module is configured to control the opening and closing of a second barrier wall to block the airflow between the second connection part and the interior of the connection module before the first connection part and the second connection part are connected, and to allow air to pass between the second connection part and the interior of the connection module after the first connection part and the second connection part are connected.

[0178] According to various embodiments of the present invention, after the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby making the air pressure inside the main module and the interior of the connecting module equal.

[0179] According to various embodiments of the present invention, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere.

[0180] According to various embodiments of the present invention, the main module further includes a pressure gauge for measuring pressure on a first connection part.

[0181] According to various embodiments of the present invention, the main module is configured to send a warning signal to a user terminal when the pressure on the first connection part deviates from a set range during the fastening operation between the first connection part and the second connection part, or when an abnormality is detected in the operation of the locking device.

[0182] According to various embodiments of the present invention, a system for connecting modular underwater structures by control of a user terminal is provided. The system includes a main module included in the modular underwater structure; a connection module included in the modular underwater structure; and an unmanned underwater mobile device.

[0183] According to various embodiments of the present invention, the main module includes a first body, a first opening for connecting to a connecting module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connecting module.

[0184] According to various embodiments of the present invention, the first connecting portion includes a first protrusion that can engage with the second connecting portion of the connecting module, and a second protrusion that engages with the locking device.

[0185] According to various embodiments of the present invention, a locking device comprises a gear for controlling the rotation of a first connecting part by engaging with a second protrusion and rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and a user terminal. The first communication unit and the user terminal are connected via wired communication using a cable or wireless communication.

[0186] According to various embodiments of the present invention, the connection module comprises a second body, a second opening for connecting to a main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to a first connecting part.

[0187] According to various embodiments of the present invention, the second connecting portion includes a third protrusion that can engage with the first protrusion.

[0188] According to various embodiments of the present invention, an unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the unmanned underwater mobile device, a work unit for transporting and controlling a connection module, a second control unit for controlling each component of the unmanned underwater mobile device, and a second communication unit for communication between the second control unit and a user terminal. The second communication unit and the user terminal are connected via wired communication using a cable or wireless communication.

[0189] According to various embodiments of the present invention, the working part includes a jig that can be engaged and fastened with a second flange of a connecting module, a frame for fastening the jig to an unmanned underwater moving device, and a second hydraulic cylinder part disposed between the frame and the jig for controlling the contraction and expansion of a bellows tube by pushing or pulling the second flange through the jig.

[0190] According to various embodiments of the present invention, the system, based on the control of a user terminal: (1) moves the unmanned underwater moving device so that the jig engages with the second flange and is fastened, and then pulls the jig through the second hydraulic cylinder part to contract the bellows tube, thereby connecting the connection module and the unmanned underwater moving device; (2) moves the unmanned underwater moving device so that the second connection part comes into contact with the first connection part; (3) pushes the second flange connected to the jig through the first hydraulic cylinder to connect the bellows tube to the first connection part; (4) while the first connection part and the bellows tube are connected and the first protrusion of the first connection part and the third protrusion of the second connection part are engaged, controls a locking device to rotate the first connection part surrounding the third protrusion so that the third protrusion does not come out of the first connection part, thereby connecting the first connection part and the second connection part; and (5) while the first connection part and the second connection part are connected, pushes the jig through the second hydraulic cylinder part so that the connection between the jig and the second flange is By loosening the connection module and the unmanned underwater moving device, (6) after the first connection part and the second connection part are connected, the unmanned underwater moving device is configured to be moved to the surface of the water.

[0191] According to various embodiments of the present invention, the end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube.

[0192] According to various embodiments of the present invention, the first hydraulic cylinder and the second hydraulic cylinder are configured to adjust the pressure in steps.

[0193] According to various embodiments of the present invention, the main module further includes a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at a user terminal.

[0194] According to various embodiments of the present invention, the second hydraulic cylinder section includes a plurality of second hydraulic cylinders. The plurality of second hydraulic cylinders are configured to operate independently to balance the fastening of the jig, frame, and bellows tube.

[0195] According to various embodiments of the present invention, the main module further includes a first barrier wall that is openable and closable between the first connecting part and the interior of the main module. The connecting module further includes a second barrier wall that is openable and closable between the second connecting part and the connecting module. By controlling the opening and closing of the first barrier wall, the main module is configured to block the airflow between the first connecting part and the interior of the main module before the first connecting part and the second connecting part are connected, and to allow air to pass between the first connecting part and the interior of the main module after the first connecting part and the second connecting part are connected.

[0196] According to various embodiments of the present invention, The connection module is configured to control the opening and closing of the second barrier wall to block the airflow between the second connection part and the interior of the connection module before the first connection part and the second connection part are connected, and to allow air to pass between the second connection part and the interior of the connection module after the first connection part and the second connection part are connected.

[0197] According to various embodiments of the present invention, after the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby making the air pressure inside the main module and the interior of the connecting module equal.

[0198] According to various embodiments of the present invention, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere.

[0199] According to various embodiments of the present invention, the main module further includes a pressure gauge for measuring pressure on a first connection part. The main module is configured to send a warning signal to a user terminal when, during a fastening operation between the first connection part and the second connection part, the pressure on the first connection part deviates from a set range or an abnormality is detected in the operation of the locking device.

[0201] The embodiments described above are combinations of the components and features of the present invention in a specific form. Each component or feature should be considered optional unless otherwise explicitly stated. Each component or feature may be implemented in a form not combined with other components or features. Additionally, it is possible to construct embodiments of the present invention by combining some components and / or features. The order of operations described in the embodiments of the invention may be changed. Some components or features of one embodiment may be included in another embodiment, or may be replaced with corresponding components or features of another embodiment. It is obvious that embodiments may be constructed by combining claims that do not have an explicit citation relationship in the claims, or that they may be included as new claims through amendments made after filing.

[0202] It will be apparent to those skilled in the art that the present invention may be embodied in other forms without departing from the technical spirit and essential features of the present invention. Accordingly, the above embodiments should be considered in all illustrative aspects rather than as a limiting one. The scope of the present invention shall be determined by a reasonable interpretation of the appended claims and all possible variations within the equivalent scope of the present invention.

Claims

Claim 1 A method for connecting a modular underwater structure by control of a user terminal, wherein the modular underwater structure comprises a main module and a connecting module, and the step of attaching the connecting module to an unmanned underwater mobile device for connecting to the main module located underwater; wherein the main module comprises a first body, a first opening for connecting to the connecting module, a cylindrical first connecting pipe connected to the first opening, a first flange connected to the first connecting pipe, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting pipe, and a locking device capable of fixing the connection between the main module and the connecting module, wherein the first connecting part comprises a first protrusion capable of engaging with a second connecting part of the connecting module and a second protrusion engaging with the locking device, and the locking device comprises a gear for controlling the rotation of the first connecting part by engaging with the second protrusion and rotating the second protrusion, a rotating rod connected to the gear, and a first for controlling the rotation of the rotating rod A hydraulic cylinder, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the connection module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube and for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part, and the second connecting part comprises a third protrusion capable of engaging with the first protrusion.The above unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the above unmanned underwater mobile device, a work unit for transporting and controlling the connection module, a second control unit for controlling each component of the above unmanned underwater mobile device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the work unit comprises a jig capable of engaging and being fastened with the second flange of the connection module, a frame for fastening the jig to the above unmanned underwater mobile device, and a second hydraulic cylinder unit disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig, and after moving the above unmanned underwater mobile device so that the jig engages and is fastened with the second flange, through the second hydraulic cylinder unit, the By pulling the jig to contract the bellows tube,The method comprises the steps of: connecting the above-mentioned connection module and the above-mentioned unmanned underwater mobile device; moving the above-mentioned unmanned underwater mobile device so that the second connection part comes into contact with the first connection part; loosening the bellows tube so that the bellows tube is connected to the first connection part by pushing the second flange connected to the jig through the first hydraulic cylinder; connecting the first connection part and the second connection part by controlling the locking device while the first connection part surrounding the third protrusion is in a state where the first connection part and the bellows tube are connected and the first protrusion of the first connection part and the third protrusion of the second connection part are engaged, thereby preventing the third protrusion from coming off the first connection part; separating the connection module and the above-mentioned unmanned underwater mobile device by pushing the jig through the second hydraulic cylinder part while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange; and moving the above-mentioned unmanned underwater mobile device to the surface. Including, method. Claim 2 A method according to claim 1, wherein the end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube. Claim 3 A method according to claim 1, wherein the first hydraulic cylinder and the second hydraulic cylinder are configured to adjust pressure in steps. Claim 4 A method according to claim 1, wherein the main module further comprises a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at the user terminal. Claim 5 A method according to claim 1, wherein the second hydraulic cylinder part comprises a plurality of second hydraulic cylinders, and the plurality of second hydraulic cylinders are configured to operate independently to balance the fastening of the jig, the frame, and the bellows tube. Claim 6 A method according to claim 1, wherein the main module further comprises a first barrier wall that can be opened and closed between the first connecting part and the interior of the main module, and the connecting module further comprises a second barrier wall that can be opened and closed between the second connecting part and the connecting module, and the main module is configured to block the airflow between the first connecting part and the interior of the main module before the first connecting part and the second connecting part are connected by controlling the opening and closing of the first barrier wall, and to allow air to pass between the first connecting part and the interior of the main module after the first connecting part and the second connecting part are connected. Claim 7 A method according to claim 6, wherein the connection module controls the opening and closing of the second barrier wall to block the airflow between the second connection part and the interior of the connection module before the first connection part and the second connection part are connected, and is configured to allow air to pass between the second connection part and the interior of the connection module after the first connection part and the second connection part are connected. Claim 8 A method according to claim 7, wherein after the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, so that the air pressure inside the main module and the interior of the connecting module become equal. Claim 9 A method according to claim 8, wherein air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere. Claim 10 A method according to claim 1, wherein the main module further includes a pressure gauge for measuring pressure on the first connection part, and the main module is configured to send a warning signal to the user terminal when the pressure on the first connection part deviates from a set range during the fastening operation between the first connection part and the second connection part, or when an abnormality is detected in the operation of the locking device. Claim 11 A system for connecting modular underwater structures by control of a user terminal, wherein the system comprises: a main module included in the modular underwater structure; and a connection module included in the modular underwater structure; The unmanned underwater mobile device includes a main module comprising a first body, a first opening for connecting to the connection module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connection module, wherein the first connecting part comprises a first protrusion capable of engaging with a second connecting part of the connection module and a second protrusion engaging with the locking device, wherein the locking device comprises a gear for controlling the rotation of the first connecting part by engaging with the second protrusion and rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are wired using a cable The connection module is connected via communication or wireless communication, and the connection module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part, and the second connecting part comprises a third protrusion capable of engaging with the first protrusion, and the unmanned underwater moving device comprises a drive unit that provides propulsion for underwater movement.The system comprises a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the unmanned underwater moving device, a working unit for transporting and controlling the connection module, a second control unit for controlling each component of the unmanned underwater moving device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication, and the working unit comprises a jig capable of engaging and being fastened with the second flange of the connection module, a frame for fastening the jig to the unmanned underwater moving device, and a second hydraulic cylinder unit disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig, and the system, based on the control of the user terminal: moves the unmanned underwater moving device so that the jig engages and is fastened with the second flange, and then pulls the jig through the second hydraulic cylinder unit, the By contracting the bellows tube, the connection module and the unmanned underwater mobile device are connected; after moving the unmanned underwater mobile device so that the second connection part contacts the first connection part, the bellows tube is connected to the first connection tube by pushing the second flange connected to the jig through the first hydraulic cylinder; and with the first connection tube and the bellows tube connected and the first protrusion of the first connection part and the third protrusion of the second connection part engaged, the locking device is controlled to rotate the first connection part surrounding the third protrusion so that the third protrusion does not detach from the first connection part, thereby connecting the first connection part and the second connection part.A system configured to separate the connection module and the unmanned underwater mobile device by pushing the jig through the second hydraulic cylinder while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange, and to move the unmanned underwater mobile device to the surface after the first connection part and the second connection part are connected. Claim 12 A system according to claim 11, wherein the end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube. Claim 13 In claim 11, the system is configured such that the first hydraulic cylinder and the second hydraulic cylinder section can adjust the pressure in steps. Claim 14 In claim 11, the system further comprises a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at the user terminal. Claim 15 A system according to claim 11, wherein the second hydraulic cylinder section comprises a plurality of second hydraulic cylinders, and the plurality of second hydraulic cylinders are configured to operate independently to balance the connection of the jig, the frame, and the bellows tube. Claim 16 A system according to claim 11, wherein the main module further comprises a first barrier wall that is openable and closable between the first connecting part and the interior of the main module, and the connecting module further comprises a second barrier wall that is openable and closable between the second connecting part and the connecting module, and the main module is configured to block the airflow between the first connecting part and the interior of the main module before the first connecting part and the second connecting part are connected by controlling the opening and closing of the first barrier wall, and to allow air to pass between the first connecting part and the interior of the main module after the first connecting part and the second connecting part are connected. Claim 17 A system according to claim 16, wherein the connection module controls the opening and closing of the second barrier wall to block the airflow between the second connection part and the interior of the connection module before the first connection part and the second connection part are connected, and is configured to allow air to pass between the second connection part and the interior of the connection module after the first connection part and the second connection part are connected. Claim 18 A system according to claim 17, wherein after the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, so that the air pressure inside the main module and the interior of the connecting module become equal. Claim 19 A system according to claim 18, wherein air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere. Claim 20 A system according to claim 11, wherein the main module further includes a pressure gauge for measuring pressure on the first connection part, and the main module is configured to send a warning signal to the user terminal when the pressure on the first connection part deviates from a set range during the fastening operation between the first connection part and the second connection part, or when an abnormality is detected in the operation of the locking device.

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