Automatic cleaning, drying, and defect diagnosis station for unmanned underwater robots and unmanned underwater robot defect diagnosis method

Abstract

An automatic washing, drying, and defect diagnosis station for unmanned underwater robots is disclosed, which reduces preparation time for re-deployment by enabling continuous processing at a single station without repeatedly moving the unmanned underwater robot, which has completed its mission, to separate washing, drying, and inspection locations. The automatic washing, drying, and defect diagnosis station for unmanned underwater robots comprises: a transfer unit for moving the unmanned underwater robot, which has completed its mission, through a washing location, a drying location, and an inspection location to a discharge location; a weight measuring unit for measuring the weight of the unmanned underwater robot; a washing module for removing salt or contaminants attached to the surface of the unmanned underwater robot; a drying module for removing moisture from the washed unmanned underwater robot; a non-destructive testing module for performing non-destructive testing on the dried unmanned underwater robot; and a determination unit for classifying the unmanned underwater robot into a state ready for re-deployment, a state ready for storage without additional measures, or a state requiring maintenance, based on weight data from the weight measuring unit and non-destructive testing data from the non-destructive testing module.

Description

Technology Field

[0001] The present invention relates to the diagnosis of defects in unmanned underwater robots, and in particular, to improvements in a defect diagnosis station and a defect diagnosis method for diagnosing defects in unmanned underwater robots such as autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). Background Technology

[0002] Generally, equipment operating underwater is repeatedly exposed to seawater, salt, floating debris, mud, biological contaminants, lubricants, and fuel contaminants. When such equipment is recovered after a mission, contaminants remain on the external surface, and there is a possibility of moisture penetration into internal spaces or connections. Furthermore, defects resulting from collisions or repeated operation may occur in thrusters, sensors, connectors, housings, coating layers, and fasteners. Therefore, before operating the equipment again after a mission, it is necessary to sequentially perform surface decontamination, moisture removal, verification for leaks or damage, and determination of readiness for re-deployment.

[0003] Conventionally, it was common practice to move equipment that had completed its mission to a maintenance location on land or a mothership, after which a worker would perform water washing, drying, external inspection, and measurement as separate procedures. Since this method requires a person to manually check the external condition of the equipment, the results vary depending on the worker's skill level; if the inspection is performed before the equipment is sufficiently cleaned, salt or contaminants may be mistaken for defects; and if electrical or thermal imaging inspections are performed before the equipment is sufficiently dried, the reliability of the inspection may be compromised.

[0004] In addition, internal flooding or micro-leakage in underwater equipment is difficult to detect immediately by looking only at the external surface. In some cases, operators must disassemble the equipment or move it to a separate testing facility to perform leak inspections, which delays re-entry time and increases maintenance costs.

[0005] Related prior art is disclosed in Korean Published Patent Application No. 10-2010-0024134, which describes a leak monitoring connector capable of identifying leak points and operating a specific hydraulic actuator in a limited manner during leak inspection, and a leak inspection device for a submersible vessel utilizing the same. This document focuses on a configuration for collecting hydraulic fluid samples and inspecting physical properties using a flange plate, a pipe connecting member, a sample collection valve, or an auxiliary connecting pipe.

[0006] In addition, Korean Published Patent Application No. 10-2010-0024130 discloses a device for inspecting for leakage in an external hydraulic drive unit and related piping while preventing the possibility of contamination of the main hydraulic supply unit inside the submersible. This document focuses on a configuration for verifying leakage in a hydraulic system through a leakage monitoring penetration device, a pipe interlocking device, a hydraulic fluid physical property inspection device, and an auxiliary hydraulic supply unit.

[0007] However, these conventional technologies focus on leak detection of hydraulic systems or hydraulic fluid samples of submersibles and do not solve the problems mentioned above. Prior art literature

[0008] 1. Korean Published Patent Application No. 10-2010-0024134 (Title of Invention: Leakage Monitoring Connector and Leakage Inspection Device for a Submersible Using the Same, Date of Publication: March 5, 2010, Inventors: Lee Seong-yeop et al.) 2. Korean Published Patent Application No. 10-2010-0024130 (Title of Invention: Leakage Inspection Device in a Submersible, Date of Publication: March 5, 2010, Inventors: Lee Seong-yeop et al.) The problem to be solved

[0009] The objective of the present invention is to provide an automatic cleaning, drying, and defect diagnosis station for an unmanned underwater robot and a defect diagnosis method that enables rapid inspection of an unmanned underwater robot after it has completed its mission and rapid determination of whether it is capable of being re-deployed.

[0010] Another objective of the present invention is to provide an automatic washing, drying, and defect diagnosis station and a defect diagnosis method for an unmanned underwater robot that can automatically wash, rapidly dry, inspect for defects, and determine whether the unmanned underwater robot is ready for re-departure within a single maintenance line without requiring a person to move the robot to multiple locations after completing its mission.

[0011] Another objective of the present invention is to provide an automatic cleaning, drying, and defect diagnosis station and a defect diagnosis method for an unmanned underwater robot that can detect at an early stage internal moisture penetration, leakage, corrosion, coating damage, collision traces, or sensor contamination that are difficult to identify by simple external inspection alone.

[0012] Another objective of the present invention is to reduce inspection errors and increase maintenance reliability. means of solving the problem

[0013] An automatic washing, drying, and defect diagnosis station for an unmanned underwater robot according to the present invention comprises: a transfer unit for moving an unmanned underwater robot that has completed its mission through a washing position, a drying position, and an inspection position to a discharge position; a weight measuring unit including a first weight measuring unit for measuring a reference weight before washing after the unmanned underwater robot is recovered and natural drainage is completed, and a second weight measuring unit for measuring the weight after the unmanned underwater robot is washed and dried; a washing module for removing salt and contaminants attached to the surface of the unmanned underwater robot; a drying module for removing moisture from the washed unmanned underwater robot; a non-destructive testing module comprising at least two of an optical camera, an ultrasonic probe, an X-ray inspection unit, an eddy current coil, and a thermal imaging camera, and generating at least two different non-destructive testing results for the dried unmanned underwater robot; and a tunnel body on which at least some of the washing module, the drying module, and the non-destructive testing module are disposed. The present invention is characterized by comprising: a determination unit that calculates a first weight difference value between the reference weight and the weight after drying and a second weight difference value between the pre-mission weight and the weight after drying, determines the amount of water and contaminants removed by the washing module and the drying module based on the first weight difference value, determines the possibility of internal flooding of the unmanned underwater robot based on the second weight difference value, and classifies the unmanned underwater robot into a state capable of re-departure, a state capable of storage without additional measures, or a state requiring maintenance by integrating the first weight difference value, the second weight difference value, and at least two different non-destructive inspection results; and a station control unit for integrally controlling at least two operations among the transfer unit, the washing module, the drying module, the non-destructive inspection module, and the determination unit.

[0014] delete

[0015] delete

[0016] delete

[0017] The above drying module includes at least one of a blower unit, a dehumidification unit, and a heat source unit, a moisture sensor is installed inside the tunnel body, and the station control unit can determine the drying end time based on the measurement value of the moisture sensor or the drying time.

[0018] The above cleaning module preferably includes at least two of a high-pressure cleaning unit, a mist spraying unit, an ultrasonic transducer, and a brush / pad unit.

[0019] delete

[0020] delete

[0021] It is preferable that the above-mentioned discrimination unit has a report function that stores and outputs identification information, mission information, cleaning conditions, drying conditions, weight data, inspection images, defect locations, and judgment results of the above-mentioned unmanned underwater robot.

[0022] A defect diagnosis method for an unmanned underwater robot according to the present invention comprises: a standard weight measurement step of measuring the standard weight of the unmanned underwater robot before cleaning using a first weight measuring unit after the unmanned underwater robot has completed its mission and natural drainage is finished; a step of introducing the unmanned underwater robot that has completed its mission into a transfer unit; a step of moving the unmanned underwater robot to a cleaning position using the transfer unit; a step of cleaning the unmanned underwater robot using a cleaning module; a step of drying the cleaned unmanned underwater robot using a drying module; a step of performing at least two different non-destructive tests among optical inspection, ultrasonic inspection, X-ray inspection, eddy current inspection, and thermal imaging inspection on the unmanned underwater robot that has undergone the drying step using a non-destructive inspection module; and a post-drying weight measurement step of measuring the weight of the unmanned underwater robot after drying using a second weight measuring unit after undergoing the cleaning step and the drying step. The method is characterized by comprising: a weight difference value calculation step for calculating a first weight difference value between the reference weight and the weight after drying, and a second weight difference value between a pre-stored pre-mission weight and the weight after drying; a weight analysis step for determining the amount of water and contaminants removed by the washing step and the drying step based on the first weight difference value, and determining the possibility of internal submersion of the unmanned underwater robot based on the second weight difference value; a step for analyzing inspection data of the non-destructive test; and a determination step for determining the unmanned underwater robot as being in a state capable of re-departure, a state capable of storage without additional measures, or a state requiring maintenance based on the first weight difference value, the second weight difference value, and the inspection results of at least two different non-destructive tests.

[0023] delete

[0024] It is preferable to include a real-time reporting step that stores and outputs identification information, mission information, cleaning conditions, drying conditions, weight data, inspection images, defect locations, and judgment results of the above-mentioned unmanned underwater robot in real time. Effects of the invention

[0025] According to the present invention, since unmanned underwater robots that have completed their missions can be processed continuously at a single station without having to repeatedly move them to separate washing, drying, and inspection areas, the preparation time for re-entry is reduced.

[0026] According to the present invention, since drying is performed after washing and non-destructive testing is performed after drying, inspection errors caused by salt, water droplets, or contaminants are reduced. In particular, since weight changes before and after washing or before and after drying are used together with the non-destructive testing results, internal immersion or residual contamination can be determined more reliably.

[0027] According to the present invention, since high-pressure water, mist, ultrasound, and a brush / pad can be used together, salt, adhesive contaminants, and crevice contaminants that are difficult to remove by simple water washing can be removed, and damage to sensitive parts such as sensor parts, propellers, and connectors can be reduced by adjusting the contact pressure.

[0028] According to the present invention, since optical, ultrasonic, X-ray, eddy current, and thermal imaging data are integrated for determination, surface defects, internal defects, corrosion, cracks, moisture residue, and abnormal heat generation can be diagnosed in combination.

[0029] According to the present invention, since inspection images and defect locations can be saved as a report along with OK or NOK judgments, the operator can immediately distinguish between robots capable of re-departure or robots capable of storage without additional measures and robots subject to maintenance, and can quantitatively manage changes in the status of unmanned underwater robots in long-term operation. Brief explanation of the drawing

[0030] FIG. 1 is a conceptual diagram of an automatic washing, drying, and defect diagnosis station for an unmanned underwater robot according to the present invention. FIG. 2 is a block diagram showing the configuration of an automatic washing, drying, and defect diagnosis station for an unmanned underwater robot according to the present invention. FIG. 3 is a flowchart showing the process of a method for diagnosing defects in an unmanned underwater robot according to the present invention. Specific details for implementing the invention

[0031] Embodiments are described below with reference to the attached drawings. Where possible, the same reference numerals are used for components performing the same or similar functions. In this specification, the term "unmanned underwater robot" is used to include Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs), underwater exploration robots, underwater work robots, or equivalent underwater operating equipment.

[0032] Referring to FIGS. 1 to 3, the automatic washing, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention has a transfer unit (110), a weight measuring unit (120), a washing module (130), a drying module (140), a non-destructive inspection module (150), and a discrimination unit (160).

[0033] Preferably, the automatic washing, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention further has a tunnel body (170) for installing a washing module (130), a drying module (140), and a non-destructive inspection module (150).

[0034] Additionally, a temporary loading section may be provided to temporarily retrieve and place the unmanned underwater robot (10) that has completed its mission before the transfer section (110). The temporary loading section may perform the task of identifying the unmanned underwater robot (10). Additionally, a first weight measuring section (122) may be installed in the temporary loading section. In this case, the first weight measuring section (122) may serve as the temporary loading section.

[0035] The transport unit (110) is for moving the unmanned underwater robot (10) that has completed its mission through the washing position, drying position, and inspection position to the discharge position, and a conveyor is suitable. Other transport equipment may be used instead of a conveyor.

[0036] The weight measuring unit (120) is for measuring the weight of the unmanned underwater robot (10), and preferably has a first weight measuring unit (122) for measuring the reference weight of the unmanned underwater robot (10) after recovery and a second weight measuring unit (124) for measuring the weight of the unmanned underwater robot (10) after drying. Since the unmanned underwater robot (10) enters and exits water, it naturally drains according to the angle of inclination for a certain period of time, and its weight continues to change. Therefore, in this specification, "reference weight" refers to the weight of the recovered unmanned underwater robot (10) after a certain period of time has passed and natural drainage has ended.

[0037] The cleaning module (130) is intended to remove salt or contaminants attached to the surface of the unmanned underwater robot (10). The cleaning module (130) may have a high-pressure cleaning unit, a mist spraying unit, an ultrasonic transducer, and a brush / pad unit, etc. It is preferable to include at least two of these.

[0038] The drying module (140) is for removing moisture from the washed unmanned underwater robot (10).

[0039] The non-destructive testing module (150) is intended to perform non-destructive testing on a dried unmanned underwater robot (10). The non-destructive testing module (150) preferably includes at least two of an ultrasonic probe (151), an optical camera (152), an X-ray inspection unit (153), an eddy current coil (154), and a thermal imaging camera (155).

[0040] The drying module (140) includes at least one of a blower unit for blowing wind toward the unmanned underwater robot (10), a dehumidification unit for removing moisture inside the tunnel body (170), and a heat source unit for releasing heat toward the unmanned underwater robot (10). A moisture sensor may be installed inside the tunnel body (170). In this case, the station control unit (180) may be configured to determine the drying end time based on the measurement value of the moisture sensor or the drying time.

[0041] The determination unit (160) is intended to classify the unmanned underwater robot (10) by determining it to be in a state where it can be re-deployed, a state where it can be stored without additional measures, or a state requiring maintenance, based on the weight data of the weight measuring unit (120), the non-destructive inspection data of the non-destructive inspection module (150), and the pre-mission storage data. The determination unit (160) may be configured to determine the state where it can be re-deployed, a state where it can be stored without additional measures, or a state requiring maintenance by integrating at least two of the optical inspection results, ultrasonic inspection results, X-ray inspection results, eddy current inspection results, and thermal imaging inspection results together with the weight data.

[0042] Additionally, the identification unit (160) may be configured to have a report function that stores and outputs identification information, mission information, cleaning conditions, drying conditions, weight data, inspection images, defect locations, and judgment results of the unmanned underwater robot (10).

[0043] The automatic washing, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention may have a station control unit (180) for integrally controlling at least two of the following operations: a transfer unit (110), a washing module (130), a drying module (140), a non-destructive inspection module (150), and a discrimination unit (160). It goes without saying that for the operation of the automatic washing, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention as described above, a power supply unit (190) for supplying electrical energy to the aforementioned components is also required.

[0044] Referring to FIGS. 1 to 3 together, the method for diagnosing defects in an unmanned underwater robot according to the present invention is described as follows.

[0045] When the unmanned underwater robot (10) that has completed its mission enters the base or mothership after the mission is finished, it is recovered through the recovery equipment (S1).

[0046] The recovered unmanned underwater robot (10) is loaded onto a temporary loading unit and undergoes an identification process (S2).

[0047] After the unmanned underwater robot (10) is identified, the reference weight of the unmanned underwater robot (10) recovered is measured through the first weight measuring unit (122) (S3). In the present invention, this is referred to as the reference weight measuring step.

[0048] Then, the unmanned underwater robot (10) is introduced into the transport unit (110) (S4). Accordingly, the unmanned underwater robot (10) travels along the transport unit (110), which is composed of a conveyor, etc., and enters the interior of the tunnel body (170), passing through the washing module (130), drying module (140), and non-destructive inspection module (150) in order.

[0049] That is, the unmanned underwater robot (10) moves to a cleaning position via the transfer unit (110) and is cleaned by the cleaning module (130) (S5). Then, the unmanned underwater robot (10) undergoes a drying process by the drying module (140) (S6). After drying, the unmanned underwater robot (10) undergoes non-destructive inspection through the non-destructive inspection module (150) (S7).

[0050] Afterward, the weight of the unmanned underwater robot (10) after drying is measured in the second weight measuring unit (124) after exiting the tunnel body (170) through the transfer unit (110) (S8). In the present invention, this is referred to as the weight measurement step after drying.

[0051] Measurement data from each non-destructive testing module (150) and measurement data from the first and second weight measuring units (124) are input into the determination unit (160). The determination unit (160) basically analyzes the input non-destructive testing data by comparing it with a preset reference value or pre-mission stored data to determine the unmanned underwater robot (10), determines whether the unmanned underwater robot (10) is in a state where it can be re-deployed or stored without additional measures, or if it requires repair, and outputs the determination result as a report.

[0052] Preferably, the determination unit (160) analyzes the input non-destructive testing data and the reference weight after recovery and the weight after drying of the unmanned underwater robot (10) based on the measurement data of each non-destructive testing module (150) and the measurement data of the first and second weight measurement units (124), that is, by comparing it with pre-set reference values ​​or pre-mission storage data such as the pre-mission storage weight, to determine whether the robot is in a state where it can be stored without re-departure or additional measures, or whether it is in a state requiring repair, and outputs the determination result as a report (S9). In this process, a weight difference value calculation step is performed to calculate the difference between the reference weight and the weight after drying of the unmanned underwater robot (10) and the difference between the pre-mission storage weight and the weight after drying. Additionally, preferably, the identification information, mission information, cleaning conditions, drying conditions, weight data, inspection images, defect locations, and determination results of the unmanned underwater robot (10) can be stored and output in real time. In the present invention, this is referred to as the real-time report step.

[0053] Based on the determination result, it is determined whether there is any abnormality in the unmanned underwater robot (10) (S10). If there is no abnormality, it is kept awaiting re-departure or without additional measures (S11), and if there is an abnormality, it is sent to a repair shop for precise diagnosis or repair (S12). It is preferable that this determination step be configured to determine whether the unmanned underwater robot (10) is in a state where it can be re-departure, a state where it can be kept without additional measures, or a state requiring maintenance by referring together with the weight difference value and non-destructive inspection data.

[0054] In the present invention as described above, automatic washing, drying, and defect diagnosis are performed quickly, and the process from immediately after the unmanned underwater robot (10) is recovered after completing its mission until the possibility of re-departure is determined is processed as a single flow. First, the unmanned underwater robot (10) is placed in a temporary loading section, and at this time, the station control section (180) records the identification information and standard weight of the unmanned underwater robot (10). Then, the transfer section (110) moves the unmanned underwater robot (10) to a processing area where a washing module (130), a drying module (140), and a non-destructive inspection module (150) are arranged. The automatic washing, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention is similar to putting a robot that has returned from the sea into an automatic car wash, but it does not stop at simply washing; it dries the water and meticulously checks whether water has entered the interior of the unmanned underwater robot (10) or whether the outer surface is broken.

[0055] The automatic cleaning, drying, and defect diagnosis station (100) for an unmanned underwater robot according to the present invention may include a tunnel body (170). The tunnel body (170) has an entrance for the unmanned underwater robot (10) to enter and an exit for the unmanned underwater robot (10) to exit after undergoing cleaning, drying, and non-destructive inspection processes. A cleaning nozzle (132), an ultrasonic probe (151), an optical camera (152), an X-ray inspection unit (153), an eddy current coil (154), and a thermal imaging camera (155), etc., may be arranged inside or on the top of the tunnel body (170). The tunnel body (170) is configured to prevent the cleaning liquid from splashing out and to recover the cleaning liquid through a drainage unit (not shown). That is, the tunnel body (170) serves as a passage for the robot to pass through, and at the same time acts as an enclosure that collects water, air, and inspection equipment in one place.

[0056] The station control unit (180) can exchange signals with the identification unit (160), the transfer unit (110), the washing module (130), the drying module (140), and the non-destructive inspection module (150), and can be configured to control their operation through control signals. If necessary, the station control unit (180) can be configured to control the temporary loading unit, the weight measuring unit (120), etc. Furthermore, it can be configured to control the fluid / air circulation unit, etc., together.

[0057] Preferably, the station control unit (180) controls the components, such as the transfer unit (110), washing module (130), drying module (140), and non-destructive inspection module (150), in a specific order so that they do not operate arbitrarily separately. For example, the drying may not start before washing is finished, and the thermal imaging inspection may not start before a drying standard is reached.

[0058] The temporary loading unit may include a robot handler. The robot handler may be configured to lift the unmanned underwater robot (10) and load it onto the first weight measuring unit (122). Although not shown in the drawing, a cradle may be used to support the unmanned underwater robot (10) so that it does not roll or shake during transport. The first weight measuring unit (122) measures the reference weight before washing. This reference weight is used as a reference value to determine how much water or contaminants have been removed by drying after washing. The dry weight after washing can be used to determine whether water has entered the unmanned underwater robot (10) compared to the storage weight before the mission.

[0059] The transfer unit (110) may have other guide rails, drive rollers, or linear transfer actuators instead of or together with the conveyor. The transfer unit (110) sequentially moves the unmanned underwater robot (10) to a washing position, a drying position, an inspection position, and a discharge position.

[0060] The cleaning module (130) may have a high-pressure cleaning unit, a mist spraying unit, an ultrasonic transducer, a brush / pad unit, etc. The high-pressure cleaning unit may be configured to remove relatively large contaminants and salt with a stream of water. The mist spraying unit may be configured to gently wet and remove thin salt remaining in narrow gaps or around sensors. The ultrasonic transducer may create small vibrations in water or cleaning solution to shake off contaminants attached to the surface. The brush / pad unit (134) may be configured to directly rub and remove firmly attached contaminants using a rotating brush or a wiping pad.

[0061] The drying module (140) may include a blower, a dehumidifying unit, a heat source, and a moisture sensor. The blower may be configured to inject air, preferably hot air heated by the heat source, into the surface and crevices of the unmanned underwater robot (10). The dehumidifying unit may reduce moisture in the air to dry it better, and the heat source may increase the air temperature as needed to increase the drying speed. The moisture sensor may detect humidity inside the tunnel, humidity of the exhaust air, or residual moisture on the surface of the unmanned underwater robot (10). Since water droplets may appear as scratches or create thermal imaging temperature differences when inspected while moisture remains, the drying module (140) serves to create a sufficiently dry state before inspection.

[0062] The station control unit (180) can determine the drying end point using the moisture sensor measurement value, drying time, airflow rate, and temperature information. For example, drying can be terminated when the humidity of the exhaust air drops below a reference value or when the surface moisture detection value drops below a reference value. Conversely, if moisture continues to be detected, the drying time can be extended or the airflow conditions can be changed again. In this way, by determining the drying end point not only by time but also in conjunction with the actual moisture condition, it is possible to better respond to the varying degrees of contamination and water accumulation in each robot.

[0063] The non-destructive testing module (150) may include an optical camera (152), an ultrasonic probe (151), an X-ray inspection module (153), an eddy current coil (154), and a thermal imaging camera (155). In addition, a lighting unit, etc., is also required. The optical camera (152) checks for scratches, dents, peeling of coating, contamination of the sensor unit, and foreign matter residue on the outer surface of the robot. The ultrasonic probe (151) checks for thickness variations, peeling, or suspected internal voids. The X-ray inspection unit (153) checks for internal foreign matter not visible from the outside, suspected flooded areas, or structural damage. The eddy current coil (154) checks for cracks or suspected corrosion in metal parts. The thermal imaging camera (155) checks for temperature differences that appear when moisture remains or internal parts generate abnormal heat.

[0064] The non-destructive inspection module (150) may not always use all sensors simultaneously. The station control unit (180) may select the necessary combination of inspections based on the model, material, mission area, and past defect history of the unmanned underwater robot (10). For example, for an unmanned underwater robot (10) with a metal housing, an eddy current coil (154) may be used first, and for a composite housing, an ultrasonic probe (151) or a thermal imaging camera (155) may be used first. In cases where there is a high suspicion of internal flooding, weight change and X-ray inspection results may be viewed together.

[0065] The weight measuring unit (120) can compare the reference weight W1 of the first weight measuring unit (122) with the weight W2 after drying of the second weight measuring unit (124). The weight W2 after drying can be compared with the pre-mission storage weight. It is natural for the weight to decrease when contaminants are removed by washing, and if water has entered the interior, the weight may increase abnormally compared to the pre-mission storage weight even after drying. The identification unit (160) compares W1, W2, the pre-mission storage weight, the allowable weight change amount per model, and the residual moisture standard after drying together. This allows for the possibility of internal flooding to be detected more quickly than a simple visual inspection.

[0066] The determination unit (160) stores inspection data in the storage unit and outputs an OK or NOK determination result. The OK state means that cleaning and drying satisfy the standards, and weight change and non-destructive inspection results are within the allowable range, so the vessel can be re-shipped or stored immediately. The NOK state means that detailed maintenance is required due to suspected internal flooding, suspected defects, residual contamination, insufficient drying, contamination of the sensor unit, or suspected damage to the propulsion unit. The determination unit (160) may not simply show OK or NOK to the operator, but may also output the determination result as a report to indicate which sensor in which part was found to have an abnormality.

[0067] In one embodiment, the determination unit (160) may generate and output a maintenance report including a robot identification number, operating time, mission area, cleaning start time, drying end time, W1, W2, pre-mission storage weight, inspection image, defect coordinates, sensor raw data, judgment criteria, and final judgment result. The maintenance report may be compared with a past report of the same unmanned underwater robot (10). For example, if a new scratch appears that was not present in the previous mission, or if a corrosion signal in the same area becomes increasingly large, the determination unit (160) may indicate a long-term deterioration trend.

[0068] The above-described embodiments are examples to aid in understanding the present invention. The arrangement order and detailed configuration of the washing module (130), drying module (140), non-destructive inspection module (150), and weight measuring unit (120) may be changed according to the shape, installation location, processing speed, and inspection purpose of the unmanned underwater robot (10). However, the technical concept of washing, drying, and determining whether the unmanned underwater robot (10) can be re-deployed through weight and complex non-destructive inspection after a mission is maintained. Industrial applicability

[0069] The present invention can be used in the fields of marine research institutions, naval and coast guard operational equipment, offshore plants, port facilities, underwater exploration services, submarine cable inspection, aquaculture farm management, underwater structure inspection, and operation of ship-mounted unmanned underwater robots.

[0070] The present invention can be particularly usefully applied in sites where equipment maintenance time after a mission is critical, sites where breakdowns due to salt and contaminants are frequent, sites where unmanned underwater robots must be operated repeatedly, and sites where objective recording of inspection results is required. Explanation of the symbols

[0071] 10: Unmanned underwater robot 100: Automated Washing, Drying, and Defect Diagnosis Station for Unmanned Underwater Robots 110: Transfer unit 120: Weight measuring unit 122: First weight measuring unit 124: Second weight measuring unit 130: Washing module 132: Washing nozzle 134: Brush / Pad Section 140: Drying Module 150: Non-destructive testing module 151: Ultrasonic probe 152: Optical camera 153: X-ray inspection unit 154: Eddy current coil 155: Thermal imaging camera 160: Discrimination unit 170: Tunnel body 180: Station control unit 190: Power supply unit

Claims

Claim 1 A transfer unit for moving an unmanned underwater robot that has completed a mission through a washing location, a drying location, and an inspection location to a discharge location; a weight measuring unit comprising a first weight measuring unit for measuring a reference weight before washing after the unmanned underwater robot is recovered and natural drainage is completed, and a second weight measuring unit for measuring the weight after drying after the unmanned underwater robot has been washed and dried; a washing module for removing salt and contaminants attached to the surface of the unmanned underwater robot; a drying module for removing moisture from the washed unmanned underwater robot; a non-destructive testing module comprising at least two of an optical camera, an ultrasonic probe, an X-ray inspection unit, an eddy current coil, and a thermal imaging camera, and generating at least two different non-destructive testing results for the dried unmanned underwater robot; a tunnel body on which at least some of the washing module, the drying module, and the non-destructive testing module are disposed; and a first weight difference value between the reference weight and the weight after drying and a second weight difference value between the pre-mission weight and the weight after drying, wherein the An automatic washing, drying, and defect diagnosis station for an unmanned underwater robot, characterized by comprising: a determination unit that determines the amount of water and contaminants removed by the washing module and the drying module based on a first weight difference value, determines the possibility of internal submersion of the unmanned underwater robot based on a second weight difference value, and classifies the unmanned underwater robot into a state capable of re-shipping, a state capable of storage without additional measures, or a state requiring maintenance by integrating the first weight difference value, the second weight difference value, and at least two different non-destructive inspection results; and a station control unit for integrally controlling at least two operations among the transfer unit, the washing module, the drying module, the non-destructive inspection module, and the determination unit. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 An automatic washing, drying, and defect diagnosis station for an unmanned underwater robot according to claim 1, wherein the drying module comprises at least one of a blower unit, a dehumidification unit, and a heat source unit. Claim 6 An automatic cleaning, drying, and defect diagnosis station for an unmanned underwater robot according to claim 1, wherein the cleaning module comprises at least two of a high-pressure cleaning unit, a mist spraying unit, an ultrasonic transducer, and a brush / pad unit. Claim 7 delete Claim 8 delete Claim 9 An automatic washing, drying, and defect diagnosis station for an unmanned underwater robot according to claim 1, wherein the discrimination unit has a report function that stores and outputs identification information, mission information, washing conditions, drying conditions, weight data, inspection images, defect locations, and judgment results of the unmanned underwater robot. Claim 10 A standard weight measurement step of measuring the standard weight of the unmanned underwater robot before cleaning using a first weight measuring unit after the unmanned underwater robot has completed its mission and natural drainage is finished; a step of inserting the unmanned underwater robot that has completed its mission into a transfer unit; a step of moving the unmanned underwater robot to a cleaning position using the transfer unit; a step of cleaning the unmanned underwater robot using a cleaning module; a step of drying the cleaned unmanned underwater robot using a drying module; a step of performing at least two different non-destructive tests among optical inspection, ultrasonic inspection, X-ray inspection, eddy current inspection, and thermal imaging inspection on the unmanned underwater robot that has undergone the drying step using a non-destructive inspection module; a post-drying weight measurement step of measuring the weight of the unmanned underwater robot after drying using a second weight measuring unit after the cleaning step and the drying step; a weight difference value calculation step of calculating a first weight difference value between the standard weight and the post-drying weight and a second weight difference value between the pre-mission weight and the post-drying weight that is stored in advance; A method for diagnosing defects in an unmanned underwater robot, characterized by comprising: a weight analysis step for determining the amount of water and contaminants removed by the washing step and the drying step based on a first weight difference value, and determining the possibility of internal submersion of the unmanned underwater robot based on a second weight difference value; a step for analyzing inspection data of the non-destructive test; and a determination step for determining the unmanned underwater robot to be in a state capable of re-departure, a state capable of storage without additional measures, or a state requiring maintenance based on the first weight difference value, the second weight difference value, and the inspection results of at least two different non-destructive tests. Claim 11 delete Claim 12 A method for diagnosing defects in an unmanned underwater robot according to claim 10, characterized by including a real-time report step for storing and outputting identification information, mission information, cleaning conditions, drying conditions, weight data, inspection images, defect locations, and judgment results of the unmanned underwater robot in real time.

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