Launch and recovery system for autonomous underwater vehicle mounted on unmanned ship

Abstract

According to the present invention, disclosed is a launch and recovery system for an autonomous underwater vehicle, which is mounted on an unmanned ship. A launch and recovery system for an autonomous underwater vehicle, which is mounted on an unmanned ship, according to an embodiment of the present invention, comprises: a first link structure that has one end coupled to a central portion of a depot ship and the other end coupled to a guide frame accommodating an autonomous underwater vehicle therein and is hinged in the width direction of the depot ship; a second link structure that has one end coupled to the depot ship and the other end coupled to the guide frame and is spaced apart from the first link structure and hinged in the longitudinal direction of the depot ship; and a power generation member that has one end coupled to the central portion of the depot ship and the other end coupled to the guide frame and generates power.

Description

A recovery device for an unmanned submarine mounted on an unmanned ship

[0001] The present invention relates to a recovery device for an unmanned underwater vehicle (AUV) mounted on an unmanned vessel, and more particularly, to a recovery device for an unmanned underwater vehicle (AUV) mounted on an unmanned vessel that can safely recover an unmanned underwater vehicle (AUV).

[0002] Unmanned underwater vehicles are generally used for underwater exploration, installation or repair of equipment operating in deep sea areas inaccessible to divers, and support of rescue missions.

[0003] Recently, commercially available unmanned underwater vehicles (AUVs) have been deployed for installation and maintenance of drilling equipment and image collection on the seafloor at depths of up to 3,000 meters. These AUVs are equipped with specially designed cameras, lights, and multiple robotic arms to withstand the intense water pressure of the deep sea. Depending on the application, they can be used to perform tasks or retrieve objects from the seafloor by switching out these robotic arms underwater.

[0004] The launch and recovery system (LARS) for an unmanned underwater vehicle is equipment for launching and recovering an unmanned underwater vehicle.

[0005] Korean Patent Publication No. 10-2196850 discloses a vessel capable of launching and recovering a submarine.

[0006] The prior art is configured to only have a submarine recovery unit capable of launching and recovering a submarine.

[0007] Additionally, Republic of Korea Patent Publication No. 10-2206091 discloses a vessel capable of launching and recovering a submarine.

[0008] The conventional technology is designed to move an unmanned submersible in the vertical direction of the mother ship by using a link member, but it has the disadvantage of causing a change in the center of gravity as it inevitably also moves in the horizontal direction.

[0009] Furthermore, conventional technologies have structural weaknesses and instability when used to move unmanned underwater vehicles (UAVs). Specifically, conventional technologies have low rigidity, and even when using components with a large moment of inertia to slightly enhance rigidity, this still results in insufficient rigidity and increased load.

[0010] [Prior Art Literature]

[0011] [Patent Document]

[0012] (Patent Document 0001) Republic of Korea Patent Publication No. 10-2196850

[0013] (Patent Document 0002) Republic of Korea Patent Publication No. 10-2206091

[0014] One embodiment of the present invention aims to provide a recovery device for an unmanned submarine, which is mounted on an unmanned vessel, capable of preventing damage to the unmanned submarine and stably recovering the submarine, in order to overcome the problems of the above-mentioned prior art.

[0015] According to one aspect of the present invention, there is provided a first link structure having one end coupled to a central portion of a mother ship and the other end coupled to a guide frame that accommodates an unmanned submersible therein and folded in the width direction of the mother ship; a second link structure spaced apart from the first link structure, having one end coupled to the mother ship and the other end coupled to the guide frame and folded in the length direction of the mother ship; and a power generating member having one end coupled to a central portion of the mother ship and the other end coupled to the guide frame to generate power; wherein the first link structure and the second link structure are folded in a mutually perpendicular direction with respect to a plane.

[0016] The power generating member generates power to cause the first link structure and the second link structure to unfold or fold, and to move the guide frame in the vertical direction of the mother ship.

[0017] The first link structure includes a first upper frame member, one end of which is rotatably coupled to the mother ship; and a first lower frame member, one end of which is rotatably coupled to the other end of the first upper frame member and the other end of which is coupled to the guide frame.

[0018] The second link structure includes a second upper frame member having one end rotatably coupled to the mother ship; and a second lower frame member having one end rotatably coupled to the other end of the second upper frame member and the other end coupled to the guide frame.

[0019] It further includes a third link structure having one end coupled to the mother line and the other end coupled to the guide frame, facing the second link structure, and folded in the longitudinal direction of the mother line.

[0020] The second link structure and the third link structure are folded in a mutually equilibrium manner.

[0021] The above power generating member is a hydraulic cylinder member.

[0022] The recovery device for an unmanned submarine mounted on an unmanned vessel according to the present invention has the following effects.

[0023] First, the rigidity can be improved due to the organic structural characteristics.

[0024] Second, there are few restrictions on the operating range of the recovery unit.

[0025] Third, the load is reduced, so the impact on the load is small.

[0026] Fourth, it has a small volume and is less affected by water.

[0027] Fifth, safety can be improved by preventing movement of the unmanned submersible housed inside the guide frame.

[0028] FIG. 1 is a schematic diagram showing an example in which an unmanned underwater vehicle recovery device mounted on an unmanned vessel according to one embodiment of the present invention is coupled to a mother ship.

[0029] FIG. 2 is a perspective view showing an example of an unmanned submarine recovery device installed on an unmanned vessel according to one embodiment of the present invention being deployed.

[0030] FIG. 3 is a perspective view showing an example of a folded recovery device for an unmanned submarine mounted on an unmanned vessel according to one embodiment of the present invention.

[0031] FIG. 4 is a schematic diagram showing an unmanned submarine accommodated inside a guide frame coupled to a recovery device for an unmanned submarine mounted on an unmanned vessel according to one embodiment of the present invention.

[0032] 1: Mothership 10: Guide frame

[0033] 12: Unmanned submersible 21: First joint member

[0034] 22: Second connecting member 23: Third connecting member

[0035] 31: First connecting member 32: Second connecting member

[0036] 33: Third connecting member 21-1, 31-1: Connecting hole

[0037] 100: First link structure 110: First upper frame member

[0038] 120: First lower frame member 200: Second link structure

[0039] 210: Second upper frame member 220: Second lower frame member

[0040] 300: Third link structure 310: Third upper frame member

[0041] 320: Third lower frame member 400: Power generating member

[0042] 1000: A recovery device for an unmanned submersible mounted on an unmanned vessel

[0043] The embodiments described below are provided to facilitate a clear understanding of the technical concepts of the present invention by those skilled in the art, but are not intended to limit the scope of the present invention. Furthermore, the details depicted in the attached drawings are schematic drawings intended to facilitate the description of embodiments of the present invention and may differ from the actual implementation.

[0044] When it is said that a component is connected or connected to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0045] FIG. 1 is a schematic diagram showing an example in which an unmanned underwater vehicle recovery device mounted on an unmanned vessel according to one embodiment of the present invention is coupled to a mother ship, FIG. 2 is a perspective view showing an example in which an unmanned underwater vehicle recovery device mounted on an unmanned vessel according to one embodiment of the present invention is deployed, FIG. 3 is a perspective view showing an example in which an unmanned underwater vehicle recovery device mounted on an unmanned vessel according to one embodiment of the present invention is folded, and FIG. 4 is a schematic diagram showing an unmanned underwater vehicle accommodated inside a guide frame coupled to an unmanned underwater vehicle recovery device mounted on an unmanned vessel according to one embodiment of the present invention.

[0046] Referring to FIGS. 1 to 4 together, an unmanned underwater vehicle recovery device (1000) mounted on an unmanned vessel according to one embodiment of the present invention is configured to include a first link structure (100), a second link structure (200), a third link structure (300), and a power generation member (400).

[0047] The first link structure (100) is folded in the width direction of the mother ship (1) with one end joined to the lower central portion of the mother ship (1) and the other end joined to a guide frame (10) that accommodates an unmanned submersible (12) therein. Here, folding refers to folding based on a folding rotation axis. That is, the first link structure (100) is folded in a state in which the rotation axis faces the width direction (left-right direction in the drawing) perpendicular to the longitudinal direction of the mother ship (1) based on a rotation axis in which the first lower frame member (120) joined to the first upper frame member (110) is connected and rotates.

[0048] The first link structure (100) is configured to include a first upper frame member (110) having one end rotatably coupled to the mother ship (1) and a first lower frame member (120) having one end rotatably coupled to the other end of the first upper frame member (110) and the other end coupled to the guide frame (10).

[0049] The first upper frame member (110) is rotatably coupled to the mother ship (1), and can be coupled using the first coupling member (21).

[0050] The first lower frame member (120) is rotatably connected to the guide frame (10), and can be connected using the first connecting member (31).

[0051] The first joining member (21) and the first connecting member (31) are preferably plate-shaped.

[0052] The first joining member (21) and the first connecting member (31) are each formed with a joining protrusion to which the first upper frame member (110) and the first lower frame member (120) are rotatably joined. The joining protrusions are joined by a fastening member such as a bolt or rivet.

[0053] The first joining member (21) and the first connecting member (31) each have connecting holes formed coaxially with respect to the plane.

[0054] A power generating member (400) to prevent movement of the unmanned submarine (12) is vertically connected to the connecting hole (21-1, 31-1).

[0055] According to the present invention, the power generating member (400) has one end coupled to the central portion of the mother line (1) and the other end coupled to the guide frame (10) to generate power.

[0056] For example, a power generating member (400) is connected at one end to the central portion of the mother line (1) and passes through the connecting hole (21-1) of the first connecting member (21) and is connected to the connecting hole (31-1) of the first connecting member to generate power.

[0057] The second link structure (200) is spaced apart from the first link structure (100), and the second link structure (200) has one end connected to the mother ship (1) and the other end connected to the guide frame (10) and is folded in the longitudinal direction of the mother ship (1). That is, the second link structure (200) is folded in a state in which the rotation axis faces the longitudinal direction (front-back direction in the drawing) parallel to the longitudinal direction of the mother ship (1) based on the rotation axis along which the second lower frame member (220) connected to the second upper frame member (210) is connected and rotates.

[0058] The rotation axis of the second link structure (200) is positioned to the left of the center line of the mother line (1) in a folded state based on the plane.

[0059] The second link structure (200) is configured to include a second upper frame member (210) having one end rotatably coupled to the mother ship (1) and a second lower frame member (220) having one end rotatably coupled to the other end of the second upper frame member (210) and the other end coupled to the guide frame (10).

[0060] The second upper frame member (210) is rotatably coupled to the mother ship (1), and can be coupled using the second coupling member (22).

[0061] The second lower frame member (220) is rotatably connected to the guide frame (10), and can be connected using the second connecting member (32).

[0062] The first link structure (100) and the second link structure (200) are folded in a mutually perpendicular direction with respect to the plane.

[0063] The third link structure (300) is spaced apart from the first link structure (100), and one end of the third link structure (300) is rotatably coupled to the mother ship (1) and the other end is rotatably coupled to the guide frame (10) to be folded in the longitudinal direction of the mother ship (1). It is preferable that the third link structure (300) be folded in the opposite direction to the second link structure (200). That is, the third link structure (300) is folded in a state in which the rotational axis faces the longitudinal direction (front-back direction in the drawing) parallel to the longitudinal direction of the mother ship (1) based on the rotational axis along which the third lower frame member (320) coupled to the third upper frame member (310) is connected and rotated. In addition, the rotational axis of the third link structure (300) is located to the right of the center line of the mother ship (1) in the folded state based on the plane.

[0064] The third link structure (300) is configured to include a third upper frame member (310) that is rotatably coupled to the mother ship (1) and a third lower frame member (320) that has one end rotatably coupled to the other end of the third upper frame member (310) and the other end coupled to the guide frame (10).

[0065] The third upper frame member (310) is rotatably coupled to the mother ship (1), and can be coupled using the third coupling member (23).

[0066] The third lower frame member (320) is rotatably connected to the guide frame (10), and can be connected using the third connecting member (33).

[0067] The second link structure (200) and the third link structure (300) are folded in a mutually equilibrium manner. Accordingly, the guide frame (10) moves vertically without being tilted to one side.

[0068] It is preferable that when the second link structure (200) is folded to the left, the third link structure (300) is folded to the left.

[0069] The power generating member (400) generates power to cause the first link structure (100), the second link structure (200), and the third link structure (300) to be deployed or folded, and to move the guide frame (10) in a vertical direction underwater from the lower portion of the mother ship (1).

[0070] As an example, the power generating member (400) is preferably a hydraulic cylinder member.

[0071] According to the present invention, the first link structure (100), the second link structure (200), and the third link structure (300) have been described as examples, but a plurality of link structures may be further included adjacent to the second link structure (200) and the third link structure (300).

[0072] In addition, according to the present invention, it may be configured to further include a control unit for controlling the power generation member (400).

[0073] The control unit may further include a microcontroller that performs computational processing and a memory that stores data.

[0074] Referring to FIGS. 1 to 4, the operational relationship of the unmanned underwater vehicle recovery device (1000) mounted on the unmanned vessel according to the present invention will be described. When the guide frame (10) that accommodates the unmanned underwater vehicle (12) inside moves downward while being folded on the mother ship (1), the power generation member (400) generates power.

[0075] When the power generating member (400) is operated, the first link structure (100) is folded forward in the longitudinal direction of the mother ship (1) and then unfolded downward from the mother ship (1).

[0076] The second link structure (200) is folded in the left direction of the longitudinal direction of the mother line (1) which is perpendicular to the first link structure (100) with respect to the plane and is unfolded downward from the mother line (1).

[0077] And the third link structure (300) is unfolded and deployed downward from the mother ship (1) in a state where it is folded in the right direction in the longitudinal direction of the mother ship (1).

[0078] The first link structure (100), the second link structure (200), and the third link structure (300) undergo the above-described folding process together.

[0079] Accordingly, the position of the unmanned submersible (12) accommodated inside the guide frame (10) that is attached to the lower part of the mother ship (1) moves in the lower vertical direction.

[0080] Conversely, when the position of the unmanned submarine (12) is close to the lower part of the mother ship (1), the order is reversed.

[0081] Therefore, the recovery device for an unmanned submarine mounted on an unmanned vessel according to the present invention can improve rigidity due to its organic structural characteristics, has fewer restrictions on the recovery operation range, reduces the load to have less influence on the load, and has a small volume to have less influence on water.

[0082] In addition, safety can be improved by preventing movement of an unmanned submersible accommodated inside the guide frame.

[0083]

[0084] Those skilled in the art will appreciate that the present invention can be implemented in other specific forms without changing the technical spirit or essential characteristics thereof. Therefore, the embodiments described above are merely the most preferable embodiments selected from among various possible embodiments to aid understanding by those skilled in the art, and the technical spirit of the present invention is not necessarily limited or restricted to the presented embodiments, and various changes, additions, and modifications are possible within the scope of the technical spirit of the present invention, and it is to be understood that other equivalent embodiments are possible.

[0085] The present invention has the potential to be used to create a recovery device for an unmanned submarine mounted on an unmanned vessel capable of safely recovering an unmanned submarine.

Claims

1. A first link structure having one end joined to the central portion of the mother ship and the other end joined to a guide frame that accommodates an unmanned submersible inside and folded in the width direction of the mother ship; A second link structure spaced apart from the first link structure, one end of which is connected to the mother line and the other end of which is connected to the guide frame and folded in the longitudinal direction of the mother line; and A power generating member having one end connected to the central portion of the above mother ship and the other end connected to the guide frame to generate power; An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the first link structure and the second link structure are folded in a mutually perpendicular direction with respect to a plane.

2. An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that in the first paragraph, the power generating member generates power to expand or fold the first link structure and the second link structure and move the guide frame in the vertical direction of the mother ship.

3. In the first paragraph, the first link structure, A first upper frame member having one end rotatably coupled to the above mother ship; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized by including: a first lower frame member, one end of which is rotatably connected to the other end of the first upper frame member and the other end of which is connected to the guide frame; 4. In the first paragraph, the second link structure, A second upper frame member having one end rotatably coupled to the above mother ship; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized by including a second lower frame member, one end of which is rotatably connected to the other end of the second upper frame member and the other end of which is connected to the guide frame; 5. In paragraph 1, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it further includes a third link structure having one end coupled to the mother ship and the other end coupled to the guide frame opposite to the second link structure and folded in the longitudinal direction of the mother ship.

6. An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that in clause 5, the second link structure and the third link structure are folded in a parallel manner.

7. An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that in paragraph 1, the power generating member is a hydraulic cylinder member.

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