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

Abstract

According to the present invention, disclosed is a launch and recovery system for an autonomous underwater vehicle, mounted on an unmanned ship. The launch and recovery system for an autonomous underwater vehicle, mounted on an unmanned ship, comprises: a first link structure having one end coupled to a central portion of a depot ship and the other end coupled to a guide frame accommodating the autonomous underwater vehicle therein so as to be hinged in the width direction of the depot ship; a second link structure spaced apart from the first link structure and having one end coupled to the depot ship and the other end coupled to the guide frame so as to be hinged in the length direction of the depot ship; and a power generation member having one end coupled to the central portion of the depot ship and the other end coupled to the guide frame so as to generate power.

Description

A recovery device for an unmanned submarine mounted on an unmanned ship and its auxiliary devices

[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] AUVs are typically mounted on a vessel, secured to the vessel, transported to the work area, and then launched from the vessel's launch / recovery section. After completion of the operation, the AUV is then re-secured aboard the vessel and returned to the vessel.

[0005] The launch and recovery system (LARS) for an unmanned underwater vehicle is equipment for launching and recovering an unmanned underwater vehicle.

[0006] Korean Patent Publication No. 10-2196850 discloses a vessel capable of launching and recovering a submarine.

[0007] The prior art is configured to only have a submarine recovery unit capable of launching and recovering a submarine.

[0008] However, the conventional technology is configured so that the unmanned submersible is only accommodated in the recovery unit and is rotatably installed at one point to prevent the first and second doors or guide bars, which have weak supporting force, from being withdrawn from the recovery unit of the unmanned submersible. Therefore, when the ship carrying the unmanned submersible experiences movement, vibration, or impact, the unmanned submersible may break out of the accommodated state and fall out. In addition, there is a problem that a lot of energy is consumed because continuous power is required during the long-term fixed operation of the unmanned submersible, and when a failure occurs in the power unit, energy may not be supplied, causing the fixed state to be released, increasing the possibility of the unmanned submersible breaking out and falling out.

[0009] Additionally, Republic of Korea Patent Publication No. 10-2206091 discloses a vessel capable of launching and recovering a submarine.

[0010] Conventional technology can be configured to move an unmanned submersible in the vertical direction of a mother ship by using a link member, but this inevitably causes movement in the horizontal direction as well, which has the disadvantage of causing a change in the center of gravity.

[0011] 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.

[0012] AUV recovery devices are often installed on catamarans. In the case of catamarans, a gap of a certain size must be maintained between the two hulls to ensure the hull is protected from waves during operation.

[0013] It is designed to be placed inside an unmanned ship for the purpose of maximizing rigidity for weight reduction, so the size of the recovery equipment and the docking funnel attached to the recovery equipment is limited.

[0014] The funnel is installed at the entrance of the cage where the unmanned submersible is recovered and is used to guide the unmanned submersible to the entrance. Even if the funnel is made to the maximum size within a limited range, it is limited in size to ensure a high docking success rate.

[0015] Conventional recovery devices have the following problems:

[0016] In order to improve the docking success rate, the size of the docking funnel for the recovery equipment is designed to be sufficiently large, but the size of the docking funnel (primary funnel) attached to the recovery equipment is limited due to (1) the narrow space of the ship (unmanned or manned ship) from which the unmanned submersible is launched and recovered, (2) the narrow air gap, and (3) the limited weight of the recovery equipment.

[0017] (1) Narrow space: Size restrictions on the docking funnel installed on the unmanned submersible recovery equipment.

[0018] (2) Narrow air gap: Especially in the case of catamaran type unmanned vessels, the narrow air gap (the distance between the frame bellies of the catamaran at sea level) limits the size of the docking funnel.

[0019] (3) In the case of a funnel attached to a recovery device, the size of the docking funnel is limited due to the weight limit of the recovery device moving up and down.

[0020] That is, the conventional recovery device has a disadvantage in that it is difficult to guarantee a high docking success rate due to the size limitations of the funnel installed in the cage.

[0021] [Prior Art Literature]

[0022] [Patent Document]

[0023] (Patent Document 1) Republic of Korea Patent Publication No. 10-2196850

[0024] (Patent Document 2) Republic of Korea Patent Publication No. 10-2206091

[0025] The purpose of the present invention is to provide a recovery device for an unmanned underwater vehicle, which is mounted on an unmanned vessel and can prevent damage to the unmanned underwater vehicle and stably recover the unmanned underwater vehicle, in order to overcome the problems of the prior art.

[0026] Another object of the present invention is to solve the problem of the anchoring device weakening due to movement of a ship carrying an unmanned underwater vehicle or interruption of power supply, causing the unmanned underwater vehicle to fall off, and the problem of high energy consumption for long-term anchoring.

[0027] Another object of the present invention is to provide an unmanned submersible securing device capable of safely securing an unmanned submersible inside a cage.

[0028] Another object of the present invention is to improve the success rate of unmanned submarine docking by improving the shortcomings of conventional recovery devices.

[0029] Another object of the present invention is to provide a funnel device for docking guide of an unmanned submarine that can be installed in addition to an existing recovery device and thus has excellent usability.

[0030] Another object of the present invention is to provide a funnel device for docking guide of an unmanned submersible, which can move the funnel toward the center of the body to avoid contact with waves and to secure sufficient air gap when the recovery device is not in use (mainly when operating).

[0031] Another object of the present invention is to provide a funnel device for docking guide of an unmanned underwater vehicle, which can improve the docking success rate of an unmanned underwater vehicle by positioning an additional funnel in succession to a funnel attached to a cage.

[0032] Another object of the present invention is to provide a funnel device for docking guidance of an unmanned underwater vehicle, which can also be used to independently guide an unmanned underwater vehicle to a cage without a primary funnel.

[0033] A recovery device for an unmanned underwater vehicle mounted on an unmanned vessel according to the present invention comprises: a first link structure having one end coupled to a central portion of a mother ship and the other end coupled to a cage that accommodates an unmanned underwater vehicle 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 cage 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 cage to generate power, wherein the first link structure and the second link structure are folded in a mutually perpendicular direction based on a plane.

[0034] The above power generating member generates power to cause the first link structure and the second link structure to unfold or fold, and to move the cage in the vertical direction of the mother ship.

[0035] The first link structure includes a first upper frame member having one end rotatably coupled to the mother ship; and a first lower frame member having one end rotatably coupled to the other end of the first upper frame member and the other end coupled to the cage.

[0036] 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 cage.

[0037] It further includes a third link structure having one end coupled to the mother wire and the other end coupled to the cage, facing the second link structure, and folded in the longitudinal direction of the mother wire.

[0038] The second link structure and the third link structure are folded in a mutually equilibrium manner.

[0039] The above power generating member is a hydraulic cylinder member.

[0040] According to one aspect of the present invention, there is provided an unmanned submarine fixing device for fixing an unmanned submarine inside a cage installed on the mother ship and housing the unmanned submarine therein to recover the unmanned submarine underwater, the device comprising: a main body part having one end part joined to the mother ship; and a rod part that is elastic at the other end part of the main body part.

[0041] An elastic member that provides elasticity to the unmanned submarine is provided inside the main body.

[0042] The above elastic member is a plurality of disc springs.

[0043] The above plurality of disc springs are provided in series with each other.

[0044] The end portion of the above load section is provided with a contact portion that comes into contact with the unmanned submarine.

[0045] The above curved surface has a concave portion formed into which a convex portion formed on the upper surface of the unmanned submarine is inserted.

[0046] The above unmanned submarine fixing device further includes a guide part that guides the expansion and contraction of the load part.

[0047] The above unmanned submersible anchoring device is a hydraulic cylinder device.

[0048] According to another aspect of the present invention, there is provided an unmanned underwater vehicle fixing device that is installed on the mother ship and fixes the unmanned underwater vehicle inside a cage that accommodates the unmanned underwater vehicle in order to recover the unmanned underwater vehicle underwater, the device comprising: a fixing member coupled to the cage; a guide member coupled to the mother ship that guides the fixing member in a vertical direction; and an actuator that provides a driving force to a rod member that fixes the cage by moving forward and backward toward the fixing member guided into the guide member.

[0049] The above-mentioned fixing member includes a support member that is vertically spaced apart from each other on the upper side of the cage; and a bar-shaped fixing pin that connects the support member and is parallel to the upper surface of the cage.

[0050] The above guide member has a guide groove formed therein to guide the fixing pin of the above fixing member.

[0051] The above load member has a fixing pin insertion groove formed at an end that moves forward and backward toward the above fixing member.

[0052] A funnel device for docking guide of an unmanned underwater vehicle according to the present invention comprises a position-variable funnel; and a funnel operating mechanism mounted on the mother ship for positionally moving the position-variable funnel between a first position for guiding the unmanned underwater vehicle to the cage and a second position for storing the position-variable funnel.

[0053] The above funnel operating mechanism may include a connecting structure frame installed on the mother ship and connected to the position-variable funnel; and an actuator installed on the mother ship and operating the connecting structure frame to move the position-variable funnel from the first position to the second position or from the second position to the first position.

[0054] In some cases, the funnel operating mechanism may include a connecting structure frame rotatably installed at a position above the rear of the cage of the mother ship, the connecting structure frame having an inlet and a cage for accommodating the unmanned underwater vehicle that has entered through the inlet, and a cage-attached funnel installed in the cage for guiding the unmanned underwater vehicle to the inlet, and connected to the position-variable funnel; and a linear actuator installed in the mother ship and rotating the connecting structure frame downward to move the position-variable funnel to the first position at the rear of the cage-attached funnel or rotating the connecting structure frame upward to move the position-variable funnel to the second position.

[0055] The above mother ship is a catamaran, and the cage and the funnel device for docking guide of the unmanned submersible may be installed in a connecting structure connecting both hulls of the catamaran.

[0056] The cage may be installed so as to be able to ascend and descend to the lower portion of the connecting structure, and the funnel device for docking guide of the unmanned submarine may be installed on the rear side of the connecting structure.

[0057] The cage may include an entrance and a cage attachment funnel for guiding the unmanned submersible to the entrance, the cage being installed to accommodate the unmanned submersible that has entered through the entrance, and the cage attachment funnel may be disposed in front of the first position and adjacent to the first position.

[0058] The recovery device for an unmanned submarine mounted on an unmanned vessel according to the present invention has the following effects.

[0059] First, the rigidity can be improved due to the organic structural characteristics.

[0060] Second, there are few restrictions on the operating range of the recovery unit.

[0061] Third, the load is reduced, so the impact on the load is small.

[0062] Fourth, it has a small volume and is less affected by water.

[0063] Fifth, safety can be improved by preventing movement of the unmanned submersible housed inside the cage.

[0064] The unmanned submarine anchoring device according to the present invention has the following effects.

[0065] First, the unmanned submersible can be safely accommodated inside the cage.

[0066] Second, it can be used efficiently by minimizing energy consumption.

[0067] Third, it can prevent impacts on unmanned submarines.

[0068] Fourth, it can prevent damage to unmanned submarines.

[0069] The funnel device for docking guide of an unmanned submarine according to the present invention has the following effects.

[0070] First, it can significantly increase the docking success rate of unmanned submarines compared to existing ones.

[0071] Second, it has excellent usability as it can be installed in addition to an existing recovery device.

[0072] Third, when operating without a recovery device, the recovery device can be prevented from touching the waves and sufficient air gap can be secured between the two hulls of the catamaran.

[0073] Fourth, in some cases, the AUV may be guided to a cage that does not have a cage attachment funnel installed.

[0074] Figure 1 is a schematic diagram showing an example of an unmanned submarine recovery device mounted on an unmanned vessel according to one embodiment of the present invention, coupled to a mother ship;

[0075] Figure 2 is a perspective view showing an example of an unmanned underwater vehicle recovery device installed on an unmanned vessel according to one embodiment of the present invention being deployed.

[0076] Figure 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.

[0077] Figure 4 is a schematic diagram showing an unmanned submarine housed inside a cage coupled to a recovery device for an unmanned submarine mounted on an unmanned ship according to one embodiment of the present invention.

[0078] Figure 5 is a schematic diagram showing an example of a non-operational unmanned submarine fixing device according to one embodiment of the present invention.

[0079] Figure 6 is a schematic diagram showing an operation example of an unmanned submarine fixing device according to one embodiment of the present invention.

[0080] Figure 7 is a schematic cross-sectional view showing an unmanned submarine fixing device according to one embodiment of the present invention.

[0081] Figure 8 is a left side view of an unmanned submarine fixing device according to one embodiment of the present invention.

[0082] Figure 9 is a right side view of an unmanned submarine fixing device according to one embodiment of the present invention.

[0083] Figure 10 is a plan schematic diagram of an unmanned submarine fixing device according to one embodiment of the present invention.

[0084] FIG. 11 is a drawing showing the force applied to an unmanned submarine fixing device according to one embodiment of the present invention;

[0085] Figure 12 is a schematic diagram showing an unmanned submarine fixing device according to another embodiment of the present invention.

[0086] Figure 13 is a schematic diagram showing an enlarged portion of part A of Figure 12.

[0087] Figure 14 is a perspective view showing a state before operation of an unmanned submarine fixing device according to another embodiment of the present invention.

[0088] Figure 15 is a front schematic diagram schematically showing the pre-operation state of an unmanned submarine fixing device according to another embodiment of the present invention.

[0089] Figure 16 is a perspective view showing the state after operation of an unmanned submarine fixing device according to another embodiment of the present invention.

[0090] Figure 17 is a front schematic diagram schematically showing the state after operation of an unmanned submarine fixing device according to another embodiment of the present invention.

[0091] Figure 18 is a plan view of a mother ship in which a variable-position funnel of a funnel device for docking guide of an unmanned submarine according to the present invention is positioned at a first position to guide an unmanned submarine.

[0092] Fig. 19 is a side view of the mother ship according to II of Fig. 18;

[0093] Fig. 20 is a rear view of the mother ship of Fig. 18.

[0094] Figure 21 is a plan view of the mother ship in which the variable funnel of the funnel device for docking guide of an unmanned submarine according to the present invention is placed and stored in the second position.

[0095] Fig. 22 is a side view of the mother ship according to JJ of Fig. 21;

[0096] Fig. 23 is a rear view of the mother ship of Fig. 21.

[0097] Figure 24 is a perspective view of a funnel device for docking guide of an unmanned submarine according to the present invention installed in a connecting structure.

[0098] Figure 25 is a side view of the funnel device for docking guide of Figure 24 unmanned submarine installed in the connecting structure.

[0099] Figure 26 is a perspective view of Figure 24 with the secondary funnel and funnel operating mechanism removed.

[0100] Fig. 27 is a side view of Fig. 24 with the secondary funnel and funnel operating mechanism removed.

[0101] Figure 28 is an enlarged perspective view of a funnel device for docking guide of an unmanned submarine according to the present invention.

[0102] [Explanation of symbols]

[0103] 1: Mothership 10: Cage

[0104] 10-1: Entrance 11: First hull

[0105] 12: Unmanned submersible 13: Second hull

[0106] 14: Convex part 15: Connecting structure

[0107] 21: First connecting member 21-1, 31-1: Connecting hole

[0108] 22: Second connecting member 23: Third connecting member

[0109] 31: First connecting member 32: Second connecting member

[0110] 33: Third connecting member 40: Elevating means

[0111] 100: First link structure 100a: Funnel device for docking guide of unmanned submersible vehicle

[0112] 110: First upper frame member 110a: Cage attachment funnel

[0113] 120: First lower frame member 130a: Variable position funnel

[0114] 150a: Funnel operating mechanism 151a: Connection structure frame

[0115] 156a: Actuator 200: Second link structure

[0116] 210: Second upper frame member 220: Second lower frame member

[0117] 300: Third link structure 310: Third upper frame member

[0118] 320: Third lower frame member 400: Power generating member

[0119] 1000: A recovery device for an unmanned submersible mounted on an unmanned vessel

[0120] 1100: First unmanned underwater vehicle anchoring device

[0121] 1110: Main body 1112: Elastic member

[0122] 1120: Load section 1122: Adhesive section

[0123] 1124: Concave part 1130: Guide part

[0124] 1200: Second unmanned submersible anchor device

[0125] 1210: Fixed member 1212: Support member

[0126] 1214: Fixed pin 1220: Guide member

[0127] 1222: Guide home 1230: Actuator

[0128] 1232: Load member 1234: Fixed pin fixture

[0129] 1236: Fixed pin insertion groove

[0130] 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.

[0131] 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.

[0132] 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).

[0133] The first link structure (100) is folded in the width direction of the mother ship (1) with one end connected to the lower central portion of the mother ship (1) and the other end connected to a cage (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) connected to the first upper frame member (110) is connected and rotates.

[0134] The first link structure (100) is configured to include a first upper frame member (110) whose one end is rotatably coupled to the mother ship (1) and a first lower frame member (120) whose one end is rotatably coupled to the other end of the first upper frame member (110) and whose other end is coupled to the cage (10).

[0135] The first upper frame member (110) is rotatably connected to the mother ship (1), and can be connected using the first connecting member (21).

[0136] The first lower frame member (120) is rotatably connected to the cage (10), and can be connected using the first connecting member (31).

[0137] The first joining member (21) and the first connecting member (31) are preferably plate-shaped.

[0138] The first joining member (21) and the first connecting member (31) are each formed with joining protrusions to which the first upper frame member (110) and the first lower frame member (120) are rotatably joined. The joining protrusions are joined by fastening members such as bolts or rivets.

[0139] The first joining member (21) and the first connecting member (31) each have connecting holes formed coaxially with respect to the plane.

[0140] A power generating member (400) to prevent movement of the unmanned submarine (12) is vertically connected to the connecting hole (21-1, 31-1).

[0141] According to the present invention, the power generating member (400) has one end coupled to the central portion of the mother wire (1) and the other end coupled to the cage (10) to generate power.

[0142] 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.

[0143] 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 cage (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.

[0144] The rotation axis of the second link structure (200) is located to the left of the center line of the mother line (1) in a folded state based on the plane.

[0145] The second link structure (200) is configured to include a second upper frame member (210) whose one end is rotatably coupled to the mother ship (1) and a second lower frame member (220) whose one end is rotatably coupled to the other end of the second upper frame member (210) and whose other end is coupled to the cage (10).

[0146] The second upper frame member (210) is rotatably connected to the mother ship (1), and can be connected using the second connecting member (22).

[0147] The second lower frame member (220) is rotatably connected to the cage (10), and can be connected using the second connecting member (32).

[0148] The first link structure (100) and the second link structure (200) are folded in a mutually perpendicular direction based on the plane.

[0149] 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 cage (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 by 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.

[0150] 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 cage (10).

[0151] The third upper frame member (310) is rotatably connected to the mother ship (1), and can be connected using the third connecting member (23).

[0152] The third lower frame member (320) is rotatably connected to the cage (10), and can be connected using the third connecting member (33).

[0153] The second link structure (200) and the third link structure (300) are folded in a mutually equilibrium manner. Accordingly, the cage (10) moves in a vertical direction without being tilted to one side.

[0154] It is preferable that when the second link structure (200) is folded to the left, the third link structure (300) is folded to the right.

[0155] 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 cage (10) vertically underwater from the bottom of the mother ship (1).

[0156] As an example, the power generating member (400) is preferably a hydraulic cylinder member.

[0157] 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).

[0158] In addition, according to the present invention, it may be configured to further include a control unit for controlling the power generation member (400).

[0159] The control unit may further include a microcontroller that performs computational processing and a memory that stores data.

[0160] 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 cage (10) that houses the unmanned underwater vehicle (12) inside moves downward in a folded state adjacent to the mother ship (1), the power generation member (400) generates power.

[0161] 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 unfolds downward from the mother ship (1).

[0162] The second link structure (200) is folded in the left direction of the longitudinal direction of the mother line (1) in a direction perpendicular to the first link structure (100) based on the plane and is unfolded downward from the mother line (1).

[0163] 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).

[0164] The first link structure (100), the second link structure (200), and the third link structure (300) undergo the above-described folding process together.

[0165] Accordingly, the position of the unmanned submersible (12) housed inside the cage (10) that is attached to the lower part of the mother ship (1) moves in the lower vertical direction.

[0166] Conversely, when the unmanned submarine (12) is positioned in an unfolded position and is pressed against the lower part of the mother ship (1), the process is performed in the opposite order to the above.

[0167] 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.

[0168] In addition, safety can be improved by preventing movement of the unmanned submersible housed inside the cage through an unmanned submersible fixing device.

[0169] Referring to FIGS. 5 and 6, a first unmanned underwater vehicle fixing device (1100) according to one embodiment of the present invention is a first unmanned underwater vehicle fixing device (1100) that is installed on a mother ship and fixes an unmanned underwater vehicle (12) inside a cage (10) that accommodates the unmanned underwater vehicle (12) inside in order to recover the unmanned underwater vehicle (12) underwater, and is configured to include a main body (1110) whose upper end is coupled to the lower part of the mother ship, and a rod part (1120) that is elastic at the other end positioned in the opposite direction of one end of the main body (1110). In the first unmanned underwater vehicle fixing device (1100) according to the present invention, fixing refers to preventing movement and shaking of the unmanned underwater vehicle (12) or the cage (10) in which the unmanned underwater vehicle (12) is accommodated from seawater.

[0170] It is preferable that the first unmanned submarine fixing device (1100) according to one embodiment of the present invention includes a hydraulic cylinder device operated by hydraulic pressure.

[0171] The main body (1110) is configured to include a body to which hydraulic pressure is supplied to form the body of a hydraulic cylinder device, and a plurality of plate members joined to both ends of the body. In addition, the main body (1110) may be configured to include a flange member joined to both ends of the main body (1110) so that the main body (1110) is fixed to the mother ship.

[0172] Inside the main body (1110), an elastic member (1112) is provided to provide elasticity to the unmanned submarine (12).

[0173] The elastic member (1112) is a plurality of disc springs, and the plurality of disc springs are provided in a continuous manner. The disc springs are preferably in an annular shape that is movable relative to the load portion (1120), and may be in the shape of a disk.

[0174] The load section (1120) is rod-shaped and can slide inside the main body section (1110).

[0175] The end portion of the load section (1120) is provided with a contact portion (1122) that comes into contact with the unmanned submarine (12).

[0176] The surface of the contact portion (1122) that comes into contact with the unmanned underwater vehicle (12) is preferably a surface corresponding to the external shape of the unmanned underwater vehicle (12), and may be a curved surface. For example, the unmanned underwater vehicle (12) may have a vertical cross-section that is circular, and the contact portion (1122) that comes into contact with the unmanned underwater vehicle (12) is preferably a shape corresponding to the external shape of the unmanned underwater vehicle (12).

[0177] In this structure, a concave portion (1124) is formed on the lower curved surface of the contact portion (1122) into which a convex portion (14) formed on the upper surface of the unmanned submarine (12) is inserted.

[0178] The convex portion (14) of the unmanned submarine (12) is inserted into the concave portion (1124) of the contact portion (1122) to prevent shaking and movement.

[0179] According to one embodiment of the present invention, a first unmanned submarine fixing device (1100) further includes a guide portion (1130) that guides the expansion and contraction of a load portion (1120).

[0180] The guide section (1130) is shaped like a rod and extends upward through the upper part of the cage (10) that houses the unmanned submarine (12) inside.

[0181] The guide part (1130) guides the contact part (1122) of the load part (1120) in a direction perpendicular to the mother line when the load part (1120) is expanded.

[0182] Referring to FIGS. 7 to 11 together with FIGS. 5 and 6, a first unmanned submarine fixing device (1100) according to one embodiment of the present invention has an elastic member (1112) provided inside a main body (1110), and the elastic member (1112) is a plurality of disc springs, and the plurality of disc springs are provided in series with each other to provide elastic force.

[0183] A plurality of disc springs absorb the force applied to the unmanned submersible (12) and cage (10) underwater.

[0184] According to one embodiment of the present invention, the first unmanned underwater vehicle anchoring device (1100) having this structure preferably includes a hydraulic cylinder device. In some cases, the first unmanned underwater vehicle anchoring device (1100) may have other configurations for installing the hydraulic cylinder on the mother ship. That is, the first unmanned underwater vehicle anchoring device (1100) according to the present invention is preferably configured to include a hydraulic cylinder. For example, the load unit (1120) may include a hydraulic cylinder device, and the hydraulic cylinder device may be installed on the mother ship through the main body unit (1110). In this case, the main body unit (1110) may be elastically supported on the mother ship by an elastic member (1112), etc.

[0185] In Fig. 11, the force applied to the load section (1120) according to the stroke can be seen. As the stroke increases, the applied force also increases.

[0186] Referring to FIGS. 5 to 11 together, the operational relationship of the first unmanned submarine fixing device (1100) according to one embodiment of the present invention will be described. As shown in FIG. 5, the fixed-on state of the first unmanned submarine fixing device (1100) is a state in which the load unit (1120) moves downward and is not in operation.

[0187] In this state, the contact portion (1122) of the load portion (1120) is in contact with the unmanned submarine (12), and the convex portion (14) formed on the upper surface of the unmanned submarine (12) is inserted into the concave portion (1124) to fix the unmanned submarine (12). The elastic member (1112) absorbs shock when the power supply is cut off, thereby fixing the unmanned submarine (12).

[0188] As shown in Fig. 6, in the fixed-off state of the first unmanned submarine fixing device (1100), the load unit (1120) is in an operating state in which it moves upward.

[0189] The load section (1120) is guided by the guide section (1130) and moves upward, so that the contact section (1122) of the load section (1120) is separated from the unmanned submersible (12).

[0190] Referring to FIGS. 12 and 13 together, a second unmanned underwater vehicle fixing device (1200) according to another embodiment of the present invention is a second unmanned underwater vehicle fixing device (1200) that is installed on a mother ship and fixes an unmanned underwater vehicle (12) inside a cage (10) that accommodates the unmanned underwater vehicle (12) to recover the unmanned underwater vehicle (12), and is configured to include a fixing member (1210), a guide member (1220), and an actuator (1230).

[0191] The fixing member (1210) is preferably coupled to the upper part of the cage (10), and the fixing member (1210) is configured to include a support member (212) that is spaced apart from each other in the vertical direction on the upper part of the cage (10) and a fixing pin (214) in the shape of a parallel bar that connects the upper part of the support member (212) and is spaced upward from the upper surface of the cage (10).

[0192] The guide member (1220) guides the fixed member (1210) in a vertical direction and is connected to the mother ship. The guide member (1220) is connected to the mother ship and is formed of a frame so that it can be installed on a mother ship frame connected to the mother ship.

[0193] A guide groove (1222) is formed in the guide member (1220) to guide the fixing pin (214) of the fixing member (1210).

[0194] The guide home (1222) is formed concavely and narrows upward from the lower end of the guide member (1220).

[0195] A fixed pin (214) is guided and inserted into the guide home (1222).

[0196] The actuator (1230) moves forward and backward toward the fixed member (1210) guided inside the guide member (1220) to provide driving force to the load member (1232) that fixes the cage (10).

[0197] The load member (1232) moves forward and backward toward the fixing pin (214) of the fixed member (1210), and a fixing pin insertion groove (1236) into which the fixing pin (214) is inserted is formed at the end of the load member (1232).

[0198] Referring to FIGS. 14 to 17 together with FIGS. 12 and 13, the operational relationship of the second unmanned submersible fixing device (1200) according to another embodiment of the present invention will be described. In order to fix the cage (10) while the unmanned submersible (12) is accommodated inside the cage (10), the cage (10) is moved upward by a hydraulic cylinder.

[0199] At this time, the fixed member (1210) is configured to include a support member (1212) and a fixing pin (1214) connecting the support member (1212), and the fixing pin (1214) moves upward and is inserted into the guide groove (1222) of the guide member (1220).

[0200] Next, the actuator (1230) is configured to include a load member (1232), and a fixed pin fixing member (1234) is coupled to an end of the load member (1232).

[0201] The load member (1232) moves forward toward the fixed pin (214) in a direction perpendicular to the direction in which the fixed pin (214) moves upward, so that the fixed pin (214) is inserted into the fixed pin insertion groove (1236) of the fixed pin fixing member (1234).

[0202] Accordingly, the cage (10) is fixed and prevented from moving in the vertical and horizontal directions while the unmanned submarine (12) is accommodated.

[0203] Therefore, the unmanned submarine fixing device according to the present invention can safely accommodate an unmanned submarine inside a cage and can be used efficiently by minimizing energy consumption.

[0204] Additionally, it can prevent damage to the unmanned submarine by preventing impact on the unmanned submarine.

[0205] Meanwhile, in the specification of this application, the funnel serves to guide the unmanned submersible by sliding during the docking process in which the unmanned submersible is settled in the cage (nest) of the recovery device, and there are cage-attached funnels (also called 'primary funnels') and position-variable funnels (also called 'secondary funnels').

[0206] The cage attachment funnel is a funnel attached to the cage that constitutes the recovery equipment, and the position-variable funnel is a funnel that can be positioned in succession to the cage attachment funnel and is installed on the hull of an unmanned vessel, etc. When the recovery equipment is not in use (mainly when operating), it is raised toward the center of the main body to prevent it from touching the waves and to secure sufficient air gap between the two hulls, and when the recovery equipment recovers the unmanned submersible, it is operated to guide the unmanned submersible to the cage.

[0207] Referring to FIGS. 18 to 28, a funnel device for docking guide of an unmanned submarine according to the present invention is described in detail.

[0208] Figures 18 to 20 illustrate a mother ship (1). This mother ship (1) is a twin-hulled vessel and has a first hull (11) and a second hull (13) spaced apart from each other on the left and right. The first hull (11) and the second hull (13) are integrally connected to each other through a connecting structure (15).

[0209] A connecting structure (15) is provided with a cage (10) for receiving and retrieving an unmanned submarine (12) inside through an entrance (10-1) and a funnel device (100a) for docking guide of an unmanned submarine according to the present invention, and the cage (10) and the funnel device (100a) for docking guide of an unmanned submarine are arranged between the first hull (11) and the second hull (13).

[0210] A cage attachment funnel (110a) is installed in the cage (10) to guide the unmanned submersible (12) to the entrance (10-1). The cage attachment funnel (110a) is one that has existed in the prior art and can be called a primary funnel.

[0211] As shown in FIGS. 18 to 25 and FIG. 28, the funnel device (100a) for docking guide of an unmanned submarine according to the present invention has a position-variable funnel (130a) and a funnel operating mechanism (150a).

[0212] The position-variable funnel (130a) is a unique feature of the present invention that does not exist in the prior art and can be called a secondary funnel. This position-variable funnel (130a) is a funnel that can be positioned consecutively to the cage-attached funnel (110a), and is installed on the hull of an unmanned vessel, etc., and when the recovery device including the cage (10) is not used (mainly when sailing), it is lifted upward toward the center of the mother vessel (1) to prevent it from coming into contact with waves and to secure a sufficient air gap between the first hull (11) and the second hull (13) on both sides that constitute a part of the mother vessel (1), and when the unmanned submersible (12) is recovered by the cage (10) that constitutes the recovery device, it serves to guide the unmanned submersible (12) to the cage (10).

[0213] Referring to FIGS. 18 to 20 and FIGS. 24, 25 and 28, the cage attachment funnel (110a) and the position-variable funnel (130a) are arranged adjacent to each other in the front and rear to form a double funnel for guiding the unmanned submersible vehicle (12) into the interior of the cage (10).

[0214] The funnel operating mechanism (150a) is mounted on the mother ship (1) to guide the unmanned submersible vehicle (12) underwater to the cage (10), and is capable of moving the position-variable funnel (130a) between the first position, as shown in FIGS. 18 to 20 and FIGS. 24, 25 and 28, and the second position, as shown in FIGS. 21 to 23, for storing the position-variable funnel (130a).

[0215] As illustrated, the funnel operating mechanism (150a) has a connecting structure frame (151a) installed on the mother ship (1) and connected to a position-variable funnel (130a), and an actuator (156a) installed on the mother ship (1) and operating the connecting structure frame (151a) to move the position-variable funnel (130a) from a first position for guiding an unmanned submersible vehicle (12) underwater to a second position for storing a cage (130), or from the second position to the first position.

[0216] It is preferable that the connecting structure frame (151a) of such a funnel operating mechanism (150a) be rotatably installed at a rear upper position of the cage (10) of the mother ship (1). The cage (10) has an inlet (10-1) and is for accommodating an unmanned submersible (12) that has entered through the inlet (10-1) therein. A cage attachment funnel (110a) is installed in the cage (10) to guide the unmanned submersible (12) to the inlet (10-1). The cage (10) and the cage attachment funnel (110a) are configured to be connected to each other through flanges formed at corresponding positions.

[0217] As the actuator (156a) installed on the mother ship (1), a linear actuator is preferably used to rotate the connecting structure frame (151a) downward to move the position-variable funnel (130a) to the first position behind the cage-attached funnel (110a), or to rotate the connecting structure frame (151a) upward to move the position-variable funnel (130a) to the second position shown in FIGS. 21 to 23. A hydraulic cylinder or a pneumatic cylinder may be used as the linear actuator. In some cases, anything that can apply force or move in a straight line, such as a linear motor, may also be used as the linear actuator.

[0218] In this embodiment, a twin-hulled vessel having a first hull (11) and a second hull (13) installed with a left-right spacing is exemplified as a mother vessel (1). The first hull (11) and the second hull (13) of the twin-hulled mother vessel (1) are connected to each other via a connecting structure (15), and a cage (10) and a funnel device (100a) for docking guide of an unmanned submersible according to the present invention are installed on this connecting structure (15).

[0219] The cage (10) is preferably installed so as to be able to be raised and lowered from the lower portion of the connecting structure (15) via a separate lifting means (40). The lifting means (40) may be composed of the first to third link structures (100, 200, 300) and the power generating member (400) described above with reference to FIGS. 1 to 3, or may be composed differently.

[0220] The cage (10) has an entrance (10-1) and serves to protect and store an unmanned submarine (12) that enters through the entrance (10-1) by receiving it inside.

[0221] A cage attachment funnel (110a) corresponding to a primary funnel is installed in the cage (10). The cage attachment funnel (110a) is positioned behind the entrance (10-1) of the cage (10) and serves to guide the unmanned submersible (12) to the entrance (10-1).

[0222] The funnel device (100a) for docking guide of an unmanned submarine according to the present invention, excluding the cage attachment funnel (110a), is installed on the rear side of the connecting structure (15) as shown in FIGS. 21 to 25 and FIG. 28. The appearance of the funnel device (100a) for docking guide of an unmanned submarine according to the present invention, excluding the cage attachment funnel (110a), before installation can be seen from FIGS. 26 and 27, which show the variable-position funnel (130a) and funnel operating mechanism (150a) corresponding to the secondary funnel of FIG. 24 removed.

[0223] As shown in FIGS. 26 and 27, in a state where an existing recovery device is installed, a funnel device (100a) for docking guide of an unmanned submarine according to the present invention can be installed without any particular structural change.

[0224] The cage attachment funnel (110a) is positioned adjacent to the first position and in front of the first position for the variable position funnel (130a) to guide the unmanned submersible vehicle (12) to the cage (10) or to the cage attachment funnel (110a) installed on the cage (10).

[0225] In some cases, the cage (10) may be configured to extend to the rear end of the connecting structure (15), and the front opening of the position-variable funnel (130a) may be formed to align with the inlet of the cage (10), thereby forming a funnel device (100a) for docking guide of an unmanned submarine according to the present invention without a cage attachment funnel (110a).

[0226] The funnel device (100a) for docking guide of an unmanned submarine according to the present invention may be composed of only a position-variable funnel (130a) and a funnel operating mechanism (150a), regardless of whether a cage-attached funnel (110a) is present.

[0227] The funnel device (100a) for docking guide of an unmanned submarine according to the present invention as described above constitutes an unmanned submarine recovery device together with a cage (10) and a cage (10) lifting means (40).

[0228] That is, the mother ship (1) on which the funnel device (100a) for docking guide of an unmanned submarine according to the present invention is installed operates without touching the water by raising the cage attachment funnel (110a) and the position-variable funnel (130a) installed on the cage (10) as shown in FIGS. 21 to 23, and when recovery of the unmanned submarine (12) is required, the cage (10) and the cage attachment funnel (110a) attached to the cage (10) are lowered and submerged in the water through the lifting means (40) as shown in FIGS. 18 to 20 and FIGS. 24, 25 and 28, and the funnel operating mechanism (150a) is operated to lower and rotate the position-variable funnel (130a) so that it is placed in the first position as shown in FIGS. 18 to 20 and FIGS. 24, 25 and 28. Accordingly, a double funnel is arranged at the rear of the cage (10). The entrance of the variable-position funnel (130a) configured in a funnel shape can be configured to be much wider than the cage-attached funnel (110a), thereby greatly improving the docking success rate of the unmanned submersible vehicle (12).

[0229] When docking with the unmanned submersible (12) is completed, the lifting means (40) is operated to raise the cage (10) and the cage attachment funnel (110a), and the funnel operating mechanism (150a) is operated to raise and rotate the position-variable funnel (130a), so that it is placed in the second position as shown in FIGS. 21 to 23 and operated so as not to touch the water surface.

[0230] When launching of an unmanned submersible (12) is required, the lifting means (40) is operated to lower the cage (10), the front end of the cage (10) is opened to launch the unmanned submersible (12) forward of the cage (10), or the rear end of the cage is opened to launch the unmanned submersible (12) backward, and the cage (10) is closed again and raised to operate without touching the water surface as shown in FIGS. 21 to 23. The process of recovering the unmanned submersible (12) thereafter is the same as the recovery process described above.

[0231] 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.

[0232] The present invention has the potential to be used to manufacture a recovery device for an unmanned submarine capable of safely recovering an unmanned submarine and a funnel device for a docking guide for the 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 cage 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 wire and the other end of which is connected to the cage and folded in the length direction of the mother wire; and It includes a power generating member that has one end connected to the central portion of the above mother ship and the other end connected to the cage 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 based on a plane.

2. In paragraph 1, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the power generating member generates power to deploy or fold the first link structure and the second link structure and move the cage in the vertical direction of the mother ship.

3. In paragraph 1, The above first link structure is, A first upper frame member having one end rotatably connected to the above mother ship; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes a first lower frame member having one end rotatably connected to the other end of the first upper frame member and the other end connected to the cage.

4. In paragraph 1, The above second link structure is, A second upper frame member having one end rotatably connected to the above mother ship; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes 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 cage.

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 cage so as to be folded in the longitudinal direction of the mother ship, opposite to the second link structure.

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

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

8. In the first paragraph, an unmanned submersible fixing device that is installed on the mother ship and fixes the unmanned submersible inside the cage that accommodates the unmanned submersible inside in order to recover the unmanned submersible underwater, A main body part having a portion connected to the above mother ship; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes an unmanned underwater vehicle fixing device having an elastic rod portion on the other side of the main body portion.

9. In paragraph 8, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the interior of the main body is provided with an elastic member that provides elasticity to the unmanned underwater vehicle.

10. In paragraph 9, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the elastic member is a plurality of disc springs.

11. In paragraph 10, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the plurality of disc springs are provided in a continuous manner.

12. In paragraph 8, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the end portion of the above load section is provided with a contact portion that makes contact with the unmanned underwater vehicle.

13. In paragraph 12, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that a concave portion is formed on the surface of the contact portion that comes into contact with the unmanned underwater vehicle, into which a convex portion formed on the upper surface of the unmanned underwater vehicle is inserted.

14. In paragraph 8, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the above unmanned underwater vehicle fixing device further includes a guide part that guides the expansion and contraction of the load part.

15. In paragraph 8, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the above unmanned underwater vehicle fixing device is configured with a hydraulic cylinder device or the load section is configured to include a hydraulic cylinder device.

16. In the first paragraph, an unmanned submersible fixing device that fixes the unmanned submersible inside the cage by fixing the cage that accommodates the unmanned submersible inside the cage to recover the unmanned submersible underwater, installed on the mother ship, A fixing member coupled to the above cage; A guide member that guides the above fixed member in a vertical direction and is connected to the above mother line; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes an unmanned underwater vehicle fixing device having an actuator that provides driving force to a load member that fixes the cage by moving back and forth toward the fixing member guided into the interior of the guide member.

17. In paragraph 16, The above fixed member is, Support members spaced apart from each other vertically on the upper part of the cage; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes a bar-shaped fixing pin that connects the above support member and is parallel to the upper surface of the cage.

18. In paragraph 17, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that a guide groove for guiding the fixing pin of the fixing member is formed in the guide member.

19. In Article 17, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the above load member has a fixed pin fixing member attached to an end that moves forward and backward toward the fixed pin of the above fixed member.

20. In paragraph 19, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that a fixing pin insertion groove is formed in the fixing pin fixing hole, into which the fixing pin of the fixing member is inserted and fixed.

21. In paragraph 1, Variable position funnel; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes a funnel operating mechanism for positionally moving the position-variable funnel between a first position for guiding the unmanned underwater vehicle to the cage underwater and a second position for storing the position-variable funnel.

22. In paragraph 21, the funnel operating mechanism, A connecting structure frame installed on the above mother ship and connected to the position-variable funnel; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that it includes an actuator installed on the mother ship and operating the connecting structure frame to move the position-variable funnel from the first position to the second position or from the second position to the first position.

23. In paragraph 21, the funnel operating mechanism, A connecting structure frame rotatably installed at a rear upper position of the cage of the mother ship, which has an entrance and a cage for accommodating the unmanned submersible that has entered through the entrance, and a cage attachment funnel installed in the cage for guiding the unmanned submersible to the entrance, and connected to the position-variable funnel; and An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized by including a linear actuator installed on the mother ship and rotating the connecting structure frame downward to move the position-variable funnel to the first position behind the cage attachment funnel, or rotating the connecting structure frame upward to move the position-variable funnel to the second position.

24. A recovery device for an unmanned underwater vehicle mounted on an unmanned vessel, characterized in that in paragraph 23, the mother ship is a catamaran, and the cage and the funnel device for docking guide for the unmanned underwater vehicle are installed on a connecting structure connecting the hulls of both sides of the catamaran.

25. An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that in paragraph 24, the cage is installed so as to be able to ascend and descend to the lower portion of the connecting structure, and the funnel device for docking guide for the unmanned underwater vehicle is installed on the rear side of the connecting structure.

26. In the 21st or 22nd paragraph, a cage having an entrance and a cage attachment funnel for guiding the unmanned submersible to the entrance, installed in the cage for accommodating the unmanned submersible that has entered through the entrance, An unmanned underwater vehicle recovery device mounted on an unmanned vessel, characterized in that the cage attachment funnel is positioned adjacent to the first position and in front of the first position.

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