Underwater inspection robot

Abstract

The present invention relates to an underwater inspection robot and, more specifically, to an underwater inspection robot for quickly and safely inspecting an inner space of a hull of a ship while cleaning a surface of the ship. A configuration of the present invention for achieving the above objective provides an underwater inspection robot comprising: a robot module provided to clean the outer surface of a ship; and an inspection module mounted on the robot module to inspect the inside of an inner space of a hull. <Representative Drawing> FIG. 4

Description

underwater inspection robot

[0001] The present invention relates to an underwater inspection robot, and more particularly, to an underwater inspection robot for cleaning the surface of a ship and simultaneously inspecting the internal space of a ship, such as a sea chest, quickly and safely.

[0002]

[0003] In general, ships are operated with the lower part of the hull submerged in seawater, so foreign substances such as various pollutants, and aquatic organisms such as water moss and barnacles can adhere to the bottom or sides located underwater.

[0004] In this way, various foreign substances and aquatic organisms attached to the hull not only damage the appearance of the ship, but also act as resistance when the ship is sailing, which reduces the ship's speed and significantly increases the ship's fuel consumption. Therefore, it is very important to periodically clean various foreign substances and aquatic organisms attached to the hull.

[0005] In the past, the work of cleaning the exterior of the hull usually involved divers directly entering the hull to clean foreign substances and aquatic organisms attached to the exterior of the hull. However, the work environment was poor, physical exhaustion was high, and cleaning was impossible in areas with strong currents.

[0006] Meanwhile, a seachest is designed to take in seawater from the outside to supply cooling water to the main engine of a diesel-powered ship. A seawater chamber is formed by drilling a hole in the outer shell of the hull where the main engine is installed to form a space for receiving seawater, and a seawater inlet is formed at the bottom of the hull to connect the inside of the seawater chamber to the underwater world. In addition, a seawater inlet protection plate with a number of inlet holes is installed to prevent foreign substances from entering the seawater inlet.

[0007] These sea chests play an important role in supplying cooling water to the main engine compartment, but recently, there has been a problem of illegal items being smuggled into various internal spaces of the ship, including sea chests.

[0008] For example, the issue of smuggling is becoming an issue, where the protective plate of a sea chest is removed, drugs or prohibited items are placed in the sea chest, and then the protective plate is reattached to smuggle them in.

[0009] To prevent these problems, divers had to descend directly to inspect internal hull spaces like seachests. Furthermore, due to poor visibility in harbors, divers had to remove the protective plates, enter the seachest, and personally inspect for any abnormal items before reattaching them.

[0010] In the past, to inspect a sea chest, a diver had to dive in and remove and attach the protective plate, which not only posed a safety risk, but also required a lot of manpower and time to inspect the sea chest.

[0011] And, because inspecting sea chests requires a lot of manpower and time, it was practically impossible to inspect the sea chests of all ships.

[0012] Therefore, a technology is needed to inspect the internal spaces of various hulls, such as sea chests, more quickly and efficiently.

[0013]

[0014] An object of the present invention to solve the above problems is to provide an underwater inspection robot for cleaning the surface of a ship and simultaneously inspecting the interior space of the ship's hull, such as a sea chest, quickly and safely.

[0015] The technical problems to be solved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0016]

[0017] In order to achieve the above-described purpose, the present invention provides an underwater inspection robot comprising: a robot module configured to clean the outer surface of a ship; and an inspection module mounted on the robot module configured to inspect the interior of an internal space of the hull.

[0018] In an embodiment of the present invention, the robot module may be characterized by including a main body portion forming a body; and a wheel portion provided on the main body portion in the form of a magnetic wheel or an infinite track so as to be attached to the surface of the ship and move.

[0019] In an embodiment of the present invention, the robot module may be characterized by including: a recognition unit built into the front inner side of the main body; and a washing unit provided on the front lower side of the main body to discharge water at high pressure toward the surface of the ship.

[0020] In an embodiment of the present invention, the robot module may further include an arm portion provided to control the three-dimensional (x, y, z-axis) displacement of a cable portion coupled to the front of the main body portion; and a cable portion provided to connect between the main body portion and the arm portion.

[0021] In an embodiment of the present invention, the arm portion includes a pair of rotation units provided on the front of the main body portion and rotatable toward the front and rear of the main body portion with one end serving as a rotation axis; an arm unit formed to extend so as to be coupled to the other end of the pair of rotation units, respectively; and a grab unit coupled to the arm unit and configured to be movable along the longitudinal direction of the arm unit; and the grab unit may be characterized in that the cable portion extended from the main body portion is coupled to the grab unit.

[0022] In an embodiment of the present invention, it may be characterized in that the y-axis displacement of the cable portion is changed by the rotation of the rotation unit, and the x-axis displacement of the cable portion is changed as the grab unit moves along the longitudinal direction of the arm unit.

[0023] In an embodiment of the present invention, the robot module further includes a sterilizing unit provided at the rear of the main body, and the sterilizing unit may be characterized by being provided with a sterilizing lamp to remove organisms attached to the ship.

[0024] In an embodiment of the present invention, the inspection module may be characterized by including: a detection unit configured to detect the interior of the ship; an extension unit coupled to the detection unit and configured to be adjustable in length; a joint unit coupled to the extension unit and configured to be bendable; a watertight unit coupled to the joint unit and configured to control a bending direction and a bending angle of the joint unit; and a frame unit configured to connect the watertight unit and the robot module and having a cable unit accommodated therein.

[0025] In an embodiment of the present invention, the extension part includes a first extension body provided to be coupled to the detection part at an end thereof; and a second extension body coupled to the first extension body in multiple stages and coupled to an end of the joint part; wherein the first extension body is provided to be slidable in the longitudinal direction of the second extension body so that the overall lengths of the first extension body and the second extension body can be adjusted.

[0026] In an embodiment of the present invention, the joint part may include a joint body formed to extend so that the cable part penetrates the inner center; and a plurality of wires connected to the joint body; and may be characterized in that the curvature direction and curvature angle of the joint body are adjusted according to the control of the plurality of wires.

[0027] In an embodiment of the present invention, the joint part may further include: a first cutting surface formed at regular intervals on both sides of the outer surface of the joint body; two cutting surfaces formed on both sides of the joint body in a vertical direction of the first cutting surface and formed at each middle portion of the adjacent first cutting surfaces; and a wire hole formed in the central axis of each of the first cutting surface and the second cutting surface; wherein the wire is configured to be inserted into the wire hole.

[0028] In an embodiment of the present invention, the watertight portion may be characterized in that the cable portion is inserted through the inner side thereof and has an actuator that controls a plurality of the wires.

[0029] In an embodiment of the present invention, the frame portion may be provided to extend from the robot module and be coupled to the watertight portion, and may be provided to accommodate the cable portion therein.

[0030] In an embodiment of the present invention, the detection unit may be characterized by including at least one of a camera unit that photographs an underwater environment, a SONAR that displays an image through sound wave measurement, and a LiDAR that displays light as an image.

[0031] In an embodiment of the present invention, it may be characterized by further including a water jet unit that is provided together with a detection unit and can spray high-pressure water.

[0032]

[0033] The effect of the present invention according to the above configuration is that it is safe because there is no need for a diver to dive directly and inspect the interior of the hull's internal space.

[0034] In addition, according to the present invention, since the recognition unit is provided so that it can be inserted into a gap provided in the protective plate, the work of removing and attaching the protective plate is unnecessary, thereby reducing the time.

[0035] In this way, according to the present invention, abnormal items loaded in the internal space of the hull, such as a sea chest, can be inspected quickly and safely.

[0036] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0037]

[0038] FIG. 1 is an exemplary diagram of an underwater inspection robot connected to a patrol boat according to one embodiment of the present invention.

[0039] FIG. 2 is a perspective view of an underwater inspection robot deployed in an internal space of a hull according to one embodiment of the present invention.

[0040] Figure 3 is a side view of an underwater inspection robot according to an embodiment of the present invention.

[0041] Figure 4 is a perspective view of an underwater inspection robot according to an embodiment of the present invention.

[0042] Figure 5 is a bottom perspective view of an underwater inspection robot according to an embodiment of the present invention.

[0043] Figure 6 is a front view of an underwater inspection robot according to an embodiment of the present invention.

[0044] Figure 7 is a perspective view showing the rear of an underwater inspection robot according to one embodiment of the present invention.

[0045] Figure 8 is an exemplary diagram showing the operation of a dark part according to one embodiment of the present invention.

[0046] Figure 9 is an exemplary diagram of an inspection module according to one embodiment of the present invention.

[0047] Fig. 10 is a perspective view of an expanded portion according to one embodiment of the present invention.

[0048] Fig. 11 is an exemplary diagram of a joint according to one embodiment of the present invention.

[0049] Fig. 12 is an exemplary drawing of a joint according to an additional embodiment of the present invention.

[0050] Fig. 13 is a cross-sectional view of a joint according to one embodiment of the present invention.

[0051] Fig. 14 is an exemplary diagram showing the x-axis movement of an inspection module according to one embodiment of the present invention.

[0052] Figure 15 is an exemplary diagram showing the y-axis movement of an inspection module according to one embodiment of the present invention.

[0053] Fig. 16 is an exemplary diagram showing the diagonal movement of an inspection module according to one embodiment of the present invention.

[0054] Fig. 17 is an exemplary diagram showing a form in which a plurality of joints and watertight parts of an inspection module according to one embodiment of the present invention are provided.

[0055]

[0056] In order to achieve the above-described purpose, the present invention provides an underwater inspection robot comprising: a robot module configured to clean the outer surface of a ship; and an inspection module mounted on the robot module configured to inspect the interior of the interior space of the hull.

[0057]

[0058] Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity of description, and similar parts have been designated with similar reference numerals throughout the specification.

[0059] Throughout the specification, when a part is said to be "connected (connected, contacted, or coupled)" to another part, this includes not only cases where it is "directly connected," but also cases where it is "indirectly connected" with another part in between. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather implies that it may include other components, unless otherwise specifically stated.

[0060] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, it should be understood that the terms "comprises" or "has" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0061] Additionally, terms such as “... part,” “... unit,” and “... module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software.

[0062] Additionally, when a step is said to be located "before" or "after" another step in this specification, this includes not only cases where the step is in a direct time-series relationship with the other step, but also cases where the two steps are in an indirect time-series relationship where the time-series order may be changed, such as a mixing step after each step.

[0063] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0064] FIG. 1 is an exemplary diagram of an underwater inspection robot connected to a patrol vessel according to an embodiment of the present invention, and FIG. 2 is a perspective view of an underwater inspection robot deployed into an internal space of a hull according to an embodiment of the present invention.

[0065] FIG. 3 is a side view of an underwater inspection robot according to an embodiment of the present invention, and FIG. 4 is a perspective view of an underwater inspection robot according to an embodiment of the present invention.

[0066] FIG. 5 is a bottom perspective view of an underwater inspection robot according to an embodiment of the present invention, and FIG. 6 is a front view of an underwater inspection robot according to an embodiment of the present invention.

[0067] FIG. 7 is a perspective view showing the rear of an underwater inspection robot according to an embodiment of the present invention, and FIG. 8 is an exemplary diagram showing the operation of a dark part according to an embodiment of the present invention.

[0068] Referring to FIGS. 1 to 8, the underwater inspection robot (1000) may include a robot module (1100) and an inspection module (1200).

[0069] First, the robot module (1100) is designed to clean the outer surface of a ship and may include a main body (1110), a wheel part (1120), a recognition part (1130), a washing part (1140), an arm part (1150), a cable part (1160), and a sterilization part (1170).

[0070] The main body (1110) forms the body of the robot module (1100), and may be provided to be attached to the outer surface of the ship (10) and move along the surface of the ship (10). Specifically, the main body (1110) may be provided in a state in which it is connected to a patrol boat (20) by a connecting cable. In addition, the main body (110) may be provided to have a waterproof function so that it can operate underwater.

[0071] More specifically, the main body (1110) may include a first body (1111) and a second body (1112).

[0072] The first body (1111) may be provided with inclined surfaces formed on the front and rear sides. At this time, the inclined surfaces may be provided with an incline such that the height of the first body (1111) decreases as it goes forward and backward, and the incline angle of the front side may be provided to be gentler and longer than the incline angle of the rear side.

[0073] The second body (1112) may be provided on the upper portion of the first body (1111) and may be provided so that the cable portion (1160) is coupled thereto. At this time, the second body (1112) may be provided so that a winding unit capable of unwinding and winding the cable portion (1160) is formed therein.

[0074] The wheel part (1120) may be provided at the lower portion of the main body part (1110) and may be provided so as to be able to move while maintaining a state of being attached to the outer surface of the ship (10). Specifically, it may be provided in the form of a magnetic wheel or an infinite track so as to be attached to the surface of the ship (10) and move, and may be provided as a pair.

[0075] The wheel part (1120) provided in this manner can be provided so that the moving speed of the main body part (110) is 1 m / sec or less, and the underwater traction force can be provided so that it is 200 kgf or more.

[0076] The above recognition unit (1130) may be provided to be built into the front inner side of the main body (1110). The recognition unit (1130) provided in this manner may be provided to face the surface of the ship (10) so as to photograph and recognize the surface state of the ship (10). At this time, the recognition unit (1130) may be provided on the front side of the main body (1110), but may be provided so as to be provided inside a transparent plate so as not to be damaged.

[0077] The washing unit (1140) may be provided on the front lower side of the main body (1110) to discharge water at high pressure toward the surface of the vessel. In this case, the washing unit (1140) may be provided not only in a form that discharges water but also in a brush form. The washing unit (1140) provided in this manner may be provided to remove marine life attached to the surface of the vessel.

[0078] In particular, the washing unit (1140) may be provided to remove marine life attached to the interior space (11) of the hull of the ship (10). Specifically, the protection plate (12) is provided in a grid-like shape so that seawater can flow into the interior space (11) of the hull. In order for the inspection module (1200) to pass through the gap between the bars of the protection plate (12), it must pass through the gap between the bars of the protection plate, but if marine life is caught between these gaps, it is difficult to pass through. Therefore, the washing unit (1140) may be provided to remove marine life attached to the interior space (11) of the hull to secure a path through which the inspection module (1200) can pass.

[0079] The above arm unit (1150) is provided on the front of the main body unit (1110) to control the three-dimensional (x-axis, y-axis, z-axis) displacement of the cable unit (1160) coupled thereto, and may include a rotation unit (1151), an arm unit (1152), and a grab unit (1153).

[0080] The above rotation unit (1151) is provided as a pair on both sides of the front of the main body (1110), and can be formed to extend toward the front of the main body (1110). In addition, the rotation unit (1151) can be provided to be rotatable toward the front and rear of the main body (1110) with one end coupled to the main body (1110) as a rotation axis.

[0081] The above-mentioned arm unit (1152) can be formed in a bar shape so that both ends are respectively connected to the other ends of a pair of the above-mentioned rotation units (1151).

[0082] The grab unit (1153) may be coupled to the arm unit (1152) and may be provided to be movable along the longitudinal direction of the arm unit (1152). The cable portion (1160) extended from the second body (1112) of the main body (1110) may be coupled to the grab unit (1153). In addition, the frame portion (1250) of the inspection module (1220) may be provided to be formed at the lower portion of the grab unit (1153). At this time, the cable portion (1160) coupled to the grab unit (1153) may be provided to be inserted into the frame portion (1250) and extend along the frame portion (1250).

[0083] The y-axis displacement of the cable section (1160) can be changed by the rotation of the rotation unit (1151) of the commercial rock section (1150) provided in this manner. More precisely, the y-axis displacement of the frame section (1250) can be changed.

[0084] In addition, the x-axis displacement of the cable portion (1160) may be changed as the grab unit (1153) moves along the longitudinal direction of the arm unit (1152). More precisely, the x-axis displacement of the frame portion (1250) may be changed.

[0085] The dark part (1150) provided in this manner can primarily adjust the position where the inspection module (1200) is inserted into the protective plate (12) of the internal space (11) of the hull.

[0086] The above cable portion (1160) may be provided to connect between the main body portion (1110) and the arm portion (1150). Specifically, the cable portion (1160) is provided to be wound around the second body (1112), and may extend from the upper portion of the second body (1112) and be coupled to the grab unit (1153) of the arm portion (1150). In addition, the cable portion (1160) coupled to the grab unit (1153) may be provided to extend to the lower portion of the grab unit (1153) and be connected to the inspection module (1200).

[0087] The sterilizing unit (1170) is provided at the rear of the main body (1110), and the sterilizing unit (1170) may be provided with a sterilizing lamp to remove marine organisms attached to the ship (10).

[0088] FIG. 9 is an exemplary diagram of an inspection module according to an embodiment of the present invention, and FIG. 10 is a perspective view of an expanded portion according to an embodiment of the present invention.

[0089] FIG. 11 is an exemplary drawing of a joint part according to one embodiment of the present invention, FIG. 12 is an exemplary drawing of a joint part according to a further embodiment of the present invention, and FIG. 13 is a cross-sectional drawing of a joint part according to one embodiment of the present invention.

[0090] Referring to FIGS. 9 to 13, the inspection module (1200) may be provided to inspect the interior of the hull interior space (11), and may include a detection unit (1210), an expansion unit (1220), a joint unit (1230), a watertight unit (1240), and a frame unit (1250).

[0091] The above detection unit (1210) may be provided to detect the interior of the hull interior space (11). The sea chest (11) as an object to be photographed by the detection unit (1210) is only one example, and may include all other internal spaces of the hull that are desired to be photographed underwater.

[0092] Specifically, the detection unit (1210) may be provided in a form capable of detecting an underwater environment and, in particular, detecting abnormal items.

[0093] For example, the detection unit (1210) may be provided as a camera unit capable of photographing the interior of the hull interior space (11). In addition, the detection unit (1210) may also be provided in the form of an infrared camera.

[0094] Meanwhile, the detection unit (1210) may further include a sonar (SONAR) configured to transmit and receive ultrasonic waves.

[0095] The above sonar can be arranged to derive a shape image of the interior of the hull interior space (11) by using the distance calculated based on the time from transmission to reception of the transmitted ultrasonic waves.

[0096] In addition, a separately provided inspection module (not shown) may be provided to automatically detect the presence of abnormal items inside the hull internal space (11) by comparing the initial image of the internal shape of the designed hull internal space (11) with the shape image derived by the ultrasonic module.

[0097] For example, the inspection module may be configured to designate a part of the initial image and the shape image that is different as a suspicious area and provide the user with an image of the suspicious area.

[0098] The sonar provided in this manner can easily determine whether there is an abnormal item inside the internal space (11) of the hull even when the seawater inside the internal space (11) of the hull is turbid and visibility is poor, making it difficult to determine whether there is an abnormal item in the image.

[0099] The above detection unit (1210) may also be provided with LiDAR to detect distance by transmitting and receiving laser.

[0100] The above-mentioned abnormal items refer to items artificially loaded into the interior space (11) of the ship for the purpose of transportation, and may include smuggled items such as drugs and firearms.

[0101] In addition, the detection unit (1210) may be further equipped with a water jet unit capable of spraying high-pressure water. To this end, a hose unit (not shown) may be provided to extend from the robot module (1100) and be connected to the water jet unit, together with the cable unit (1160) coupled to the detection unit (1210). The water jet unit thus provided can assist in better detection of abnormal items by removing obstacles, including marine life, from the interior of the hull interior space (11).

[0102] The above extension part (1220) is coupled to the detection part (1210) and may be provided with an adjustable length.

[0103] Specifically, the expansion portion (1220) may include a first expansion body (1221) and a second expansion body (1222).

[0104] The above first extension body (1221) is provided so that the detection unit (1210) is coupled to the end, and can be provided in a rod shape extending in the length direction.

[0105] The second extension body (1222) is connected to the first extension body (1221) in multiple stages and may be arranged to be connected to the end of the joint portion (1230).

[0106] The first extension body (1221) provided in this manner can be slid in the longitudinal direction of the second extension body (1222) so that the overall lengths of the first extension body (1221) and the second extension body (1222) can be adjusted.

[0107] The above joint part (1230) is combined with the above expansion part (1220) and can be provided to be able to bend.

[0108] Specifically, the joint part (1230) may include a joint body (1231), a first cutting surface (1232), a second cutting surface (1233), a wire hole (1234), and a wire (1235).

[0109] The above joint body (1231) is provided so that the cable portion (1160) can be inserted through the inner center thereof, and can be provided so as to surround the outer circumference of the cable portion (1160). In addition, the joint body (1231) can be formed to extend along the length of the cable portion (1160). The joint body (1231) can be provided with a material that can be bent.

[0110] The first cutting surface (1232) may be formed at regular intervals on both sides of the outer surface of the joint body (1231). At this time, the first cutting surface (1232) may be formed by cutting the joint body (1231) in an oval shape, and the first cutting surfaces (1232) formed on both sides of the joint body (1231) may be formed such that their central portions are connected to each other.

[0111] The second cutting surface (1233) may be formed on both sides of the joint body (1231), and may be formed in a direction perpendicular to the first cutting surface (1232). In addition, the second cutting surface (1233) may be formed at the middle portion of each of the adjacent first cutting surfaces (1232). At this time, the second cutting surface (1233) may be formed by cutting the joint body (1231) in an oval shape, and the second cutting surfaces (1233) formed on both sides of the joint body (1231) may be formed such that their central portions are connected to each other.

[0112] The first cutting surface (1232) and the second cutting surface (1233) provided in this manner can reduce water resistance when the joint body (1231) is bent, thereby allowing it to bend more quickly.

[0113] The above wire hole (1234) may be formed on the central axis of each of the first cutting surface (1232) and the second cutting surface (1233). The wire hole (1234) may be formed in the form of a hole having a size into which the wire (1235) can be inserted.

[0114] At this time, the wire holes (1234) are provided at regular intervals along the circumference of the cable portion (1160), and can be provided to be formed in four or more.

[0115] In one embodiment, for example, the wire hole (1234) is shown as being formed in four directions in the east, west, south, and north directions of the cable section (1160).

[0116] The above wires (1235) are arranged so that a plurality of them are connected to the joint body (1231), and the curvature direction and curvature angle of the joint body (1231) can be adjusted according to the control of the plurality of wires (1235).

[0117] Meanwhile, according to FIG. 12, the joint body (1231) of the joint portion (1230) may be provided in a form in which the outer surface is wrapped and blocked so that the central portions of the first cut surface (1232) and the second cut surface (1233) are not connected.

[0118] Specifically, a joint cover (1236) may be further provided to surround the outer surface of the joint body (1231). The joint cover (1236) may be provided with a material having elasticity such as rubber.

[0119] Fig. 14 is an exemplary diagram showing the x-axis movement of an inspection module according to one embodiment of the present invention.

[0120] For example, referring to FIG. 14, when the detection unit (1210) is moved in one direction of the x-axis, the second wire (1235b) is contracted and the fourth wire (1235d) is tensioned, so that the joint body (1231) can be bent in the direction of the second wire (1235b).

[0121] And, as the extension part (1220) is extended, the detection part (1210) can be brought closer to the abnormal item and detect the abnormal item.

[0122] Figure 15 is an exemplary diagram showing the y-axis movement of an inspection module according to one embodiment of the present invention.

[0123] Referring to FIG. 15, when the detection unit (1210) is moved in one direction of the y-axis, the third wire (1235c) is contracted and the first wire (1235a) is tensioned, so that the joint body (1231) can be bent in the direction of the third wire (1235c).

[0124] And, as the extension part (1220) is extended, the detection part (1210) can be brought closer to the abnormal item and detect the abnormal item.

[0125] Fig. 16 is an exemplary diagram showing the diagonal movement of an inspection module according to one embodiment of the present invention.

[0126] Referring to FIG. 16, when the detection unit (1210) is moved in the diagonal direction between the first wire (1235a) and the fourth wire (1235d), the first wire (1235a) and the fourth wire (1235d) are contracted, and the second wire (1235b) and the third wire (1235c) are tensioned, so that the joint body (1231) can be bent in the diagonal direction.

[0127] In this way, by contracting the wire in the direction in which the detection unit (1210) is facing among the plurality of wires (1234) and tensioning the wire on the opposite side, the joint body (1231) can be bent in the target direction.

[0128] The above watertight part (1240) is coupled to the joint part (1230) and may be provided to control the curvature direction and curvature angle of the joint part (1230).

[0129] Specifically, the watertight portion (1240) is provided to be coupled between the joint portion (1230) and the frame portion (1250), and the cable portion (1160) may be provided to be inserted through the inner side.

[0130] In addition, the watertight part (1240) is provided to be waterproof, and an actuator for controlling a plurality of the wires (1160) may be provided inside.

[0131] Fig. 17 is an exemplary diagram showing a form in which a plurality of joints and watertight parts of an inspection module according to one embodiment of the present invention are provided.

[0132] Referring to Fig. 17, the watertight portion (1240) and the joint portion (1230) provided in this manner are provided between the expansion portion (1220) and the frame portion (1250), but may be provided in multiple cross-sections.

[0133] In this way, when the watertight part (1240) and the joint part (1230) are provided in multiple numbers, even if there is an obstacle in the middle, each watertight part (1240) can control the curvature angle of the joint part (1230), thereby detecting abnormal items by bypassing the obstacle.

[0134] The above frame portion (1250) is provided to connect the watertight portion (1240) and the robot module (1100), and may be provided to accommodate the cable portion (1160) therein.

[0135] The present invention, thus prepared, is safe because there is no need for a diver to dive directly and inspect the interior of the hull interior space (11).

[0136] In addition, according to the present invention, since the inspection module (1200) is provided so that it can be inserted into a gap provided in the protection plate (12), the work of removing and attaching the protection plate (12) is unnecessary, so the time required for inspection can be shortened.

[0137] In this way, according to the present invention, abnormal items loaded inside the hull interior space (11) can be inspected quickly and safely.

[0138] Although the description of the present invention has been illustrated with limited drawings, it is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical spirit or essential characteristics of the present invention. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single component may be implemented in a distributed manner, and likewise, components described as distributed may be implemented in a combined form. Furthermore, the described techniques may be performed in a different order than the described method.

[0139] The embodiments described in this specification and the accompanying drawings merely illustrate some of the technical concepts encompassed by the present invention. Therefore, the scope of the present invention is defined by the claims below, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

[0140]

[0141] <Explanation of symbols>

[0142] 10: Ship

[0143] 11: Interior space of the hull

[0144] 12: Protective plate

[0145] 20: Patrol boat

[0146] 1000: Underwater Inspection Robot

[0147] 1100: Robot Module

[0148] 1110: Main body

[0149] 1111: First body

[0150] 1112: Second body

[0151] 1120: Wheel

[0152] 1130: Recognition Department

[0153] 1140: Washing Department

[0154] 1150: Darkness

[0155] 1151: Rotating unit

[0156] 1152: Dark Unit

[0157] 1153: Grab Unit

[0158] 1160: Cable Department

[0159] 1170: Sterilization Department

[0160] 1200: Inspection module

[0161] 1210: Detection Department

[0162] 1220: Extension

[0163] 1221: First extension

[0164] 1222: Second extension

[0165] 1230: Joints

[0166] 1231: Joint body

[0167] 1232: First cutting plane

[0168] 1233: Second cutting plane

[0169] 1234: Wire Hole

[0170] 1235: Wire

[0171] 1236: Joint Cover

[0172] 1240: Watertight section

[0173] 1250: Frame section

Claims

1. A robot module designed to clean the outer surface of a ship; and An underwater inspection robot characterized by including an inspection module mounted on the robot module and designed to inspect the internal space of the hull.

2. In paragraph 1, The above robot module, The main body forming the body; and An underwater inspection robot characterized by including a wheel part provided on the main body in the form of a magnetic wheel or an infinite track so as to be attached to the surface of the ship and move.

3. In paragraph 2, The above robot module, A recognition unit built into the front inner side of the main body; and An underwater inspection robot characterized by including a washing unit provided on the lower front side of the main body to discharge water at high pressure toward the surface of the ship.

4. In paragraph 2, The above robot module, A female part provided on the front of the main body to control the three-dimensional (x, y, z-axis) displacement of the combined cable part; and An underwater inspection robot further comprising a cable portion configured to connect the main body portion and the female portion.

5. In paragraph 4, The above dark part, A pair of rotation units provided on the front of the main body and capable of rotating toward the front and rear of the main body with one end serving as a rotation axis; A female unit formed so that both ends are respectively connected to the other ends of a pair of the above rotating units; and A grab unit coupled to the above-mentioned arm unit and configured to move along the length direction of the above-mentioned arm unit; An underwater inspection robot characterized in that the grab unit is provided such that the cable portion extended from the main body portion is coupled thereto.

6. In paragraph 5, The y-axis displacement of the cable section is changed by the rotation of the above rotating unit, An underwater inspection robot characterized in that the x-axis displacement of the cable section is changed as the grab unit moves along the longitudinal direction of the arm unit.

7. In paragraph 2, The above robot module, It further includes a sterilizing unit provided at the rear of the main body; An underwater inspection robot characterized in that the sterilizing unit is provided with a sterilizing lamp to remove organisms attached to the vessel.

8. In paragraph 1, The above inspection module, A detection unit designed to detect the interior of the above vessel; An extension unit coupled to the above detection unit and having an adjustable length; A joint portion that is connected to the above extension portion and is provided to be able to bend; A watertight part coupled to the above joint part and provided to control the curvature direction and curvature angle of the above joint part; and An underwater inspection robot characterized by including a frame portion configured to connect the watertight portion and the robot module and having a cable portion accommodated therein.

9. In paragraph 8, The above extension part, A first extension body provided to be coupled to the detection unit at the end; and A second extension body is connected to the first extension body in multiple stages and is connected to an end of the joint portion; An underwater inspection robot characterized in that the first extension body is provided so that the overall lengths of the first extension body and the second extension body can be adjusted by sliding in the longitudinal direction of the second extension body.

10. In paragraph 8, The above joint part, A joint body formed to extend so that the cable portion penetrates the inner center; and A plurality of wires coupled to the above joint body; An underwater inspection robot characterized in that the bending direction and bending angle of the joint body are adjusted according to the control of a plurality of the above wires.

11. In paragraph 10, The above joint part, A first cutting surface formed at regular intervals on both sides of the outer surface of the above joint body; Two cutting surfaces formed on both sides of the joint body in the vertical direction of the first cutting surface, and formed at the middle portion of each adjacent first cutting surface; and Further comprising a wire hole formed in the central axis of each of the first cutting surface and the second cutting surface; An underwater inspection robot characterized in that the above wire is configured to be inserted into the above wire hole.

12. In paragraph 10, The above watertight part is, An underwater inspection robot characterized in that the cable portion is inserted through the inside and has a plurality of actuators for controlling the wires.

13. In paragraph 8, The above frame part, An underwater inspection robot characterized in that it is arranged to extend from the robot module and be coupled to the watertight portion, and the cable portion is arranged to be accommodated inside.

14. In paragraph 8, The above detection unit, An underwater inspection robot characterized by including at least one of a camera unit for photographing an underwater environment, a sonar (SONAR) for displaying images through sound wave measurement, and a lidar (LiDAR) for displaying light as images.

15. In paragraph 8, An underwater inspection robot characterized by further including a water jet unit capable of spraying high-pressure water together with a detection unit.

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