KR20090052923A - Remote control underwater dredging robot - Google Patents

Abstract

The present invention is equipped with its own driving force by using the hydraulic pressure supplied from the mother ship located in the sea or the water and using the rotary rotor made of special steel inside the suction hopper attached to the front end of the body, such as underwater sludge and shell compacted by water pressure under water. The present invention relates to a remote control dredging robot that crushes sludge and sediment with a hydraulic pump and sends them to a mother ship.

The present invention has a self-driving power by transferring the power of the hydraulically driven left and right hydraulic motors supplied from the mother ship located in the sea or the water to the endless track for increased frictional force and efficient maneuvering underwater, underwater dredging robot in front A suction hopper for suctioning waste is attached, and inside the suction hopper, a rotating rotor driven by hydraulic power is made of a special steel that can crush underwater waste to less than 50 mm to pass through the impeller and suction port of the hydraulic pump. On the front of the dredging robot, there are a number of underwater cameras that can be remotely controlled from the bus and monitor the working environment, and a number of lighting devices are attached for the image quality of the clear camera. Underwater ultrasonic location to accurately grasp the current dredging position An enemy unit (USBL) is attached to the dredging underwater robot.

When the present invention is configured in parallel with the sediment removal device of the continuous seabed and reservoir, the present invention can process the removal of water sludge in an environmentally friendly manner without secondary pollution in the sea, and can effectively perform dredging work of the seabed. It works.

Underwater Dredging, Underwater Dredging Robot

Description

Remote Control Underwater Dredging Robot

The present invention is to rotate the hydraulic motor located in the water by remote control from the mother ship in order to efficiently send sediment and foreign substances existing on the bottom surface of the sea, river or reservoir, such as marine farms and harbors to the mother ship It is equipped with an endless track, which is operated by hydraulic pressure, and has a rotary rotor for crushing foreign substances such as shells in the suction hopper for dredging, and an underwater hydraulic pump for sucking crushed materials and sediments. The present invention relates to an underwater dredging robot equipped with an illumination device and equipped with an underwater position tracking device that can accurately grasp the current dredging position.

Conventional underwater dredging system has been proposed various methods such as distributed suction by hydraulic pressure, dredging by hydraulic pump, but in reality, foreign materials of various shapes and sizes such as wood, shell, stone, etc. are scattered on the bottom surface of marine or freshwater lake. Foreign substances scattered on the sea floor cause fatal damage to the rotary impeller adopted in almost all suction methods, such as suction by hydraulic pressure or electric motor. There is a problem that the operation is impossible.

In addition, the prior art has a problem that it is not possible to determine the exact location of the current dredging due to the deviation of the distance between the mother ship and the dredging device under the influence of birds, etc. in the state that the accurate underwater position tracking system (USBL) is not attached.

Another prior art discloses a configuration of a system for removing bottom soil dirt while minimizing contamination by suspended solids in Korea Patent Publication No. 10-2003-0030423, but various types of shells and wood And problems such as bulky foreign matters such as stones blocking the inlet and frequently stopping work, and the inhalation of sediment is performed on the busbar, so that the inhalation of the air is not effective when the depth is deep or the air flows into the suction hose. Since the caterpillar is driven by an electric motor, there is a high risk of a safety accident due to electricity.

The problem to be solved by the present invention is a plurality of lighting devices are attached for the image quality of a plurality of underwater cameras and a clear camera that can monitor the working environment by remote control in the mother ship, the DGPS of the mother ship on top of the dredging robot In order to precisely grasp the current dredging position by interlocking, it is provided with a submerged ultrasonic location tracking device (USBL) attached to provide an underwater dredging robot capable of accurate and efficient dredging.

Another task to be solved by the present invention is to work to protect the ecosystem of the sea, to minimize the safety accidents of underwater workers around, labor costs and safety of workers as the workers directly carry out the movement of the inlet To minimize accidents.

Another problem to be solved by the present invention is that the position and dredging degree of the underwater dredging robot in conjunction with the ultrasonic transceiver installed on one side of the mother bus and the DGPS located on the upper side is more accurate compared to the quasi-setting beam and underwater image map stored in the computer of the mother bus. It is to enable underwater dredging quickly and quickly.

Another problem to be solved by the present invention is to efficiently and efficiently remove the environmental sludge removal of the water sludge while minimizing the secondary pollution caused by the float.

Means for Solving the Problems To be solved by the present invention have been conceived by recognizing the problems with the prior art as described above, and the endless track for increasing the frictional force and efficient movement on the bottom of the hydraulic power driven left and right hydraulic motor It has a self-driving power by transferring it to the front of the dredging robot, and a suction hopper for suction of water sludge and wastes is attached.In the suction hopper, underwater wastes less than 50mm can pass through the impeller and suction port of the hydraulic pump. It is made of special steel that can be crushed, and it is installed with a hydraulically-powered rotary rotor, and a number of underwater cameras and clear cameras that can monitor the working environment by remote control from the mother ship are installed on the front of the underwater dredging robot. Lighting device is attached and the dredging robot's upper part To provide an accurate and efficient dredging underwater dredging is possible by having the robot configuration is submerged ultrasonic position tracking device (USBL) is attached to exactly grasp the material it is an object of the dredging position.

Another solution of the problem to be solved by the present invention is a hydraulic motor for supplying both the motor for rotating the crawler mounted on the robot controlled by the mother bus and the driving of the suction pump for sucking the crushed shell and foreign matters. Power supply to lamps and CCD cameras by 24V or less to minimize safety accidents of marine ecosystems and underwater workers, and to reduce labor costs and workers' safety To minimize accidents.

Another solution of the problem to be solved by the present invention is an ultrasonic transceiver installed on one side of the mothership by attaching an underwater ultrasonic positioning system (USBL) that is transmitted in real time on the top of the underwater dredging robot, the error range of several meters or less In conjunction with the located DGPS, the location and dredging level of the underwater dredging robot can be compared with the dredging beams and underwater image maps stored in the mother's computer to enable more accurate underwater dredging.

Another solution of the problem to be solved by the present invention is to purify and discharge the sediment of the seabed or water in the sediment removal device of the continuous seabed and reservoir of Patent No. 10-529536 or filed by the applicant of the present invention When the suction port of the apparatus and the discharge pipe of the underwater dredging robot of the present invention are used in parallel to each other, the secondary pollution is minimized to efficiently and efficiently remove the water sludge.

The present invention is equipped with a plurality of lighting devices for the image quality of a plurality of underwater cameras and a clear camera that can monitor the working environment by remote control in the mother ship, the current dredging in conjunction with the DGPS of the mother ship on the top of the underwater dredging robot It is to provide a dredging robot capable of accurate and efficient dredging by having a configuration attached to the ultrasonic ultrasonic location tracking device (USBL) to accurately identify the position.

Another effect of the present invention is the work is made to protect the ecosystem of the sea, minimize the safety accidents of underwater workers around, and minimizes the labor costs and safety accidents of workers as the workers perform the movement of the inlet directly It is.

Another effect of the present invention is to more accurately and quickly compare the position and dredging level of the underwater dredging robot in conjunction with the ultrasonic transceiver installed on one side of the mothership and the DGPS located on the upper side of the dredging beam and the underwater image map stored in the computer of the mothership. It is to enable underwater dredging.

Another effect of the present invention is to efficiently and efficiently remove the environmental sludge removal of the water sludge while minimizing the secondary pollution caused by the floating.

The present invention is to rotate the hydro-hydraulic motor by remote control in the mother ship to send sediment and foreign substances existing on the bottom surface of the ocean, river, reservoir, etc. such as marine farms and harbors to the mother ship to infinite track It is operated by hydraulic pressure and equipped with a rotating rotor for crushing foreign substances such as shells and a submersible hydraulic pump for suctioning pulverized substances and deposits inside the suction hopper for dredging. The present invention relates to an underwater dredging robot equipped with an underwater position tracking device that can accurately grasp the current dredging position.

Hereinafter, with reference to the accompanying drawings illustrating the configuration and operation of the embodiment of the present invention, the configuration and operation of the present invention shown and described in the drawings will be described as at least one or more embodiments, whereby the present invention described above The technical idea and its core composition and operation are not limited.

It looks at the drawings to facilitate the understanding of the present invention. 1 is an overall configuration diagram of a remote control dredging robot according to the present invention, Figure 2 shows a three-dimensional view of a remote control dredging robot according to the present invention. 3 is a view seated on the bus bar of the remote control dredging robot according to the present invention, Figure 4 shows an enlarged view of the bus seating of the remote control dredging robot according to the present invention.

The construction means according to the present invention will be described in detail. The present invention is a hydraulic, power and communication line that is supplied from the mother ship to the foreign sludge, such as shells, trees, stones that are mixed in the solid sludge and the sludge compacted by the water pressure present in the bottom of the marine farms and harbors and other seas or rivers, reservoirs, etc. The present invention relates to a remote control dredging robot that can be sucked and removed quickly and efficiently.

Suction hopper is located on the front of the remote control dredging robot to suck efficiently while minimizing the floating of foreign substances such as shell, wood, stone, etc. mixed in the sludge, inside the suction hopper is hydraulically driven, special steel It is designed to be easily sucked by the suction power of the suction pump by rotating and rotating the rotary rotor by interlocking the rotary rotors with each other, and clogging of the suction port during suction without damaging the impeller of the suction pump. It is configured to dredging work quickly and efficiently by preventing the damage.

The rotary rotor breaks the shell, wood and boulder to the size of 50 mm or less and passes through the suction port to facilitate suction without damaging the impeller of the suction pump, and the suction hopper is provided with a remote control underwater dredging robot for dredging. It is configured to be able to control up and down and back and forth by using four hydraulic cylinders connected so that dredging depth and angle can be achieved by remote control from bus.

The dredging remote control of the dredging robot is driven by the rotational force of one or more hydraulic motors, and the crawler wheels are installed on the left and right sides so as to easily adapt to the seabed and the bottom of the water, so that forward, backward, and direction changes are freely remoted. It is comprised so that control is possible.

The remote control underwater dredging robot is equipped with a number of surveillance cameras and lighting devices to provide more detailed information about the work surrounding environment on the remote control busbar, and the location information is transmitted in real time at the top of the remote dredging robot for dredging. By attaching an underwater ultrasonic location tracking device (USBL) with a range of several meters or less, it accurately displays the dredging area information on the electronic image map stored in the computer of the mothership by interlocking with the ultrasonic transceiver installed on one side of the mothership and the DGPS located at the top of the mothership. It is configured to enable more accurate dredging underwater. Components according to the present invention will be described based on specific embodiments.

EXAMPLES

A specific embodiment according to the present invention will be described with reference to the drawings. The present invention is interlocked with the mother ship located in the sea, the mother ships and other foreign substances such as shells, trees, stones, etc. mixed in the solid sludge and sludge compacted by the water pressure present in the bottom surface of the marine farms and harbors and other seas or rivers, reservoirs, etc. The present invention relates to a remotely controlled dredging robot that can be sucked and removed quickly and efficiently by using hydraulic power, power, and communication lines supplied from.

The remote control dredging robot according to the present invention is a patent application filed and filed by the applicant of the present invention rather than being used by the remote control dredging robot alone in order to quickly and environmentally friendly to remove the underwater sludge without secondary pollution. Transmission pipe (109) that sucks and discharges the whole chip for use in parallel with the suction hose of the continuous seabed and reservoir sediment removal device of No. 529536 or a device capable of purifying and discharging sediment in the seabed or water on the ship. It is a widely used fastening method that can be fastened to the suction hose coming from the bus bar at the end, and the female hose is formed on the suction hose side, the male thread is formed on the discharge hose side, or the male screw is formed on the suction hose side, and the female thread is formed on the discharge tube side. The fastening means 119 produced is provided.

The remote control dredging robot according to the present invention is moved to the place for dredging the crane installed on the mothership after moving to the site by the mothership or the mother vessel equipped with the sediment storage device in which the sediment removal device of the continuous seabed and reservoir is installed. The hook 201 and the fastening ring installed on one side of the underwater dredging robot are fastened and obtained by the sea or underwater.

The remote control dredging robot obtained by the crane 201 located in the sea or the water is dredging hose which can be connected to the suction device located on the continuous seabed and reservoir or the suction device located on the ship's rear, and driving the robot. Hydraulic hose 110, and the control line and power supply line (24V or less) is connected, the hydraulic hose, control line and power supply line is a tube to facilitate efficient robot movement and recovery and acquisition of the robot A commercially available large sized breaker 202 having a motor for rotating a large sized breaker that rotates to be wound or unwound according to the load ratio of the integrated line is installed on one side of the bus bar. It is configured to control hydraulic hose, control line and power supply line efficiently.

The remote control dredging robot seated on the sea bottom is linked with DGPS located on the sea bottom position coordinate system and the DGPS located on the mother ship by the underwater ultrasonic position tracking device 106, USBL and underwater ultrasonic position tracking device. Control is transmitted through the control line and at the same time receiving hydraulic pressure from the ship located in the sea or the water to move to the starting point where dredging work is needed based on the electronic image map stored in the memory of the computer located in the ship Move based on the signal.

As described above, the configuration means for efficiently operating the remote control dredging robot will be described in detail. An underwater ultrasonic position tracking device 106 is fixedly installed on the top of the remote control dredging robot so that the position coordinates of the seabed can be accurately measured within an error range of several meters by interlocking with an ultrasonic transceiver located on one side of the bus. DGPS for measuring the position coordinates of the mother ship in real time is installed so that the current position of the underwater dredging robot can be accurately known by calculating the exact position coordinates of the remote control dredging robot in conjunction with the underwater ultrasonic position tracking device 106. It is configured to enable accurate dredging at the position where dredging of the sea bottom or the bottom of water is necessary, compared to the electronic image map for dredging stored in the memory of the ship computer.

The suction hopper is designed on the front side of the remote control dredging robot to draw the sediment by moving the dredging robot to the side so that the sediment and the crushed sediment by the rotary rotor can be efficiently sucked without clogging. Is installed, and the suction hopper 115 has a rotary rotor 116 for crushing shells, wood, and boulder contained in the sediment so as not to block the inlet of the suction hose before being sucked into the suction hose. The rotating shaft is fixed to both sides of the.

The rotary rotor 116 is configured to rotate by the hydraulic pressure supplied from the bus bar so as to be electrically safe, and designed and manufactured by two rotating shafts to be different from each other in the direction of rotation, so that the sediment naturally moves to the suction port of the suction hose. The blade is designed to be rotated from the outside to the inside suction port to engage the blade to minimize the floating phenomenon and to increase the suction efficiency.

On one side of the suction hopper 115 is provided with the rotary rotor is installed up and down control hydraulic cylinder 103 of the suction hopper and the front and rear direction adjustment hydraulic cylinder 114 of the suction hopper so that the sediment can be efficiently removed, the desired dredging angle and It is configured to set the depth.

In the remote control dredging robot according to the present invention, the sediment suction port is installed at two places, one is installed at the center of the suction hopper 115 with the rotary rotor installed, and the other is at the bottom of the remote control dredging robot. It is installed. The main hopper suction valve 105 for controlling the suction of the sediment main suction port installed in the center portion of the suction hopper 115 is installed, the rotary rotor is installed, the suction control of the lower suction port located in the lower portion of the dredging robot Lower suction valve 113 is provided for.

The main sediment suction port located in the center portion of the suction hopper and the lower sediment suction port located at the lower portion are configured to send the crushed sediment through the suction pipe 108 using one hydraulic pressure to the mother ship through the discharge pipe 109. The two suction ports installed in the hopper and the lower part are configured to control the respective suction valves at the same time to control the suction in the bus to be able to suck the sediment at the same time or only the main suction port or the lower suction port, which can be efficiently and quickly The submersible hydraulic pump 108 is fixed to one side of the robot so that it can be sucked easily.

In the remotely controlled dredging robot according to the present invention, it is preferable to design and manufacture wheels in a caterpillar similar to tank wheels in order to quickly perform dredging work while moving to a required place without easily falling into the sediment. The rotational force of the hydraulic drive motor 111 is configured to be driven to rotate by the hydraulic pressure supplied from the bus bar.

On the front of the remote control dredging robot according to the present invention, the underwater CCD camera 102 capable of capturing the underwater image to monitor the dredging process and dredging state and the illumination to obtain a clear screen when the underwater CCD camera 102 is taken The underwater lighting device 101 is provided, and has an electronic control box 117 for generating signals necessary for controlling the underwater lighting device, the underwater CCD camera, and other robots.

When describing the operation on the sea bottom of the remote control dredging robot according to the present invention, the remote control dredging robot seated on the bottom of the underwater receives the hydraulic pressure supplied from the mother ship to drive the hydraulic motor to rotate the infinite track The dredging robot moves to the dredging start point based on the location coordinates of the dredging robot (USBL) which is transmitted in real time and the image resolution map stored in the computer memory of the mother ship.

When the dredging start point is moved, the hydraulic motor is rotated by the hydraulic control to minimize the floating material generated when the caterpillar moves forward. The valve operation of the suction head 107 is operated by the main hopper suction valve 105. Completely shut off, and open the lower suction valve 113 to control to suck the suspended substances generated in the endless track.

When the dredging start point is reached, the dredge angle and depth are set by controlling the up-down direction hydraulic cylinder 103 and the front-rear direction hydraulic cylinder 114 connected to the main body and the suction hopper 115, and the main hopper suction valve 105 ) Is fully opened, and the lower suction valve 113 is closed or appropriately closed, and then the hydraulic pump 108 is operated, and the crushing rotary rotor 116 is operated while crushing shells, wood and stones contained in the sediment. While inhaling, move the crawler hydraulic motor to move forward and continue dredging at the required position.

The quasi-degree diagram is displayed on the monitor in contrast to the width and set depth of the suction hopper 115, the position coordinates measured by the ultrasonic ultrasonic position tracking device 106 and the electronic image map built into the computer of the mothership, the front of the dredging robot For large obstacles or working environment of the dredging operation while checking by the underwater CCD camera 102 and the lighting device 101 installed in front of the dredging device performs.

When the dredging operation is completed, the remote control dredging robot is lifted to the mother ship by the marine crane 201 installed in the mother ship, and the cables such as the hydraulic hose, the control line and the power supply line are automatically calculated in the large-sized trough 202 of the load rate installed in the mother ship. Is automatically wound and recovered.

The remote control dredging robot according to the present invention has a self-driving force by transferring the power of the hydraulically driven left and right hydraulic motors to the endless track for increased friction and efficient movement on the seabed, and the underwater dredging robot in front of the underwater sludge and waste Suction hopper for suction of water is attached, and inside the suction hopper is made of special steel that can crush underwater waste to less than 50mm to pass through the impeller and suction port of the submersible hydraulic pump. On the front of the dredging robot, a number of underwater cameras that can monitor the working environment by remote control from the mother ship and a number of lighting devices are attached for clear camera quality, and the top of the dredging robot is linked with the DGPS of the ship. Underwater ultrasonic location tracking device to accurately understand the current dredging location By implementing a remote control dredging robot equipped with USBL), it is possible to prevent damage to the impeller of the submersible hydraulic motor, and to work continuously because the intake is not blocked, and accurate and efficient dredging is possible. high.

1 is an overall configuration diagram of a remote control underwater dredging robot according to the present invention

2: a stereoscopic view of a remote control dredging robot according to the invention

3 is a view seated on the bus bar of the remote control dredging robot according to the present invention

4: Enlarged view of busbar seating of a remotely controlled dredging robot according to the present invention

 <Description of Number in Drawing>

  101; HID underwater light 102; Underwater CCTV

  103; Hydraulic cylinder 104 for hopper up / down adjustment; Hopper Suction Hose

  105; Hopper suction control valve 106; Underwater Ultrasonic Location Tracking Device (USBL)

  107; Suction head 108; Submersible Hydraulic Pump

  109; Dredging discharge hose 110; Hydraulic Hose

  111; Caterpillar drive hydraulic motor 112; Caterpillar for movement

  113; Bottom suction control valve 114; Hydraulic cylinder for adjusting before and after hopper

  115; Suction hopper 116; Grinding Rotor

  117; Electronic control box 119; Fastening means

  201; Dredging underwater dredging robot 202; Ventilation bucket for dredging hose and hydraulic hose

Claims (5)

In submerged dredging robot remotely controlled from a mother ship, Located in the front of the dredging robot, the suction hopper for drawing the sediment to the suction port to facilitate the suction; A rotating rotor fixedly installed in the suction hopper and crushing shells, trees, and boulder included in the sediment to prevent damage to the impeller of the suction pump using hydraulic pressure and to prevent clogging of the suction port; Located in the center of the suction hopper, the suction pump using the hydraulic pressure to suck the precipitate through the precipitate suction port; A discharge pipe for sending the precipitate sucked by the suction pump using the hydraulic pressure to the mother bus; Located at the edge of the discharge pipe, the suction hose coming from the bus bar to form a female or male thread and the discharge pipe side to form a male or female screw, the suction hose and the discharge pipe is fastened to each other, Endless tracks installed on the left and right sides of the dredging robot, driven by a hydraulic motor to move forward and backward of the dredging robot; And On the top of the dredging robot, it is linked with the DGPS of the mothership, and the remote control dredging robot equipped with the underwater ultrasonic position tracking device that tracks the position of the dredging robot moving underwater while exchanging data with the ultrasonic transceiver installed on one side of the mothership. . The method according to claim 1, The underwater dredging robot further comprises a underwater CCD camera for acquiring the underwater image to grasp the dredging state and a remote control underwater dredging robot further equipped with an illumination device for obtaining a clear underwater image. The method according to claim 1, In the lower part of the dredging robot, a lower sediment suction inlet for suctioning the float located in the lower part of the underwater robot is connected to the discharge pipe which sends the sediment to the mother ship to suck the float generated when the underwater dredging robot moves to the dredging place. Remote control underwater dredge robot equipped. The method according to claim 3, The underwater dredging robot is installed between the main sediment suction port and the lower sediment suction port and the suction pump connected to the discharge pipe, and further includes a main hopper suction valve and a lower suction valve so as to control the suction amount of the sediment, respectively. Dredge robot. The method according to any one of claims 1 to 3, The underwater dredging robot is installed on one side of the busbar, and the hydraulic hose, the control line and the power supply line are put into one tube to integrate the wires, and the load ratio of the integrated wires is used to facilitate the movement of the robot and the recovery and acquisition of the robot. Submerged dredging robot further equipped with a large wheelbarrow interlocking with the motor to rotate the wire to be wound or unwind.

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