KR-20260067791-A - METHOD AND APPARATUS FOR CONNECTING MODULAR UNDERWATER STRUCTURES

KR20260067791AKR 20260067791 AKR20260067791 AKR 20260067791AKR-20260067791-A

Abstract

The present invention relates to a method and apparatus for connecting modular underwater structures. Specifically, the present invention relates to a method and apparatus for connecting tubular underwater structures without a person entering the water by moving a connecting module to an underwater main module using an unmanned underwater moving device under the control of a user terminal, and then connecting the connecting module and the main module by controlling a hydraulic cylinder.

Inventors

최윤호
정길제
이원준
이장석
최재형

Assignees

현대건설(주)

Dates

Publication Date: 20260513
Application Date: 20241106

Claims (20)

A method for connecting modular underwater structures by control of a user terminal, wherein the modular underwater structure comprises a main module and a connecting module, and A step of attaching the connection module to the unmanned underwater mobile device for connecting to the main module located underwater, The main module comprises a first body, a first opening for connecting to the connecting module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connecting module. The first connecting portion includes a first protrusion capable of engaging with the second connecting portion of the connecting module, and a second protrusion engaging with the locking device. The locking device comprises a gear for controlling the rotation of the first connecting part by engaging with the second protrusion and rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are connected via wired communication using a cable or wireless communication. The above-described connecting module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part. The second connecting part includes a third protrusion that can engage with the first protrusion, and The above unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the above unmanned underwater mobile device, a work unit for transporting and controlling the connection module, a second control unit for controlling each component of the above unmanned underwater mobile device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication. The above working part includes a jig that can be engaged and fastened with the second flange of the connection module, a frame for fastening the jig to the unmanned underwater moving device, and a second hydraulic cylinder part disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig. After moving the above unmanned underwater moving device so that the jig engages with the second flange and is fastened, the jig is pulled through the second hydraulic cylinder to contract the bellows tube, thereby fastening the connection module and the unmanned underwater moving device; A step of moving the unmanned underwater moving device so that the second connecting part comes into contact with the first connecting part; A step of relaxing the bellows tube so that the bellows tube is connected to the first connecting tube by pushing the second flange connected to the jig through the first hydraulic cylinder; A step of connecting the first connecting pipe and the bellows pipe, wherein the first protrusion of the first connecting part and the third protrusion of the second connecting part are engaged, and controlling the locking device to rotate the first connecting part surrounding the third protrusion so that the third protrusion does not detach from the first connecting part, thereby connecting the first connecting part and the second connecting part; A step of separating the connection module and the unmanned underwater mobile device by pushing the jig through the second hydraulic cylinder while the first connection part and the second connection part are connected, thereby loosening the connection between the jig and the second flange; A step comprising moving the above-mentioned unmanned underwater mobile device to the surface of the water, method.
In Article 1, The end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube. method.
In Article 1, The first hydraulic cylinder and the second hydraulic cylinder are configured to adjust pressure in steps. method.
In Article 1, The main module further includes a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at the user terminal. method.
In Article 1, The above-mentioned second hydraulic cylinder section includes a plurality of second hydraulic cylinders, and The plurality of second hydraulic cylinders are configured to operate independently to balance the connection of the jig, the frame, and the bellows tube. method.
In Article 1, The main module further includes a first barrier wall that can be opened and closed between the first connecting part and the interior of the main module, and The above connection module further includes a second barrier wall that can be opened and closed between the second connection part and the connection module, and The above main module controls the opening and closing of the first barrier wall, thereby, Before the first connecting part and the second connecting part are connected, the airflow between the first connecting part and the interior of the main module is blocked, and After the first connecting part and the second connecting part are connected, the air is configured to pass between the first connecting part and the interior of the main module. method.
In Article 6, The above connection module controls the opening and closing of the second barrier wall, thereby, Before the first connecting part and the second connecting part are connected, the airflow between the second connecting part and the interior of the connecting module is blocked, and After the first connecting part and the second connecting part are connected, the connection module is configured to allow air to pass between the second connecting part and the interior of the connecting module. method.
In Article 7, After the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby making the air pressure inside the main module and the interior of the connecting module equal. method.
In Article 8, Air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere. method.
In Article 1, The above main module further includes a pressure gauge for measuring pressure on the first connection part, and The main module is configured to send a warning signal to the user terminal when, during the fastening operation between the first connection part and the second connection part, the pressure on the first connection part deviates from a set range or an abnormality is detected in the operation of the locking device. method.
In a system for connecting modular underwater structures by control of a user terminal, The above system includes a main module included in the modular underwater structure; a connection module included in the modular underwater structure; and an unmanned underwater mobile device. The main module comprises a first body, a first opening for connecting to the connecting module, a cylindrical first connecting tube connected to the first opening, a first flange connected to the first connecting tube, a first connecting part connected to the first flange and rotatable while wrapping around the end portion of the first connecting tube, and a locking device capable of fixing the connection between the main module and the connecting module. The first connecting portion includes a first protrusion capable of engaging with the second connecting portion of the connecting module, and a second protrusion engaging with the locking device. The locking device comprises a gear for controlling the rotation of the first connecting part by engaging with the second protrusion and rotating the second protrusion, a rotating rod connected to the gear, a first hydraulic cylinder for controlling the rotation of the rotating rod, a first control unit for controlling the operation of the first hydraulic cylinder, and a first communication unit for communication between the first control unit and the user terminal, wherein the first communication unit and the user terminal are connected via wired communication using a cable or wireless communication. The above-described connecting module comprises a second body, a second opening for connecting to the main module, a cylindrical second connecting tube connected to the second opening, a bellows tube capable of contracting and expanding and connected to the second connecting tube, a second flange connected to the bellows tube for controlling the contraction and expansion of the bellows tube, and a cylindrical second connecting part connected to the bellows tube and the second flange and capable of connecting to the first connecting part. The second connecting part includes a third protrusion that can engage with the first protrusion, and The above unmanned underwater mobile device comprises a drive unit providing propulsion for underwater movement, a steering control unit for steering underwater movement, a sensor unit for detecting the surrounding environment during underwater movement, a battery for providing energy to the above unmanned underwater mobile device, a work unit for transporting and controlling the connection module, a second control unit for controlling each component of the above unmanned underwater mobile device, and a second communication unit for communication between the second control unit and the user terminal, wherein the second communication unit and the user terminal are connected via wired communication using a cable or wireless communication. The above working part includes a jig that can be engaged and fastened with the second flange of the connection module, a frame for fastening the jig to the unmanned underwater moving device, and a second hydraulic cylinder part disposed between the frame and the jig for controlling the contraction and expansion of the bellows tube by pushing or pulling the second flange through the jig. The above system is based on the control of the user terminal: After moving the above unmanned underwater moving device so that the jig engages with the second flange and is fastened, the jig is pulled through the second hydraulic cylinder to contract the bellows tube, thereby connecting the connection module and the unmanned underwater moving device. After moving the unmanned underwater moving device so that the second connecting part comes into contact with the first connecting part, By pushing the second flange connected to the jig through the first hydraulic cylinder, the bellows tube is connected to the first connecting tube, and In a state where the first connecting pipe and the bellows pipe are connected and the first protrusion of the first connecting part and the third protrusion of the second connecting part are engaged, the locking device is controlled to rotate the first connecting part surrounding the third protrusion so that the third protrusion does not detach from the first connecting part, thereby connecting the first connecting part and the second connecting part. With the first connecting part and the second connecting part connected, the jig is pushed through the second hydraulic cylinder part to loosen the connection between the jig and the second flange, thereby separating the connecting module and the unmanned underwater mobile device, and After the first connecting part and the second connecting part are connected, configured to move the unmanned underwater moving device to the surface of the water. System.
In Article 11, The end portion of the first connecting tube is configured in a cone shape so as to facilitate connection even if an error occurs in the connection between the first connecting tube and the bellows tube. System.
In Article 11, The first hydraulic cylinder and the second hydraulic cylinder are configured to adjust pressure in steps. System.
In Article 11, The main module further includes a monitoring unit composed of a camera for capturing an image of the end portion of the first connecting pipe so as to monitor the connection of the first connecting portion and the second connecting portion at the user terminal. System.
In Article 11, The above-mentioned second hydraulic cylinder section includes a plurality of second hydraulic cylinders, and The plurality of second hydraulic cylinders are configured to operate independently to balance the connection of the jig, the frame, and the bellows tube. System.
In Article 11, The main module further includes a first barrier wall that can be opened and closed between the first connecting part and the interior of the main module, and The above connection module further includes a second barrier wall that can be opened and closed between the second connection part and the connection module, and The above main module controls the opening and closing of the first barrier wall, thereby, Before the first connecting part and the second connecting part are connected, the airflow between the first connecting part and the interior of the main module is blocked, and After the first connecting part and the second connecting part are connected, the air is configured to pass between the first connecting part and the interior of the main module. System.
In Article 16, The above connection module controls the opening and closing of the second barrier wall, thereby, Before the first connecting part and the second connecting part are connected, the airflow between the second connecting part and the interior of the connecting module is blocked, and After the first connecting part and the second connecting part are connected, the connection module is configured to allow air to pass between the second connecting part and the interior of the connecting module. System.
In Article 17, After the first connecting part and the second connecting part are connected, air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby making the air pressure inside the main module and the interior of the connecting module equal. System.
In Article 18, Air passes between the first connecting part and the interior of the main module, and air passes between the second connecting part and the interior of the connecting module, thereby maintaining the air pressure inside the main module and the interior of the connecting module at 1 atmosphere. System.
In Article 11, The above main module further includes a pressure gauge for measuring pressure on the first connection part, and The main module is configured to send a warning signal to the user terminal when, during the fastening operation between the first connection part and the second connection part, the pressure on the first connection part deviates from a set range or an abnormality is detected in the operation of the locking device. System.

Description

Method and apparatus for connecting modular underwater structures The present invention relates to a method and apparatus for connecting modular underwater structures. Specifically, the present invention relates to a method and apparatus for connecting tubular underwater structures without a person entering the water by moving a connecting module to an underwater main module using an unmanned underwater moving device under the control of a user terminal, and then connecting the connecting module and the main module by controlling a hydraulic cylinder. The installation and maintenance of underwater structures play a crucial role in various fields, including the marine industry, hydroelectric power generation, and ocean research. In particular, the installation of seabed structures is an essential task for the development of marine resources and the installation of communication cables and pipelines. These underwater operations often require high accuracy and safety; since relying on manual work or divers entails human error or risk, an efficient system is necessary. Conventional methods for connecting underwater structures have relied primarily on manual labor. These methods involved divers directly fastening structural connections or performing connection operations via remotely operated vehicles (ROVs). However, this approach had drawbacks, such as being affected by variability in the underwater environment and making it difficult to guarantee accurate connections. Furthermore, manual methods lead to high levels of fatigue during prolonged work and can compromise worker safety. An automated underwater structure connection system is necessary to enhance the efficiency and safety of underwater operations. Due to the many unpredictable factors in the underwater environment, such as weather conditions, water temperature, and currents, a precise automation system must be introduced. This can significantly improve the accuracy and speed of connection operations. The implementation of such an automation system can also greatly enhance worker safety. Recently, unmanned underwater mobile devices have been playing a significant role in marine operations. Because these devices can autonomously navigate underwater environments and perform precise tasks, they offer higher precision and efficiency compared to manual operations. Furthermore, as they enable operations in deep seabeds that are difficult for humans to access, they are considered an optimal technology for connecting underwater structures. Hydraulic systems enable precise force control and deliver stable performance even in high-pressure environments. Underwater structure connection operations require technology capable of precisely fastening or disconnecting joints using hydraulic cylinders. Particularly in underwater environments, where accurate connections are difficult due to water pressure and external environmental factors, the utilization of hydraulic systems can be an effective solution. One of the critical technical challenges when connecting underwater structures is maintaining airtightness and watertightness. If water penetrates the interior of the structure, it can degrade the performance of the joints or damage internal systems. Therefore, technical measures are essential to ensure watertightness at the connection points and maintain airtightness within the internal space. While various sealing technologies are being developed to address this, applying them in an automated manner remains a challenge. Precise pressure control is crucial in underwater structure connection operations because minute errors can occur at the connection points. If the connection is slightly misaligned or the joint is inaccurate underwater, the error can be corrected by adjusting the pressure stepwise through a multi-stage hydraulic control system. This plays a vital role in minimizing physical impact or deformation during the joining process and enhancing the accuracy of the connection. The present invention presents a method for automatically connecting modular structures underwater using an unmanned underwater mobile device and a hydraulic control system. In particular, the present invention provides a technology that enhances the precision of the joints through a multi-stage hydraulic control system and maintains the airtightness and watertightness of the structure's interior through a barrier wall and a pressure control system. This maximizes the efficiency of underwater operations and enables safe connection work. FIG. 1 illustrates an example of a connected modular underwater structure according to various embodiments of the present invention. FIG. 2 illustrates an example of a main module and a connection module according to various embodiments of the present invention. FIG. 3 illustrates an example of an unmanned underwater mobile device and a connection module according to various embodiments of the present invention. FIG. 4 illustrates an example of an unmanne