The present invention relates to a device and a method for removing foreign matter from a ship. According to the present invention, a underwater robot for removing fishing nets from the bottom of a ship, which is configured to remove foreign matter such as fishing nets caught on rudders or propellers through autonomous navigation, has buoyancy materials installed on the arms and legs of the underwater robot, respectively, and is configured to appropriately control buoyancy in a swimming mode of moving underwater and a walking mode of moving and operating on the bottom of the ship, to solve a problem of continuously requiring fine and precise control of a propulsion device and the orientation by considering the influence of ocean currents during movement and removal operation of the underwater robot positioned in the water and on the bottom of the ship, thereby reducing the load on control of the propulsion device and the orientation during movement and operation of the underwater robot and further improving the stability of the movement and operation. The underwater robot comprises a buoyancy control unit formed to have a predetermined buoyancy according to the size and weight of the underwater robot.

    본 발명은 선박의 이물질을 제거하기 위한 장치 및 방법에 관한 것으로, 본 발명에 따르면, 자율운항을 통해 러더나 프로펠러에 걸린 어망 등의 이물질을 제거할 수 있도록 구성되는 선저 어망 제거용 수중로봇에 있어서, 수중로봇의 수중 및 선저에서의 이동과 제거작업시에 각각 해류의 영향 등을 고려하여 추진기 및 자세에 대한 미세하고 정밀한 제어가 지속적으로 요구되는 문제를 해결하기 위해, 수중로봇의 팔과 다리에 각각 부력재를 설치하여 수중에서 이동하는 유영모드시와 선저에서 이동 및 작업을 수행하는 보행모드시에 각각 부력을 적절히 제어할 수 있도록 구성됨으로써, 수중로봇의 이동 및 작업시 추진기 및 자세 제어의 부하를 경감하고 이동 및 작업의 안정성을 더욱 높일 수 있도록 구성되는 유영모드 및 보행모드시 동적 안정성이 향상된 선저 어망 제거용 수중로봇 및 이를 이용한 선박 이물질 제거시스템 및 방법이 제공된다.


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    Title :

    Underwater robot for removing fishing nets from bottom of ship with improved dynamic stability in swimming mode and walking mode


    Additional title:

    유영모드 및 보행모드시 동적 안정성이 향상된 선저어망 제거용 수중로봇


    Contributors:
    KIM KI HUN (author)

    Publication date :

    2024-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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