Underwater docking system and docking method using the same

Patent metadata

Field	Value
Publication number	US-9592895-B2
Application number	US-201514717126-A
Country	US
Kind code	B2
Filing date	May 20, 2015
Priority date	Jun 19, 2014
Publication date	Mar 14, 2017
Grant date	Mar 14, 2017

Abstract

Disclosed herein are an underwater docking system and a docking method using the system. An exemplary embodiment of the present invention relates to a system for docking a target body on a docking station under water, the system comprising: a guide unit provided to the docking station to transmit at least one guide signal to the target body; an agent unit connected to the docking station by a smart cable and disposed at a position spaced apart from the docking station so that the agent unit is moored under the water in a direction corresponding to a tidal current; and the target body configured to be guided toward the agent unit by the guide signal and then connected to a portion of the agent unit.

First claim

What is claimed is:

1. A system for docking a target body on a docking station under water, the system comprising:
a guide unit provided to the docking station to transmit at least one guide signal to the target body;
an agent unit connected to the docking station by a cable and disposed at a position spaced apart from the docking station so that the agent unit is moored under the water in a direction corresponding to a tidal current; and
the target body configured to be guided toward the agent unit by the guide signal and then connected to a portion of the agent unit;
wherein the docking station is fastened to the seafloor;
wherein the guide unit includes an imaging sonar provided on the docking station capturing an image of the agent unit and the target body when the agent unit and the target body are located in a position corresponding to a second range between the target body and the docking station, the second range is less than a first range between the target body and the docking station;
wherein a distance between the agent unit and the target body is confirmed by the image captured by the imaging sonar; and
a control command to align the agent unit and the target body is transmitted to the agent unit by the cable.

2. The system of claim 1 , wherein the guide unit comprises:
an ultrasonic beacon generating an ultrasonic wave toward the target body, when the target body is disposed in a position corresponding to the first range from the docking station.

3. The system of claim 1 , wherein the cable is connected at a first end thereof to the agent unit and connected at a second end thereof to a winch of the docking station so that a distance between the docking station and the agent unit is varied by operation of the winch.

4. The system of claim 3 , wherein the agent unit comprises:
a main body provided with a connection port on which a connector of the target body is docked;
at least one rudder provided on a circumferential surface of the main body; and
at least a propeller provided on the main body so that a position at which the agent unit is moored can be adjusted.

5. The system of claim 4 , wherein the main body and the target body respectively comprise communication units corresponding to each other, the communication units sending and receiving a control signal transmitted by the cable so that a position of the target body is adjusted.

6. The system of claim 1 , wherein the cable is a smart cable configured to transmit data or signals from the docking station to the agent unit.

7. A system for docking a target body on a docking station under water, the system comprising:
a docking station;
an agent unit connected to the docking station by a cable and disposed at a position spaced apart from the docking station so that the agent unit is moored under the water in a direction corresponding to a tidal current;
a guide unit provided to the docking station to transmit a guide signal to the target body; and
the target body configured to be guided toward the agent unit by the guide signal and then connected to the agent unit;
wherein the docking station is fastened to the seafloor;
wherein the guide unit includes an imaging sonar provided on the docking station capturing an image of the agent unit and the target body when the agent unit and the target body are located in a position corresponding to a second range between the target body and the docking station, the second range is less than a first range between the target body and the docking station;
wherein a distance between the agent unit and the target body is confirmed by the image captured by the imaging sonar; and
a control command to align the agent unit and the target body is transmitted to the agent unit by the cable.

8. The system of claim 7 , wherein the guide unit comprises:
an ultrasonic beacon generating ultrasonic waves toward the target body when the target body is disposed in a position corresponding to the first range, and thus guiding the target body into a position corresponding to the second range;
an imaging sonar measuring the distance between the agent unit and the target body guided into the position corresponding to the second range and then guiding the target body from the position corresponding to the second range into a position corresponding to a third range; and
an underwater camera provided on the target body to check the position of the agent unit, when the target body is guided to a position corresponding to a third range between the target body and the docking station for guiding the target body to the agent unit, the third range is less than the second range.

9. The system of claim 8 , wherein, the ultrasonic beacon is provided on the agent unit and the underwater camera is provided on the target body.

10. The system of claim 7 , wherein the cable is connected at a first end thereof to the agent unit and connected at a second end thereof to a winch of the docking station so that a distance between the docking station and the agent unit is varied by operation of the winch.

11. The system of claim 7 , wherein the agent unit comprises:
a main body provided with a connection port on which a connector of the target body is docked; and
at least one rudder provided on a circumferential surface of the main body.

12. The system of claim 11 , wherein the main body is provided with at least a propeller so that a position at which the agent unit is moored can be adjusted.

13. The system of claim 11 , wherein the main body and the target body respectively comprise communication units corresponding to each other, the communication units sending and receiving a control signal transmitted by the cable so that a position of the target body is adjusted.

14. The system of claim 7 , wherein the docking station comprises:
a support fixed at a lower end thereof in the water; and

a rotatable body provided on an upper portion of the support so as to be rotatable relative to the support.

15. The system of claim 7 , wherein the cable is a smart cable configured to transmit data or signals from the docking station to the agent unit.

16. A method of docking a target body on a docking station under water, the method comprising:
mooring an agent unit for docking the target body on the docking station by a cable and disposed at a position spaced apart from the docking station in a direction of a tidal current,
transmitting a guide signal from a guide unit provided in the docking station to the target body; and
connecting the target body guided toward the agent unit by the guide signal to the agent unit;
capturing an image of the agent unit and the target body with an imaging sonar of the guide unit, the imaging sonar is provided on the docking station;
confirming the distance between the agent unit and the target body with the image captured by the imaging sonar; and
transmitting a control command to align the agent unit and the target body with the cable.

17. The method of claim 16 , wherein the guide unit comprises an ultrasonic beacon generating an ultrasonic wave, an imaging sonar capturing an image, and an underwater camera checking the position of the agent unit;
wherein the target body is guided toward the docking station by the ultrasonic wave when the target body is disposed in a position corresponding to a first range from the docking station, the target body is guided toward the agent unit using an image captured by the imaging sonar when the target body is disposed in a position corresponding to a second range from the docking station, and the target body

Assignees

• Postech Academy-Industry Found

Inventors

• Yu Son-Cheol
• Gu Jeong Hwe
• Joe Han Gil
• Cho Hyeon Woo
• Pyo Ju Hyun

Classifications

• B63G8/001 Primary

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• B63G2008/008

  Docking stations for unmanned underwater vessels, or the like · CPC title