UNDERWATER ROBOT FOR UNDERWATER GLIDER RECOVERY AND UNDERWATER GLIDER RECOVERY METHOD USING SAME

Abstract

The underwater robot for retrieving an underwater glider according to the present invention for retrieving an underwater glider for exploring the underwater to a ship comprises a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

Claims

1. An underwater robot for retrieving an underwater glider for underwater exploration to a ship, the underwater robot for retrieving an underwater glider comprising: a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

2. The underwater robot for retrieving an underwater glider of claim 1, wherein the gripping module grips a retrieving hook provided on the underwater glider preferentially to prevent breakage of the underwater glider due to the flow of the water surface.

3. The underwater robot for retrieving an underwater glider of claim 2, wherein the gripping module comprises a first gripper unit for gripping the retrieving hook while the main body module is positioned lower relative to the underwater glider; and a second gripper unit for gripping and fixing the body of the underwater glider while the retrieving hook is gripped by the first gripper unit.

4. The underwater robot for retrieving an underwater glider of claim 3, wherein the first gripper unit determines the position of the retrieving hook while in contact with the retrieving hook to grip the retrieving hook while a part of the retrieving hook is positioned inwardly.

5. The underwater robot for retrieving an underwater glider of claim 4, wherein the first gripper unit comprises a grip part comprising a pair of members that move in a direction approaching each other and grip the retrieving hook; a sensor part which is located between a pair of members of the grip part and transmits the position of the retrieving hook determined by contacting the retrieving hook to the control module; and a guide part which connects each other between the pair of members of the grip part, has the sensor part provided in the center, and guides the retrieving hook to the sensor part.

6. The underwater robot for retrieving an underwater glider of claim 5, wherein the guide part is formed such that the diameter gradually increases from the center toward both ends, and guides the retrieving hook to the sensor part by the inclined portion while in contact with the retrieving hook.

7. The underwater robot for retrieving an underwater glider of claim 5, wherein the control module determines that the retrieving hook is located inside the grip part when the retrieving hook comes into contact with the sensor part, and controls the grip part to hold the retrieving hook, in order to prevent the underwater glider from being swayed and damaged by the flow of water.

8. The underwater robot for retrieving an underwater glider of claim 3, wherein the second gripper unit grips the front section relative to the underwater glider center section to prevent breakage of a wing part provided in the underwater glider.

9. The underwater robot for retrieving an underwater glider of claim 3, wherein the second gripper unit comprises a bending part comprising a pair of members that is lifted toward the underwater glider and positioned the body of the underwater glider inside; and a closing part which is provided at one end of the bending part and engages with the pair a pair of members of bending part in a lifted state to fix the underwater glider.

10. The underwater robot for retrieving an underwater glider of claim 9, wherein the closing part comprises a protruding member that protrudes to interlock with each other and close the inside; and a depressed member that is formed to correspond to the protruding member and into which the protruding member is inserted.

11. The underwater robot for retrieving an underwater glider of claim 9, wherein the second gripper unit further comprises a prevention part that protrudes from the bending part and contacts the body of the underwater glider to fix the underwater glider in order to prevent damage caused by being moved the body of the underwater glider located inside the bending part.

12. The underwater robot for retrieving an underwater glider of claim 2, wherein the control module determines the distance between the underwater glider and the main body module, and the control module controls the operating speed of the main body module if the distance between the retrieving hook provided on the underwater glider and the main body module is determined to be within the first distance.

13. The underwater robot for retrieving an underwater glider of claim 12, wherein the control module controls the underwater robot for retrieving an underwater glider to approach the retrieving hook while maintaining the second distance between the underwater glider and the upper part of the main body module if it is determined that the distance between the lower part of the underwater glider and the upper part of the main body module is within the second distance.

14. The underwater robot for retrieving an underwater glider of claim 12, wherein the control module controls the second gripper unit to grip the body of the underwater glider if the distance between the lower part of the underwater glider and the upper part of the main body module is determined to be within the second distance while restricting the flow of the underwater glider by gripping the retrieving hook through the first gripper unit.

15. The underwater robot for retrieving an underwater glider of claim 1, wherein the connecting module is connected to the main body module so that the main body module is lifted by the driving force provided by the ship while connected to the ship during the process of retrieving the underwater glider through the main body module and then lifting it onto the ship.

16. The underwater robot for retrieving an underwater glider of claim 1, wherein the connecting module comprises a wire unit that is inserted into the inside of the main body module and forms a path along which the main body module moves; and a weight unit that is detachably formed from the main body module, is connected to the wire unit, and is separated from the main body module to prevent swaying of the wire unit when the underwater glider is lifted.

17. A method for retrieving the underwater glider using the underwater robot for retrieving an underwater glider of claim 1 in order to retrieve an underwater glider exploring the underwater, the method for retrieving the underwater glider comprising: a location identification step for determining the location of the underwater glider by receiving location information of the underwater glider that explores the underwater and drifts on the sea surface; an approach step for confirming the location of the underwater glider through the location identification step and approaching the lifting device toward the underwater glider; a fixing step for fixing the underwater glider through the gripping module provided in the lifting device while the lifting device approaches the underwater glider; and a lifting step for moving the underwater glider toward the ship while fixing the underwater glider to the lifting device through the gripping module and lifting the underwater glider through the connecting module.

18. The method for retrieving the underwater glider of claim 17, wherein the location identification step comprises a path setting process in which the control module of the lifting device receives the location information from a receiver provided in the underwater glider and sets a path for moving from the location of the lifting device toward the underwater glider.

19. The method for retrieving the underwater glider of claim 17, wherein the approach step causes the lifting device to approach the underwater glider by positioning the lifting device relatively lower in the water than the underwater glider.

20. The method for retrieving the underwater glider of claim 17, wherein the fixing step comprises a first process of of preventing the underwater glider from moving by determining the distance to the underwater glider and grasping the retrieving hook provided on the underwater glider; and a second process of the gripping module griping and fixing the body of the underwater glider while the retrieving hook is griped.

21. The method for retrieving the underwater glider of claim 20, wherein the second process comprises that the gripping module relatively grips the front section of the underwater glider based on the center section in order to prevent the wing part of the underwater glider from being damaged by the gripping module when the underwater glider slides due to gravity in the lifting step.

22. The method for retrieving the underwater glider of claim 17, wherein the lifting step comprises a movement process for moving the underwater glider to the ship through the lifting device; and a retrieving process for lifting the underwater glider to the ship through a connecting module of the lifting device at a location adjacent to the ship.

23. The method for retrieving the underwater glider of claim 22, wherein the retrieving process comprises that a wire unit connects the ship and the lifting device, and a weight unit prevents the underwater glider from being damaged when the wire unit sways, wherein the weight unit is detachably formed from the main body module of the lifting device and is separated during the process of lifting the underwater glider onto the ship.

24. The method for retrieving the underwater glider of claim 23, wherein the retrieving process comprises a separation procedure in which the main body module and the weight unit are separated; an elevation procedure in which the underwater glider is lifted onto the ship as the main body module is elevated along the wire unit; and an organization procedure in which the weight unit is retrieved after the underwater glider is retrieved.

Description

DESCRIPTION OF DRAWINGS

[0039] The summary described above, as well as the detailed description of preferred embodiments of the present application described below, will be better understood when read in conjunction with the accompanying drawings.

[0040] For the purpose of illustrating the present invention, preferred embodiments are shown in the drawings.

[0041] However, it is to be understood that the present application is not limited to the exact arrangement and means shown.

[0042] FIG. 1 is a generalized illustration of an underwater robot for retrieving an underwater glider and a method for retrieving an underwater glider, according to one embodiment of the present invention;

[0043] FIG. 2 is a drawing illustrating an approximate configuration of an underwater robot for retrieving an underwater glider and a method for retrieving an underwater glider, according to one embodiment of the present invention;

[0044] FIG. 3 is a drawing illustrating an UNDERWATER ROBOT for retrieving an UNDERWATER GLIDER and the first gripper unit of an method for retrieving the underwater glider according to one embodiment of the present invention;

[0045] FIG. 4 is a drawing illustrating an underwater robot for retrieving an underwater glider and a second gripper unit of an underwater glider retrieval method according to one embodiment of the present invention;

[0046] FIG. 5 is a drawing illustrating an underwater robot for retrieving an underwater glider and a closing part of a method for retrieving an underwater glider, according to one embodiment of the present invention;

[0047] FIG. 6 is a diagram illustrating an underwater robot for retrieving an underwater glider and a method of operating an underwater glider retrieval apparatus in accordance with one embodiment of the present invention;

[0048] FIG. 7 is a drawing illustrating an underwater robot for retrieving an underwater glider and an approach step of a method for retrieving an underwater glider, according to one embodiment of the present invention;

[0049] FIG. 8 is a drawing illustrating an underwater robot for retrieving an underwater glider and a second distance of an underwater glider retrieval method according to one embodiment of the present invention;

[0050] FIG. 9 is a diagram illustrating a situation in which the UNDERWATER ROBOT for retrieving an UNDERWATER GLIDER and the FIRST GRIPPER UNIT of the method for retrieving the underwater glider according to one embodiment of the present invention approaches the retrieving hook;

[0051] FIG. 10 is a drawing illustrating the contact of a sensor part and a retrieving hook of an underwater robot for retrieving an underwater glider and a method for retrieving an underwater glider according to one embodiment of the present invention;

[0052] FIG. 11 is a diagram illustrating an underwater robot for retrieving an underwater glider and a second process of a method for retrieving an underwater glider, according to one embodiment of the present invention;

[0053] FIG. 12 is a drawing illustrating an underwater robot for retrieving an underwater glider and a lifting step of a method for retrieving an underwater glider, according to one embodiment of the present invention; and

[0054] FIG. 13 is a drawing illustrating an underwater robot for retrieving an underwater glider and a weight unit of an underwater glider retrieval method according to one embodiment of the present invention.

MODE FOR INVENTION

[0055] Preferred embodiments of the present invention, in which the objects of the present invention may be specifically realized, will now be described with reference to the accompanying drawings.

[0056] In describing the present embodiments, the same names and the same symbols are used for identical configurations, and further description will be omitted accordingly.

[0057] The present invention may first be described in general terms with reference to FIGS. 1 through 6.

[0058] Specifically, FIG. 1 is a drawing illustrating an underwater robot for retrieving an underwater glider and method for retrieving the underwater glider according to one embodiment of the present invention, FIG. 2 is a drawing illustrating an approximate configuration of the underwater robot for retrieving an underwater glider and the method for retrieving the underwater glider according to one embodiment of the present invention, FIG. 3 is a drawing illustrating the first gripper unit of the underwater robot for retrieving an underwater glider and the method for retrieving the underwater glider according to one embodiment of the present invention, FIG. 4 is a drawing illustrating the second gripper unit of the underwater robot for retrieving an underwater glider and the method for retrieving the underwater glider according to one embodiment of the present invention, FIG. 5 is a drawing illustrating the closing part of the underwater robot for retrieving an underwater glider and the method for retrieving the underwater glider according to one embodiment of the present invention, FIG. 6 is a drawing illustrating an operation method of the underwater robot for retrieving an underwater glider and the method for retrieving the underwater glider according to one embodiment of the present invention.

[0059] According to one of the present, as illustrated in FIG. 1, it is directed to utilizing a lifting device R to retrieve an underwater glider G exploring underwater, wherein the underwater glider G, which is typically exploring underwater, autonomously explores underwater for at least one month or six months, and wherein the underwater glider G can be retrieved by announcing its location to the outside, and wherein the underwater glider G can be accessed via the lifting device R to retrieve the underwater glider G.

[0060] However, the underwater glider G floating on the sea surface would continuously move and fluctuate according to the flow of the sea surface, which would hinder the lifting device R from approaching the underwater glider G, and at the same time, the lifting device R and the underwater glider G may collide and cause damage to the underwater glider G.

[0061] Therefore, a first gripper unit 220 may be provided firstly gripping the underwater glider G and the invention may the effect of gripping the underwater glider G as mentioned above, and may grip a retrieving hook L provided on the underwater glider G for fixing position of the underwater glider G. The first gripper unit 220 may be provided for gripping the underwater glider G.

[0062] In other words, to summarize this in simpler terms, when it is desired to retrieve the underwater glider G via the lifting device R, the ship B is moved to the retrieve position and the lifting device R is moved along the water to approach the underwater glider G, firstly gripping the retrieving hook L provided on the underwater glider G to fix it, and gripping the body of the underwater glider G through the second gripper unit 240 to prevent the mobility of the underwater glider G.

[0063] Furthermore, in this way, it is possible to move to a position adjacent to the ship B with the underwater glider G secured via the first gripper unit 220 and the second gripper unit 240, and to lift the underwater glider G onto the ship B, as will be described in more detail with reference to the following drawings.

[0064] As shown in FIG. 2, the lifting device R comprises a main body module 100, a gripping module 200 provided in the main body module 100 to grip the underwater glider G so as to restrict the movement of the underwater glider G in a state adjacent to the underwater glider G to prevent damage of the underwater glider G, a connecting module 300 for connecting with the main body module 100 so that the underwater glider G is lifted by the gripping module 200 from a stationary state to the ship B, and a control module for receiving location information from a receiver provided on the underwater glider G, determining a distance from the underwater glider G, and controlling the main body module 100, the gripping module 200.

[0065] The gripping module 200 can be divided into the first gripper unit 220 and the second gripper unit 240, and the connecting module 300 can be divided into a wire unit 320 and a weight unit 340.

[0066] As shown in FIG. 3, the first gripper unit 220 comprises a pair of grip parts 222 to detect the position of the retrieving hook L by coming into contact with the retrieving hook L in order to grasp the retrieving hook L while the retrieving hook L is positioned inside and to move in a direction approaching each other to grasp the retrieving hook L, a sensor part 224 located between the pair of grip parts 222 and coming into contact with the retrieving hook L to transmit the position of the retrieving hook L to the control module, and a guide part 226 connected to each other between the pair of grip parts 222, and the sensor part 224 is provided in the center to guide the retrieving hook L to the sensor part 224.

[0067] The grip part 222 is formed to be bent at least once to form an internal space, and the retrieving hook L is inserted into the internal space so as to come into contact with the sensor part 224, and the retrieving hook L can be gripped by closing the internal space by the control module while the sensor part 224 and the retrieving hook L come into contact.

[0068] That is, the control module determines that the retrieving hook L is located inside the grip part 222 while the retrieving hook L comes into contact with the sensor part 224 in order to prevent the underwater glider G from shaking and being damaged due to the flow of water, and controls the grip part 222 to grip the retrieving hook L, thereby preventing the underwater glider G from drifting.

[0069] Meanwhile, the guide part 226 is formed to have a slope so that the diameter gradually becomes narrower toward the sensor part 224, so that when the retrieving hook L comes into contact with the guide part 226 rather than the measuring part, it moves inwardly of the grip part 222 according to the flow of the sea surface and receives pressure, so that it moves toward the measuring part along the slope of the guide part 226, which can have the effect of more clearly determining the position of the retrieving hook L.

[0070] In addition, as illustrated in FIG. 4, the second gripper unit 240 may include a pair of bending parts 242 that are provided to raise and lower toward the underwater glider G and position the body of the underwater glider G on the inside, a closing part 244 that is provided on one end of the bending part 242 and engages with the pair of bending parts 242 in the raised state to fix the underwater glider G, and a prevention part 248 that protrudes from the bending part 242 and comes into contact with the body of the underwater glider G to fix the underwater glider G in order to prevent damage that occurs when the body of the underwater glider G located on the inside of the bending part 242 moves.

[0071] The bending part 242 may be provided on each side of the lifting device R, and the body of the underwater glider G may be positioned on the inner side while the range in which the underwater glider G can flow is limited by holding the retrieving hook L through the first gripper unit 220, so that the underwater glider G may be fixed to the lifting device R.

[0072] The closing part 244 may be formed on each of the pair of bending parts 242 to close the inner side formed by the bending parts 242, thereby preventing the underwater glider G from being separated from the inner side of the bending parts 242.

[0073] To explain the closing part 244 in more detail, as shown in FIG. 5, it may include a pair of protruding members 245 formed so as to be in contact with each other and interlocked, but protruding toward another closing part 244, and a depressed member 246 formed so as to correspond to the protruding member 245 so that the protruding member 245 is inserted, and formed between the pair of protruding members 245.

[0074] That is, the protruding member 245 may be formed so as to protrude toward the adjacent closing part 244, and the depressed member 246 may be formed so as to correspond to the protruding member 245 so that the protruding member 245 is inserted.

[0075] More specifically, the protruding member 245 may be formed as a pair on one of the bending parts 242, the depressed member 246 may be formed between the pair of protruding members 245, and a positional space partially corresponding to the depressed member 246 may be formed on one side.

[0076] The positional space is not a state in which both sides are blocked by the protruding member 245 like the depressed member 246, but a state in which only one side is blocked by the protruding member 245, and may mean a space itself formed to correspond to half of the insertion space.

[0077] This is because a pair of the closing parts 244 are interlocked and the protruding member 245 is inserted inside the depressed member 246, but unlike the depressed member 246, the positioning space may be formed to provide a space in which one of the protruding members 245 formed as a pair can be positioned.

[0078] Meanwhile, the prevention part 248 may be formed to protrude toward the inner space formed by the pair of the bending parts 242 from the bending part 242, as illustrated in FIG. 4, and may be protruded to come into contact with the body of the underwater glider G.

[0079] Since the above underwater glider G is often formed in a cylindrical shape, in order to prevent damage to the underwater glider G by fixing the underwater glider G while contacting the side and preventing the movement of the underwater glider G, it may be desirable for the surface of the prevention part 248 in contact with the underwater glider G to be formed to have a radius of curvature.

[0080] Meanwhile, as illustrated in FIG. 2, the connecting module 300 may include a wire unit 320 that is inserted into the inside of the main body module 100 and forms a path along which the main body module 100 moves, and a weight unit 340 that is detachably formed from the main body module 100 and connected to the wire unit 320, and when the underwater glider G is lifted, is separated from the main body module 100 and prevents the wire unit 320 from shaking. This is to prevent damage caused by the underwater glider G colliding with the ship B due to the shaking of the wire unit 320 due to wind and waves, and this will be described in more detail later through the drawings to be described.

[0081] Meanwhile, a process as illustrated in FIG. 6 may be performed to retrieve the underwater glider G based on the lifting device R described above.

[0082] First, the method according to the present invention may include a location identification step S10 for determining the location of the underwater glider G by receiving location information of the underwater glider G that explores the underwater and drifts on the sea surface, an approach step S20 for confirming the location of the underwater glider G through the location identification step S10 and for approaching the salvage device R toward the underwater glider G, a fixing step S30 for fixing the underwater glider G through the gripping module 200 provided in the salvage device R while the salvage device R approaches the underwater glider G, and a lifting step S40 for moving the underwater glider G toward the ship B while being fixed to the salvage device R through the gripping module 200 and for salvaging the underwater glider G through the connecting module 300.

[0083] The location identification step S10 may include a path setting process S12 in which the control module of the lifting device R receives the location information from a receiver provided in the underwater glider G and sets a path for moving from the location of the lifting device R toward the underwater glider G.

[0084] Meanwhile, the approach step S20 may allow the lifting device R to approach the underwater glider G so that it is located relatively underwater, i.e., lower, and to grip the retrieving hook L, and the fixing step S30 may include: the first process S32 of determining the distance to the underwater glider G, and if it is determined that the distance between the underwater glider G and the lifting device R is within the first distance Al, gripping the retrieving hook L provided on the underwater glider G to prevent the movement of the underwater glider G, and the second process S34 of gripping and fixing the body of the underwater glider G through the gripping module 200 if it is determined that the distance between the lower part of the underwater glider G and the upper part of the lifting device R is within the second distance A2 while the retrieving hook L is gripped through the gripping module 200.

[0085] However, the second process S34 may relatively grip the front section of the underwater glider G based on the center section of the underwater glider G in order to prevent the underwater glider G from slipping due to gravity in the lifting step S40 and the wing part W of the underwater glider G from being damaged by the gripping module 200, thereby stably lifting the underwater glider G while preventing the wing part W from being damaged.

[0086] Meanwhile, the lifting step S40 may include a movement process S42 for moving the underwater glider G to the ship B through the lifting device, and a retrieving process S44 for lifting the underwater glider G to the ship B through the connecting module 300 of the lifting device at a location adjacent to the ship B, as will be described in more detail later with reference to the drawings.

[0087] In addition, the retrieving process S44 may include a separation procedure S45 in which the main body module 100 and the weight unit 340 are separated to prevent shaking of the wire unit 320 as described above, an elevation procedure S46 in which the main body module 100 is elevated along the wire unit 320 and the underwater glider G is lifted to the ship B, and an organization procedure S47 in which the weight unit 340 is retrieved while the underwater glider G is retrieved.

[0088] Reference may be made to FIGS. 7 to 13 to explain the above-described contents in more detail.

[0089] Specifically, FIG. 7 is a drawing for explaining an approach step of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method according to an embodiment of the present invention, FIG. 8 is a drawing for explaining the second distance of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method according to an embodiment of the present invention, FIG. 9 is a drawing for explaining a situation in which the first gripper unit of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method according to an embodiment of the present invention approaches a retrieving hook, FIG. 10 is a drawing for explaining contact between a sensor part of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method and a retrieving hook according to an embodiment of the present invention, FIG. 11 is a drawing for explaining the second process of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method according to an embodiment of the present invention, FIG. 12 is a drawing for explaining a lifting step of an underwater robot for an underwater glider retrieve and an underwater glider retrieve method according to an embodiment of the present invention, and FIG. 13 is a drawing for explaining a weight unit regarding the method for retrieving the underwater robot for the underwater glider retrieve and the underwater glider according to an embodiment of the present invention.

[0090] As described above, the position of the underwater glider G is transmitted through the receiver formed at the rear end of the underwater glider G, and the lifting device R can perform the path setting process S12 for setting a path to the underwater glider G by the control module while in a state of being underwater. Although this is not common, there may be cases where a reef or obstacle is formed between the path to the underwater glider G, and therefore, this process can be performed as a priority to prevent collision.

[0091] In addition, as shown in FIG. 7, when the approach step S20 is performed and the lifting device R approaches the underwater glider G, the operating speed of the lifting device R can be adjusted when the lifting device R approaches within a certain approach distance, the first distance A1.

[0092] This may be to solve the problem of the underwater glider G and the lifting device R colliding momentarily when the position of the underwater glider G continuously changes depending on the flow of the sea surface and the lifting device R moves closer or further away from the underwater glider G, and in the case of the first distance Al described above, it can be changed depending on the flow of the sea surface, and this can be done by entering environmental information before the lifting device R departs so that the lifting device R can set the first distance A1.

[0093] In addition, as illustrated in FIG. 8, if the control module determines that the distance between the lower portion of the underwater glider G and the upper portion of the main body module 100 is within the second distance A2, the control module can approach the retrieving hook L, and at this time, the control module can grip the retrieving hook L while maintaining the second distance A2.

[0094] This may be to grip the underwater glider G more effectively through the second gripper unit 240, and the second distance A2 may vary depending on the radius of the second gripper unit 240.

[0095] Meanwhile, as shown in FIG. 9, the first gripper unit 220 can be moved toward the retrieving hook L while maintaining the second distance A2, and accordingly, the retrieving hook L is moved inside the grip part 222, and the second process S34 controlled by the control module can be performed to close the grip part 222 by contacting the sensor part 224.

[0096] In addition, as described above, even if the retrieving hook L contacts the guide part 226, the retrieving hook L is moved to the sensor part 224 along the slope of the guide part 226 due to the pressure according to the flow of the sea surface, so that the retrieving hook L can be gripped more effectively.

[0097] That is, to explain this in more detail, as shown in FIG. 10, when the retrieving hook L is inserted into the inside of the grip part 222, even if it touches the guide part 226 as shown, the retrieving hook L can be guided to the sensor part 224 according to the inclination of the guide part 226, and when it touches the sensor part 224, the grip part 222 is closed by the control module to hold the retrieving hook L.

[0098] However, when the sensor part 224 and the retrieving hook L continuously repeat contact and non-contact according to the flow of the sea surface, the approach step S20 and the first process S32 can be performed again in a state where the sensor part 224 and the retrieving hook L are separated from the underwater glider G by a preset distance within the first distance Al.

[0099] This is because, in the process of grasping the retrieving hook L, if the flow of the sea surface is unstable, there is a risk that the underwater glider G and the lifting device R may collide and be damaged, so by performing the process of safely moving away and then approaching again, the retrieving hook L can be grasped more stably.

[0100] Meanwhile, in the case where the retrieving hook L of the underwater glider G is grasped through the first gripper unit 220, the second gripper unit 240 can be raised and lowered while maintaining the second distance A2 to grasp the body of the underwater glider G. As described above, in order to prevent the wing part W from being damaged during the lifting process, the front section can be grasped based on the longitudinal center line of the underwater glider G, and thus, the damage to the wing part W can be effectively prevented.

[0101] In addition, since the shaking of the underwater glider G is effectively prevented by the prevention part 248 of the second gripper unit 240, there may be an advantage in that the underwater glider G can be moved and lifted more stably.

[0102] Meanwhile, as shown in FIG. 12, if the movement process S42 is performed to move to a position adjacent to the ship B, the main body module 100 can be lifted while holding the underwater glider G by utilizing the power provided by the ship B.

[0103] Specifically, as shown in FIG. 13, the main body module 100 can be raised along the wire unit 320, and this can be raised in the direction of the front section of the underwater glider G. This can prevent the underwater glider G from falling by the retrieving hook L held by the first gripper unit 220 when the underwater glider G slips due to gravity, and can also prevent damage to the wing part W because the second gripper unit 240 holds the front section of the underwater glider G.

[0104] However, in case of severe wind and waves, the wire unit 320 may sway and the ship B and the main body module 100 or the underwater glider G may collide, and since such a situation can cause problems during the salvage process even if the underwater glider G is safely moved and held, there is a need to respond more effectively.

[0105] Therefore, the main body module 100 and the weight unit 340 are separated from each other, and the weight unit 340 is performed to remain underwater as shown in FIG. 13, and the shaking of the wire unit 320 is prevented by the weight unit 340, so that the underwater glider G can be lifted toward the ship B more effectively while preventing damage to the underwater glider G.

[0106] In this state, the elevation procedure S46 in which the main body module 100 is raised and lowered along the wire unit 320 can be performed, and finally, the organization procedure S47 for retrieving the weight module can be performed so that both the lifting device R and the underwater glider G can be effectively prevented from being damaged while retrieving the underwater glider G stably.

[0107] Preferred embodiments of the invention have been described, and it will be apparent to those having ordinary skill in the art that the invention may be embodied in other particular forms without departing from its spirit or scope.

[0108] Accordingly, the embodiments described above should be considered exemplary rather than limiting, and the invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.