해저연약지반에서 궤도차량의 기동 성능평가 기법에 대한 고찰

Abstract

Recently, the underwater robots in the ocean have been used more frequently. Not only the tracked heavy duty underwater vehicles for underwater pipeline or cabling but also tracked vehicles for the shallow water level area(0~5m water depth) where on-land working vehicles and ships can not work. Tracked vehicles secure trafficability by pushing the ground in the track, and if the ground is weak, the soil thrust sufficient to move the equipment cannot be ensured, making the vehicle impossible to move. In the previous study to evaluate the trafficability of tracked vehicle on the soft ground, vehicle can move when the ground thrust is greater by calculating the soil thrust exerted by the ground and the resistance to the vehicle s movement. However, if the seabed soil strength is very small and the ground is not sufficiently supported, the method of assessment by settlement may overestimate the vehicle’s trafficability. In this paper, the depth of destruction beyond the supporting force of the ground due to the heavy tracked vehicle s self weight placed on the weak ground was assessed as the vehicle s sinking load, and the trafficability of the tracked vehicle was evaluated by comparing the resistance and thrust of the ground at this time. In addition, if soft ground exists thinly on hard soil or rocky condition of the seabed, the trafficability of the tracked vehicle was finally assessed, taking into account the increased resistance of the ground due to the settlement of the track vehicle on the soft ground.