KR101347839B1 - Water quality monitoring flight vehicle and water quality monitoring system - Google Patents

Abstract

A water quality monitoring flight vehicle (100) includes: a driving part (115) for driving the water quality monitoring flight vehicle; a coordinate input part (120) for receiving target coordinate position; a position determining part (130) for judging current coordinate position of the water quality monitoring flight vehicle by including a GPS module (131) for measuring xy coordinate position and an altitude measurement module (132) for measuring altitude; a water quality measuring part (150) for sampling water and inspecting water quality at target coordinate position; and a control part (140) which controls the driving part in order for the water quality monitoring flight vehicle to be located at the target coordinate position according to the target coordinate position and the current coordinate position, and controls to operate the water quality measuring part when the water quality monitoring flight vehicle is located at the target coordinate position.

Description

WATER QUALITY MONITORING FLIGHT VEHICLE AND WATER QUALITY MONITORING SYSTEM

The technique described below relates to a system comprising a vehicle for monitoring water quality and a water monitoring vehicle.

In order to monitor the water quality of rivers, rivers, lakes, etc., it is common to install equipment such as water that can be sampled at the location where measurement is needed, and install a water quality sensor inside the equipment. Such water quality monitoring devices are commonly used bridge type water quality monitoring device and submerged water quality monitoring device.

Bridge type water quality monitoring device, which is widely used in a deep water area, mounts a support on a bridge, and installs a water quality sensor to detect the water quality at the bottom of the support, and measures the water quality of the water passing under the bridge. .

Underwater mooring monitoring device is a device that monitors the water quality by attaching a water quality sensor to a small part or barge. Underwater mooring type water quality monitoring device, the water quality monitoring sensor can maintain a constant level irrespective of the fluctuation of the water depth, it is easy to install because it uses its own structure.

In particular, in the case of increased ship operation in the four major river maintenance projects or other rivers and near-shore waters, water quality management needs to be carried out more systematically and in real time. In this regard, Patent No. 10-0883046 discloses a vessel for measuring the water quality unattended.

Fixed water quality inspection methods using existing buoys are suitable for specific narrow point inspection management methods, but are inadequate for the management of a wide range of regions, and, above all, are difficult to apply to the water quality management of a specific river or the whole country.

Furthermore, the water quality measurement method using an unmanned vessel can be used when it is possible to continuously move rivers by ship, but it is difficult to continuously move as many rivers are installed in rivers due to the Four Rivers Maintenance Project. There is a limit to water quality measurement.

The technology described below is to provide a water quality monitoring vehicle or a water quality monitoring system that collects sample water at a desired location using an unmanned aerial vehicle and inspects the water quality.

The solutions to the technical problems described below are not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

Water quality monitoring vehicle according to the present invention for solving the above problems includes a drive unit for driving the water quality monitoring vehicle, a coordinate input unit for receiving a target coordinate position, a GPS module for measuring the xy coordinate position and an altitude measurement module for measuring the altitude Water quality monitoring Positioning unit to determine the current coordinate position of the aircraft, water quality measurement unit to collect from the target coordinate position and inspect the water quality and control the drive unit to position the water quality monitoring aircraft at the target coordinate position according to the target coordinate position and the current coordinate position And, if the water quality monitoring vehicle is located at the target coordinate position includes a control unit for controlling the water quality measurement unit to operate.

The water quality monitoring vehicle further includes a vehicle housing, and the coordinate input unit includes an input means disposed in the vehicle housing or a communication module for receiving coordinate positions transmitted from the outside.

The location determiner may further include a map database that stores altitude information according to the coordinate position, wherein the controller controls the driving unit to maintain the reference altitude by the water quality monitoring vehicle using the current altitude information corresponding to the current coordinate position.

On the other hand, the location determiner may include a further communication module for transmitting and receiving data with the map database for storing the altitude information according to the coordinate position, and receives the current altitude information corresponding to the current coordinate position through the communication module, the controller Altitude information is used to control the drive to maintain the water quality monitoring aircraft.

The water quality measuring unit may include water collecting means for collecting the sample water at a target coordinate position, a storage unit for storing the sample water, a water quality sensor unit disposed in the storage unit for measuring the water quality of the sample water, and drainage means for draining the sample water. have.

In another embodiment, the water quality measuring unit may include at least one storage unit to which the water collecting means for collecting the sample water at the target coordinate position and the RFID tag are attached. The controller may store any one or more of the target coordinate position, water collection time, or water depth in the RFID tag.

The water quality monitoring system using the aircraft according to the present invention is to fly to the target coordinate position, measure the water quality of the sample water at the target coordinate position, and transmit the water quality monitoring vehicle and the target coordinate position to the water quality monitoring vehicle to transmit the measured water quality data. And a control device for receiving the water quality data.

In the water quality monitoring system using the air vehicle according to the present invention, the water quality monitoring vehicle includes a driving unit for driving the water quality monitoring vehicle, a GPS module for measuring the xy coordinate position, and an altitude measurement module for measuring the altitude. The position determining unit to determine, the water quality measurement unit to collect the water quality from the target coordinate position to generate the water quality data, the water quality monitoring vehicle according to the target coordinate position and the current coordinate position controls the driving unit to be located at the target coordinate position, When the water quality monitoring vehicle is located at the coordinate position, a control unit for controlling the water quality measurement unit to operate and a central communication module for receiving the target coordinate position and transmitting the water quality data.

The position determiner transmits the current coordinate position to the control server through the communication module, receives the current altitude information corresponding to the current coordinate position from the control server, and the controller uses the current altitude information to maintain the water quality monitoring aircraft at the reference altitude. The drive unit can be controlled.

The water quality measuring unit includes water collecting means for collecting the sample water at the target coordinate position, a storage unit for storing the sample water, a water quality sensor unit disposed in the storage unit for measuring the water quality of the sample water, and drainage means for draining the sample water.

The control device includes a coordinate input unit for receiving a target coordinate position, a map database unit storing elevation information of the ground and water surface according to the coordinate position, a communication module for transmitting the target coordinate position and altitude information, and receiving the water quality data, and storing the water quality data. A storage unit; And a controller configured to receive the current coordinate position from the water quality monitoring vehicle, extract altitude information corresponding to the current coordinate position from the map database, and transmit the extracted altitude information to the communication module.

The technique described below measures the water quality of the sample water at a desired location without being disturbed by the facilities installed in the river. Furthermore, the water quality monitoring aircraft uses a map database in real time to control altitude so that water quality can be measured safely without colliding with obstacles such as structures or mountainous terrain.

The effects of the techniques described below are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a block diagram schematically showing the configuration of a water quality monitoring vehicle.
2 is a block diagram showing a schematic configuration of another embodiment of the water quality monitoring vehicle.
3 is a block diagram showing a schematic configuration of another embodiment of a water quality monitoring vehicle.
4 is a block diagram schematically showing the configuration of the water quality monitoring system.
5 is a flowchart schematically illustrating a process of measuring water quality by a water quality monitoring system.
6 is an exemplary view illustrating a process of operating the water quality monitoring system.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, A, B, etc., may be used to describe various components, but the components are not limited by the terms, but may be used to distinguish one component from another . For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

As used herein, the singular " include "should be understood to include a plurality of representations unless the context clearly dictates otherwise, and the terms" comprises & , Parts or combinations thereof, and does not preclude the presence or addition of one or more other features, integers, steps, components, components, or combinations thereof.

Before describing the drawings in detail, it is to be clarified that the division of constituent parts in this specification is merely a division by main functions of each constituent part. That is, two or more constituent parts to be described below may be combined into one constituent part, or one constituent part may be divided into two or more functions according to functions that are more subdivided. In addition, each of the constituent units described below may additionally perform some or all of the functions of other constituent units in addition to the main functions of the constituent units themselves, and that some of the main functions, And may be carried out in a dedicated manner. Therefore, the presence or absence of each component described through this specification should be interpreted functionally, and for this reason, the configuration of the components according to the water quality monitoring vehicle 100 and the water quality monitoring system 500 of the present invention is It is clearly to be understood that the present invention may be different from FIGS. 1 to 5 as long as the object can be achieved.

Hereinafter, the water quality monitoring vehicle 100 and the water quality monitoring system 500 will be described in detail with reference to the drawings. 1 is a block diagram schematically illustrating a configuration of a water quality monitoring vehicle 100.

The water quality monitoring vehicle 100 according to the present invention includes a driver 115 for driving the water quality monitoring vehicle 100, a coordinate input unit 120 for receiving a target coordinate position, a GPS module 131 for measuring an xy coordinate position, and an altitude. Position determination unit 130 for determining the current coordinate position of the water quality monitoring vehicle 100, including the altitude measurement module 132 for measuring the water quality measurement unit 150 to collect at the target coordinate position and inspect the water quality; And controlling the driving unit 115 such that the water quality monitoring vehicle 100 is located at the target coordinate position according to the target coordinate position and the current coordinate position, and when the water quality monitoring vehicle 100 is positioned at the target coordinate position, the water quality measurement unit 150. The control unit 140 to control the operation.

The water quality monitoring vehicle 100 further includes a vehicle housing 110, and the coordinate input unit 120 receives a coordinate position transmitted from an input unit 121 or an external device disposed in the vehicle housing 110, or a communication module 122. ) May be included.

Aircraft housing 110 in the present invention is a comprehensive meaning including a variety of flight mechanisms capable of flying in the air. Wirelessly controlled RC airplanes, RC helicopters, flight controllable balloons, battery and motor driven flight instruments, petroleum fuel and engine driven flight instruments, and the like. In the present invention, an unmanned aerial vehicle is used. When it is difficult to inspect the water quality unattended due to obstacles such as river beams, the water quality inspection can be performed by moving the water quality monitoring vehicle 100 of the present invention to a specific position.

In the present invention, the vehicle housing 110 means a configuration that includes all the components that can fly in the air, and does not mean only the outer portion of the vehicle. For convenience of description, in FIG. 1, a configuration capable of moving the vehicle housing 110 is separately illustrated as a driver 115, but the driver 115 is configured to be included in the vehicle housing 110. The driver 115 refers to a propellant and a control device required for the flight housing 110 to fly, such as a motor, an engine, a direction control device, and the like.

The coordinate input unit 120 includes an input unit 121 disposed in the vehicle housing 110 or a communication module 122 that receives a target coordinate position transmitted from the outside. Water Quality Monitoring The vehicle 100 must be located at specific coordinates to check the water quality. The coordinate input unit 120 is a means for inputting a specific coordinate position.

The coordinate input unit 120 may be an input unit 121 through which a user directly inputs a specific coordinate position, such as a keypad or a touch panel, to the exterior of the vehicle housing 110.

Further, the coordinate input unit 120 may receive the target coordinate position transmitted from the controller for controlling the external computer device or the vehicle. To this end, the coordinate input unit 120 receives the target coordinate position through the communication module 122 and transmits the received target coordinate position to the controller 140 to be positioned at the coordinate position received by the vehicle housing 110. The target coordinate position means a position to take the sample water.

The position determiner 130 includes a GPS module 131 and an altitude measuring module 132 for measuring a current coordinate position. Position determiner 130 is a configuration for determining the position where the water quality monitoring vehicle 100 is currently located. In general, the position of the water quality monitoring vehicle 100 may be determined using the widely used GPS module 131. On the other hand, the GPS module 131 can generally measure the x and y coordinates relatively accurately, but it is difficult to measure the z coordinate in the vertical direction. In order to solve this problem, the height measurement sensor may be mounted on the aircraft to measure the height of the vehicle from the surface of the water.

If there is an obstacle in the path of the water quality monitoring vehicle 100, the water quality monitoring vehicle 100 may be dispatched. Buildings, mountainous terrain, trees, structures such as transmission pylons, etc., are all obstacles. Furthermore, the water quality monitoring vehicle 100 must collect the sample water at the target coordinate position. That is, while the water quality monitoring vehicle 100 moves at a constant height on the surface of the river or the like, it is collected through the water collecting means 151. Therefore, height information of the surface of the river or the like is essential. Therefore, the altitude (z-axis) information of the terrain, water surface, etc. is required.

To this end, the location determiner 130 may further include a map database 133 that stores altitude information according to the coordinate position. Altitude information includes altitude information on the ground, such as mountains and forests, where altitude is almost constant, altitude information on obstacles that fluctuate over time, and altitude information on the surface changing with seasons and rainfall.

The controller 140 controls the driving unit 115 to maintain the reference altitude by using the current altitude information corresponding to the current coordinate position. The reference altitude means the altitude that maintains a constant height with the ground or the surface of the water. For example, in order to avoid obstacles, the water quality monitoring vehicle 100 is preferably located at a relatively high position (several meters to hundreds of meters). On the contrary, it is preferable that the water quality monitoring vehicle 100 is located at a relatively low position (several centimeters to several meters) because water collection operation must be performed on the water surface.

In another embodiment, the location determiner 130 may use a map DB stored in an external server using the communication module 134. 2 is a block diagram illustrating a schematic configuration of another embodiment of the water quality monitoring vehicle 100. Although the communication module 133 used in the positioning unit 130 is separately shown in the positioning unit 130, when the communication module 122 is also used in the coordinate input unit 120, the water quality monitoring vehicle 100 communicates. One module can be used in common.

The map DB stored in the map database unit 133 or the map DB stored in an external server may store various information, but the information required in the present invention is a z coordinate value according to the xy coordinate. The z coordinate corresponding to the current coordinate position xy where the water quality monitoring vehicle 100 is located in the z coordinate corresponding to the xy coordinate stored in the map DB is called current altitude information.

If there is an obstacle located in a path in which the water quality monitoring vehicle 100 moves, if there is a vertical length z of the obstacle, the vehicle housing 110 may move to a specific coordinate position while avoiding the obstacle.

As another embodiment, the location determiner 130 acquires an image of a moving path in real time using a camera module, and analyzes the acquired image to determine information about the obstacle if an obstacle is expected on the path. Can be delivered to. The configuration of detecting an obstacle in real time, such as a camera module, may be included in a separate configuration connected to the control unit 140 rather than the positioning unit 130.

The water quality measuring unit 150 is a water collecting sensor 151 for collecting the sample water at the target coordinate position, a storage unit 152 for storing the sample water, and a water quality sensor disposed in the storage unit 152 to measure the water quality of the sample water. The unit 153 and a drain means 154 for draining the sample water.

The water quality measuring unit stores the water collecting means 151, the collected water to check the water quality through the water quality sensor unit 153, and drains the water after the water quality inspection for more accurate and precise water quality inspection. It is preferred to include the means 154. The water collecting means 151 and the draining means 154 may be made of a means such as a pipe or the like contacting a water collecting point such as a pump and a river, and the storage 152 may be a tank in which the probe of the water quality sensor 153 is located. .

Furthermore, the water quality inspection unit preferably provides more accurate water quality data by inspecting water quality by depth (for example, 0m, 5m, 10m, and 15m units). Can be.

3 is a block diagram illustrating a schematic configuration of another embodiment of the water quality monitoring vehicle 100. In the water quality monitoring vehicle 100 shown in FIG. 3, the water quality measuring unit 150 has a different configuration from that in FIG. 1. That is, the water quality measuring unit 150 has a sensor for measuring the water quality, and has a configuration of storing only the sample water for measuring the water quality, not directly measuring the water quality. Although FIG. 3 illustrates only the configuration of the water quality measuring unit 150 in the configuration of FIG. 2, it is apparent that the present invention may be applied to the water quality measuring unit 150 of the water quality monitoring vehicle 100 shown in FIG. 1.

In this case, the water quality measuring unit 150 includes a water collecting unit 151 for collecting the sample water at the target coordinate position and at least one storage unit 152 to which the RFID tag is attached. When the sample number is collected at a plurality of target coordinate positions, the sample number is stored in each storage unit 152 that is physically isolated. The plurality of storage units 152 are each attached with an RFID tag.

The controller stores at least one of a target coordinate position, a water collection time, and a water depth in the RFID tag. When the water quality monitoring vehicle 100 returns to the base for water quality inspection, the technician for water quality inspection checks the number of samples collected at a certain place and time by using the RFID tag attached to the storage unit, and checks the storage unit 152. The stored water can be used to perform water quality tests. In this case, there is an advantage that the water quality inspection can be performed more precisely using the equipment in the laboratory.

4 is a block diagram schematically showing the configuration of the water quality monitoring system 500. The water quality monitoring system 500 includes a control device and a water quality monitoring vehicle 200 that operates in conjunction with the control device. The water quality monitoring system 500 may fly to the target coordinate position, measure the water quality of the sample water at the target coordinate position, and transmit the water quality monitoring vehicle 200 and the target coordinate position to the water quality monitoring vehicle that transmit the measured water quality data. And a control device for receiving the water quality data.

The water quality monitoring vehicle 200 includes a configuration substantially similar to the water quality monitoring vehicle 100 described above.

The water quality monitoring vehicle 200 includes a driving unit 215 for driving the water quality monitoring vehicle, a GPS module 231 for measuring an xy coordinate position, and an altitude measuring module 232 for measuring an altitude, and a current coordinate position of the water quality monitoring vehicle. Position determination unit 230 to determine the water quality measurement unit 250 to collect the water quality from the target coordinate position and to measure the water quality, the water quality monitoring vehicle is located at the target coordinate position according to the target coordinate position and the current coordinate position A control unit 240 to control the driving unit 215, and a control unit 240 to control the water quality measurement unit 250 to operate when the water quality monitoring vehicle is located at the target coordinate position, and a central communication module to receive the target coordinate position and transmit water quality data. It includes.

Unlike the water quality monitoring vehicle 100 described above, the water quality monitoring vehicle 200 integrates and uses a communication module as one, and has a configuration of receiving the target coordinate position itself from the control device. That is, the water quality monitoring vehicle 200 takes the role of collecting water and inspecting the quality of water, and the control device controls the path of the water quality monitoring vehicle 200 and manages and analyzes the water quality data transmitted from the water quality monitoring vehicle 200. .

The position determiner 230 transmits a current coordinate position to the control server through a communication module, receives current altitude information corresponding to the current coordinate position from the control server, and the controller 240 monitors the water quality using the current altitude information. The driver controls the driving unit 215 to maintain the reference altitude.

The water quality measuring unit 250 includes a water collecting unit 251 for collecting sample water at a target coordinate position, a storage unit for storing sample water, a water quality sensor unit 253 and a sample disposed in the storage unit to measure the water quality of the sample water. And drainage means 254 for draining the water.

The water quality sensor 253 may include various types of water quality sensors. Various types of sensors can be used, such as chemical sensors manufactured in chip form, and electrical sensors measuring current changes. Sensor itself for measuring the water quality is not the gist of the present invention, detailed description thereof will be omitted.

The control device transmits the coordinate input unit 310 for receiving the target coordinate position, the map database 320 storing the ground and surface elevation information according to the coordinate position, the target coordinate position and the altitude information, and receives the water quality data. Module, a storage unit 252 for storing water quality data, and a control unit 350 that receives the current coordinate position from the water quality monitoring vehicle, extracts altitude information corresponding to the current coordinate position from the map database 320, and transmits the altitude information to the communication module. ).

The coordinate input unit 310 of the control device may use various devices such as a keyboard, a keypad, a touch panel, and the like connected to the computer device. The control device may display the water quality data accumulated in the storage unit 252 through the display device, or analyze and display the water quality data at the same location or the surrounding location on the display device.

The control device may be a device such as a server that communicates wirelessly with the water quality monitoring vehicle 200. Alternatively, the controller may be a remote controller that controls the vehicle housing 110 or a computer device that controls the vehicle housing through wireless communication. The controller to be described later preferably uses a separate server for storing the map database. This is because it is difficult to store large databases in a simple controller.

5 is a flowchart schematically illustrating a process of measuring water quality by the water quality monitoring system 500. First, the water quality monitoring vehicle 200 receives target coordinates (first target coordinates) input from the coordinate input unit 310 of the control device (S1). Furthermore, the water quality monitoring system 500 may receive the coordinates through the coordinate input unit 310 disposed in the vehicle housing of the water quality monitoring vehicle 200, such as the water quality monitoring vehicle 100.

Water quality monitoring vehicle 200 moves to the target point to take the sample water for water quality measurement (S2).

It is determined whether the current water quality monitoring vehicle 200 is moved (the current coordinate position) and the target coordinate position (S3). The controller 240 compares the current coordinate position determined by the position determiner 230 with the target coordinate position input through the coordinate input unit 310. If the current coordinate position and the target coordinate position does not match, the controller 240 controls the aircraft housing 110 to continue to move to the target coordinate position, and if the current coordinate position and the target coordinate position match, the controller 240 measures the water quality. Operation 250 to collect and measure the water quality (S4).

Thereafter, it is checked whether a return command is received from the external control device (S5), and if a return command is received, the device returns to a preset return coordinate (S6). Alternatively, the controller determines whether other target coordinates are received from the control device, and when the second target coordinates are input, it moves to the corresponding position (S2).

6 is an exemplary view illustrating a process of operating the water quality monitoring system 500. The control device 300 shown on the right side of FIG. 6 inputs target coordinates as a controller-type device, and the altitude information is extracted from a separate map database connected to the controller device by wire or wireless communication. This is an example and the control device 300 itself may be implemented as one computer device.

In FIG. 6, the water quality monitoring vehicle 200 moves to the target coordinates through the GPS module 231, and when the target point S arrives at the target point S, the water quality measuring unit 250 uses the water collecting unit 251 of the water quality measuring unit 250. Take the number of samples in). In FIG. 6, only the pipe in the form of a pipe is shown as the water collecting means 251, but operates as a pump. Furthermore, it is not necessarily taken as a pipe in the form of a pipe. In addition, if the water quality monitoring aircraft 200 is in the form of a water plane capable of landing on the water surface, the water quality sensor unit 253 itself may be inspected by contacting the water surface without a separate collecting means.

The water quality monitoring vehicle 200 receives the target coordinate position from the control device 300, transmits the current coordinate position to the control device 300 while flying, and receives current altitude information corresponding to the current coordinate position, thereby adjusting the altitude. To control. After collecting water at the target point and inspecting the water quality, the generated water quality data is transmitted to the control device 300.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. It will be understood that variations and specific embodiments which may occur to those skilled in the art are included within the scope of the present invention.

100: water quality monitoring aircraft 110: aircraft housing
115: driving unit 120: coordinate input unit
121: input means 122: communication module
130: positioning unit 131: GPS module
132: altitude measurement module 133: database unit
134: communication module 140: control unit
150: water quality measuring unit 151: water collection means
152: storage unit 153: water quality sensor unit
154: drainage means
200: water quality monitoring aircraft
215: drive unit 220: coordinate input unit
221: input means 222: communication module
230: positioning unit 231: GPS module
232: altitude measurement module 240: control unit
250: water quality measurement unit 251: water collection means
252: storage unit 253: water quality sensor unit
254: drainage means 260: central communication module
300: control device 310: coordinate input unit
320: map database unit 330: communication module
340: storage unit 350: control unit
500: water quality monitoring system

Claims (11)

A drive unit for driving a water quality monitoring vehicle;
A coordinate input unit configured to receive a target coordinate position;
a positioning unit determining a current coordinate position of the water quality monitoring vehicle, including a GPS module measuring an xy coordinate position and an altitude measuring module measuring an altitude;
A water quality measuring unit collecting water at the target coordinate position and inspecting water quality; And
A control unit which controls the driving unit to position the water quality monitoring vehicle at the target coordinate position according to the target coordinate position and the current coordinate position, and controls the water quality measurement unit to operate when the water quality monitoring vehicle is located at the target coordinate position. Water quality monitoring aircraft. The method of claim 1,
The water quality monitoring vehicle further includes a vehicle housing, wherein the coordinate input unit includes an input unit disposed in the vehicle housing or a communication module configured to receive a coordinate position transmitted from the outside. The method of claim 1,
The positioning unit
And a map database for storing altitude information according to a coordinate position, wherein the controller controls a driving unit to maintain the reference altitude by using the current altitude information corresponding to the current coordinate position. The method of claim 1,
The positioning unit
And a communication module for transmitting and receiving data to and from a map database that stores altitude information according to a coordinate position, and receiving current altitude information corresponding to the current coordinate position through the communication module, wherein the controller is configured to receive the current altitude information. Using a water quality monitoring vehicle to control the drive unit to maintain the reference altitude to the water quality monitoring vehicle. The method of claim 1,
The water quality measuring unit
Water collecting means for collecting the sample water at the target coordinate position;
A storage unit for storing the sample number;
A water quality sensor unit disposed in the storage unit to measure water quality of the sample water; And
A water quality monitoring vehicle comprising a drain means for draining the sample water. The method of claim 1,
Water quality measurement department
Water collecting means for collecting the sample water at the target coordinate position; And
At least one storage unit is attached to the RFID tag,
The control unit is a water quality monitoring aircraft for storing any one or more of the target coordinate position, water collection time or water depth in the RFID tag. A water quality monitoring vehicle flying to a target coordinate position, measuring the water quality of the sample water at the target coordinate position, and transmitting the measured water quality data; And
And a control device for transmitting the target coordinate position to the water quality monitoring vehicle and receiving the water quality data. The method of claim 7, wherein
The water quality monitoring aircraft
A drive unit for driving a water quality monitoring vehicle;
a positioning unit determining a current coordinate position of the water quality monitoring vehicle, including a GPS module measuring an xy coordinate position and an altitude measuring module measuring an altitude;
A water quality measuring unit which collects water at a target coordinate position and measures water quality to generate water quality data;
A control unit controlling the driving unit to position the water quality monitoring vehicle at the target coordinate position according to the target coordinate position and the current coordinate position, and controlling the water quality measurement unit to operate when the water quality monitoring vehicle is located at the target coordinate position; And
A water quality monitoring system comprising a central communication module to receive a target coordinate position and to transmit water quality data. 9. The method of claim 8,
The positioning unit
The current coordinate position is transmitted to the control device through the communication module, and the current altitude information corresponding to the current coordinate position is received from the control device, and the controller is configured to provide the water quality monitoring vehicle using the current altitude information. Water quality monitoring system that controls the drive to maintain a reference altitude. 9. The method of claim 8,
The water quality measuring unit
Water collecting means for collecting the sample water at the target coordinate position;
A storage unit for storing the sample number;
A water quality sensor unit disposed in the storage unit to measure water quality of the sample water; And
Water quality monitoring system comprising a drain means for draining the sample water. The method of claim 7, wherein
The control device
A coordinate input unit configured to receive a target coordinate position;
A map database for storing elevation information of the ground and the surface according to the coordinate position;
A communication module which transmits the target coordinate position and the altitude information and receives the water quality data;
A storage unit for storing the water quality data; And
And a controller configured to receive a current coordinate position from the water quality monitoring vehicle, and extract altitude information corresponding to the current coordinate position from the map database unit and transmit the altitude information to the communication module.

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