KR102311182B1 - Hydrographic survey system using drone for performing ocean and waterway observations - Google Patents

Abstract

The present invention relates to a waterway survey system, and more particularly to a waterway survey system using a drone for performing ocean and waterway observation, including a drone that performs observation while flying over the sea or a sea area adjacent to the sea, and a control center for controlling the drone, thereby capable of measuring the sea surface temperature in a non-contact way, and providing ocean images and heat distribution images captured by drones to an external control center through communication. The drone includes a communication unit; a location information collection unit; an inertial navigation; a photographing and measuring unit; and a control module.

Description

Hydrographic survey system using drones to conduct ocean and waterway observations

The present invention relates to a waterway survey system, and more particularly, to a waterway survey system using a drone to perform ocean and waterway observation.

Waterway survey refers to waterway survey, ocean observation, route survey, and ocean topographic survey for the purpose of maritime traffic safety, conservation, use, and development of the ocean, securing maritime jurisdiction and preventing maritime disasters. It also includes various surveys necessary for repair work and surveying the natural environment of the coastline and coast.

In general, ocean observation is performed to understand the state of a specific sea area by detecting marine information such as water depth, water temperature, salinity, and flow velocity. Among them, sea surface temperature measurement is usually performed by directly immersing a contact-type temperature sensor mounted on a ship, a sea buoy, etc. in seawater.

However, in order to measure the temperature of a wide range of oceans, the above-described contact temperature measurement is inevitably inefficient in terms of measurement time and measurement cost.

Accordingly, there is a demand for a method of performing ocean observation using an unmanned aerial vehicle such as a drone.

The matters described as the background art above are only for improving understanding of the background of the present invention, and should not be taken as an acknowledgment that they correspond to the prior art already known to those of ordinary skill in the art.

The present invention is to solve the problems of the prior art, and it is an object of the present invention to provide a waterway survey system using a drone to perform ocean and waterway observation capable of measuring sea surface temperature in a non-contact manner.

In addition, another object of the present invention is to provide a waterway survey system using a drone to perform ocean and waterway observation in which ocean images and heat distribution images captured by drones can be provided to an external control center through communication. .

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art from the description of the present invention. .

The configuration of the present invention for achieving the above object is a drone that performs observation while flying over the sea or a sea area adjacent to the sea; and a control center for controlling the drone; It is characterized in that it includes.

In the waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention, the drone includes: a communication unit communicating with a control center; a location information collecting unit for receiving location information of the drone; Inertial navigation unit for autonomous flight of drones; a photographing and measuring unit including a non-contact temperature measuring unit, a thermal image sensing unit, and a photographing unit; and when a predetermined area of the ocean or a predetermined sea area adjacent to the ocean is selected as the target area by the control center, receives location information of the selected target area through the communication unit, controls to fly over the target area, and from the control center a control module for controlling to perform an operation corresponding to the received control command; It is preferable to include

a first connector coupled to a lower portion of the control module in a waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention; a second connection part rotatably installed under the first connection part; a pair of air buffers coupled to both lower sides of the second connection part; A left and right moving part that is horizontally coupled to the lower portion of the pair of air buffers; a height part coupled to the lower part of the left and right moving part; Photographing and measuring unit coupled to the lower part of the height; It is preferable to further include

In the waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention, the control center measures the temperature of a specific point included in the target area based on the captured image received from the drone. By sending a command to the drone, the drone is controlled so that the temperature of a specific point is measured in a non-contact manner, and the flight reservation time of the drone is determined based on environmental information including at least one of weather information, earth information, ocean current information, and earthquake information. It is preferable to set

In the waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention, the air buffer unit is coupled to the lower portion of the second connection part and the air in which a filling space is formed so that air can be filled therein housing; an air flow unit coupled to the lower portion of the air housing and having air holes formed in the center vertically; A pair of air openings and openings coupled to the top of the air hole and having an elastic force; a ring-shaped air ring mounted inside the air flow unit and coupled to surround the air hole; and a lower housing coupled to a lower portion of the air flow unit; Including, wherein the air housing and the air flow portion is made of a rubber material having elasticity, the air ring is made of a metal material, a plurality of vent holes are formed on the side of the lower housing, and the upper end of the air hole is at the lower end of the air opening/closing part The contact support end is formed to protrude downward so as to be in contact with the inner wall to support the air opening and closing part, and the air ring is vibrated by the vibration transmitted from the air housing, and accordingly, the air flow part is vibrated to open the air opening and closing part. , it is preferable that air flows through the vent hole, air hole and filling space of the lower housing.

In the waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention, the left and right moving parts include: a left and right case coupled to a lower portion of the air buffer and having a moving hole formed on the lower surface in the longitudinal direction; a pair of sliding parts coupled to both inner sides of the left and right cases and having sliding holes formed along the longitudinal direction; a pair of left and right rods each having one end slidably inserted into the pair of sliding parts; a central metal part of a metal material coupled to the center of a pair of left and right rod parts; an upper and lower rod part extending to the lower part of the central metal part and exposed to the outside through a moving hole; a central magnet coupled to the center of the inner upper part of the left and right cases; A pair of left and right magnets spaced apart from each other on the basis of the central magnet and exhibiting magnetism; a pair of moving rails coupled to the lower surface of the left and right cases and coupled to both sides in the front and rear directions based on the moving holes along the longitudinal direction; and a rail moving unit coupled to the side of the upper and lower rods and accommodated in a pair of moving rails and capable of sliding along the longitudinal direction; Including, the central magnet has a relatively larger size than a pair of left and right magnets and has a relatively large magnetism, and the central metal part is usually located in the center by the magnetic force applied by the central magnet, and the left and right cases are turned to one side. As it tilts, the central metal part also moves to one side by the weight of the central metal part and the magnetic force of the left and right magnets. It is preferable to do

The present invention having the above configuration has the effect of improving the measurement efficiency by measuring the sea surface temperature in a non-contact manner.

In addition, the present invention has the effect of improving equipment stability and equipment efficiency because the drone does not come into contact with the sea level.

In addition, the present invention has the effect of improving drone controllability and ocean observability since the ocean image and heat distribution image captured by the drone can be provided to an external control center through communication.

In addition, since the present invention can observe the ocean using a drone, there is an advantage that temperature observation of the sea level in a wide area can be easily performed.

Furthermore, the present invention has the effect of improving ocean analysis and accuracy by measuring the thermal distribution of a wide range of sea level and the absolute temperature of a specific sea level.

1 is a block diagram illustrating each configuration of a drone of a waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention.
2 is a view showing the overall appearance of a waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention.
3 is an enlarged view of a portion to which a photographing and measuring unit is mounted according to an embodiment of the present invention;
4 is a block diagram showing each configuration of a control center according to an embodiment of the present invention.
5 is a flowchart illustrating a method of driving a drone according to an embodiment of the present invention.
6 is a view showing a cross-sectional view of the air buffer according to an embodiment of the present invention.
Figure 7 is a perspective view showing the state of the left and right moving part according to an embodiment of the present invention.
8 is a view showing a cross-sectional view of the left and right moving part according to an embodiment of the present invention.
9 is a view showing a cross-sectional view of a height part according to an embodiment of the present invention.

Hereinafter, based on the accompanying drawings, the present invention will be described in detail so that those of ordinary skill in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar elements throughout the specification.

In addition, the terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor should properly understand the concept of the term in order to best describe his invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

1 is a block diagram illustrating each configuration of a drone of a waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention.

As shown, the drone 100 includes a drone input unit 110 , a drone communication unit 120 , a photographing and measuring unit 130 , a drone storage unit 140 , a flight module 150 and a control module 160 . do. The components shown in FIG. 1 are not essential for implementing the drone 100 , so the drone 100 described herein may have more or fewer components than those listed above.

The drone input unit 110 is a module that receives various types of information to be stored in the drone 100 . The drone input unit 110 is a module that can receive various types of information such as unique information of the drone 100 , location information in which the drone 100 will fly, and a period in which the drone 100 will fly. The drone input unit 110 may receive various types of information through a microphone, a button, etc. outside the drone 110 .

The drone communication unit 120 is a module necessary to perform communication with various devices. The drone communication unit 120 is a module that communicates with an external control center (not shown), a control center, a server, a mobile terminal device, and a steering wheel (not shown) for controlling the flight of the drone 100 . The drone communication unit 120 may include a mobile communication module, a short-range communication module, a broadcast communication module, and the like, if necessary to perform communication.

The photographing and measuring unit 130 may be provided with various modules necessary for ocean observation. The photographing and measuring unit 130 may include a non-contact temperature measuring unit 131 , a thermal image sensing unit 133 , and a photographing unit 135 , but the embodiment is not limited thereto.

First, the non-contact temperature measuring unit 131 is a module for measuring the temperature of the sea level without direct contact with the sea level. The non-contact temperature measuring unit 131 may measure the temperature of a specific point of the sea level by using infrared rays. The non-contact temperature measurement unit 131 may measure a temperature of -40 degrees Celsius to 1000 degrees Celsius at a distance of several meters to several hundred meters.

The thermal image sensing unit 133 may roughly measure the temperature of a wide area of the sea level. The thermal image sensing unit 133 may measure a thermal distribution of the ocean.

When the drone 100 flies over the sea, the photographing unit 135 may photograph the situation of the sea. The control module 160 may control the photographing unit 135 to capture an image during flight and transmit it to an external control center.

The photographing and measuring unit 130 may further include a battery for transmission and reception, a receiver for measuring instrument operation servo, a global positioning system (GPS) plotter, etc. in addition to the above-described configuration, but the embodiment is not limited thereto.

In addition, the components included in the photographing and measuring unit 130 may be included in one device and configured in the form of a finished product, and each component may be separately disposed at an appropriate location of the drone 100 . However, in the present specification, it is assumed that the configuration of the photographing and measuring unit 130 is configured in the form of a single finished product.

The drone storage unit 140 may store a plurality of application programs (application programs or applications) driven by the drone 100 , data for operation of the drone 100 , and commands. At least some of these application programs may be downloaded from an external server through wireless communication.

The flight module 150 is a module that allows the drone 100 to fly, and may include a location information collecting unit 151 and an inertial navigation unit 153 .

The location information collection unit 151 may include a global positioning system (GPS) module to collect current location information of the drone and location information to fly.

The inertial navigation unit 153 may be provided with an inertial navigation system (INS) to detect the position of the drone 100 and guide a route to the destination. To this end, the inertial navigation unit 153 may include various sensors, for example, a gyroscope sensor, an accelerometer sensor, and the like.

The control module 160 is a controller that generally controls the above-described components of the drone 100 .

2 is a view showing the overall appearance of a waterway survey system using a drone to perform ocean and waterway observation according to an embodiment of the present invention.

As shown, the waterway survey system 1000 according to an embodiment of the present invention may include a drone 100 and a control center 200 for controlling the drone 100 . For convenience of description, reference numerals in FIG. 1 are also referred to.

The control center 200 may select a target area for the drone 100 to fly through various passages, and provide location information, weather information, geographic information, and the like so that the drone 100 flies to a specific area.

To this end, the control center 200 may be connected to various sources capable of collecting current conditions, environmental information, and the like. For example, global environment information, weather information, earthquake information, tectonic change information, temperature information for each ocean (eg, temperature information captured by the Chollian Ocean Satellite), current information, and the like may be collected.

The control center 200 may select a predetermined area of the ocean or a predetermined sea area adjacent to the ocean as a target area for the drone 100 to fly. For example, the control center 200 may set the target area to the cage farm 21 mainly used by fishermen as the target area. Confinement farming is a method of raising target organisms by trapping them in a wide area of the sea with nets, etc. Unlike terrestrial tank aquaculture, marine cage aquaculture does not need to exchange seawater, and fish can be cultivated in large quantities, which is a growing trend. Here, the target area may be flexibly changed according to the control of the control center 200 .

In addition, the control center 200 may select a nuclear power plant as a target area and measure a temperature change around the nuclear power plant using the drone 100 .

The control center 200 may request the drone 100 to measure the temperature of one point 21a of the target area 21 . In this case, since the drone 100 can measure the temperature of the point 21a from a distance, the temperature of the sea level can be measured more efficiently than the conventional method of measuring the temperature of the sea level using a contact method.

In addition, the control center 200 may transmit to the drone 100 an area, frequency, time, etc. for which the drone 100 measures the sea surface temperature, based on environmental information, current information, and the like. That is, the flight of the drone 100 may be scheduled by the control center 200 .

In addition, in the control center 200 , the drone 100 drives the thermal image sensing unit 133 to check the temperature distribution of the target area 21 and the target outer surrounding area 31 . It can be controlled to sense the temperature distribution.

At this time, when it is determined that temperature measurement is necessary in the area around the target 31 , the control center 200 provides location information of a specific point of the area around the target 31 to the drone 100 to a specific point of the drone 100 . It can be controlled to fly and measure the temperature of the area.

The control center 200 may display an image captured by the photographing unit 135 mounted on the drone 100 on the display 240, and the target area 21a may be displayed on the display 240, , a land and a sea may be displayed 313 separately. To this end, the control center 200 may collect chart information. In addition, the control center 200 may be connected to the display 240 through the connection line 33 .

The heat distribution 25 of the target area 21a may be displayed on the display 240 .

Meanwhile, although the control center 200 is described as directly controlling the drone 100 , the drone 100 may be automatically driven by inputting necessary information to the drone 100 , and the drone 100 may be controlled. The drone 100 may be controlled through a drone control unit (not shown).

Meanwhile, the drone 100 may obtain flight power through a plurality of propellers 181a and 181b, and a photographing and measuring unit 130 may be disposed under the control module 160 .

3 is an enlarged view of a portion to which a photographing and measuring unit is mounted according to an embodiment of the present invention.

In the drone 100 , the photographing and measuring unit 130 is disposed under the control module 160 . The control module 160 and the photographing and measuring unit 130 include a first connection unit 171 , a second connection unit 175 , a pair of air buffer units 600 , a left and right moving unit 400 , and a height unit 500 . connected by means of

The first connection part 171 is implemented to be fixed to the control module 160 , and the second connection part 175 is a virtual first axis connecting the center of the first connection part 171 and the center of the second connection part 175 . It may be implemented to be rotatable about the center.

For example, the second connection part 175 may rotate based on a Y-axis (an axis connecting the centers of the first connection part 171 and the second connection part 175) in spatial coordinates. Accordingly, non-contact temperature measurement in various directions, heat distribution detection in the area around the target, local imaging, and the like can be performed flexibly in various directions.

In addition, the components of the photographing and measuring unit 130 may be disposed on one rotating plate 137 . The rotating plate 137 may rotate 360 degrees in the vertical direction. The rotating plate 137 rotates about a second axis, but the first axis and the second axis may be arranged to form a predetermined angle.

For example, the first axis and the second axis may be configured to be vertical, but the embodiment is not limited thereto. Accordingly, it is possible to observe the ocean in all directions with respect to the drone 100 using the first axis and the second axis.

A detailed configuration of the pair of air buffer units 600, the left and right moving units 400 and the height units 500 coupled to the lower portion of the first connection unit 171 will be described in detail with reference to the drawings below.

4 is a block diagram illustrating each configuration of a control center according to an embodiment of the present invention.

The control center 200 may include a center communication unit 210 , a center storage unit 220 , a center display 230 , and a center controller 240 .

First, the center communication unit 210 may communicate with the drone 100 and the drone steering wheel 300 .

The center storage unit 220 may store a plurality of application programs (or applications) driven in the control center 200 , data for operation of the control center 200 , and commands. At least some of these application programs may be downloaded from an external server through wireless communication.

The center storage unit 220 may store how the sea surface temperature of the target area changes over time.

The center controller 230 is a control module that generally controls the control center 200 . The center controller 230 may control the drone 100 by changing the target area to be measured by the drone 100 or setting a flight schedule, period, etc. of the drone 100 based on the collected environment information. For example, the center controller 230 may set the periphery of an area designated as the target area as the target area again.

The center display 140 displays (outputs) information processed by the control center 200 . For example, the center display 140 may display execution screen information of an application driven in the control center 200 or UI (User Interface) and GUI (Graphic User Interface) information according to the execution screen information. .

5 is a flowchart illustrating a method of driving a drone according to an embodiment of the present invention.

First, the drone 100 receives location information of the selected target area (S410).

The drone 100 may receive the information from the control center 200 and may receive the information through its own input.

Thereafter, the drone 100 flies over the target area (S420).

At this time, when a control command is not received from the control center 200, the drone 100 performs a predetermined operation (S440). For example, an ocean image may be captured by flying over the target area or by driving the photographing unit 135 and transmitted to the control center 200 , but the embodiment is not limited thereto.

If a control command is received from the control center (S430) and the control command is a temperature measurement command at a specific point within the target area, the drone 100 measures the temperature at the specific point (S460). Then, the measurement information is transmitted to the control center (S470).

When a control command is received from the control center (S430) and the control command is a command to detect heat distribution around the target area, the drone 100 detects a thermal image around the target area (S480). Then, the sensed information is transmitted to the control center 200 (S490).

The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored.

Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of.

6 is a view showing a cross-sectional view of the air buffer according to an embodiment of the present invention.

As shown, the drone 100 according to the present invention includes a first connector 171 coupled to a lower portion of the control module 160, a second connector 175 that is rotatably installed under the first connector, and a second 2 A pair of air buffering parts 600 coupled to both lower sides of the connection part, a left and right moving part 400 coupled to the lower part of the pair of air buffering parts laterally, a height part 500 and a height coupled to the lower part of the left and right moving part It further includes a photographing and measuring unit 130 coupled to the lower part of the unit.

The air buffer unit 600 includes an air housing 610 , an air flow unit 620 , a pair of air opening/closing units 640 , an air ring 630 , and a lower housing 650 . The air buffer unit 600 is coupled to the lower portion of the second connection unit 175 and functions to alleviate vibration or shock applied from the drone.

A filling space 611 is formed in the air housing 610 so that air can be filled therein. The air housing 610 is made of a rubber material having elasticity, and is coupled to the lower portion of the second connection part 175 .

The air flow unit 620 is coupled to the lower portion of the air housing 610 , and is made of a rubber material having elasticity like the air housing 610 . In the center of the air flow unit 620, an air hole 621 is formed vertically through it. Air may flow into the lower portion of the air flow unit 620 and the filling space 611 of the air housing 610 through the air hole 621 .

The pair of air opening/closing units 640 is coupled to the upper end of the air hole 621 . The air opening/closing unit 640 is made of a rubber material having elasticity, and is coupled to the upper surface of the air flow unit 620 in a cantilever shape.

That is, the air opening/closing unit 640 is rotatable up and down based on a portion coupled to the upper surface of the air flow unit 620 . When the air opening/closing unit 640 moves downward, the upper end of the air hole 621 is closed, and when the air opening/closing unit 640 moves upward, the upper end of the air hole 621 is opened.

In the center of the lower surface of the air opening/closing unit 640 , a contact support end 641 is formed to protrude downward so as to be in contact with the inner wall of the upper end of the air hole 621 to support the air opening/closing unit 640 . The air opening/closing unit 640 may firmly close the upper end of the air hole 621 without sagging downward by the contact support end 641 .

The air ring 630 is mounted inside the air flow unit 620 and is coupled to surround the air hole 621 . The air ring 630 is made of a metal material having a predetermined weight, and is formed in a ring shape. The air ring 630 performs a function of absorbing the vibration transmitted from the air housing (610).

The lower housing 650 is coupled to the lower portion of the air flow unit 620 . A plurality of vent holes 651 are formed on the side surface of the lower housing 650 , and air may flow through these vent holes 651 .

The air housing 610 vibrates by vibration or shock generated from the drone 100, and the air ring 630 is also vibrated by the transmitted vibration. Accordingly, the air flow unit 620 is vibrated to open the air opening/closing unit 640, and as represented by a dotted line in the drawing, the vent 651, the air hole 621 and the filling space 611 of the lower housing 650 are shown. ) through which air flows.

As described above, the present invention has an advantage in that the damping force can be actively changed because the air in the filling space 611 can flow through the air hole 621 and the air opening and closing part 640 .

For example, if the vibration applied from the drone is of a high frequency, the vibration of the air housing 610 increases and the vibration of the air ring 630 also increases, and accordingly, the air flow unit 620 vibrates greatly and the air opening and closing unit 640. is opened

When the air opening/closing unit 640 is opened, air flows through the vent 651 , the air hole 621 , and the filling space 611 of the lower housing 650 , the sensitivity of the target frequency is increased, and the vibration is attenuated. .

If the vibration applied from the drone is low frequency, the vibration of the air housing 610 is small and the vibration of the air ring 630 is also small, and accordingly, the vibration of the air flow unit 620 is also small, so that the air opening and closing unit 640 is is closed

When the air opening/closing unit 640 is closed, the air inside the filling space 611 does not flow, and the sensitivity of the anti-resonance band frequency is increased to attenuate vibration.

7 is a perspective view showing a state of the left and right moving part according to an embodiment of the present invention, Figure 8 is a view showing a cross-sectional view of the left and right moving part according to an embodiment of the present invention.

As shown, the left and right moving part 400 includes a left and right case 410 , a pair of sliding parts 420 , a pair of left and right rod parts 430 , a central metal part 440 , and an upper and lower rod part 450 . , a central magnet 460 , left and right magnets 461 , a pair of moving rails 470 and a rail moving unit 480 .

The left and right cases 410 are coupled to the lower portion of the air buffer 600 . A space is formed inside the left and right cases 410 to accommodate various parts, and a movement hole 411 is formed on the lower surface of the left and right cases 410 in the longitudinal direction.

The pair of sliding parts 420 are coupled to both inner sides of the left and right cases 410 . A sliding hole 421 is formed through the inside of the sliding part 420 in the longitudinal direction. A plurality of recognition holes 422 are formed on the upper surface of the sliding hole 421, and the plurality of recognition holes 422 are spaced apart from each other at equal intervals.

A recognition sensing unit 423 is mounted on the inner upper end of the sliding unit 420 . The recognition sensing unit 423 is spaced upward from the plurality of recognition holes 422 by a predetermined distance, and is disposed parallel to the sliding hole 421 .

The pair of left and right rod parts 430 are respectively inserted into the pair of sliding parts 420 so that one end is slidable, and the center of the pair of left and right rod parts 430 has a metal central metal part 440 . is combined

A recognition unit 431 is coupled to an end of the left and right rods 430 , and the movement distance of the recognition unit 431 can be checked by the recognition detection unit 423 . In other words, as the left and right rod part 430 slides on the sliding part 420, the recognition part 431 also moves left and right inside the sliding hole 421. At this time, the recognition holes 422 arranged at equal intervals are The recognition unit 431 passes, and it is recognized by the recognition detection unit 423 to measure the moving distance of the left and right rods 430 .

The upper and lower rod parts 450 extend below the central metal part 440 and are exposed to the outside through a moving hole 411 . A rail moving part 480 is coupled to the side of the upper and lower rod part 450 . The rail moving part 480 is formed in a disk shape and is accommodated in a pair of moving rails 470 to be slidable along the longitudinal direction.

The pair of moving rails 470 are coupled to the lower surface of the left and right cases 410 and are coupled to both sides in the front and rear directions based on the moving holes 411 along the longitudinal direction. The moving rail 470 has a 'L'-shaped cross section, the lower end is in contact with the upper and lower rod unit 450 , and the upper end is in contact with the rail moving unit 480 .

The central magnet 460 is coupled to the center of the inner upper end of the left and right case 410 , and a pair of left and right magnets 461 are spaced apart from each other on both sides with respect to the central magnet 460 . Since the central magnet 460 and the pair of left and right magnets 461 are magnetic, a magnetic force may be applied to the central metal part 440 made of a metal material to stop the central metal part 440 .

The central magnet 460 has a relatively larger size than the pair of left and right magnets 461 and has a relatively large magnetism. Normally, the central metal part 440 is located in the center of the left and right cases 410 by the magnetic force applied by the central magnet 460, and as the left and right cases 410 are inclined to one side, the central metal part 440 is The central metal part 440 also moves to one side of the central case by its own weight and the magnetic force of the left and right magnets 461, and when the left and right cases 410 return to the horizontal again, the central magnet 460 exhibiting a relatively large magnetic field. ), the central metal part 440 returns to the center of the left and right cases 410 by the magnetic force.

As the central metal part 440 moves to the left or right in the left and right case 410, the upper and lower rod part 450 and the photographing and measuring part 130 coupled to the lower part may also move to the left or right. As a result, a wider range is captured, so the image overlap is higher, and the accuracy is improved.

9 is a view showing a cross-sectional view of a height part according to an embodiment of the present invention.

As shown, the height part 500 is accommodated so as to be slidable up and down in the cylindrical height case 510 and the height case 510 with an empty interior, and a plurality of fixing grooves 521 are formed on the side surface. It is coupled to the lower end of the elevation rod 520 and the elevation case 510 and includes a fixing rod 530 having a fixing rod 532 that can enter into a plurality of fixing grooves 521 .

The height case 510 is coupled to the lower part of the upper and lower rod parts 450 of the left and right moving part 400 , and the height and lower springs 511 are accommodated therein. The height spring 511 connects between the upper end of the height rod 520 and the inner upper end of the height case 510, and provides an elastic force so that the height rod 520 can move upward.

The height rod 520 is coupled to the height case 510 so as to be movable up and down, and the height of the photographing and measuring unit 130 coupled to the lower portion may be varied according to the vertical movement of the height rod 520 . .

The height fixing part 530 is accommodated in a fixed case 531 coupled to the lower end of the height case 510 so as to be slidable left and right in the fixed case 531, and the ends enter a plurality of fixing grooves 521. A fixed rod 532 that can be accommodated in the inside of the fixed case 531 and connected between the left end of the fixed rod 532 and the inner left end of the fixed case 531 and a fixed spring 533 and fixed case 531 of It is mounted on the lower portion and comprises a fixing limiting portion 534 that can limit the movement of the fixing rod (532).

The fixing case 531 has an empty interior and can accommodate the fixing rod 532 . A limiting hole 531a is formed in the lower surface of the fixing case 531 so that a limiting rod 538 of a fixing limiting part 534 to be described later can enter.

The fixing rod 532 is coupled to the fixing case 531 so as to be movable from side to side, and an end of the fixing rod 532 is formed in a wedge shape. Since the end of the fixing rod 532 is formed in a wedge shape, the fixing rod 532 can ride over the plurality of fixing grooves 521 formed in the height rod 520 .

That is, when the height rod 520 moves up and down, the fixed rod 532 moves to the right in the portion where the fixing groove 521 is located, and in the portion where the fixing groove 521 is not located, the height of the rod 520 . It comes into contact with the outer surface and moves to the left.

The fixing rod 532 may be moved to the left and right by the fixing spring 533 and then return to its original position. A rod groove 532a is formed on the lower surface of the fixing rod 532 at a position corresponding to the limiting hole 531a of the fixing case 531 . This rod groove 532a can also enter the limiting rod 538 of the fixing limiting part 534 to be described later.

The fixing limiting part 534 includes a limiting plate 535 coupled to the lower surface of the fixing case 531, a pair of limiting springs 536 coupled to the lower end of the limiting plate 535, and a limiting spring 536. It is made including a limiting rod 538 coupled to the upper end of the ring-shaped limiting moving part 537 and the limiting moving part 537 connected to the upper end of the.

The pair of limiting springs 536 apply an elastic force so that the limiting moving part 537 and the limiting rod 538 can be moved upwards. The limiting rod 538 may enter the limiting hole 531a of the fixing case 531 and the rod groove 532a of the fixing rod 532 .

Looking at the process of adjusting the height of the height adjustment part 500 according to the present invention, first, the limit moving part 537 overcomes the elastic force of the pair of limit springs 536 and moves downward. According to the movement of the limiting moving part 537, the limiting rod 538 is also separated from the limiting hole 531a and the rod groove 532a, and the fixed rod 532 can freely move left and right.

Next, by sliding the height rod 520 up and down to determine the degree to which the height rod 520 is inserted into the height case (510). At this time, the height spring 511 provides an elastic force so that the height rod 520 can move upward.

When the height rod 520 is moved up and down, the fixing rod 532 can ride over a plurality of fixing grooves 521 and move to the right in the portion where the fixing groove 521 is located, and the fixing groove 521 . In a portion not located in this position, it comes into contact with the outer surface of the height rod 520 and moves to the left.

When the height of the lifting rod 520 is determined, the limiting moving part 537 is placed so that the limiting rod 538 is moved upward by the elastic force of the limiting spring 536, and the upper end of the limiting rod 538 is limited It is inserted into the hole 531a and the rod groove 532a to prevent the fixing rod 532 from moving any more.

Accordingly, the height part 500 does not move up and down any more and the height is fixed, and the height of the photographing and measurement unit 130 coupled to the lower part of the height part 500 may also be determined and fixed.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is common in the technical field to which the present invention pertains that various substitutions, modifications and changes can be made without departing from the technical spirit of the present invention. It will be clear to those who have the knowledge of

100: drone 200: control center 300: drone control panel
400: left and right moving part 410: left and right case 411: moving hole
420: sliding part 421: sliding hole 422: recognition hole
423: recognition sensing unit 430: left and right rod unit 431: recognition unit
440: central metal part 450: upper and lower rod part 460: central magnet
461: left and right magnets 470: moving rail 480: rail moving part
500: high and low part 510: high and low case 511: high and low spring
520: high and low rod 521: fixed groove 530: high and low fixed
531: fixed case 531a: limiting hole 532: fixed rod
532a: rod groove 533: fixed spring 534: fixed limiting part
535: limit plate 536: limit spring 537: limit movement part
538: limit rod 600: air buffer 610: air housing
611: filling space 620: air flow part 621: air hole
630: air ring 640: air opening and closing 641: contact support end
650: lower housing 651: vent hole

Claims (1)

a drone that performs observation while flying over the ocean or an area adjacent to the ocean; and a control center for controlling the drone; including,
The drone is
a communication unit communicating with the control center; a location information collecting unit for receiving location information of the drone; Inertial navigation unit for autonomous flight of drones; a photographing and measuring unit including a non-contact temperature measuring unit, a thermal image sensing unit, and a photographing unit; and when a predetermined area of the ocean or a predetermined sea area adjacent to the ocean is selected as the target area by the control center, receives location information of the selected target area through the communication unit, controls to fly over the target area, and from the control center a control module for controlling to perform an operation corresponding to the received control command; including,
a first connector coupled to a lower portion of the control module; a second connection part rotatably installed under the first connection part; a pair of air buffers coupled to both lower sides of the second connection part; A left and right moving part that is horizontally coupled to the lower portion of the pair of air buffers; a height part coupled to the lower part of the left and right moving part; And a photographing and measuring unit coupled to the lower part of the height; further comprising,
The control center is
Based on the captured image received from the drone, a control command for measuring the temperature of a specific point included in the target area is transmitted to the drone to control the drone so that the temperature of the specific point is measured in a non-contact manner, weather information, earth information, Setting the flight reservation time of the drone based on environmental information including at least one of current information and earthquake information,
The air buffer unit,
an air housing coupled to a lower portion of the second connection part and having a filling space so that air can be filled therein; an air flow unit coupled to the lower portion of the air housing and having air holes formed in the center vertically; A pair of air openings and openings coupled to the top of the air hole and having an elastic force; a ring-shaped air ring mounted inside the air flow unit and coupled to surround the air hole; and a lower housing coupled to a lower portion of the air flow unit; includes,
The air housing and the air flow part are made of a rubber material having elasticity, the air ring is made of a metal material, a plurality of vent holes are formed on the side surface of the lower housing, and the lower end of the air opening/closing part is in contact with the inner wall of the upper end of the air hole. The contact support end is formed to protrude downward to support the air opening and closing unit.
The air ring is vibrated by the vibration transmitted from the air housing, and the air flow unit vibrates accordingly to open the air opening and closing unit, and air flows through the vent hole, air hole and filling space of the lower housing,
The left and right moving part,
Left and right cases coupled to the lower portion of the air buffer and having movable holes formed on the lower surface in the longitudinal direction; a pair of sliding parts coupled to both inner sides of the left and right cases and having sliding holes formed along the longitudinal direction; a pair of left and right rods each having one end slidably inserted into the pair of sliding parts; a central metal part of a metal material coupled to the center of a pair of left and right rod parts; an upper and lower rod part extending to the lower part of the central metal part and exposed to the outside through a moving hole; a central magnet coupled to the center of the inner upper part of the left and right cases; A pair of left and right magnets spaced apart from each other on the basis of the central magnet and exhibiting magnetism; a pair of moving rails coupled to the lower surface of the left and right cases and coupled to both sides in the front and rear directions based on the moving holes along the longitudinal direction; and a rail moving unit coupled to the side of the upper and lower rods and accommodated in a pair of moving rails and capable of sliding along the longitudinal direction; includes,
The central magnet has a relatively larger size than a pair of left and right magnets and has relatively large magnetism, and the central metal part is usually located in the center by the magnetic force applied by the central magnet, and as the left and right cases are inclined to one side, The central metal part also moves to one side by the weight of the central metal part and the magnetic force of the left and right magnets, and when the left and right cases return horizontally, the central metal part returns to the center by the magnetic force of the central magnet, which has a relatively large magnetism. A waterway survey system using drones to conduct ocean and waterway observations.

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