KR20160097399A - Unmanned Aerial Vehicle System For Collecting Specimen - Google Patents

Abstract

An unmanned aerial vehicle system to collect a specimen is provided to automatically collect water and to check a quality of the water; and to collect three-dimensional space implementation database to be used in various fields such as weather, disaster prevention, and military, etc. The unmanned aerial vehicle system comprises: an aerial vehicle including a main body, a motor/transmission processing unit installed in the main body, a gimbal attachment and detachment unit, and a battery mounting unit; and an integrated navigation device including an integrated navigation unit (FCC), a sensor module (GPS/IMU/ETC), a power processing unit (main, motor, and a peripheral device), a communication processing unit, I/O processing unit, and an image processing unit. The unmanned aerial vehicle system has an elevation device capable of collecting a water sample specimen on a lower part of the main body while flying over a predefine location of the water to measure the quality of water.

Description

[0002] Unmanned Aerial Vehicle System For Collecting Specimen [

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned aerial flight system for collecting a sample, and more particularly, to a unmanned aerial flight system for collecting a sample water required for water quality measurement in a specific area.

Conventionally, in order to collect water samples necessary for water quality measurement in a specific area, most sam- ples collect sample water in a specific area using a ship. For the water quality survey and the water quality inspection of the water source, sample water is taken from the area where there is water such as rivers, lakes, reservoirs, etc. In this case, , It is impossible to measure the whole water quality with the sample water.

In areas where there is no need to use vessels, samplers must directly enter and collect water, which is inconvenient to stand upstream and to collect from the front of the sampler.

In addition, when samplers must directly enter and collect water, it is necessary to be careful not to float the sediments accumulated at the bottom of the water, so that the collection workability is very difficult and difficult.

In other words, when sampled water is sampled at a specific site using a ship, it is possible to pollute the surrounding water quality due to engine coolant, oil, and exhaust gas that may leak from the ship. It is impossible to make an objective and accurate measurement of water quality.

If the sampler directly enters the water and collects the sample water at a specific point, it may contaminate the water quality near the surrounding area due to the influence of the substances from the human body or clothing. Therefore, in order to collect the uncontaminated sample water, , It was necessary to stand in the direction of the upstream and collect water from the front side of the sampler and to take the care not to float sediments accumulated at the bottom of the water.

The existing sampling method is pointed out as one of the disadvantage factors because the human being has to take the sampling directly from the relevant point, so the risk burden, the exact location and the difficult part where accurate sampling is difficult.

On the other hand, conventional prior art related to unmanned aerial vehicles can be described in the following patent documents.

Patent Document 001 Patent No. 10-1347839, Patent Document 002: Korean Patent No. 10-1042200, Patent Document 003 Korean Patent No. 10-1217803, Patent Document 004 Korean Patent No. 10-1340409, Patent Document 005 Korean Patent No. 10-1392600, Patent Document 006 Korean Patent No. 10-1392302, Patent Document 007 Korean Patent No. 10-1458534.

The present invention for solving the above-mentioned problem is to solve the above-mentioned problems by providing a method for collecting sample water required for water quality measurement at a specific point of water such as a river, lake or reservoir, The object of the present invention is to provide a unmanned aerial vehicle system for sampling a sample, which can be automatically picked up from the air of a specific point targeted by coordinates.

In order to accomplish the above object, the present invention provides a 3D space construction DB for collecting 3D space construction DB that can be utilized as useful data in various fields such as weather, disaster prevention, and military, including a main body, a motor / And a battery mounting portion; An integrated navigation system composed of an integrated navigation unit (FCC), a sensor module (GPS / IMU / ETC), a power processing unit (main, motor and peripheral), a communication processing unit, an I / O processing unit, and an image processing unit, In the unmanned aeronautical flight system including the unmanned aerial flight system, a platform is provided at the bottom of the body for taking samples of a water sample while taking off at a specific point of the water for water quality measurement in the course of flight of the sky .

The hoisting machine includes a control motor mounted on a bottom of the body for providing power for lifting and lowering, a pulley rotated by the power of the control motor, and a hoop for winding or unwinding from the hoist according to the forward rotation of the sheave A control sensor for controlling the operation of the control motor by sensing the length of winding or winding of the shoe string; and a control sensor for sensing the length of the shoe string and controlling the operation of the control motor. And a plurality of supports for closing the lower space of the sample container when the lower portion of the sample container is opened and the lower portion of the sample container is closed when the swab is unscrewed And the unmanned aerial flight system for sampling.

The elevating device is a device that can be used when a strong wind is in a gaseous phase. The device includes a control motor mounted on the bottom of the body to provide power for lifting and lowering, a pair of sprockets rotated by the power of the control motor , Chains arranged on one side and the other side that are unwound or wound according to the forward rotation of the sprockets while being bite into the sprockets, and rollers arranged on the left and right sides of the pair of sprockets, A control sensor for controlling the operation of the control motor by sensing the length of the loosening or winding of the chains, and a control sensor for controlling the operation of the control motor, The sample is taken with the sample taken, the sample passes through the bottom of the body, There is an open space, the lower portion of the sample tube at the time of loosening of the chain and one on the sampling unmanned flight systems which comprise a plurality or more support for closing the lower space of the sample tube at the time of completion of take-up of chain characteristics.

A server motor connected to the shaft of each of the server motors to open the lower space of the sample container immediately before the release of the sling or chains and to open the lower space of the sample container immediately after the sling or chains are completely wound, And a pedestal for closing the lower space.

The chains arranged on the one side and the other side are maintained in a mutually interlocked state in the process of being unwound or wound from the respective gathering portions so that the swinging of the sample case is minimized even during strong wind blowing, There is one feature on the flight system.

The chains arranged on one side and the other side are arranged inwardly and arranged to be in line with the hinge pieces on the outer side of the hinge pieces of one pair of the pair, A plurality of hinges arranged in a line between the hinged pieces and the first engagement means, the hinged pieces being disposed between the pair of first hinged pieces and the pair of first hinged pieces, One is characterized by a unmanned flight system for sampling, including a pair of pairs of two bogs that connect each of the bogie legs.

The first bite of the chain arranged on one side is formed with a first hook on each of the first bite on one side and the other bite on the other side so as to be able to engage with the first bite of the chain arranged on the other side, And the second bite of the chain is formed with a second hook in each of the first bite and the second bite so as to be able to engage with the second bite of the chain arranged on the other side .

The gathering portion is provided on each of the pair of sprackets and includes a helical guide wall for guiding and collecting the chains so that the winding-up space of the chains can be reduced in a narrow space of the bottom of the body when the chains are wound It is a feature of the unmanned flight system for sampling.

As described above, since the unmanned aerial flight system for sampling according to the present invention can automatically collect the sample water capable of measuring the water quality at the corresponding position (coordinates) using the automatic flight program through the lifting device, There is an effect of providing convenience of harvesting.

In addition, the unmanned aerial flight system for sampling according to the present invention can collect sample water at an accurate target point requiring water quality measurement by an automatic flight program, and calculate the objective verification result of water quality measurement at a specific water point As far as possible, anyone can rely on the water quality results for a particular watershed site.

In addition, the unmanned aerial flight system for collecting samples according to the present invention can automatically collect the sample water through the lifting device, so that the contamination factor for the sampling water quality at the specific water point is originally blocked, It is possible to implement error-free water quality measurement.

In addition, since the unmanned aerial flight system for collecting samples according to the present invention can automatically collect sample water through the lifting device, it is possible to omit the inconvenience that a person has to take the sample directly, Together, they can prevent human accidents (drowning).

In addition, since the unmanned aerial flight system for collecting samples according to the present invention can automatically collect the sample water through the lifting device, it is possible to eliminate the inconvenience that a person has to pick up himself or the necessity of using a boat , It is possible to reduce the cost of hiring a ship or manpower.

In addition, since the unmanned aerial flight system for collecting samples according to the present invention is capable of automatically collecting sample water through a lift device, accurate sampling position (coordinates) of the sample can be known, and its utility for sample storage and data analysis Value can be increased.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view showing a first embodiment of a unmanned aerial flight system for sampling according to the present invention; FIG.
FIG. 2 is a perspective view showing a landing gear as a second embodiment of the unmanned aerial flight system for sampling a sample according to the present invention; FIG.
Fig. 3 is a side view showing a state of separation between chains shown in Fig. 2; Fig.
Fig. 4 is a side view showing the interlocking state between the chains shown in Fig. 3; Fig.
Fig. 5 is a left side view of the left side chain shown in Fig. 2; Fig.
FIG. 6 is a view showing an elevating and lowering apparatus as a second embodiment of the unmanned aerial flight system for sampling according to the present invention, including a gathering unit. FIG.
FIG. 7 is a conceptual diagram showing a state in which sample water in a specific river region is collected using a non-flying system for sampling according to the present invention. FIG.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. And it should be interpreted based on the technical ideas throughout the specification taking into consideration that various modifications are made.

In addition, the present invention should not be construed as being limited to the embodiments described below, but should be construed as a scope of scope including an extended scope interpreted based on the technical content described in the specification.

Hereinafter, an unmanned aerial vehicle according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the description of the drawings, the unmanned aerial vehicle according to the present invention is a high value application in a variety of fields such as weather, disaster prevention, and military. The unmanned aerial vehicle and the electronic equipments are grafted together to communicate with the control room, Which means the object to be made.

Such an unmanned aerial vehicle system is composed, for example, of an integrated navigation device electronic communication and a flywheel vehicle, and includes an automatic landing device installed in a landing area and a ground control device capable of instructing and controlling the flight- Equipment, and operating software.

This unmanned aerial vehicle system is composed of integrated navigation unit (FCC), sensor module (GPS / IMU / ETC), power processing unit (main, motor and peripheral), communication processing unit (Wi-Fi, VHF, UHF ..) , An I / O processing unit, and an image processing unit (DVR / D landmark), and can be used as a flywheel, an airplane structure, a motor / transmission processing unit, a gimbal / shutter control unit, Size), safety device (rotor blade, landing), waterproof / mold (electronic part, motor protection).

The unmanned airship system configured in this way communicates with the ground control equipment (control room) and travels to the window to take charge of a specific task. In particular, the 3D space information, which can be used as useful data in the field of weather, disaster prevention, It will be possible to set aside the DB collection mission for the construction.

On the other hand, as contents of operation for constructing the 3D space, there are a preparatory stage for assembling a gas and preparing for flight, an take-off automatic flight stage for inputting a flight / mission plan and a surveillance and reconnaissance The system includes a mission performing step of acquiring and acquiring a DB of 3D space information, an automatic landing step of landing on a landing field in a state in which the collected DB is stored, a flight monitoring system and an invasion ground control system And image processing to obtain useful data on 3D spatial information.

Of course, in the field of disaster prevention, such a 3D spatial information DB can be utilized to construct a monitoring DB that can quickly prevent a disaster or a disaster.

The unmanned aerial vehicle system is operated with such a feature that the technical means of the landing gear capable of automatically collecting the water for the sample by flying to the water area for the water quality measurement is further constructed in the unmanned flight system of the present invention There are features.

That is, in the present invention, a landing pad capable of automatically performing sample sampling of water for water quality measurement in the flight process of the unmanned aerial flight system is further constructed in the unmanned flight system, which will be described in detail with reference to the following drawings.

1, the unmanned aerial system for collecting samples according to the present invention constructs a landing gear at the bottom of the body 2 of the unmanned aerial vehicle 1 as shown in FIG. 1 as a first embodiment, A pulley (40) wound on the pulley (10), a pulley (40) wound and unwound on the pulley (40), a pulley A control sensor 20 for sensing the distance and controlling the operation of the control motor 30 and a sample cylinder 50 for sampling a sample of water suspended from the handle 40. [

If the unmanned aerial flight (1) is required to have a water sampling mission for the water quality measurement during the flight to the expanse, fly to a specific area where water is present, The pulley 10 is rotated while the motor 30 is operated.

The swinging rope 40 wound on the pulley 10 is loosened downward by the rotation of the pulley 10 so that the sample drum 50 attached to the swinging rope 40 holds the target water, The water sample at the point can be automatically collected.

When the water sample for measuring the quality of water is contained in the sample container 50, the control device 30 is operated and the handle 40, which is released by the reverse rotation of the pulley 10, is wound and moved upward, (50) is raised toward the bottom of the body (2).

Of course, in this case, the control operation of the control motor 30 can be controlled as the control sensor 20 senses the length of the handle 40 for loosening and winding.

As described above, the landing gear of the first embodiment is suitable as a device that can be applied to a clear and clear weather without strong winds. This is because the sample tube 50 hangs on the metal strip 40 and the metal strip 40 can be largely swung due to the strong wind blowing due to the strong wind blowing. As a result, all of the sample water contained in the sample container 50 can be poured There is also concern.

When the string 40 is completely wound, the sample tube 50 is positioned inside the support 60 formed in the vertical direction at the bottom of the body 2, and the server drum 60 provided at the end of the support 60, The pivotal movement of the sample container 50 can be prevented inasmuch as the pedestal 80 seals the lower open space of the support table 60 by the operation of the operation lever 70.

The support 60 is formed in a vertical direction at the bottom of the body 2. The support 60 may be constructed of a plurality of or more than two or three or more supports, A server motor 70 is provided at the end of the server 60 and a pedestal 80 rotatable in the lateral direction can be provided in each of the server motors 70.

When the string 40 is fully wound as described above, the sample cylinder 50 reaches a position inside the support 60 where the operation of each server motor 70 is connected to each server motor 70 The respective pedestals 80 are rotated to stably support the bottom surface of the sample container 50, thereby preventing the sample container 50 from swinging. In other words, each of the pedestals 80 is rotated to close the lower open space of the support 60 and perform the stable landing function of the sample container 50.

2, the unmanned aerial vehicle for collecting samples according to the present invention constructs a landing gear at the bottom of the body 2 of the unmanned air vehicle 1, 2) a pair of sprockets 31, 32 capable of rotating at the bottom, a control motor 30 for providing rotational power to any one of the pair of sprockets, A chain (41, 41 ') each of which is held in a pair of sprockets (31, 32), and a collecting part (90, A control sensor 20 for controlling the operation of the control motor by sensing the length of the loosening or winding of the chains, and a control unit 20 for controlling the operation of the control motor 20, And a cylinder (50).

When the control motor 30 provides rotational power to any one of the pair of sprockets 31 and 32, the pair of sprockets 31, 32) are engaged with each other so that rotation of the remaining sprockets can be interlocked.

The chains 41 and 41 'continuously maintain the engagement state with the sprockets 31 and 32, respectively. That is, even when the chains 41 and 41 'are loosened or unwound, they are kept in engagement with the sprockets 31 and 32.

These chains 41 and 41 'may each be composed of a plurality of hinge pieces 42, a plurality of first bite holes 43 and a plurality of second bite holes 44, ).

Therefore, the structure of the chain 41 'bite by the sprocket 31 of one of the pair of sprockets 31 and 32 and the other chain of sprockets 32' Will be described later.

One of the chains 41 and 41 'is referred to as one chain 41 and the other is referred to as the other chain 41' for convenience of explanation.

The one side chain 41 is composed of a plurality of hinge pieces 42, a plurality of first bite holes 43 and a plurality of second bite holes 44 as described above, The description of the other chain 41 'will be omitted.

The hinge pieces 42 are arranged at an inner position and the first contact holes 43 are arranged in the same line as the arrangement of the hinge pieces 42 at the outer positions of the hinge pieces 42 arranged at the inner position .

The second bite holes 44 are arranged in a manner interposed between the hinge pieces 42 and the first bite holes 43. The second bite holes 44 are formed in the hinge pieces 42, (42) and the first bite (43), and arranged between each of the hinge pieces (42) and each of the first bite holes (43) so as not to be arranged in the same line as the first bite (43) Role. Of course, such a combination of the hinge pieces 42 and the first engagement holes 43 and the second engagement holes 44 is made possible by natural hinge pins (not shown).

In addition, each first bite 43 and each second bite 44 form a first hook 43a and a second hook 44a to have a locking structure. That is, each first bite 43 forms the first hooks 43a, and each of the second bite holes 44 forms the second hooks 44a.

The hinge pieces 42, the first bite holes 43 and the second bite holes 44 are formed in the other side chain 41 'in the same manner as the one side chain 41 described above.

Accordingly, the first chain 41 and the second chain 41 'are respectively engaged with the pair of sprockets 31 and 32 while the first bites 43 of the one chain 41 are engaged with the other chain 41 And the second bite openings 44 of the one side chain 41 are engaged with the second bite openings 44 of the other side chain 41 ' And also between the chain 41 and the other chain 41 '.

On the other hand, collecting portions 90 are formed on the left and right sides of the pair of sprockets 31 and 32. Since the collecting portion 90 forms the spiral guide wall 91, When the chains 41 and 41 'on the other side are wound, they are moved along the guide walls 91 of the collecting units 90 and wound in a spiral shape.

The reason why the guide wall 91 is formed in a spiral shape is that the space of the bottom of the body of the unmanned flying vehicle 1 is narrow and the chain 41 and 41 ' This is because spaces must be narrow.

The support frames 60 may be formed at the bottom of the body 2 in the same manner as the first embodiment described above and the server motors 70 and the support frames 80 may be formed at the ends of the support frames 60 In the second embodiment, the description of these components (the support table, the server motor, and the pedestal) will be omitted.

Hereinafter, the operation relationship of the first embodiment and the second embodiment will be described below.

After the unmanned air vehicle 1 reaches the point targeted by the coordinates, the pedestal 80 is rotated by the operation of the server motor 70 so that the lower space of the sample cylinder 50 is opened.

In the first embodiment, the pulley 10 is rotated by the operation of the control motor 30 so that the sample tube 50 is lowered as the string 40 is loosened, and the sample water is contained. At this time, the control sensor 20 controls the operation of the control motor 30 by sensing the release length of the string 40.

The pulley 10 is reversely rotated by the operation of the control motor 30 and the sample cylinder 50 in which the water for the sample is collected is lifted as the string 40 is wound. At this time, when winding of the string 40 is completed, the sample container 50 reaches the inside of the support table 60, and soon the server 80 is rotated by the operation of the server motor 70, The lower space of the sample container 50 is closed while the pedestal 80 supports the bottom portion of the sample container 50 to prevent the sample container 50 from swinging.

After the unmanned air vehicle 1 reaches the point targeted by the coordinates, the pedestal 80 is rotated by the operation of the server motor 70 so that the lower space of the sample cylinder 50 is opened.

Thereafter, in the second embodiment, the pair of sprockets 31 and 32 are rotated by the operation of the control motor 30, and the one side chain 41 and the other side chain 41, which are bite into the sprockets 31 and 32, (41 ') advances in the guiding wall (91) of the gathering section (90) and is released. As a result, the sample container 50 is lowered to contain the sample water. At this time, the control sensor 20 controls the operation of the control motor 30 by sensing the release length of the chains 41 and 41 '.

The first chain 41 and the second chain 41'may be snapped together during the unwinding process because the first bite 43 of the first chain 41 is engaged with the first bite of the other chain 41 ' And the second bite hole 44 of the one side chain 41 is engaged with the second bite hole 44 of the other side chain 41 '.

Due to the engagement structure of the first and second engagement members 43 and 44, the chains 41 and 41 'are firmly coupled even in strong winds, so that no special rocking phenomenon is generated, The swinging phenomenon can be suppressed as much as possible.

 The sprockets 31 and 32 are reversely rotated by the operation of the control motor 30 so that the sample cylinder 50 in which the sample water is collected as the chains 41 and 41 ' . At this time, the chains 41 and 41 'enter along the guiding wall 91 of each gathering unit 90 and are wound and gathered in a spiral shape.

When the winding of the chains 41 and 41 'is completed, the sample cylinder 50 reaches the inside of the support table 60 and is positioned. As soon as the server motor 70 is operated, The lower space of the sample container 50 is closed while the pedestal 80 can prevent the sample container 50 from swinging as the bottom portion of the sample container 50 is supported.

10: pulley, 20: control sensor,
30: control motor, 31,32: sprocket
40: Silver band
41, 41 ': chain 42: hinge piece
43: first bite 43a: first hook
44: second bite hole 44a: second hook
50: Sample container 60: Support
70: server motor 80: pedestal
90: gathering section 91: guide wall
1: unmanned aerial vehicle 2: body

Claims (8)

A body including a main body, a motor / transmission processing unit built in the main body, a gimbal detachable unit, and a battery mounting unit for collecting a 3D space construction DB so that it can be utilized as useful data in various fields such as weather, disaster prevention, and military. An integrated navigation device composed of an integrated navigation unit (FCC), a sensor module (GPS / IMU / ETC), a power processing unit (main, motor and peripheral), a communication processing unit, an I / O processing unit and an image processing unit; Wherein the unmanned flight system comprises:
Wherein the platform is constructed at the bottom of the body for taking samples of the water while taking off at a certain point of the water for water quality measurement in the course of flying the window. The method according to claim 1,
The elevating device includes a control motor mounted on a bottom of the body to provide power for an elevating operation;
A pulley rotated by the power of the control motor;
A steel strip which is unwound or wound from the pulley in accordance with the forward rotation of the pulley;
A control sensor for controlling the operation of the control motor by sensing the length of the winding or winding of the string;
A sample container which is lowered in the process of unwinding the metal strip by hanging on the metal strip and collecting a sample of the water sample and rising up to the vicinity of the bottom of the metal strip in the winding process of the metal strip;
A plurality of supporters installed in the lower part of the body and vertically downward to open the lower space of the sample container when the swab is released and to close the lower space of the sample container when the swab is completely wound;
And an unmanned aerial flight system for sampling the unmanned aerial vehicle. The method according to claim 1,
Wherein the elevating device is a device that can be used when a strong wind is in a gaseous phase, the device comprising: a control motor mounted on a bottom of the body to provide power for lifting;
A pair of sprockets rotated by the power of the control motor;
Chains arranged on one side and the other side which are unwound or wound according to the forward rotation of each sprocket while being bitten by the sprockets;
Collecting portions provided on both sides of the pair of sprackets for collecting and collecting the chains in a spiral shape in the winding process of the chains;
A control sensor for controlling the operation of the control motor by sensing the length of the unwinding or winding of the chains;
A sample container which is lowered in the process of unwinding the chains on the chains and is taken up with a sample of water taken up to the vicinity of the bottom of the body in the winding process of the chains;
A plurality of supporters built in the bottom of the body so as to open the lower space of the sample container when the chains are unwound and to close the lower space of the sample container when the chains are completely wound;
And an unmanned aerial flight system for sampling the unmanned aerial vehicle. The method according to claim 2 or 3, wherein
A server motor for providing rotational power to the ends of the supports;
A pedestal connected to the shaft of each of the server motors to close the lower space of the sample container immediately before the release of the swab or chain and to close the lower space of the sample container immediately after the swab of the swab or chains is completed;
Further comprising: an unmanned aerial vehicle for collecting samples. The method of claim 3,
The chains arranged on the one side and the other side are kept in a state of being hooked to each other in a process of being unwound or wound from the respective gathering portions so that the oscillation of the sample case is minimized even in the course of strong wind blowing Unmanned aerial flight system for sampling. The method according to claim 3 or 5,
Wherein the chains arranged on the one side and the other side include a pair of hinge pieces arranged inward and performing a rotating operation with respect to each other;
A pair of first bite portions arranged in the same line as the hinge pieces on the outer side of the hinge pieces of the pair of pairs and performing a rotating operation with respect to each other;
A pair of hinge pieces disposed between the pair of hinge pieces of the one pair and the pair of first pair of bores of the pair of hinge pieces and the first engaging pieces arranged in the same line, A plurality of pairs of bites;
Wherein the unmanned aerial vehicle system is provided with an unmanned aerial vehicle. The method according to claim 6,
The first bite of the chain arranged on one side is formed with a first hook on each of the first bite of the one side and the other side of the other bite so as to be able to engage with the first bite of the chain arranged on the other side;
Wherein a second hook is formed in each of the second bite portions of the one side and the other side so that the second bite portions of the chain arranged on one side can be engaged with the second bite portions of the chain arranged on the other side. Unmanned aerial flight system. The method of claim 3,
The gathering portion is provided on each of the pair of sprackets and includes a helical guide wall for guiding and collecting the chains so that the winding-up space of the chains can be reduced in a narrow space of the bottom of the body when the chains are wound Wherein the unmanned aerial vehicle is provided with an unmanned aerial vehicle.

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