KR100518628B1 - Remotely operated vehicle capable of receiving and transmission using ultrasonic wave - Google Patents

Abstract

The present invention has a high-definition 3CCD camcorder, an ultrasonic transceiver, an electronic compass, a lighting device and a depth sensor, and a small size that can communicate with the mothership by ultrasonic waves performing deep sea underwater imaging and underwater exploration that can transmit and receive image signals in real time with ultrasonic waves. It relates to a wireless unmanned submersible. More specifically, the present invention is provided with a direction change and propulsion device interlocking with the five hydraulic motors for the change and propulsion of the submersible in the center of the submersible and the main frame four directions, the central propulsion device for the vertical movement of the submersible The four propulsion units, except for, are installed at different angles and are provided with means for moving the submersible forward, backward, left, and right by adjusting the direction with the propulsion device without a separate rudder. It is equipped with two bath tanks for power supply, and the power supply unit is equipped with a fuel cell that uses hydrogen and oxygen as a fuel to supply high capacity power for a long time and reduce the volume and weight of the power supply device. Electronic compass, high-definition 3CCD camcorder, device control unit and adjustment using fluxgate sensor for efficient acquisition In order to perform exploration and image acquisition tasks quickly and accurately by implementing a small wireless unmanned submersible having a clear device, and an ultrasonic transceiver for transmitting data collected by the sensor and the image acquisition unit to a bus and receiving a control signal. It has its features.

Description

Remotely Operated Vehicle Capable of Receiving and Transmission Using Ultrasonic Wave}

The present invention is equipped with a high-definition 3CCD camcorder, an ultrasonic transmitter, an electronic compass, an illumination device, and a depth sensor, and using a ultrasonic transmitter and receiver to wirelessly transmit and receive video signals in real time in the deep sea underwater shooting and underwater exploration wirelessly It relates to a small wireless unmanned submersible that can communicate.

Conventional unmanned submersibles are controlled by connecting unmanned submersibles and control units located on the water or the sea with wired cables for power transmission, remote control, and underwater image acquisition. There is a problem in that the propulsion and direction control of the body is not easy.

In addition, the economical cost increases due to the hassle of waterproofing both the fastening part of the signal line and the signal line, which is installed between the bus and submersible, so as to send and receive signals. There is a problem in the safety and reliability of the submersible such as data transmission is impossible and equipment is damaged in case of leakage.

The technical problem to be achieved by the present invention is to recognize the problems of the prior art as described above, device control unit for transmitting and receiving signals remotely by the ultrasonic transceiver without a cable, automatic obstacle avoidance apparatus by the ultrasonic transmitter, and underwater correction Positioning device of submersible by GPS coordinates, lighting device for capturing underwater image, high quality 3CCD camcorder, ultrasonic image transmitter which can transmit underwater exploration image as ultrasonic signal to busbar, and thrust tank to adjust buoyancy And, the purpose of the wireless unmanned submersible equipped with an electronic compass and a device control unit using a fluxgate sensor for accurately measuring the direction and can transmit and receive images and other control signals by ultrasonic using an ultrasonic transceiver.

Another object of the present invention is that it is not easy to propel and control the submersible body due to the weight and resistance of the cable when the cable is connected by wire and the signal transmission is impossible due to leakage of the signal line fastening portion installed between the bus and the submersible. Wireless unmanned submersible to prevent damage to the system is implemented to significantly improve the reliability and convenience.

Another object of the present invention is to operate the propeller by rotating the hydraulic motor to reduce the risk of leakage due to easy sealing, receiving the GPS coordinates from the bus, ultrasonic waves located in the submersible based on the received GPS coordinates data It calculates the position of the submersible by tracking the position of the bus bar inputted from the transceiver, the depth sensor, and the electronic compass, and saves and records the video signal based on the calculated GPS coordinate data. And fast and reliable underwater exploration and image data.

The present invention is equipped with a high-definition 3CCD camcorder, an ultrasonic transceiver, an electronic compass, an illumination device, and a depth sensor, and the ultrasonic wave communication system used for the underwater image acquisition and underwater exploration that can transmit and receive image signals in real time with an ultrasonic transmitter. A small remotely operated vehicle (ROV) capable of doing so.

Conventional unmanned submersibles are controlled by connecting unmanned submersibles and control units located on the water or the sea with wired cables for power transmission, remote control, and underwater image acquisition. There is a problem in that the propulsion and direction control of the body is not easy.

In addition, the economical cost increases due to the hassle of waterproofing both the fastening part of the signal line and the signal line, which is installed between the bus and submersible, so as to send and receive signals. There is a problem in the safety and reliability of the submersible such as data transmission is impossible and equipment is damaged in case of leakage.

The present invention has been made to recognize and solve the problems of the prior art as described above. Look at the drawings to facilitate understanding of the present invention. 1 schematically shows a front view, a side view and a plan view of a wireless unmanned submersible according to the present invention, and FIG. 2 shows a schematic configuration diagram of a fuel cell according to the present invention. FIG. 3 is a flowchart illustrating a procedure for transmitting underwater image data to a bus by an ultrasonic transmitter according to the present invention, and FIG. 4 is a schematic view for calculating the position and angle of a bus and a submersible using an electronic compass according to the present invention. . FIG. 5 is a flowchart illustrating a data acquisition and calculation procedure for calculating a submersible-corrected GPS coordinate in underwater according to the present invention, and FIG. 6 is a schematic diagram showing a QPSK modulation method used in underwater ultrasonic wireless communication used in the present invention. It looks at the specific configuration means according to the invention. Wireless unmanned submersible in accordance with the present invention is capable of withstanding deep water pressure or deep water pressure, and is designed to be assembled by combining a number of independent structures of oval shape made of aluminum alloy so as to be able to move flexibly in the water. Each oval independent structure is designed and manufactured to be bonded and fixed at a fixed position by an outer frame and to be waterproof at the time of joining. The propulsion system of the wireless unmanned submersible consists of five hydraulic motors in the basic frame in the center and four directions, and the centrally located propulsion device is used for vertical movement of the submersible. Four propulsion devices 120 are installed to be propelled in the direction is designed and manufactured to move the submersible precisely back and forth and left and right by driving only the necessary propulsion device to be propelled in the desired direction without a separate rudder. The propulsion system is easy to seal at high water pressure, adopts a safe and reliable hydraulic motor with excellent propulsion power, and the hydraulic power supplying the propulsion power is supplied from the hydraulic generator installed in the independent aluminum structure located in the submersible. The hydraulic pressure supplied from the hydraulic generator at a constant pressure is received by the ultrasonic transmitter of the submarine at the ultrasonic receiver of the submersible, and based on the received signal, the control signal is installed at the device controller incorporating the central processing unit of the submersible. By transmitting and opening and closing the hydraulic control valve, each propulsion device 120 is operated in the desired direction. The hydraulic generator 100 is composed of a DC motor and a hydraulic generating unit, the DC motor is operated by the main power supplied by the fuel cell 130 installed as a separate aluminum structure in the submersible. The main power supply of the submersible according to the present invention should be able to supply for a long time with a large capacity power supply because it must perform the mission independently without receiving power from the bus, and in order to reduce the volume and weight of the power supply device 2 It uses a fuel cell which uses hydrogen and oxygen as fuels without using a secondary battery. The fuel cell has the advantage of reducing the weight and volume of the submersible, and stably supplying a large capacity of power by replacing only the fuel cartridges of hydrogen and oxygen, thereby reducing the administration time of rework. As shown in FIG. 3, a fuel cell using hydrogen and oxygen generates electricity by using pure oxygen and hydrogen supplied from a separate cartridge as fuel, and supplies electric power to the main power of the submersible by controlling electric energy required by a power supply control unit. The wireless unmanned submersible is installed in a separate independent space in the submersible to perform image acquisition and exploration work independently in the water, and the device control unit 110 and underwater control the submersible while transmitting and receiving signals with a mothership and an ultrasonic wave located on the water or sea. And an image acquisition unit 140 for acquiring the high quality image. The apparatus control unit includes an ultrasonic transmitter for detecting the position and obstacle of the mother bus attached to the outside of the submersible based on the GPS coordinates or the GPS coordinates received from the ultrasonic transmitter of the mother ship, and a depth measuring sensor for measuring the depth to the sea surface; Submersible correction by analyzing information input from various sensors such as altitude measurement ultrasonic transmitter that can measure height from the sea floor and electronic compass using the fluxgate sensor to maintain the position of submersible and bus route. GPS values can be calculated to accurately and quickly detect the location of submersibles that can be moved to undesired locations by birds, modifying the course and acquiring the required expedition and underwater images at the given coordinates. The image acquisition unit 140 for acquiring an underwater image in high quality according to the present invention is equipped with a high quality 3CCD camcorder as a base and is equipped with a low light multi-channel computer image recording device (DVR) for subsequent data analysis. And a means for simultaneously recording and storing the video taken by the low light CCD of the underwater image on the front surface of the DVR. Image acquisition in deep water or deep sea is impossible without the lighting device, so the lighting device 150 is attached to the front part of the submersible and the required position. The lighting device employs a high intensity discharge lamp (HID Lamp) that can maintain high illuminance with low power consumption. The high-pressure discharge lamp has a color temperature of 6000 Kelvin, which is similar in color to sunlight, and emits light at a brightness of 8000 lux with a power of 12V 35W per lamp, and the illuminance corresponds to a brightness similar to that of a halogen lamp 150W. The image signal photographed by the high-definition 3CCD camcorder, which is the main photographing device of the image acquisition unit, is modulated into a digital signal by a separate ultrasonic image transmission circuit mounted on the image acquisition unit 140, and thus the ultrasonic transmitter 210 attached to the submersible unit. It is loaded on the ultrasonic carrier signal of 25 kHz frequency and transmitted to the bus. Ultrasonic signals containing image data transmitted to the mother bus are transmitted in gray color with a resolution of 320 × 240 at 15 frames per second for real-time observation on the mother bus. By using the gray color (Gray Color) having a resolution of 320 × 240 can be received in units of 15 frames per second to observe the video signal of the underwater in real time through the monitor. Among the transmitted video signals, important video signals can be recorded and stored in a high quality 3CCD camcorder by giving a recording command in real time by transmitting a control ultrasonic signal from a bus to a submersible using an ultrasonic transmitter / receiver of the bus, and based on the video signal transmitted by ultrasound. If necessary, it is used to determine the route, turn and progress of a wireless unmanned submersible. The underwater route is read by the submarine's ultrasonic transmitter based on the ultrasonic image data received by the sonar's ultrasonic transmitter and transmits the ultrasonic control signal from the mothership to the unmanned submersible. You can get the data you need by running the equipment of your choice from a variety of measuring or mounted instruments. Submersible means for calculating the position of the submersible using the electronic compass, the water depth sensor and the ultrasonic transmitter to measure the distance to the mothership located in the submersible sends the GPS coordinates measured by the mothership to the submersible through the sonar transmitter of the mothership. The distance between the submersible and the mothership is measured by the transmitter and receiver based on the GPS coordinate data of the mothership and the ultrasonic transmitter and receiver installed in the submersible and the mothership.The depth data of the submersible measured by the depth measurement sensor located in the submersible is obtained. Calculate the submersible GPS coordinates of the submersible by integrating the direction data measured using the electronic compass located in the submersible, and use it as basic data for navigation, exploration and necessary underwater image acquisition data. The procedure for calculating the underwater correction GPS coordinate value of the submersible is as shown in FIG.

Two barast tanks 300 are installed on the top of the wireless unmanned submersible to centrally process the data of the depth measurement sensor when the submersible needs to be raised or lowered by buoyancy based on ultrasonic communication with the bus or pre-stored information. It is configured to allow the submersible to maintain neutral buoyancy by adjusting the volume of air in the tanks, which are read by the device. In the lower part of the submersible, there is a floating thrust 310 installed in the submersible in order to detect the leak detection or abnormality of the machine by the leak detection sensor installed in each independent structure during deep sea exploration or image acquisition work. The central processing unit periodically checks for abnormalities of submersibles by using sensors (e.g., leak detection sensor, normal power detection sensor, normal transmission and reception of control signals, etc.) and a diagnostic program associated with it. When an abnormality occurs in any part of the submersible in the city, the submersible transmits the abnormality occurrence information to the mothership through the ultrasonic transmitter and the mothership receives the information of the abnormality information. The adjustment may cause the floating thrust to fall off and retrieve the submersible. It includes a configuration means. In case of the floating thrust, the mechanical timer is installed on one side of the floating thrust in case the submersible has stopped all control functions in the water. If you start work after setting, if the set time has elapsed even while all electronic functions of unmanned submersible are stopped during underwater exploration work and image data acquisition operation, a mechanical timer is operated to discard the floating thrust and injure the submersible. Means. When the submersible rises to the surface in case of an abnormality occurs and the position of the submersible is not known accurately, the GPS receiver 220 and the position transmitting antenna attached to the upper part of the submersible in preparation for the above abnormality occur. The 230 is operated, and through this, the GPS coordinates of the submersible are wirelessly transmitted to the mother ship, thereby facilitating the recovery of the submersible. The GPS receiver 220 and the position transmitting antenna 230 attached to the upper portion of the submersible are configured to operate with a separate power source without receiving power from the main power supply device of the submersible.

The separate power source for the operation of the GPS position transmitting and receiving circuit of the submersible is suitable for a lithium-based battery having a small volume and a large unit capacity, and when the submersible rises, the initial 12 hours is a water or marine GPS in which the submersible is located at regular intervals in the transmitting circuit. Although the coordinate position is transmitted to the busbar, after 12 hours elapses, it automatically switches to the mode that can transmit its own location only when receiving a specific frequency signal from the busbar to save the battery. Designed and manufactured so that submersible can be recovered even if bad weather persists at sea.

The submersible and the mothership transmit the GPS coordinates of the mothership to the submersible by ultrasonic communication through the ultrasonic transmitter and receiver so that the wireless unmanned submersible can keep track of the position while the exploration and underwater image data are acquired underwater. Depth information provided by the water depth measurement sensor located in the ship, direction information provided by the electronic compass using the fluxgate sensor installed on the bus and submersible, and distance information on the bus provided by the ultrasonic transmitter and receiver located on the submersible and bus And a means for calculating submersible GPS coordinates of the submersible by means of a program embedded in the central processing unit of the submersible, and transmitting the calculated submersible GPS coordinates of the submersible by ultrasonic waves to the mother bus. Ultrasonic Transceiver is located on the mother ship through the bus controller. Means for continuously displaying on the monitor the GPS coordinates and depth at which the submersible is currently located. When a wireless unmanned submersible floats to the surface, it tracks and approaches the position of the transmitted GPS coordinates and collects it using a crane installed on the mothership, and recovers a high-definition 3CCD camcorder installed in the submersible image acquisition unit 140 or the camcorder records a videotape. If you have built-in, you can retrieve the videotape to observe the actual stored underwater image in high-definition or record it on the required server. Fuel cell using oxygen and hydrogen employed in the present invention is supplied to the fuel cell module (Fuel Cell Module) by a solenoid valve to control the oxygen and hydrogen supplied from the compressed storage container in the power control unit, the fuel cell module is platinum Oxygen and hydrogen react as they pass through the catalyst plate, which is the main raw material, to generate electrical energy and produce water as a by-product. The reaction formula of the fuel cell is shown in (1).

2H ₂ + O _2- > 2H ₂ O + e (1)

Water produced as a by-product (H ₂ O) is stored in a water storage tank (Waste Water Tank), the generated electrical energy is transmitted to the power control unit. The submersible power control unit converts the generated electric energy into electrical energy required by the submersible and is installed in the submersible to supply power to all the devices requiring power. The amount of power generated is determined by the amount of oxygen and hydrogen supplied within the range of the power generation capacity of the fuel cell module, and the supply control part of this fuel is used by the central processing unit (CPU) mounted on the power control unit. It is configured to automatically control according to the capacity. Unlike a general battery, the power supply device using the fuel cell module can be quickly put into the next operation of the wireless submersible by replacing only a cartridge of oxygen and hydrogen, instead of charging power. In addition, it is provided with a means for recovering the hard disk for the DVR data obtained by using a low-light multi-directional image acquisition means controlled by the mother ship around the submersible, there is provided a means for analyzing the inspection work and the image acquisition results. It looks at a specific embodiment according to the present invention.

EXAMPLES

A specific embodiment according to the present invention will be described with reference to the drawings. In the unmanned submersible using ultrasonic communication according to the present invention, since normal radio waves are not transmitted underwater, underwater image data and control signals are carried on an ultrasonic return signal having a frequency of about 25 kHz for communication with a mother ship located at sea or at sea. Since the control signal and the underwater image data must be exchanged through the ultrasonic transmitter and receiver, the transmission speed of the ultrasonic waves is lower than the transmission speed of the radio waves, so there is a limitation in transmitting and receiving high quality image signals (data) in real time. In the present invention, it is configured to transmit at 15 frames per second as a black and white video signal with a small amount of data transmission so that the submersible can receive the underwater video signal in real time and check it on the monitor of the bus. The speed of sound on land is 340m per second at room temperature, but underwater depends on the density of water, but in the case of seawater, it is transmitted at about 30 times the speed of land, so it has a transmission speed of 10.2 km per second. In general, in the case of a video image signal, a high-definition image can be viewed using 720 × 480 pixels or higher pixels. However, in this case, the amount of data required for transmission increases, so the present invention considers the amount of data that can be transmitted in real time. The control program according to the present invention is designed and manufactured to transmit and receive the control signal and the underwater video signal to 320 × 240 pixels, which is enough to confirm the video signal transmitted from underwater on the monitor located in the mother ship. . The configuration of transmitting the underwater video signal to the monitor located in the mother bus with the above configuration is shown in the flowchart of FIG. 3. Looking at these components in more detail, a) converting the video signal acquired from the camera. Analog video signal has 720 × 480 pixels of high resolution color and is transmitted more than 30 frames per second. However, such video signal is too large to be transmitted by ultrasonic, so it is acquired from high definition 3 CCD camcorder. The video signal conversion circuit modulates the underwater image data to be transmitted at a rate of 15 frames per second while having 320 × 240 pixels of gray level required for ultrasonic transmission. b) In the cyclic coding process, CRC (Cyclic. Redundancy Check) coding process converts 320 × 240 gray level image signals necessary for ultrasonic transmission into digital signals and inputs them into the signal generation system. To check the presence of a 12-bit Cyclic Redundancy Check (CRC) code divided into 15 frames per second and inserting one image data into the last frame to check whether there is an error on one image data received after receiving the data from the bus. It is a step of checking. c) In the block interleaving operation stage, high frequency signals are used to prevent noise generated during underwater ultrasonic communication, but a lot of noise is introduced into the control signal and underwater image data transmitted under the influence of various noises from outside. In order to minimize the influence of the external noise, CRC-coded image data is subjected to block interleaving to minimize the influence of the noise. The block interleaving refers to the transmission of data by arranging columns of digital signals in predetermined block units and then changing columns and rows. 6 illustrates such a block interleaving process in detail. With block interleaving, the digital signal is transmitted just like an altered cipher. By distributing the pulse sequence in a distributed manner, the error can be prevented from being concentrated in any one part. At the receiving end of the bus bar, if only the size information of the block is arranged, the data is arranged by block unit, and then the columns and rows are swapped to recover the original transmitted signal. Through this deinterleaving process, the concentrated bit errors are distributed. Distributed bit errors are able to recover bit errors according to the characteristics of the repeated value block. d) In the step of configuring one frame in a TDM (Time Division Multiplex) format, a training sequence is performed to minimize the effects of multipath on the processed image data and to estimate the phase of the received signal. In this step, a time division multiplexing (TDM) method consists of one frame. The time division multiplexing (TDM) is a method of combining a plurality of signals in order to transmit a necessary signal using a single ultrasonic signal in a data transmission / reception scheme, and each signal is divided into a plurality of segments having a very short duration. Lose. That is, time division multiplexing refers to a method of time-dividing one ultrasonic band at a high speed and using one ultrasonic band for transmitting data. At this time, the total speed of each channel does not exceed the time division speed of the common channel. This time-division multiplexing scheme is generally used by most high-speed data multiplexing equipment or centralization equipment in time-division scheme, but in the present invention, it is used to transmit underwater image data to a bus by using a single ultrasonic frequency in underwater communication. On the transmitting side (underwater submersible) of time division multiplexing, a circuit for combining the generated image data, CRC data, block interleaving data, etc., is composed of a multiplexer, and on the receiving side of the bus, the combined image data sent from the transmitting side is individually It is composed of a demultiplexer that separates each signal into a signal to receive image data. e) Pulse Shaping Filter and Quadrature Phase Shift Keying (QPSK) modulation phases are generally binary data generated from underwater submersibles and signals transmitted from each instrument and sensor are binary. It is formed as a digital signal, which consists of a pulse train divided into ones and zeros. In this state, the pulses (1 and 0) are composed of one square square wave, but theoretically, square pulses consume a lot of frequency bandwidth, so they are blunt in shape through a filter that modulates the square wave pulses. It is modulated to transmit in a certain frequency band. The signal pulses processed by the pulse shaping filter are modulated in a QPSK scheme for ultrasonic transmission. As shown in FIG. 6, the QPSK modulation scheme is a method commonly used in wireless communication, and may transmit four two-bit digital signals of 00, 01, 10, and 11. This QPSK shifts the carrier in 90 ° phases to produce four signals. f) In the step of transmitting the image data to the bus line through the ultrasonic sensor, the pulse shaping filter and the image data modulated by the QPSK modulation method are converted into analog signals by the D / A converter to convert the bandwidth of 5 ㎑. After limiting the frequency band to the signal having the signal, it is loaded on the ultrasonic carrier signal with the frequency of 25 어서 and the image data is transmitted to the bus line through the ultrasonic transmitter.

Next will be described in detail with respect to the calculation method of the underwater submersible correction GPS coordinates according to the present invention. Underwater submersibles have an automatic navigation function based on the input GPS coordinates, and it is very important to record and store the accurate underwater GPS coordinates of image data acquired when exploration or underwater images are acquired underwater. That is, the image data acquired by the unmanned submersible must have accurate GPS coordinates so that accurate search can be made based on the image data acquired from the high-definition 3CCD camcorder, and the time and labor cost of the double exploration or acquisition of the dual image signal at the same coordinate are greatly increased. Can be reduced. Underwater, GPS position data transmitted from satellite cannot be received directly, so DGPS coordinates (meaning accurate coordinates with less error range than GPS coordinates) received from the mothership are transferred to the submersible by ultrasonic wave with ultrasonic transmitter located on the mothership. Transmitting and receiving the DGPS coordinate data transmitted from the bus by an ultrasonic transmitter installed in the submersible, and communicating with the bus using information received from various sensors mounted on the submersible based on the received DGPS coordinate data. Based on the DGPS coordinates, the underwater corrected GPS coordinates where the submersible is located are calculated. A calculation method of the specific GPS coordinates of the submersible will be described in detail based on the flowchart of FIG. 5.

a) In the step of calculating the depth where the submersible is located by the depth sensor located in the submersible, the depth from the surface to the submersible is calculated by the depth sensor mounted on the submersible.

b) In the step of calculating the linear distance between the submarine and the submersible by ultrasonic communication between the mothership and the submersible, the linear distance between the mothership and the submersible is calculated using the ultrasonic transmitter and receiver installed in the submersible and the mothership. That is, distance calculation is a method of calculating the speed at which ultrasonic waves are delivered from water, and then calculates the distance using the time taken to receive a predetermined signal from the submarine after receiving the predetermined signal from the mothership.

c) The calculating of the horizontal straight line distance between the bus and submersible in the central processing unit is based on the measured depth of the submersible and the diagonal straight line distance between the bus and the submersible. Calculate

d) The step of calculating the angle between the baseline and the submersible by the electronic compass is to calculate the azimuth angle between the electronic compass and the electronic compass mounted on the submarine. Calculate

e) Computation of the submersible submersible by the DGPS coordinates received by the mothership is based on the depth data transmitted from the submersible, the horizontal distance between the submersible calculated by the central processing unit, and the azimuth angle of the submersible. Calculate the corrected GPS coordinates.

f) The step of transmitting the corrected GPS coordinates calculated by the submersible transmits the corrected GPS coordinates of the submersible which is calculated in real time from the mothership to the submersible by using an ultrasonic transmitter. The command is executed by the input coordinates.

When all exploration and image acquisition tasks are terminated and the unmanned submersible floats to the surface, the GPS coordinates transmitted from the submersible are tracked and approached to recover the submersible using a crane installed on the mother ship, and the submersible image acquisition unit 140 is installed. Complete the exploration and image acquisition mission of unmanned submersible by collecting the video tape embedded in the camcorder or the camcorder and the hard disk on which the video data of the low-level multi-directional image acquisition device DVR is recorded. . The unmanned submersible replaces the lithium-based battery for transmitting position coordinates to the GPS system after injuries for rework, replaces cartridges of hydrogen and oxygen, which are fuels of the main power supply, and replaces the image data recording tape to acquire underwater images. When the HDD recording disk is replaced, the submersible is ready for reloading, and the replacement work on the bus takes about 1 to 2 hours.

The present invention is provided with an independent power source, an exploration and underwater image acquisition device in the submersible itself, and calculates the underwater correction GPS coordinates of the submersible based on the GPS coordinates of the mother ship and the means for transmitting and receiving the acquired image signal as an ultrasonic signal by the mother bus. There is an effect of providing a means for quickly and efficiently obtaining the exploration and video signal at the desired underwater position.

Another effect of the present invention is a problem that the propulsion and direction control of the submersible body is not easy due to the weight and resistance of the cable when connected to the wired cable and the signal transmission is not possible due to the leakage of the fastening portion of the signal line installed between the bus and submersible In addition, by implementing a wireless unmanned submersible that can prevent damage to the system to significantly improve the reliability and stability.

Another effect of the present invention is to rotate the propeller by employing a hydraulic motor to reduce the risk of leakage due to easy sealing, receiving the GPS coordinates from the bus, ultrasonic transmitter and receiver located in the submersible based on the received GPS coordinate data, Using the data input from the depth sensor and the electronic compass, the submersible GPS coordinates of the submersible are calculated and the video signal is stored and recorded based on the calculated underwater correction GPS coordinate data. It is to obtain highly reliable exploration and image data.

1 is a front view, side view and plan view of a wireless unmanned submersible in accordance with the present invention.

2 is a schematic view of a fuel cell according to the present invention;

3 is a flowchart of ultrasonic transmission of underwater image data according to the present invention.

Figure 4 is a schematic diagram of calculating the position and angle of the mother ship and submersible using the electronic compass according to the present invention

5 is a flowchart for calculating the submersible correction GPS coordinates in accordance with the present invention.

6 is a schematic diagram of a QPSK modulation scheme used for underwater ultrasonic wireless communication used in the present invention;

<Brief Description of Drawings>

100; Hydraulic generator 110; Device control unit

120; Propulsion unit 130; Fuel cell

140; Image acquisition unit 150; Lighting equipment

210; Ultrasonic transmitter 220; Receiver

230; Transmission antenna

300; Bath tank 310; Floating thrust

Claims (7)

In the small wireless unmanned submersible equipped with an ultrasonic transmitter and receiver to communicate with the mother bus and acquires underwater exploration and underwater image, An ultrasonic transmitter and receiver for receiving a control signal from the bus and transmitting a video signal acquired in the water to the bus; An image acquisition unit for acquiring or exploring necessary video signals underwater; An apparatus control unit for modulating and controlling the image signal acquired by the image acquisition unit into a signal which can be transmitted by ultrasound in a bus in real time; An illumination device that illuminates a video signal acquisition object to obtain a clear video signal in deep water or in the deep sea; A propulsion device for supplying a driving force to access a place necessary for acquiring an underwater video signal; A bore for controlling descent and rise, Small wireless unmanned submersible having an independent power supply for supplying the electrical energy required for the propulsion device, the device control unit, the image acquisition unit and the lighting device. The method according to claim 1, The device control unit receives a depth sensor installed in the submersible, an electronic compass indicating the direction of the submersible, an ultrasonic transmitter for transmitting and receiving the bus and ultrasonic signals to measure the linear distance between the bus and the submersible, and received from the electronic compass located in the bus and submersible And a means for calculating a submersible's underwater correction GPS coordinates based on the direction information obtained and the GPS coordinates of the mother ship transmitted from the mother ship. The method according to claim 1, The propulsion device is located in the four corners of the submersible body small wireless unmanned submersible configured to proceed in the desired direction. The method according to any one of claims 1 to 3, The power supply unit is a small wireless unmanned system consisting of a fuel cell that obtains electrical energy by means of a fuel cell module of hydrogen and oxygen to efficiently supply a large amount of electrical energy required for a lighting device, an image acquisition unit, and a propulsion device in a small volume. Submersible. The method according to claim 1 or 3, The propulsion device is a small wireless unmanned submersible consisting of a hydraulic motor with a high propulsion force can be easily sealed to reduce the risk of leakage. The method according to any one of claims 1 to 3, The device control unit removes noise and transmits the control signal and the video signal to the ultrasonic transport signal having a frequency of 25 kHz so that the bus and submersible can send and receive the control signal and the video signal in real time in consideration of the transmission speed. Small underwater unmanned submersible having means for transmitting and receiving an image signal at a transmission rate of 15 frames per second while having 320 × 240 pixels of a monochrome level. The method according to any one of claims 1 to 3, The image acquisition means is a small wireless unmanned submersible consisting of a high-definition 3CCD camcorder.