KR100979536B1 - Monitoring system using an unmanned airship - Google Patents

Abstract

PURPOSE: A monitoring system using an unmanned airship is provided to take an image using a fixed camera and a PTZ camera which clings to the lower part of an air sac and to monitor aviation photographic images on the ground. CONSTITUTION: A monitoring system using an unmanned airship comprises an air sac(1), a wire(3), a wire length control member(5), a stationary camera(7), a PTZ camera(9), a server(11), a pressure sensing member, a helium generator(15), a gas hose(17) and a pressure regulator. The air sac has a streamlined shape and is filled with helium. The wire is fixed to the boundary surface of the air sac. The wire length control member winds or unwinds a wire. The stationary camera takes a photograph of the ground at a holder which is installed the top of the wire and lower circumference of the air sac. The PTZ camera takes the image of the ground at a specific location while rotating in all directions. A server controls the PTZ camera. The pressure sensing member measures the pressure of the helium filled in the air sac.

Description

Monitoring System Using an Unmanned Airship

The present invention relates to a monitoring system using an unmanned airship capable of monitoring aerial photographs on the ground by installing a fixed camera and a PTZ camera on an unmanned airship floating in the air, and more specifically, it can fly by helium gas An unmanned airship capable of monitoring an area within a certain radius of the ground by installing a fixed camera and a PTZ camera on an unmanned airship, and then transmitting the images captured by the fixed camera and the PTZ camera to a monitoring system equipped on the ground. It relates to a monitoring system using.

In general, in mountainous terrain such as our country, forest damage and human damage are caused by the occurrence of large and small wildfires every year.

To this end, the nation is devoting itself to the development of various types of extinguishing agents that can extinguish large forest fires early.

However, for the early suppression of forest fires by the rapid introduction of high-performance fire extinguishing agents, the development of a forest fire detection system using IT technology capable of detecting fire occurrences quickly and accurately is urgently needed.

As part of this research, a forest fire monitoring system using an unmanned aerial robot and a geographic information system has been developed. The proposed system is a forest fire using a flame detection sensor, an olfactory sensor, a temperature sensor, and a camera mounted on an automatic flying robot. If a fire occurs, it is notified to the ground control system, and the ground control system uses a geographic information system to provide the fire authorities with information such as the point of the fire.

However, the above-mentioned unmanned aerial robots consist mostly of RC (Radio Control) helicopters that can be operated by radio control, and have problems such as limitations in flying for a long time, and fuel consumption can not be ignored. there was.

On the other hand, in order to solve the above problems, after setting up more than 100M pylon on the ground, the surveillance camera may be installed on the pylon, but there was a problem that a huge amount of money is consumed to build the pylon, and not only easy maintenance There was a problem that the location for installation was tricky.

In order to solve the problems as described above, the present invention provides a monitoring system using an unmanned airship capable of flying for a long time while being low in fuel consumption for flight and floating in the air and simultaneously photographing the ground. have.

In addition, an object of the present invention is to transmit the image taken from the fixed camera and the PTZ camera to the ground to monitor the local situation within a certain radius from the ground, so that the pressure of helium charged in the air sacs is always maintained at a certain level The purpose is to provide a monitoring system using an unmanned airship.

In addition, another object of the present invention is to provide a monitoring system using an unmanned airship that can monitor the fire section, manage the progress of the golf course, and can manage the safety of the beach or construction site. .

Monitoring system using an unmanned airship according to the present invention for achieving the above object has a streamlined and airborne air sac filled with helium inside, wire fixed at the circumferential surface of the air sac, one end of the A wire length adjusting means for winding and unwinding the wire while holding and fixing the other end of the wire, a fixed camera mounted on a cradle mounted on the lower circumferential surface of the bladder or on an upper portion of the wire to photograph the ground, and a lower circumference of the bladder It is equipped with a PTZ camera that rotates in the up, down, left, and right directions while zooming in or zooming out while capturing a specific position on the ground while being mounted on a cradle installed on the upper surface or wire.

In addition, the monitoring system using the unmanned airship according to the present invention receives and displays the image data photographed from the fixed camera and the PTZ camera and pan control data and tilt control data and zoom for controlling the PTZ camera (Zoom) generated by the server for generating the control data to control the PTZ camera, pressure measuring means for measuring the pressure of helium filled in the air sac, helium generating means for generating helium gas having a constant pressure, and the helium generating means. A gas hose for delivering the helium gas to the air sac, and a pressure regulator for closing or opening the gas hose in accordance with the pressure of the helium measured by the pressure measuring means.

In the monitoring system using the unmanned airship according to the present invention having such a structure, the air sacs are floated in the air by helium filled in the air sacs, and at the same time, the fixed camera and the PTZ camera can be aerially photographed on the ground while being suspended under the air sacs.

The fixed camera and the PTZ camera may transmit the captured aerial image to the server, and the administrator who logs in to the server may monitor the aerial image captured by the fixed camera and the PTZ camera in real time.

In addition, the administrator logged into the server can transmit a pan, tilt or zoom control signal to the PTZ camera, so that the administrator can search and observe the management area desired by the PTZ camera in real time.

In addition, the air sac equipped with the present invention includes a pressure measuring means capable of checking the pressure of helium filling the air sac, and a pressure capable of filling or not filling helium in the air sac according to the pressure of helium detected from the pressure measuring means. Controls can be maintained to maintain a constant level of helium in the bladder at all times.

In addition, the wire length adjusting means provided in the present invention can freely adjust the flying altitude of the bladder by pulling or releasing the wire connected to the bladder.

1 is a schematic diagram of a monitoring system using an unmanned airship according to the present invention;
2 is a view for explaining a wire length adjusting means provided in the present invention,
3 is a view for explaining a PTZ camera equipped in the present invention;
Figure 4 is a view for explaining a state in which the pressure measuring means interposed between the endothelial and the outer shell provided in the air sac,
5 is a view for explaining a process of adjusting the helium pressure in the air sac by controlling the solenoid valve in accordance with the pressure of helium derived from the pressure measuring means,
6 is a view for explaining a process of the solenoid valve is opened and closed so that helium stored in the helium storage container is supplied to or blocked from the air sacs.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, the terms to be described later are defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or an operator, and the definition thereof describes a monitoring system using an unmanned airship according to the present invention. It should be based on the content throughout.

Hereinafter, with reference to the accompanying drawings will be described in detail the present invention.

As shown in Figure 1, the monitoring system using an unmanned airship according to the present invention has a streamlined and the air sac filled with helium inside the air bag (1), and one end is fixed to the circumferential surface of the air bag (1) Wire 3, a wire length adjusting means 5 for holding and fixing the other end of the wire 3 on the ground, and winding or unwinding the wire 3, a lower circumferential surface of the bladder 1 or a wire ( 3) a fixed camera (7) mounted on the cradle (6) installed on the upper part of the ground, and a cradle (6) installed on the lower circumferential surface of the air sac (1) or the upper part of the wire (3). And a PTZ camera 9 which rotates in the up, down, left, and right directions and simultaneously zooms in or out to photograph the ground of a specific position.

In addition, the monitoring system using the unmanned airship according to the present invention receives and displays the image data photographed from the fixed camera 7 and the PTZ camera (9) Pan control data for controlling the PTZ camera (9) And a server 11 for controlling the PTZ camera 9 by generating tilt control data and zoom control data, and pressure measuring means 13 for measuring the pressure of helium filled in the air sac 1. , Helium generating means 15 for generating helium gas having a constant pressure, a gas hose 17 for delivering helium gas generated by the helium generating means 15 to the bladder 1, and the pressure measuring means ( It is further provided with a pressure regulator 19 for closing or opening the gas hose 17 in accordance with the pressure of helium measured by 13).

As shown in FIG. 2, the wire length adjusting means 5 includes a wire winding means 23 for winding or releasing the wire 3 on the bobbin 21 and a wire 3 on the bobbin 21. It consists of a wire organizer 25 for moving the wire 3 to the left and right of the bobbin 21 so that the wire 3 is not entangled on the bobbin 21 when winding or unwinding, the wire winding means 23 It is preferably made of a bobbin 21 to which the silver wire 3 is wound or unwound, a fixed shaft 27 passing through the bobbin 21, and a first drive motor 29a for rotating the fixed shaft 27. Do.

In addition, a driven gear 31 may be mounted on the fixed shaft 27, and an active gear 33 may be mounted on a motor shaft provided in the first driving motor 29a, and the driven gear 31 may be mounted on the fixed shaft 27. And a wire, a chain, or a belt for transmitting power transmitted from the first drive motor 29a to the active gear 33 to the driven gear 31 between the and the active gear 33.

On the other hand, as shown in Figure 2, the wire arranging means 25 is provided with a rotating shaft 35 having a screw thread on its circumferential surface, and a rotating thread 35 through which the screw shaft is provided on the inner circumferential surface thereof. And a guide bar 41 mounted on the outer circumferential surface of the slide bar 37 and engaged with the true thread, and having a through hole through which the wire 3 passes.

In addition, it is preferable that limit switches 43a and 43b are mounted at both sides of the rotary shaft 35 to check whether the slide bar 37 reaches the left end of the rotary shaft 35 or the right end of the rotary shaft 35. In addition, a second drive motor 29b may be connected to the rotary shaft 35 to rotate the rotary shaft 35.

In addition, the wire arranging means 25 is preferably equipped with a drive motor control unit for rotating the second drive motor 29b in the reverse direction of the current rotation direction when an electrical control signal is transmitted to the limit switches 43a and 43b. Do.

Therefore, when the first drive motor 29a provided in the wire winding means 23 rotates, the active gear 33 connected to the first drive motor 29a rotates, and the active gear 33 and the wire or The driven gear 31 connected through the chain or the belt rotates.

In addition, as the driven gear 31 is rotated, the fixed shaft 27 integrally connected with the driven gear 31 is rotated, and the fixed shaft 27 rotates the bobbin 21, resulting in the bobbin 21. The wire 3 can be wound around the circumferential surface of the wire 3.

On the other hand, the second drive motor 29b provided in the wire arranging means 25 is operated at the same time as the first drive motor 29a provided in the wire winding means 23 rotates to rotate the rotary shaft 35, The slide bar 37 is gradually rotated in the direction of one end or the other end of the rotary shaft 35 at the same time as the rotary shaft 35 is rotated.

In addition, when the slide bar 37 is in contact with any of the limit switches 43a and 43b, the drive motor controller rotates the second drive motor 29b in a direction opposite to the current rotation direction, thereby providing the slide bar 37 ) Moves slowly in the opposite direction of the current direction of travel.

Therefore, the wire 3 gradually moves in the left and right directions of the bobbin 21 and can be smoothly wound around the entire circumferential surface of the bobbin 21.

Meanwhile, as shown in FIG. 3, the PTZ camera 9 is a PTZ camera 9 that can be rotated in a vertical or horizontal direction, and the PTZ camera 9 includes a still image transmitted from the PTZ camera 9. A first control unit 47 and a first control unit 47 which determine that there is a moving object if the current image is not the same as the image photographed immediately before the still image photographed immediately before the still image is captured; A position calculator 49 that calculates coordinates of regions that are not equal to each other among the image currently photographed and the image immediately before the image is captured when the control signal indicating that there is a moving object is inputted by the position calculator 49. The camera driver 51 which rotates the PTZ camera 9 in the vertical or horizontal direction by using the coordinates so that the PTZ camera 9 captures the coordinates calculated by the position calculator 49. It includes.

Meanwhile, as shown in FIG. 4, the bladder 1 includes an endothelial 53 and an outer shell 55, and a pressure measuring means 13 is fitted between the endothelial 53 and the outer shell 55. .

At this time, the endothelial 53 and the outer shell 55 provided in the bladder 1 are expanded at the same time as the pressure of helium increases, thereby narrowing the gap between the endothelial 53 and the outer shell 55.

On the other hand, the endothelial 53 and the outer shell 55 provided in the bladder 1 are contracted at the same time as the pressure of helium is lowered, thereby relatively widening the distance between the endothelial 53 and the outer shell 55.

Meanwhile, the pressure measuring means 13 may change the output voltage value according to the pressure applied from the outside while the internal resistance value is changed according to the pressure applied to the pressure measuring means 13.

Therefore, the pressure measuring means 13 outputs a specific voltage value according to the interval between the inner shell 53 and the outer shell 55 provided in the bladder 1, thereby electrically controlling the pressure of helium filled in the bladder 1. Can be converted into a signal.

Meanwhile, as shown in FIG. 5, the helium generating means 15 receives helium gas from the helium storage container 59 storing helium, and the helium gas from the helium storage container 59, and then compresses the gas to a constant pressure. In addition, the compressed helium gas is preferably made of a helium compressor 61 capable of injecting the bladder 1 through the gas hose 17, and the gas hose 17 is provided with a gas hose by an external control signal. It is preferred that the solenoid valve 63 be equipped with an opening or closing 17).

In addition, the pressure adjusting unit 19, as shown in Figure 6, the A / D conversion unit 65 that can convert the analog voltage output from the pressure measuring means 13 into a digital value, and the A / It is preferable that the second control unit 48 can measure the pressure of helium filling the bladder 1 by calculating the resultant value derived from the D conversion unit 65.

In addition, the second control unit 48 may open or close the solenoid valve 63 according to the derived helium pressure to supply or block helium gas to the bladder 1.

The operation of the monitoring system using the unmanned airship according to the present invention having the above structure will be described with reference to FIGS. 1 and 6 as follows.

First, when helium is filled in the bladder 1 provided in the present invention, the wire 3 provided in the wire winding means 23 starts to be released from the bobbin 21 while the bladder 1 floats in the air.

At this time, it is preferable that the first drive motor 29a provided in the wire winding means 23 rotates the bobbin 21 so that the wire 3 can be loosened, and the guide provided in the wire arranging means 25. The rod 41 moves in the left direction or the right direction along the rotation shaft 35 rotated by the second drive motor 29b, and allows the wire 3 to be smoothly released on the bobbin 21.

In addition, the wire length adjusting means 5 according to the present invention has a defect in the fixed camera 7, the PTZ camera 9, the pressure measuring means 13, or the bladder 1 attached to the bladder 1. When the bladder 1 is pulled to the ground, it can be repaired.

On the other hand, the pressure measuring means 13 provided in the present invention is measured in real time after measuring the pressure of helium filled in the bladder 1 is interposed between the endothelial 53 and the outer shell 55 provided in the bladder (1), The result is sent to the pressure regulator 19.

At this time, the pressure adjusting unit 19 converts the analog voltage output from the pressure measuring means 13 into a digital value, and then calculates the voltage converted into the digital value to convert the pressure into helium pressure. The solenoid valve 63 provided in the helium generating means 15 is opened or closed according to the pressure value of helium.

At this time, the helium compressor 61 compresses the helium stored in the helium storage container 59 at a predetermined pressure, and when the solenoid valve 63 is opened, the helium gas is compressed through the gas hose 17. 1) can be delivered into.

Therefore, the pressure of the helium gas filled in the bladder 1 can always be kept constant.

Meanwhile, the fixed camera 7 may be mounted on the bladder 1 to photograph a predetermined section in the air, and then transfer the captured image to the server 11.

In addition, the PTZ camera 9 moves, zooms in or out in the up, down, left, and right directions by a pan, tilt, and zoom control signal transmitted from the server 11. To capture a specific section.

In addition, the PTZ camera 9 may calculate the coordinates of the different portions of the captured image and intensively capture the coordinates of the corresponding portions when there are different portions between the current image and the previously captured image.

In the monitoring system using the unmanned airship according to the present invention having such a structure, the air sacs 1 fly through the air by the helium filled in the air sacs 1, and at the same time the fixed camera 7 and the PTZ camera 9 air sacs You can shoot the ground while hanging on (1).

In addition, the fixed camera 7 and the PTZ camera 9 may transmit the captured aerial image to the server 11, and the administrator who logs in to the server 11 may fix the fixed camera 7 and the PTZ camera 9. It is possible to monitor the aerial image taken by real time.

In addition, the administrator logged into the server 11 may transmit a pan, tilt, or zoom control signal to the PTZ camera 9 so that the administrator can search and observe a desired management area in real time through the PTZ camera 9. Can be.

Moreover, the bladder 1 equipped with this invention has the pressure measuring means 13 which can check the pressure of the helium which fills the bladder 1, and according to the pressure of helium detected from the said pressure measuring means 13; The pressure regulator 19 may or may not be filled with helium in the bladder 1, so that helium filled in the bladder 1 may be maintained at a constant level at all times.

In addition, the wire length adjusting means 5 provided in the present invention can freely adjust the flying altitude of the bladder 1 by pulling or releasing the wire 3 connected to the bladder 1.

The present invention described above is not limited to the above-described embodiments and drawings because various substitutions, modifications, and changes can be made by those skilled in the art without departing from the technical spirit of the present invention.

1. air sac 3. wire
5. Wire length adjusting means 6. Cradle
7. Fixed Camera 9. PTZ Camera
11. Server 13. Pressure measuring means
15. Helium generating means 17. Gas hose
19. Pressure regulator 21. Bobbin
23. Wire winding means 25. Wire cleaning means
27. Fixed shaft 29a. First drive motor
31. Driven gear 33. Active gear
35. Rotating shaft 37. Slide bar
41. Guide rod 43a. Limit switch
43b. Limit switch 47. First control unit
49. Position calculator 51. Camera driver
53. Inner Shell 55. Outer Shell
59. Helium Storage 61. Helium Compressor
63. Solenoid valve 65. A / D conversion part

Claims (5)

An air sac (1) having a streamlined shape and filled with helium therein;
A wire 3 having one end fixed to a circumferential surface of the bladder 1;
Wire length adjusting means (5) for holding and fixing the other end of the wire (3) on the ground and winding or unwinding the wire (3);
A fixed camera (7) mounted on a cradle (6) installed on the lower circumferential surface of the bladder (1) or on an upper portion of the wire (3) to photograph the ground;
In the state of being mounted on the lower peripheral surface of the bladder (1) or the cradle (6) installed on the upper portion of the wire (3) rotates in the up, down, left, and right direction and simultaneously zooms in or out to capture the ground of a specific position PTZ camera 9;
Pan control data, tilt control data, and zoom control for receiving and displaying image data captured by the fixed camera 7 and the PTZ camera 9 and controlling the PTZ camera 9. A server 11 generating data to control the PTZ camera 9;
Pressure measuring means (13) for measuring the pressure of helium filled in the bladder (1);
Helium generating means 15 for generating helium gas having a constant pressure;
A gas hose (17) for delivering helium gas generated by the helium generating means (15) to the bladder (1);
And a pressure adjusting unit (19) for closing or opening the gas hose (17) according to the pressure of helium measured by the pressure measuring means (13).
The method of claim 1,
The bladder 1 has an endothelial 53 and an outer shell 55,
The pressure measuring means 13 is sandwiched between the inner shell 53 and the outer shell 55,
The pressure measuring means (13) is a monitoring system using an unmanned airship, characterized in that for measuring the pressure of helium filled in the bladder (1) by changing the output voltage value in accordance with the interval between the inner shell (53) and the outer shell (55). .
The method of claim 1,
The helium generating means (15) includes a helium storage container (59) for storing helium;
Receives helium gas from the helium storage container 59, then compresses to a constant pressure and consists of a helium compressor 61 for injecting the compressed helium gas through the gas hose 17 to the bladder (1),
The gas hose (17) is a monitoring system using an unmanned airship, characterized in that the solenoid valve (63) for opening or closing the gas hose (17) by an external control signal is mounted. The method of claim 3, wherein
The pressure regulator 19 includes an A / D converter 65 for converting an analog voltage output from the pressure measuring means 13 into a digital value;
The pressure value of helium filling the air sac 1 is calculated by calculating the resultant value derived from the A / D converter 65.
And a second control unit (48) for supplying or blocking helium gas to the bladder (1) by opening or closing the solenoid valve (63) according to the derived pressure of helium.
The method of claim 1,
The wire length adjusting means (5) comprises a wire winding means (23) for winding or unwinding the wire (3) on the bobbin (21);
Wire arranging means 25 for moving the wire 3 to the left or right of the bobbin 21 so that the wire 3 does not get tangled on the bobbin 21 when the wire 3 is wound or unwound on the bobbin 21. Made of
The wire winding means 23 comprises a bobbin 21 to which the wire 3 is wound or unwound;
A fixed shaft 27 penetrating the bobbin 21,
And a first drive motor 29a for rotating the fixed shaft 27,
The fixed shaft 27 is equipped with a driven gear 31,
An active gear 33 is mounted on the motor shaft provided in the first drive motor 29a,
Between the driven gear 31 and the active gear 33 is mounted a wire, chain or belt for transmitting the power transmitted from the first drive motor 29a to the active gear 33 to the driven gear 31,
The wire arranging means 25 has a rotating shaft 35 is provided with a screw thread on the circumferential surface,
The slide shaft 37 penetrates the rotating shaft 35 and is provided with a screw thread on the inner circumferential surface thereof to engage with the screw thread provided on the rotating shaft 35.
And a guide rod 41 mounted to the outer circumferential surface of the slide bar 37 and having a through hole through which the wire 3 passes.
Limit switches 43a and 43b are mounted at both sides of the rotary shaft 35 to check whether the slide bar 37 reaches the left end or the right end of the rotary shaft 35.
A second drive motor 29b is connected to the rotary shaft 35 to rotate the rotary shaft 35.
The wire arranging means 25 is equipped with a drive motor control unit capable of rotating the second drive motor 29b in the reverse direction of the current rotation direction when an electrical control signal is transmitted to the limit switches 43a and 43b. Monitoring system using an unmanned airship.

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