KR101238711B1 - Method and optimized control system of discharge measurement boat for high fidelity river discharge measurement - Google Patents

Abstract

PURPOSE: An optimum control system of a discharge measurement boat for a high precision discharge measurement in streams and a method thereof are provided to use a smart phone and a GPS technology to automatically control a discharge measurement boat, thereby controlling the movement of the discharge measurement boat to smoothly and accurately obtain an accurate value when measuring the discharge in streams. CONSTITUTION: An optimum control system of a discharge measurement boat for high precision discharge measurement in streams includes a user smart phone(8) and a discharge measurement boat(1). The user smart phone is installed with an application for the discharge measurement and the management operation of streams. The discharge measurement boat automatically sails along a given path in a stream to perform the accurate discharge measurement in the stream. The discharge measurement boat comprises a remote control terminal(30), satellite navigation equipment(40), a power supply unit(14), a control unit(80) and an additional terminal. The satellite navigation equipment detects the position of the discharge measurement boat. The control unit converts the coordinate value of a destination transmitted to the remote control terminal into a boat coordinate to change the motor speed delivered to the power supply unit for controlling the boat and manages the sailing to a predetermined destination, wherein a tracking path required for the sailing boat is maintained by continuously monitoring the current coordinate through a satellite navigation equipment. [Reference numerals] (1) Discharge measurement boat; (14) Power supply unit; (30) Remote control terminal; (40) Satellite navigation equipment; (8) User smart phone; (80) Control unit

Description

Optimum Control System and Method for Flow Measurement Boats for High-Precision River Flow Measurements {METHOD AND OPTIMIZED CONTROL SYSTEM OF DISCHARGE MEASUREMENT BOAT FOR HIGH FIDELITY RIVER DISCHARGE MEASUREMENT}

The present invention relates to the development and implementation method of a flow measurement system equipped with a system and a program for optimal automatic control of the river flow measurement boat, more specifically, using a smartphone, GPS, LBS technology unlike the conventional Therefore, the present invention relates to the development of a system for optimally controlling the movement of a boat during flow measurement by automatically controlling the flow measuring boat, and to applying these results to river flow measurement to produce a high precision flow measurement result. At the heart of this methodology is a system and method in which the control of an automatically moving boat is optimally controlled according to the magnitude of the flow rate of the stream so that the accuracy of the flow measurement can be maintained continuously, resulting in high accuracy flow measurement values. It is about.

Accurately measuring the amount of flooding in rivers is of great importance for flood management, water resource management, and the design and construction of hand structures and water environment management.

Therefore, the state has made efforts to accurately measure the flood volume of national rivers through specialized institutions, and various flood measurement methods have been developed for this purpose.

A state-of-the-art technology representing this movement worldwide is the use of ultrasonic Doppler flow profiles (ADCP) to measure flow rates by measuring flow profile and depth while crossing rivers.

In addition, a method of using a flow measurement boat that is remotely controlled to measure such a cross flow has been in the spotlight.

However, when ADCP is used in rivers, 10% subsurface and 10% above sea level are difficult to accurately measure the flow velocity using ADCP. Therefore, the flow rate estimation method is based on theoretical assumptions.

Therefore, even in the latest flow measurement method, it is likely to include a flow measurement error of about 20% by default, and actually has a measurement error of about 5-15%.

If a technology capable of reducing this measurement error to within 5% is possible, more efficient and accurate management can be implemented in all the aforementioned fields.

On the other hand, as mentioned above, the most accurate way to measure the current flood amount is to calculate the flow rate by using the flow measuring boat that crosses the stream to obtain the depth profile and the flow rate profile of the point.

In particular, the new method of measuring the flow rate using the ADCP is known to bring about an accuracy improvement of about 5% compared to other conventional flow measuring methods.

At this time, in order to measure the flow rate of the river more accurately, it is important that the flow measuring boat moves both sides (starting position and arrival position) of the stream in accordance with the flow rate measuring principle.

However, in the related art, since the flow measuring boat has been manually controlled by a remote controller, even if a skilled person has a bad flow rate or a windy wind, the flow measuring boat may set the starting position and the arrival position in speed and direction. It is difficult to move in accordance with, and accordingly there is a problem that the error of the measurement value increases.

Korean Patent Office Application No. 10-1994-0012407

The object of the present invention, unlike the prior art by using a smartphone and GPS technology to automatically control the flow measuring boat to control the movement of the flow measuring boat optimally to obtain accurate measured values, precise GPS Since it is controlled by the smart phone and LBS, the company intends to develop a system and method for measuring the flow rate of the stream conveniently and accurately anywhere regardless of the width of the stream.

The object is a user smart phone is installed application for measuring or managing the flow rate for the river; And a flow measuring boat for automatically measuring the flow rate of the river while automatically traveling the river along a given path,

The boat for measuring the flow rate, the remote control terminal that enables wireless communication between the smartphone and the boat through the application of the user smartphone; A satellite positioning system (GPS) for detecting a position of the flow measuring boat; A power provider for providing power for the movement of the flow measuring boat based on the signal of the satellite navigation device; When the coordinate value of the destination is transmitted from the smartphone, it is converted into boat coordinates so as to be provided to the power supply unit by converting it into a rotational speed of a motor for controlling the boat, and the current coordinates through the satellite navigation device during boat movement. Is achieved by an optimal control system of the flow measurement boat for high-precision river flow measurement, which includes a control unit for managing the operation to a given destination while maintaining the trajectory required for the boat navigation by continuously monitoring the .

The user smartphone may perform Bluetooth communication with the remote control terminal to set a start position and an arrival position of the flow measuring boat.

A camera photographing the front field of view of the flow measuring boat; computer; And a waterproof case waterproofing the remote control terminal, the camera, and the computer.

On the other hand, the object, a wireless communication connection step of connecting the user smartphone and the remote control terminal provided in the flow measuring boat for measuring the flow rate while moving along the river by wireless communication; Setting coordinate values for a starting position and an arrival position of the flow measuring boat through the user smartphone; When the coordinate value is transmitted to the controller through the remote control terminal, converting the coordinate value into a boat coordinate to a rotational speed of a motor for controlling the boat so that the flow measuring boat moves toward a destination;

Allowing the current coordinates to be continuously monitored through the satellite navigation during the boat movement, thereby maintaining the trajectory required for the boat navigation and managing the trip to a given destination. It is also achieved by an optimal control method of the dragon boat.

The wireless communication connection step may include the step of running an application provided in the user smart phone to measure or manage the flow rate for the river.

A front view photographing step of photographing the front view of the flow measuring boat when the flow measuring boat may be further included.

According to the present invention, it is possible to smoothly and accurately control the movement of the flow measuring boat by automatically controlling the flow measuring boat using a smartphone and GPS technology, unlike the conventional method, so that accurate measurement values can be obtained when measuring the flow rate of the river. Since it is controlled by precision GPS and smartphone LBS, it can measure the flow of river conveniently and accurately anywhere regardless of the width of river.

1 is a control block diagram of a flow measuring system using a flow measuring boat according to an embodiment of the present invention,
Figure 2 is a perspective view of a boat for measuring the flow rate applied to Figure 1,
Figure 3 is a side view of Figure 2,
4 is a view schematically showing the movement trajectory of the boat for measuring the flow rate;
5 is a flowchart of a flow measuring method using a flow measuring boat according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

1 is a control block diagram of a flow measuring system using a flow measuring boat according to an embodiment of the present invention, Figure 2 is a perspective view of the boat for measuring the flow rate applied to Figure 1, Figure 3 is a side view of Figure 2, Figure 4 Is a view schematically showing a moving trajectory of the flow measuring boat, and FIG. 5 is a flowchart of a flow measuring method using the flow measuring boat according to an embodiment of the present invention.

Referring to FIG. 1, the flow rate measuring system of the present embodiment includes a user smartphone 8 installed with an application for measuring or managing a flow rate with respect to a river, and a flow measuring boat for measuring the flow rate while moving along the stream ( It includes 1).

First, the user smart phone 8 is an intelligent terminal that adds computer support functions such as Internet communication and information retrieval to a mobile terminal, and enables Internet communication, fax, transmission, etc. while moving, and includes a personal information management function.

In addition, the user's smartphone 8 can install an application (application) desired by the user, and can directly access the Internet using a high-speed Internet communication network such as WiFi or 3G (or 4G) as well as use various browsing programs. Can be connected in various ways.

In the present invention, the user smart phone 8 is a GPS system based, a mobile communication network based, WiFi WLAN / sensor network based location recognition technology, or a satellite navigation device and WiFi in order to utilize location information using a location based service. It is constructed to use location recognition technology combined with WLAN. The user smartphone 8 may be provided with location information based on a mobile communication network provided by a communication company. For this, the location information providing system based on a mobile communication network may include a base station, a location recognition server, and a terminal (smartphone). The mobile communication network corresponds to the available area.

In addition, in the present invention, the user's smart phone 8 uses location information based on WiFi WLAN / sensor network in connection with the satellite navigation device in order to solve a decrease in reception rate in indoor and building dense areas, which is a disadvantage of the GPS. You can also be provided. The location information providing system using the WiFi WLAN / sensor network base may include a short range wireless communication network and an electronic tag.

In addition, in the present invention, the user smartphone 8 is linked to the location based service (LBS) together with the location information obtained through the location-based service to display the location information on the map. Geographic information devices are used to collect, store, output, and analyze geographic and geographically related data such as buildings, roads, rivers, contours, and administrative boundary boundaries. It is a system that obtains spatial information through display and output and helps spatial decision making.

Next, as shown in FIGS. 3 and 4, the flow measuring boat 1 includes a boat body 10, a pair of screws 12a, and a power supply unit 14.

The boat body 10 may form a streamlined shape as a part forming an appearance of the boat 1 for measuring the flow rate.

The boat body 10 is provided with a grip 20 for gripping so that the boat body 10 can be easily moved. Grip handle portion 20 is preferably provided in a pair, as shown, can be provided in a position spaced apart from each other on the upper surface of the boat body 10 can be easily gripped by the boat body (10) have.

A plurality of ring portions 25 are further formed around the grip handle 20. A plurality of hooks 25 may be used as a place to hang ropes when the boat is suspended or supported at a fixed place.

The upper side of the boat body 10 is provided with a sensor 22 as an element for measuring the flow rate and the depth of the river. The sensor 22 may be installed in an area penetrated along the height direction of the boat body 10 from the top to the bottom of the boat body 10, the sensor 22 toward the lower portion of the boat body (10). To measure flow velocity and depth while partially immersed in water. In this case, a single sensor 22 may be provided, but if a plurality of sensors 22 are regularly branched and used for sensing in each direction, the sensing range may be extended to increase sensing efficiency. .

The power supply unit 14 plays a role of providing power to the pair of screws 12a such that the pair of screws 12a are rotatable. That is, the power supply unit 14 provides power for the movement of the flow measuring boat 1 based on the signal of the satellite navigation apparatus 40 to be described later.

Although detailed drawings are not shown for the power supply unit 14, the power supply unit 14 is a drive motor connected to the pair of screws 12a so that the pair of screws 12a can be rotated. And, it may include a battery for applying power to the drive motor.

One side of the flow measuring boat 1 has a remote control terminal 30 capable of wireless communication with the user's smart phone 8 and a satellite positioning system (Global Positioning System, GPS) for detecting the position of the flow measuring boat 1. , 40, and when the coordinate value for the destination is transmitted from the smart phone 8 is converted to the boat coordinates to be converted to the rotational speed of the motor for controlling the boat to be provided to the power providing unit 14, A control unit is provided to continuously monitor the current coordinates through the satellite navigation device while moving the boat, and to manage the operation to a given destination while maintaining the trajectory required for sailing the boat.

The remote control terminal 30 provided in the flow measuring boat 1 may be a conventional smart phone. As shown in FIG. 4, the user smartphone 8 may perform Bluetooth communication with the remote control terminal 30 in order to set a starting position and an arrival position for the boat 1 for measuring the flow rate.

The satellite navigation device 40 is also called GPS and is provided for location information. The position information can be accurately calculated from the three or more satellites by measuring the exact time and distance from three or more satellites. Currently, it is widely used to obtain distance and time information from three satellites and to correct the error with one satellite.

Unlike the compass, the satellite navigation device 40 can obtain a precise time together with latitude, longitude, and altitude, as well as three-dimensional velocity information. Positional accuracy differs between military and civilian use. For civilian use, the horizontal and vertical error is about 10-15m and the speed measurement accuracy is 3cm per second. In addition, the satellite is equipped with three atomic clocks to provide time information with an error of only one second in 36,000 years.

In the user smartphone (8) by using the LBS function provided on the application installed in the remote control terminal 30, the starting position and the arrival position for the flow measuring boat (1) is set.

On the other hand, the coordinates of the satellite navigation device 40 is configured to be transmitted to the control unit by a Zigbee communication method, Zigbee communication means a low-power, short-range, low-speed, low-cost wireless communication method It is particularly suitable for use in ultra low power applications where simple functionality is required.

In addition, the boat 1 for flow measurement of this embodiment is provided with the additional terminal 50 in which the camera 51 is provided, and the computer 70. The remote control terminal 30, the additional terminal 50 provided with the camera 51, and the computer 70 are waterproofed by the waterproof case 60.

The camera 51 provided in the additional terminal 50 photographs the front field of view of the flow measuring boat 1, and through this action, the presence of the float or obstacle P can be confirmed remotely. The video signal from the camera 51 of the additional terminal 50 may be transmitted to the user smartphone 8.

For reference, since the additional terminal 50 uses only the camera 51, the additional terminal 50 may use a digital camera without using the additional terminal 50.

The computer 70 is in charge of various processors. That is, the measured values measured by the satellite navigation device 40, the sensor 22, and the like are processed in the computer 70, and processing instructions from the user smartphone 8 may also be processed in the computer 70.

It looks at the operation of the flow measurement system of the present invention having such a configuration.

First, the user's smart phone 8 and the remote control terminal 30 provided in the flow measuring boat 1 are connected by wireless communication (S11).

Then set the starting position and the arrival position for the flow measuring boat (1) via the user's smart phone (8) (S12). The setting of the starting position and the arrival position through the user smartphone 8 can be easily performed by executing a separate application.

In this regard, as described above, in the present embodiment, unlike the related art, since the remote control terminal 30 and the satellite navigation device 40 are mounted in the flow measuring boat 1, the user's smart phone ( 8) the coordinate value input through the remote control terminal 30 is transmitted to the controller 80 through the remote control terminal 30, by converting it to the boat coordinates to the rotational speed of the motor for controlling the boat, the flow rate measuring boat (1) will move towards the destination. (S13)

In addition, while the boat is moving, the current coordinates are continuously monitored through the satellite navigation device 40, so that it is possible to manage the operation to a given destination while maintaining the trajectory necessary for sailing the boat.

Accordingly, the pair of screws 12a by the power supply unit 14 are connected to the flow measuring boat 1 by the power supply unit 14 within the path or trajectory set by detecting the position of the flow measuring boat 1 by the satellite navigation device 40. May be moved along the path A of FIG. As the flow measuring boat 1 is moved along the path A of FIG. 4, the flow rate and the depth of the stream are measured by the sensor 22 so that the flow rate can be measured.

And because the camera 51 provided in the additional terminal 50 can secure the field of view in front of the flow measuring boat (1), it is possible to remotely check the presence of the float or obstacle (P).

For example, if there is a float or obstacle P on the A path as shown in FIG. 4, the flow measuring boat 1 is manually bypassed to move or stop the flow measuring boat 1 along the B path of FIG. 4. It can be adjusted to go.

That is, in the prior art, the operator must adjust the flow measuring boat (not shown) by using the remote control in the field, but in the case of the present invention remotely (for example, the flow measuring boat 1 is Hongcheon, the user Is a laboratory in Seoul) If you set the coordinates of the departure position and the arrival position, the flow measuring boat (1) is automatically moved and moved according to the exact coordinates by the satellite navigation device 40, affecting the flow rate or bad weather You can always move straight without receiving. Therefore, accurate measurement value can be obtained.

If the user smartphone 8 is connected to the flow measurement server (not shown) through a communication network including a repeater, the Internet, and a router, since the obtained measured value can be continuously stored and managed in the flow measurement server, Can provide data

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

1: boat for flow measurement
8: user smartphone
14: power supply unit
30: remote control terminal
40: satellite navigation system
80: control unit

Claims (6)

A user smartphone in which an application for measuring or managing a flow rate of a river is installed; And
Includes a flow measuring boat that automatically measures the flow of the stream along the given path,
The flow rate measuring boat,
A remote control terminal consisting of a smartphone with an application installed thereon to enable wireless communication between the smartphone and the boat through an application of the user smartphone;
A satellite positioning system (GPS) for detecting a position of the flow measuring boat;
A power provider for providing power for the movement of the flow measuring boat based on the signal of the satellite navigation device;
When the coordinate value of the destination is transmitted from the smartphone to the remote control terminal, it is converted into boat coordinates and converted into a rotational speed of a motor for controlling the boat so as to be provided to the power supply unit, and the satellite navigation during boat movement. A control unit for managing the operation to a given destination while maintaining the trajectory required for boat navigation by continuously monitoring the current coordinates through the device, and in some cases, allowing the user to select a manual adjustment mode;
And an additional terminal for photographing the forward view of the boat for measuring the flow rate, and when the user selects the manual adjustment mode, the boat can be remotely controlled while checking the forward view of the boat through the additional terminal. Optimal control system for boats for flow measurement for high precision river flow measurement.
The method of claim 1,
In the user smartphone by using the LBS function provided on the application installed on the remote control terminal, the flow rate measurement for high-precision river flow measurement, characterized in that to set the starting position and the arrival position for the flow measuring boat Optimal control system of the boat.
The method of claim 1,
The coordinates of the satellite navigation device is the optimum control system of the flow measurement boat for the high-precision river flow measurement, characterized in that configured to be transmitted to the control unit by Zigbee communication method.
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