KR101313545B1 - Self power generating robot of buoy type - Google Patents

Abstract

The buoy-type self-powered robot according to an embodiment of the present invention is a body portion that provides buoyancy in water, a self-power generation unit including a solar cell disposed on the upper side of the body portion to enable self-power generation using sunlight A monitoring unit for acquiring an image through an underwater camera and correcting the image according to a preset image correction method to simultaneously monitor changes in the ecological environment of the water and the water, and is mounted on the body to receive power from the self-generating unit. The propulsion unit for generating a propulsion force in the water so that the body portion can move from the current position to the target movement position, and remotely transmits the data obtained through the monitoring of the monitoring unit, and the self-power unit, the monitoring unit or the propulsion unit Wireless communication unit that receives remote control commands and related objects Is equipped with a proximity sensor to control the propulsion direction and speed of the propulsion unit so as to travel by avoiding an object near by analyzing the detection result of the proximity sensor and the image corrected according to the preset image correction method together And a traveling control unit, wherein the solar cell is provided in plural, half of the plurality of solar cells are disposed radially above the body portion, and the other half of the plurality of solar cells is radially radial among the plurality of solar cells. It is arrange | positioned in between each of the parts arrange | positioned by.

Description

Self power generating robot of buoy type

The present invention relates to a buoy-type self-powered robot that performs various roles in a river or an ocean.

Recently, awareness of the importance of protecting a river or marine environment has begun to take place, and various efforts have been made to identify and improve the environmental condition of a river or ocean.

However, rivers or oceans were difficult to continuously observe and understand various environmental conditions through field measurements. For example, if temperature fluctuations, oxygen demands, and pH measurements have to be continuously made over a range of offshore waters, performing this directly using an observation line or irradiation line will not only require the permanent manpower and equipment to stay on site. Long-term, continuous observations were difficult.

To overcome these limitations, measurements were made by attaching sensors to buoys installed on rivers or at sea. Most buoys, however, are mooring-type, and if not fixed, manual control was required for their control. Therefore, the buoy measurement method does not require huge manpower and equipment, and long-term continuous observation has the advantage of being able to perform direct field measurement using observation lines or irradiation lines that are free to move and allow various measurements using various equipment. Compared with this, there is a disadvantage in that the moving range or measurement type for the measurement is greatly limited.

The present invention has been made to solve the problems described above, and the problem to be solved by the present invention is that active driving to wirelessly transmit the data obtained by monitoring the surrounding conditions, and to detect and avoid obstacles by themselves It is possible to provide a buoy-type self-powered robot that can be remotely controlled as needed, and can generate electricity through self-power.

Buoy-type self-powered robot according to an embodiment of the present invention for achieving the above object includes a body portion that provides buoyancy in the water, a solar cell disposed on the upper side of the body portion to enable self-power generation using sunlight. A monitoring unit for acquiring an image through a self-generation unit, a camera and an underwater camera, and monitoring the ecological environment changes of the water and the water at the same time by correcting the image according to a preset image correction method; The driving unit generates power in the water so that the body unit can move from the current position to the target moving position from the current position, and remotely transmits data obtained through monitoring of the monitoring unit, and the self-generation unit and the monitoring unit. Or a wireless communication unit for remotely transmitting control commands related to the propulsion unit. Propulsion of the propulsion unit is provided with a proximity detection sensor for detecting an object that is approaching, by analyzing the detection result of the proximity detection sensor and the image corrected according to the preset image correction method together to avoid the near object to drive It includes a driving control unit for controlling the direction and speed, wherein the solar cell is provided in plurality, half of the plurality of solar cells are disposed radially above the body portion, the rest of the plurality of solar cells Half of the cells are disposed between each of the radially disposed portions.

The plurality of solar cells may be formed to have a surface inclined outward from the center of the body portion.

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The monitoring unit may include a GPS for grasping a position state.

The monitoring unit may monitor the water pollution state and temperature change.

The monitoring unit may measure the oxygen demand in the water and the hydrogen ion concentration index (pH).

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The wireless communication unit may include a wireless ethernet modem.

The monitoring unit detects a feature point in a frame image of the image acquired through the camera, detects a moving direction and a moving size of the feature point relative to a previous feature point detected in a previous frame image of the acquired image, Image correction for moving the frame image by the moving size in the reverse direction, detecting a rolling direction and a rolling angle of the frame image with respect to the previous frame image, and rotating the frame image by the rolling angle in the reverse direction of the rolling direction. The module may further include.

According to the present invention, it is possible to grasp the surrounding conditions, the degree of water pollution, the ecological environment of the water through the monitoring unit, and by providing a wireless communication unit, it is possible to transmit the data obtained through the monitoring to the desired remote site, The power generation robot can be controlled through various control commands at remote locations.

In addition, since the self-generation using the solar cell is made, it can move in water for a long time by itself, and each component that requires energy for operation can be continuously driven.

In addition, by placing half of the plurality of solar cells radially and the other half of the plurality of solar cells to be disposed between each of the radially arranged portion of the plurality of solar cells, the solar cell can be incident sunlight It can be arranged to maintain a certain level of energy conversion efficiency at all times in all directions, and it is possible to increase the manufacturability and economy in the layout structure.

In addition, it is possible to secure driving safety by identifying an object to be approached and controlling the propulsion direction and speed by using the proximity control sensor and / or the camera of the driving control unit and the driving control unit. In addition, according to such a traveling control unit, even when traveling through manual control from a remote location, if an object approaching through a proximity sensor and / or a camera is captured, the driving control unit autonomously avoids the control command again. Active control of driving in accordance with can be made.

1 is a perspective view of a buoy-type self-powered robot according to an embodiment of the present invention.
2 is a front view of the buoy-type self-powered robot of FIG.
3 is a side view of the buoy-type self-powered robot of FIG.
4 is a plan view of the buoy-type self-powered robot of FIG.

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

Buoy-type self-powered robot according to an embodiment of the present invention (hereinafter referred to as 'buoy-type self-powered robot') (100) relates to a robot that can be used as a buoy floating in the river or ocean, The present invention relates to a buoy-type self-powered robot that detects a situation, collects data from the surrounding environment, transmits it remotely, and actively moves to avoid obstacles autonomously.

Hereinafter, the components in relation to the buoy self-powered robot 100 will be examined.

First, look at the configuration of the body portion (1).

Body portion 1 provides buoyancy in water. The buoy monitoring monitoring brush 100 can be floated on the river or the sea through the buoyancy of the body (1). For example, the body portion 1 may form an empty interior space so that buoyancy is generated in water.

The body portion 1 may also serve to accommodate other components or subcomponents thereof in addition to providing buoyancy. For example, referring to FIGS. 1 to 4, the body part 1 may include an upper body part 11 and a lower body part 12 coupled to the upper body part 11. The upper body 11 may be equipped with a solar cell 21, a wireless Ethernet modem 51, a camera 31 to be described later, the lower body 12, the propelling unit 4, the underwater camera is to be installed Can be.

For reference, the body part 1 may include a center of gravity that balances by lowering the center of gravity of the buoy-type self-powered robot 100 so as not to be flipped while being lowered inside or outside.

Next, look at the configuration of the self-power generation unit (2).

1 to 4, the self-power generation unit 2 is a configuration that can be directly converted to electrical energy using the solar power. That is, the self-power generation unit 2 is provided with a device capable of converting sunlight into electrical energy on the upper side of the body portion 1 without receiving power for generating power from the outside and thereby without external assistance. It is a configuration that generates power for driving by itself.

Specifically, the self-power generation unit 2 is disposed on the upper side of the body portion 1 so as to generate electrical energy using solar light and the solar cell 21 and the solar cell 21 and It may include a charging unit (not shown) connected to the solar light absorbed through the solar cell 21 is converted into electrical energy through a series of processes and charged and stored therein. In exemplary embodiments, the charging unit may include a rechargeable battery and a charge controller that checks the state of charge and the remaining amount of the battery. In addition, the battery may be provided in plurality.

As an example of the charging method of the charging unit in the case where two batteries are provided, the charging controller detects and selects a battery having a small remaining capacity, and then starts charging the selected circuit and checks the state of charge of the battery being charged. When the charging of the battery being charged is finished, the battery may be cycled in such a manner that the remaining battery of the two batteries is identified again.

By the self-generation through the self-power generation unit 2, power for operation can be provided to the driving unit 4 to be described later, through which the buoy-type self-powered robot 100 supplies energy from the outside It can travel in water for a long time without itself.

In addition, the self-power generation unit 2 may also provide electrical energy to the monitoring unit 3 and the wireless communication unit to be described later, so that each component (3, 4, 5) that requires energy in order to operate the self-generation unit ( It can be driven continuously through 2).

1 to 4, the solar cell 21 may be provided as a plurality of 211 and 212. In order to maintain a predetermined conversion efficiency for various incidence directions of sunlight, the solar cells 21 may be provided in plural and may be divided into various directions and appropriate angles.

In exemplary embodiments, the plurality of solar cells 211 and 212 may be disposed radially above the body 1. In particular, referring to FIG. 4, half of the plurality of solar cells 211 may be disposed radially on the upper side of the body portion 1. In addition, the remaining 212 of the plurality of solar cells may be disposed between the portions in which half 211 of the plurality of solar cells is disposed radially.

For example, as illustrated in FIG. 4, the plurality of solar cells 211 and 212 may be ten, and five of the solar cells 211 may be arranged to extend radially from the center of the body portion 1. The remaining five solar cells 212 may be disposed between each of the five solar cells 211 arranged to extend radially. In this case, referring to FIG. 4, the remaining five solar cells 212 may be disposed to be smaller than the size of the five solar cells 211 that are already disposed radially in consideration of the size of the space to be disposed.

The plurality of solar cells 211 and 212 may be formed such that the surface 213 is inclined outward from the center of the body portion 1 as shown in FIGS. 1 to 3. That is, referring to FIGS. 1 to 3, the surface 213 of the plurality of solar cells 211 and 212 is provided closer to the center of the body part 1 and is farther from the center of the body part 1. It may be formed with a slope provided low.

In this manner, the solar cell 21 may be arranged to maintain energy conversion efficiency of a predetermined level or more in all directions in which sunlight may be incident. In particular, as shown in FIG. 4, considering that the panel of the solar cell 21 is generally provided in a rectangular shape, a small rectangular panel considering the radial arrangement of the rectangular panel and the size of the space between the radial arrangements Radial layout is an optimal layout structure utilizing a typical rectangular panel. In other words, such an arrangement structure of the solar cell 21 is an optimal arrangement structure capable of coping with all directions in which sunlight can be incident, and a general rectangular panel can be utilized for such an arrangement structure, and the structure thereof is also complicated. Because it does not have the advantage that can be improved in productivity and economics.

Next, the monitoring part 3 is examined.

The monitoring unit 3 monitors the state of the surroundings. For example, the buoy-type self-powered robot 100 may continuously monitor environmental conditions such as water pollution state, temperature change, and aquatic ecological environment change of the coastal or lake boundary through the monitoring unit 3. Data on these environmental conditions can be collected. That is, the monitoring unit 3 may monitor the water pollution state, temperature change, etc. of the river or ocean. In order to monitor and collect data on various environmental conditions, sub-components of the monitoring unit 3 may be divided and formed for each required position on the buoy-type self-powered robot 100.

In addition, the monitoring unit 3 may measure the oxygen demand in the water and the hydrogen ion concentration index (pH). For example, the monitoring unit 3 may be provided with a COD / pH sensor to measure the indicators of the water pollution analysis. In addition, the monitoring unit 3 may include an underwater camera to photograph the underwater. These underwater cameras can collect data on the ecological environment of the water.

1 to 4, the monitoring unit 3 may include a camera 31 disposed above the body 1 to enable pan driving and tilt driving. . For example, when the camera 31 is set to be driven at a pan angle of 360 degrees and a tilt angle of 130 degrees, the buoy-type self-powered robot 100 is rolled and floated while floating in water. Even so, all surveillance of the surrounding 360-degree direction can be made practical.

In addition, the monitoring unit 3 detects the feature point in the frame image of the image obtained through the camera 31, detects the movement direction and the movement size of the feature point relative to the previous feature point detected in the previous frame image of the acquired image , An image correction module which moves the frame image by the moving size in the reverse direction of the moving direction, detects the rolling direction and the rolling angle of the frame image relative to the previous frame image, and rotates the frame image by the rolling angle in the opposite direction of the rolling direction. May include).

In this case, the feature point may be detected by a Harris corner detector. The Harris corner detection method can be implemented by finding a corner point (feature point) by forming a window moving up, down, left, and right in the frame image and analyzing a change in pixel value in the window.

In addition, the moving direction and the moving size can be detected by the optical flow. Optical flow is a method used when estimating a motion between two frames, and may be divided into a dense optical flow and a rare optical flow. The dense optical flow calculates the speed of all the pixels included in the image frame, and the rare optical flow calculates the speed of the feature points.

In the image correction module, a rare optical flow that calculates the speed of the feature points may be used. For example, the Lucas-Kanade optical flow may be used for the image correction module. Because the Lucaskanade method uses a small local window, it is possible to track relatively fast movements, and the computation speed is fast because only the speed of the feature points is obtained without the speed of every pixel.

However, because the Lucaskanade method uses a small local window, it is difficult to calculate the motion when a larger motion occurs than the corresponding window. However, in order to achieve fast image correction in real time, it is possible to place more emphasis on the fact that the fast movement tracking and the fast operation speed can be more important.

In addition, the rolling direction and the rolling angle described above can be detected by the rolling sensor. That is, for the shaking in the rolling direction of the image, correction may be made by receiving the rotation angle data in the rolling direction through such a sensor. The monitoring unit 3 may include such a rolling sensor.

Through the image correction module, the image obtained by the camera 31 can be corrected when shaken due to rolling and rolling due to the shaking up, down, left and right, thereby providing a more stable image with reduced shaking. It becomes possible.

In addition, the camera 31 may be combined with the proximity sensor of the driving control unit to be described later to control the propulsion direction and the speed of the propulsion unit 4. This will be described again with reference to the configuration of the driving control unit.

In addition, various data monitored in relation to the surrounding environmental conditions, the image of the underwater camera or the camera 31 may be transmitted to a remote place, such as an integrated control center on the land through a wireless communication unit to be described later.

In addition, the monitoring unit 3 may include a GPS for grasping the position state. The buoy self-powered robot 100 can recognize the magnetic location on the river or the sea through the GPS. Such GPS can be utilized as follows. That is, when the control command transmitted remotely through the wireless communication unit to be described later relates to the target moving position, the target target position is specified while recognizing the current magnetic position using the GPS and continuously guided by the GPS based on the target position. You can go to

In addition, the monitoring unit 3 is supplied with electricity from the above-described self-generating unit 2 is continuously driven for a long time and may play a predetermined role.

In this way, it is possible to grasp the surrounding conditions, the degree of water pollution, the ecological environment of the water through various sensors, measuring devices, the underwater camera, the camera 31, etc. of the monitoring unit 3, and the desired target point by using the GPS It can be easily reached, and by using the camera 31 provided for monitoring together with the analysis through the traveling control unit, the autonomous driving of the buoy-type self-powered robot 100 can be made more quickly and accurately.

Next, the structure of the propulsion part 4 is examined.

1 to 4, the propulsion unit 4 may be mounted to the body unit 1 to provide a propulsion force in water. The propulsion portion 4 may be mounted as shown in FIGS. 1 to 4 in the lower body 12 which is generally submerged in water. In addition, the propulsion unit 4 may be provided with a propeller 41 for propulsion.

The driving unit 4 may determine the driving direction and speed in connection with the wireless communication unit to be described later, or the GPS, camera, underwater camera, and driving control unit to be described later. For example, when the target movement position is transmitted through the wireless communication unit, the driving unit 4 may be controlled to be moved to the target movement position in association with the GPS, and the underwater camera may perform algorithms on the characteristic part of the underwater ecology environment. If you want to analyze and approach through the driving associated with this may be made.

In addition, when the camera 31 detects an obstacle floating in the driving direction of the buoy-type self-powered robot 100, the driving unit 4 may be controlled to avoid the driving unit in connection with the proximity sensor. have.

In addition, the propulsion unit 4 may be continuously driven for a long time by receiving electricity from the above-described self-generating unit 2.

Next, look at the configuration of the wireless communication unit.

The wireless communication unit may remotely transmit data obtained through monitoring of the monitoring unit 3. In addition, the wireless communication unit may remotely receive a control command associated with the self-generation unit 2, the monitoring unit 3, or the propulsion unit 4. For example, referring to FIGS. 1 to 4, the wireless communication unit may include a wireless Ethernet modem 51.

For example, data obtained through monitoring of the monitoring unit 3 may be transmitted to a remote site through the wireless Ethernet modem 51. For reference, the data obtained through the monitoring of the monitoring unit 3 may include data obtained about the surrounding condition, the degree of water pollution, the ecological environment of the water, GPS location information, the camera 31 or the underwater camera as described above. Image data collected through this may be included.

In addition, control commands can be transmitted remotely via a wireless Ethernet modem, so that various remote controls for the buoy monitoring robot 100 can be made. For example, the remote control command may change setting values such as sensitivity and measurement range of various sensors included in the monitoring unit 3, control the pan or tilt driving of the camera, and adjust the shooting state of the underwater camera. The propulsion force and the propulsion direction of the propulsion unit 4 may be different.

For reference, the configuration of the wireless Ethernet modem 51 of the wireless communication unit is shown, and the configuration of the wireless communication unit itself to remotely transmit data or control commands via the wireless Ethernet modem is shown in the drawings. It may not be provided and may be provided inside the body 1, for example, inside the upper body 11.

Next, look at the configuration of the running control unit (not shown).

Although not shown in the drawings, the driving controller includes a proximity sensor for sensing an object in proximity. The driving controller may control the propulsion direction and the speed of the propulsion unit 4 so as to travel by avoiding an object that is approached according to the detection result of the proximity detecting sensor. For example, the proximity sensor may be an ultrasonic sensor, and may detect an obstacle appearing on the front surface through the ultrasonic sensor, and the driving controller may control the driving unit 4 accordingly.

Here, the meaning of the proximity of the object is a relative concept with respect to the buoy-type self-powered robot 100, the case that the object moves to approach the buoy-type self-powered robot 100 and the buoy-type self-power generation The robot 100 may include all cases in which the robot 100 moves to approach an object.

In addition, the driving controller may control the propulsion direction and the speed of the propulsion unit 4 by analyzing the detection result of the proximity sensor and the image acquired through the camera 31 described above in the monitoring unit 3 together. For example, an image acquired through the camera 31 may be analyzed through algorithms for extracting feature points in the image and identifying an object that is close to the change of the feature points. In this way, by detecting the proximity sensor as well as the analysis in the image side through the camera 31, it is possible to more accurately grasp the object close to, and to more quickly determine the propulsion direction and speed of the propulsion unit (4) It can control and respond. In addition, the proximity sensor and the camera 31 may also perform a peripheral monitoring function.

Further, even when a control command from a remote site is transmitted to the propulsion unit through the wireless communication unit and traveling is performed by manual control in a specific direction at a specific speed, the traveling control unit may include the above-described proximity sensor or camera 31. When obstacles approaching are captured through the autonomous obstacles, the obstacles may be autonomously avoided and then controlled to be driven according to a control command. Passive control from a remote location will be difficult to grasp and respond to the obstacles near, so that active response is made through the proximity sensor and the camera 31 of the driving control unit to protect the buoy-type self-powered robot 100. Because it is more advantageous to.

According to the present buoy-type self-powered robot 100, it is possible to wirelessly transmit the data obtained by monitoring the state of the surroundings, active driving to detect and avoid obstacles by themselves, can be remotely controlled as necessary In addition, self-generation may generate electricity to enable continuous driving for a long time.

In other words, the buoy-type self-powered robot 100 secures energy required by using solar cells as renewable energy, monitors various environmental conditions of rivers or oceans, and recognizes and avoids obstacles such as autonomous movement. It is possible to transmit and control data through remote communication, and to act as an award-winning robot platform based on IT convergence technology that can recognize self position through GPS.

While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And all changes and modifications to the scope of the invention.

100. Buoy type self-powered robot
1. Body part 11. Upper part of body
12. Lower part of the body 2. Self-generating part
21. Cells 211. Half of the Multiple Cells
212. Remaining of Multiple Cells 213. Surface of Multiple Cells
3. Monitoring unit 31. Camera
4. Propeller 41. Propeller
51. Wireless Ethernet Modem

Claims (9)

Body part to provide buoyancy in water,
Self-generating unit including a solar cell disposed on the upper side of the body portion to enable self-generation using sunlight,
A monitoring unit which acquires an image through a camera and an underwater camera and simultaneously monitors changes in the ecological environment of the water and the water by correcting the image according to a preset image correction method;
A propulsion part mounted on the body part to receive power from the self-generating part to generate propulsion force in the water so that the body part can move from the current position to the target moving position,
A wireless communication unit for remotely transmitting data obtained through monitoring of the monitoring unit and remotely transmitting a control command related to the self-generation unit, the monitoring unit, or the propulsion unit, and
Propulsion direction of the propulsion unit is provided to include a proximity detection sensor for detecting an object that is approaching, to analyze the detection result of the proximity detection sensor and the image corrected according to the preset image correction method together to avoid an object that is close to the driving. And a driving control unit for controlling the speed,
The solar cell is provided in plurality,
Half of the plurality of solar cells are disposed radially above the body portion,
The other one of the plurality of solar cells is a buoy-type self-powered robot is disposed between each of the portions that half of the plurality of solar cells are disposed radially. In claim 1,
The plurality of solar cells are buoy-type self-powered robot, the surface is formed to be inclined toward the outside from the center of the body portion. delete In claim 1,
The monitoring unit buoy type self-powered robot comprising a GPS (GPS) to determine the position status. In claim 1,
The monitoring unit buoy type self-powered robot for monitoring the water pollution state and temperature changes. In claim 1,
The monitoring unit buoy type self-powered robot for measuring the oxygen demand and hydrogen ion concentration index (pH) in the water. delete In claim 1,
The wireless communication unit buoy type self-powered robot including a wireless ethernet modem (wireless ethernet modem). In claim 1,
The monitoring unit detects a feature point in a frame image of the image acquired through the camera, detects a moving direction and a moving size of the feature point relative to a previous feature point detected in a previous frame image of the acquired image, Image correction for moving the frame image by the moving size in the reverse direction, detecting a rolling direction and a rolling angle of the frame image with respect to the previous frame image, and rotating the frame image by the rolling angle in the reverse direction of the rolling direction. Buoy-type self-powered robot further comprising a module.

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