KR101973529B1 - Coastline surveying system using stereo camera of unmanned ship - Google Patents

Abstract

The present invention relates to a coastline surveying system using a stereo camera of an unmanned ship and, more specifically, to a coastline surveying system using a stereo camera of an unmanned ship, which improves a degree of precision of surveying a coastline by using the stereo camera of the unmanned ship such that surveying can be accurately measured, and which appropriately adjusts the height of the stereo camera.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a coastline surveying system using a stereo camera of an unmanned ship,

The present invention relates to a coastline surveying system using a stereo camera of an unmanned ship in the field of marine surveying technology. More particularly, the present invention relates to a surveying system using a stereo camera of an unmanned vessel, The present invention relates to a shoreline surveying system using a stereo camera of an unmanned ship for appropriately adjusting the height of a stereo camera.

The rise in sea level due to climate change due to global warming and the increase in intensity and incidence of typhoons may cause flood damage due to typhoon tsunami on the coast.

A coastal topographical map is required to accurately predict flooded inundation areas in order to minimize the damage of flooding floods and protect people and property from coastal disasters.

To create the coastal topographies, the marine reference points are surveyed, and the marine reference point survey generally uses GPS surveying equipment.

However, the conventional marine reference point measuring apparatus was transported to a marine reference point measurement position using a separate transportation means, or transferred to a marine reference point measurement position by the operator directly. Therefore, conventionally, there has been inconvenience in transporting the marine reference point surveying apparatus.

In addition, since the conventional marine reference point surveying apparatus can measure only the marine reference point, there is a need to develop a marine reference point surveying apparatus including a coasting surveying function.

As a conventional technique in which such problems are partially improved, Korean Patent Registration No. 10-1704653 (Feb. 02, 2017) discloses a marine reference point surveying apparatus for coastline surveying.

However, in the conventional measuring apparatus, since the lower part of the vertical support is screwed to the fastening hole formed in the horizontal mounting unit, the vertical measurement unit can be easily swung by an external force and the like, There is a problem that the support state is difficult to maintain.

Korea Patent Registration No. 10-1704653 (Feb. 2, 2017) 'Marine reference point surveying device for coastal surveying'

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a stereo camera of an unmanned ship which improves the accuracy of shoreline surveying so that accurate surveying can be performed, And to provide a shoreline surveying system using a stereo camera of an unmanned ship so as to be able to appropriately control the shoreline surveying system.

The problems to be solved by the present invention are not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the present invention provides an unmanned ship having a main body having a receiving space therein and a saddle provided at an upper portion of the main body; An acoustic sounding device 80 installed at a lower portion of the unmanned ship 10 for measuring the water depth; First and second buoyancy mechanisms (20, 20 ') facing each other on one side and the other side of the unmanned ship (10); A pneumatic pressure generator (40) installed in the accommodation space (11a) for supplying air to the first and second buoyancy mechanisms (20, 20 ') or sucking air from the first and second buoyancy mechanisms (20, 20'); A horizontal support 61 having a plurality of fastening holes 61a and having a front end movably installed on the saddle 12, a vertical support 62 screwed to the fastening hole 61a and vertically installed, An instrument mount 60 having a horizontal mount 63 mounted at the top of the vertical support 62; And a stereo camera (90) installed on the horizontal mount (63) for measuring a coastline topography. The system includes a height adjuster (200) for adjusting the height of the stereo camera (90) , And the height adjustment unit (200) includes a mounting plate (210) on which the stereo camera (90) is mounted; Lifting means (220) for lifting and lowering the mounting plate (210); And the guide means 230 for guiding the ascending and descending of the mounting plate 210. The upper and lower portions of the elevating means 220 are fixed to the mounting plate 210 and the lower portion passes through the horizontal mounting table 63, A rack gear 221 to be pulled into the support table 62; A pinion 222 to be in tooth-coupled with the rack gear 221; And a driving motor 223 for transmitting rotational force to the pinion 222. The guide means 230 includes a guide bar 230 having an upper portion connected to both sides of the mounting plate 210, (231); And a fixing member 232 screwed to the lower portion of the guide bar 231. The vertical support 62 is fixed to the vertical support 62 and has a lower portion extending downward, An upper support 64 that is open; A lower support 65 to which the lower portion is screwed into the fastening hole 61a and the upper portion is drawn into the lower inside of the upper support 64; And a support means (66) for supporting the upper support (64) up and down from the lower support (65) so that the upper support (64) can be raised and lowered.

According to the present invention, it is possible to accurately perform surveying by improving the accuracy of coastline survey using a stereo camera of an unmanned ship.

Further, the height of the stereo camera can be appropriately adjusted.

The effects of the present invention are not limited to those mentioned above, and other solutions not mentioned may be clearly understood by those skilled in the art from the following description.

1 is a partial front sectional view showing a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
FIG. 2 is a partially enlarged cross-sectional view of the acoustic sounding apparatus in FIG. 1. FIG.
3 is a partial plan sectional view of the acoustic sounding apparatus in FIG.
4 is a front sectional view showing a first and second buoyancy mechanisms in a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
5 is a plan view showing a state in which the first and second buoyancy mechanisms are deployed in a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
6 is a view showing a first and second buoyancy mechanisms in a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
7 is a partial side sectional view showing a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
8 is a partially enlarged cross-sectional view of the instrument installation stand in Fig.
9 to 13 are views showing an operating state of a coastline surveying system using a stereo camera of an unmanned ship according to the invention.
14 is a side view showing a state in which a height adjusting unit is provided in a coastline surveying system using a stereo camera of an unmanned ship according to the present invention.
And
15 is a cross-sectional view showing the vertical support in Fig.

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

1 to 8, a coastline surveying system using a stereo camera of an unmanned ship according to the present invention includes an unmanned ship 10, an acoustic echo canceller 80, a rotary vane 100, an ultrasonic generator 110, The first and second buoyancy mechanisms 20 and 20 ', the first and second winch devices 30 and 30', the pneumatic pressure generator 40, the control unit 50, the instrument mounting base 60, And a stereo camera 90.

The unmanned ship 10 has a main body 11 and a saddle 12, and moves the aquarium.

The main body 11 has a receiving space 11a formed therein.

The saddle 12 is provided with a slide portion 12a and a fixing bracket 12b formed at one side of the saddle 12 and having a fastening hole 12b1 formed therein, .

The unmanned ship 10 has a structure for water movement such as a propulsion device for moving the water phase and a steering device for switching the direction, and is operated through an operation from the outside. Since the unmanned ship 10 can be constructed by various known methods, a detailed description thereof will be omitted.

The acoustic echo canceller 80 has a fastening mechanism 81, an echo sounder main body 82 and an echo sounder 83.

The fastening mechanism 81 is detachably installed in the lower portion of the unmanned ship 10. In the present embodiment, the fastening mechanism 81 is threadedly fastened to the lower portion of the unmanned craft 10.

The sounder / sounder main body 82 is rotatably installed at a lower portion of the fastening mechanism 81 and has a receiving portion 82a opened downward.

The acoustic echo canal 83 is installed in the receiving portion 82a of the sounding echo canal main body 82 to measure the depth of the water and forms a general shape used for an undersea topographic survey.

The rotary vane 100 has a panel shape, and is formed of a plurality of rotary vanes 100 and is installed radially around the acoustic echo canceller main body 82.

The plurality of ultrasonic generators 110 are provided around the acoustic echo canceller main body 82 and are installed between adjacent rotary vanes 100 to output ultrasonic waves.

The ultrasonic generator 110 outputs ultrasonic waves in a band that the fish dislikes. For example, the ultrasonic generator 110 is set to irregularly output frequencies within the range of 23 to 160 kHz.

The first and second buoyancy mechanisms 20 and 20 'include first and second buoyant bodies 21 and 21', a second buoyant body 22 and 22 ', a third buoyant body 23 and 23' 24 ', and fourth buoyant bodies 25, 25', respectively, so as to be opposed to each other on one side and the other side of the unmanned ship 10, respectively.

The first buoyant bodies 21 and 21 'have insertion spaces 21a and 21a' formed therein and communicating with the insertion spaces 21a and 21a ' And air inlet openings 21b and 21b 'opened to the outside.

One end of the first buoyant body 21 or 21 'is installed in the receiving space 11a of the main body 11 and the other end of the first buoyant body 21 or 21' As shown in Fig.

The first buoyant bodies (21, 21 ') have a plate-like outer shape.

The second buoyant bodies 22 and 22 'are formed with insertion spaces 22a and 22a' opened in one direction inside.

The second buoyant bodies 22 and 22 'are provided such that one ends thereof are laterally movable in the insertion spaces 21a and 21a' of the first buoyant bodies 21 and 21 ' Is protruded to the side of the first buoyant body 21, 21 'with the other end passing through the first buoyant body 21, 21'.

The second buoyant bodies 22 and 22 'have a plate-like outer shape.

The third buoyant bodies 23 and 23 'are provided with air moving spaces 23a and 23a' which are formed so as to open in one direction inside thereof and a third buoyant bodies 23 and 23a 'which communicate with the air moving spaces 23a and 23a' 23 'provided at the other end of the nozzle unit 23'.

The third buoyant bodies 23 and 23 'are provided so as to be laterally movable in the insertion spaces 22a and 22a' of the second buoyant bodies 22 and 22 ', and the third buoyant bodies 23 and 23' Is protruded laterally of the second buoyant body 22, 22 'through the other end of the second buoyant body 22, 22'.

The third buoyant body (23, 23 ') has a plate-like outer shape.

The valves 24 and 24 'are electronic valves and are installed in the nozzle portions 23b and 23b' of the third buoyant body 23 and 23 '.

The fourth buoyant body 24,24'is provided on the nozzle portions 23b and 23b'of the third buoyant body 23,23'and the valve body 24,24'is opened when the third buoyant body 23 23 'of the first, second, and third nozzles 23, 23'.

The fourth buoyant members 24 and 24 'are in the form of a wrinkle bag and have elasticity.

The first and second winding devices 30 and 30 'are provided in the accommodation space 11a of the main body 11 with the winding wires 31 and 31' and the winding mechanisms 32 and 32 ', respectively.

The other ends of the winding wires 31 and 31 'are inserted through the insertion spaces 21a, 22a, 21a' and 22a ' , 21 '.

When the external force acting on the unwound winding wires 31, 31 'disappears, the winding wires 31, 31' are loosened or wound around the winding wires 31, 31 ' ).

The winding mechanisms 32 and 32 'are conventional for winding and unwinding the winding wires 31 and 31', and a detailed description thereof will be omitted.

The air pressure generating device 40 is installed in the receiving space 11a of the main body 11 and is inserted into the insertion spaces 21a and 21a 'of the first buoyant bodies 21 and 21' through air inlets 21b and 21b ' Air is supplied to the insertion spaces 22a and 22a 'of the first and second buoyant bodies 22 and 22' and the air movement spaces 23a and 23a 'of the third buoyant bodies 23 and 23' The insertion spaces 21a and 21a 'of the bodies 21 and 21', the insertion spaces 22a and 22a 'of the second buoyant bodies 22 and 22', the air movement of the third buoyant bodies 23 and 23 ' And suck air from the spaces 23a and 23a '.

The air pressure generating device (40) includes a fan to generate air pressure. Since the first and second buoyancy mechanisms 20 and 20 'are supplied with air, it is easier to generate buoyancy when they are deployed.

The control unit 50 controls the opening and closing of the valves 24 and 24 'to control the air supply to the fourth buoyant bodies 25 and 25' of the first and second buoyancy mechanisms 20 and 20 '.

The control unit 50 is preferably installed in the main body 11 and controls the valves 24 and 24 'while communicating wired or wireless with the valves 24 and 24'.

The instrument mounting base 60 has a horizontal support 61, a vertical support 62, and a horizontal support 63.

The horizontal support 61 has a plurality of fastening holes 61a, and a front end thereof is movably installed on the slide portion 12a of the saddle 12.

The vertical support 62 is threaded at its periphery and screwed into the coupling hole 61a of the horizontal support 61 to be vertically installed.

The horizontal mounting table 63 has a plate shape and is installed at the upper end of the vertical support table 62.

The fastening member 70 is formed of a bolt or the like and fastened to the fastening hole 12b1 of the fastening bracket 12b and the fastening hole 61a of the horizontal support 61 to fasten the horizontal support 61 to the saddle 12 And is detachably fixed to the fixing bracket 12b.

The stereo camera 90 is used for coastline surveying, and can be made of a high-quality digital camera or the like. The stereo camera 90 is installed on the horizontal mount 63 of the instrument mount 60 to measure the shoreline.

The operation of the coastline surveying system using the stereo camera of the unmanned ship according to the present invention will be described with reference to FIGS. 9 to 13 as follows.

The operator drives the unmanned vessel 10 to move the coastal waterway to be surveyed. At this time, the echo sounder 83 of the echo sounder 80 measures the undersurface topography as shown in FIG. 9, and the information thus measured is stored in a separate DB and then used to update the existing undersea map.

On the other hand, when the unmanned ship 10 moves as described above, the sounder collides with the rotary vane 100, and thus the sounder / sounder main body 82 rotates. At this time, the ultrasonic generator 110 outputs ultrasound waves that the fish dislikes around the echo sounder 83 as shown in FIG. Therefore, the fish can not easily approach the surroundings of the acoustic sounding device 80, so that the measurement operation through the acoustic sounder 83 can be performed more accurately. 10, the ultrasonic wave generator 110 rotates along the sounding sounding apparatus main body 82, so that ultrasonic waves can be output to a wider area.

The operator can use the survey to measure the topography of the coastline and to use it as an aid to create coastal charts through waterway surveying. In the present invention, the shoreline measurement is performed as follows.

The operator drives the unmanned ship 10 to place the unmanned craft 10 on the coastal waterfront facing the coastal terrain to be surveyed.

At this time, if the unmanned ship 10 is not leveled properly by the waves, the operator drives the pneumatic pressure generator 40 to blow the first and second buoyancy mechanisms 20 and 20 '.

As shown in FIG. 11, the first and second buoyancy mechanisms 21, 22, 23, 21 ', 22', and 23 'are unfolded in the first and second buoyancy mechanisms 20 and 20' The unmanned ship 10 is positioned more stably in the water course.

12, the operator pulls out the horizontal support 61 inserted into the slide part 12a to the outside and then pushes the vertical support 62 in the same direction as the fastening hole 61a of the horizontal support 61 ), And install it in the vertical direction. At this time, the worker can adjust the position of the vertical support 62 by installing a vertical support 62 on any one of the plurality of fastening holes 61a of the horizontal support 61. When the instrument mounting table 60 is installed as described above, the stereo camera 90 installed on the instrument mounting table 60 can be installed more stably on the unmanned vessel 10.

Thereafter, the operator measures the coastline through the stereo camera 90.

Here, when the unmanned vessel 10 is moved after the shoreline is surveyed, the operator drives the pneumatic generator 40 to move the first and second buoyancy mechanisms 20 and 20 ' The air supplied to the buoyant bodies 21, 22, 23, 21 ', 22', 23 'is supplied to the first, second and third buoyant bodies 21, 22' of the first and second buoyancy mechanisms 20, 20 ' , 23, 21 ', 22', 23 '.

Since the first and second buoyancy mechanisms 20 and 20 'are pulled by the first and second winding devices 30 and 30', the first and second buoyancy mechanisms 20 and 20 ' So that maneuvering of the unmanned craft 10 can be facilitated. In this embodiment, the first, second and third buoyancy bodies 21, 22, 23, 21 ', 22', 23 'of the first and second buoyancy mechanisms 20, 20' 10).

As shown in FIG. 11, when the first, second and third buoyancy bodies 21, 22, 23, 21 ', 22', and 23 'of the first and second buoyancy mechanisms 20 and 20' The operator can control the opening and closing of the respective valves 24 and 24 'of the first and second buoyancy mechanisms 20 and 20' through the control unit 50 so that the first and second buoyancy mechanisms 20 and 20 ' By allowing air to flow into a part of each of the fourth buoyant members 25, 25 'of the two buoyancy mechanisms 20, 20', as shown in FIG. 13, each of the first and second buoyancy mechanisms 20, 4 part of the buoyant bodies 25 and 25 'is swollen, so that the level of the unmanned ship 10 can be maintained more precisely.

The present invention is advantageous in that when approaching the undersea topography, access to the fish is prevented and the undersea topography can be more precisely measured.

In addition, the depth of the water on the coast is measured while moving along the coast through the unmanned vessel (10), and the unmanned vessel (10) is used to maneuverably move the coastal area to measure the topography of the coastline, And topographical surveying of the coastline makes it possible to create charts for the coast more precisely.

 Further, in using the unmanned ship 10 for maneuverability, the unmanned ship 10 disposed at the surveying position can maintain a more stable horizontal position, thereby making it possible to perform more precise surveying.

The shoreline surveying system using the stereo camera of the unmanned ship according to the present invention further includes a height adjuster 200 for adjusting the height of the stereo camera 90 as shown in Figs.

The height adjuster 200 can adjust the height of the stereo camera 90 from the main body 11 so as to improve the precision of the shoreline measurement while easily coping with the surrounding situation and the weather.

The height adjusting unit 200 includes a mounting plate 210 on which the stereo camera 90 is mounted, a lifting unit 220 for lifting and lowering the mounting plate 210, And guiding means 230.

The lifting means 220 includes a rack gear 221 whose upper portion is fixed to the mounting plate 210 and whose lower portion is passed through the horizontal mounting table 63 and is led into the vertical support table 62, And a drive motor 223 for transmitting rotational force to the pinion 222 and the pinion 222. [

The driving motor 223 is fixed to the horizontal mount 63 and the pinion 222 is directly connected.

The rack gear 221 allows the stereo camera 90 to be raised and lowered together with the mounting plate 210 as the driving motor 223 is driven while the lower portion thereof is drawn into the upper portion of the vertical support 62.

To this end, the vertical support 62 includes an upper support 64 which is fixed to the vertical support 62 and whose lower portion extends downward and which is opened upward and downward, and a lower portion which is screwed to the fastening hole 61a And a support means 66 for supporting the upper support 64 up and down from the lower support 65 and the lower support 65 to which the upper portion is led into the lower inside of the upper support 64.

The upper and lower supports 64 and 65 are cylindrically opened to open up and down. The upper support 64 is coupled to the outside of the lower support 65 so as to be able to move up and down.

The upper support 64 has guide holes 64a formed on both sides thereof extending upward from the lower side.

The support means 66 includes guide projections 66a provided on both sides of the lower support 65 and engaged with the guide holes 64a and screws 65a which are screwed to the upper support 64 so as to be positioned below the guide projections 66a. 1 support member 66b and a second support member 66c that is threadably engaged with the lower support 65 and supports the upper support 64. [

The upper support 64 is threaded on the outer circumference and the first support 66b is screwed to the outside of the upper support 64 while forming a thread on the inner circumference.

A thread is formed on the outer peripheral surface of the lower support 65 and a second support member 66c is screwed on the outer side of the lower support 65 while forming a thread on the inner peripheral surface.

The first support member 66b is screwed to the upper support 64 so as to be positioned below the guide protrusion 66a to prevent the upper support 64 from being detached from the lower support 65. [

The second support member 66c is screwed by the lower support 65 so as to be positioned below the upper support 64 and supports the upper support 64 while being lifted and lowered from the lower support 65 The length of the vertical support 62 can be adjusted by adjusting the length of the upper support 64 protruding upward.

The support means 66 may further include a spring 67 coupled to the outside of the upper support 64 to be positioned between the horizontal mount 63 and the guide protrusion 66a.

The spring 67 supports the horizontal mount 63 from the guide protrusion 66a, while shrinks and relaxes due to an impact transmitted from the outside, thereby cushioning the impact. Here, the second support member 66c should be spaced apart from the upper support 64 so that the upper support 64 can be raised and lowered together with the horizontal mount 63 in accordance with the contraction and relaxation of the spring 67.

It is, of course, possible to prevent breakage of the stereo camera 90 due to external impact or the like.

The guide means 230 includes a guide bar 231 whose upper portion is connected to both sides of the mounting plate 210 and whose lower portion passes through the horizontal mounting table 63 and a fixing member 232 screwed to the lower portion of the guide bar 231, .

The guide bar 231 allows the stereo camera 90 to be raised and lowered together with the mounting plate 210 when the driving motor 223 is driven.

The guide bar 231 is threaded on the outer circumferential surface and the fixing member 232 is screwed to the outside of the guide bar 231 while forming a thread on the inner circumferential surface.

The fixing member 232 is screwed to the lower outside of the guide bar 231 to prevent the guide bar 231 from coming off from the horizontal mounting table 63.

The driving motor 223 is driven under the control of the control unit 50 so that the height of the stereo camera 90 can be adjusted.

The guide bar 231 may be provided with a limit switch (not shown) for stopping the driving of the driving motor after the stereo camera 90 has been raised and lowered by a predetermined height.

The limit switch causes the driving motor 223 to stop while contacting the horizontal mounting table 63 when the guide bar 231 moves up and down according to the driving of the driving motor 223.

Therefore, the height adjusting unit 200 can adjust the height of the stereo camera 90 from the main body 11, thereby improving the accuracy of the shoreline measurement, .

As described above, the present invention is not limited to the above-described embodiments, but can be applied to a coastal surveying system using a stereo camera of an unmanned ship according to the present invention. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

10: unmanned vessel 20, 20 ': first and second buoyancy mechanisms
30, 30 ': first and second winding devices 40: pneumatic generating device
50: control unit 60: instrument installation stand
70: fastening member 80: acoustic sounding device
90: Stereo camera 100: Rotating wing
110: Ultrasonic generator 200:
210: mounting plate 220: elevating means
221: rack gear 222: pinion
223: drive motor 230: guide means
231: guide bar 232: fixing member

Claims (1)

An unmanned ship 10 having a main body 11 having a receiving space 11a formed therein and a saddle 12 provided at an upper portion of the main body 11;
An acoustic sounding device 80 installed at a lower portion of the unmanned ship 10 for measuring the water depth;
First and second buoyancy mechanisms (20, 20 ') facing each other on one side and the other side of the unmanned ship (10);
A pneumatic pressure generator (40) installed in the accommodation space (11a) for supplying air to the first and second buoyancy mechanisms (20, 20 ') or sucking air from the first and second buoyancy mechanisms (20, 20');
A horizontal support 61 having a plurality of fastening holes 61a and having a front end movably installed on the saddle 12, a vertical support 62 screwed to the fastening hole 61a and vertically installed, An instrument mount 60 having a horizontal mount 63 mounted at the top of the vertical support 62; And
A shoreline surveying system using a stereo camera of an unmanned ship, comprising a stereo camera (90) installed on a horizontal mount (63) and measuring a coastal terrain,
Further comprising a height adjuster (200) for adjusting the height of the stereo camera (90)
The height adjustment unit 200,
A mounting plate 210 on which the stereo camera 90 is mounted;
Lifting means (220) for lifting and lowering the mounting plate (210); And
And guide means (230) for guiding the ascending and descending of the stationary plate (210)
The elevating means 220,
A rack gear 221 whose upper portion is fixed to the mounting plate 210 and whose lower portion is passed through the horizontal mounting portion 63 and is led into the vertical support portion 62;
A pinion 222 to be in tooth-coupled with the rack gear 221; And
And a drive motor (223) for transmitting rotational force to the pinion (222)
The guide means (230)
A guide bar 231 whose upper portion is connected to both sides of the mounting plate 210 and whose lower portion passes through the horizontal mounting table 63; And
And a fixing member 232 screwed to the lower portion of the guide bar 231,
The vertical support (62)
An upper support 64 fixed to the vertical support 62 at an upper portion thereof and extending downwardly at an upper portion thereof and opened at an upper portion and a lower portion thereof;
A lower support 65 to which the lower portion is screwed into the fastening hole 61a and the upper portion is drawn into the lower inside of the upper support 64; And
And a support means (66) for raising and lowering the upper support (64) from the lower support (65).

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