KR101986709B1 - Water volume measurement system measurement method using drone - Google Patents

Abstract

The present invention relates to a water catchment volume measurement system using a drone and a measurement method using the same, dividing the volume of a reservoir to set multiple water level measurement positions, positioning the drone at each of the water level measurement positions and enabling the drone to hover in a state of being adjacent to the water surface to be capable of calculating the correct water catchment volume. The present invention comprises: a drone (100) automatically flying to one among multiple preset water level measurement positions, hovering in a state of being adjacent to the water surface and measuring the water level to generate a water level value; a drone station (200) preserving the drone and charging the drone with electricity; and a server (300) dividing the volume of the reservoir for setting the water level measurement positions, receiving the water level value at each of the water level measurement positions from the drone to calculate the volume at each of the water level measurement positions, and calculating the water catchment volume and soil volume.

Description

TECHNICAL FIELD [0001] The present invention relates to a water level measurement system and a measurement method using a drone,

The present invention relates to a system for measuring fresh water using a drone and a measuring method using the same. More particularly, the present invention relates to a system for measuring a fresh water amount using a drone, The present invention relates to a system for measuring a fresh water amount using a drone capable of accurately calculating a fresh water amount by hovering the same with respect to a surface of a drum.

In general, water quality measurement is performed to observe information such as water quality, water depth, and water temperature in rivers and reservoirs. In the water quality measurement method, there are passive observation and manless observation in which manpower is directly input.

Passive observation is an observation method in which manpower is directly injected into a boat to measure water quality while moving. Unmanned observation is an observation method in which unattended observation equipment is installed at a fixed point and water quality is measured.

In the case of passive observation, the manpower is directly input in the water exploration and travels on the boat etc., so there is a problem that the travel time and manpower cost are high. Especially, it is difficult to measure water quality in a dangerous place where manpower is injected and can not be explored.

In the case of unattended observation, there is a problem in that the equipment installed in the water is corroded or broken down in a fixed observation manner at one point, and it is necessary to move to the point where the observation equipment is directly installed to repair the equipment.

Also, in case of unmanned observation, it is impossible to measure the water quality over a wide range because the survey point is fixed at one point, and the accuracy of the water quality measurement value is deteriorated. In particular, when a certain area is observed, a large number of measuring devices must be installed in the area or the water quality measuring device must be moved and the water quality must be measured one by one.

In order to solve such a problem, as described in Patent No. 10-1564876 (registered on Oct. 26, 2015), by receiving a control signal from the outside, the power device is driven to set a plurality of predetermined points And receives control signals from the outside at each of the plurality of moving points, sampling the seawater at different positions in each of the plurality of reservoir tanks and analyzing the respective seawater in the field through the measuring sensor A remote control boat boat for transmitting the analyzed sea water data and the position information data from the GPS device to a remote site through an antenna, a wireless controller for transmitting hull movement and watering control signals from the outside to the hull antenna, And a computer for receiving and displaying the reception data and the position information data transmitted from the hull, Further comprising a water supply device for sucking the seawater into the water collection tank, a direction switching device for switching the direction of movement of the hull, a battery for supplying power to the hull, and a controller for controlling the hull, And a discharge pipe, and when a control signal for taking water from the radio control device is received, the sea water collected by the water supply pump is opened and closed by the water pipe opening / closing device And a remote water quality measurement system configured to fill the plurality of reservoir tanks and to discharge the collected water from the hull through the exhaust pipe when the collected seawater overflows.

However, since the above-mentioned patent has to input manpower to open or recover the hull at the point for measuring the water quality, it is difficult to measure the water quality in the dangerous area, and it is difficult to grasp the accurate water level due to the shaking of the hull due to the wave There is a problem that it is difficult to measure water quality by water level.

Therefore, it is required to develop a water quality measurement system capable of measuring the accurate water quality and water level.

DISCLOSURE OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to divide the volume of a reservoir to set a plurality of water level measurement positions, position the drone to each water level measurement position, hover the water level adjacent to the water level, And to provide a measurement system and method for measuring fresh water using a drone.

In addition, a fresh water measurement system and a measurement method using a drone capable of hovering near the water surface by measuring the water counting number by using a water detection sensor (not shown) attached to the drone flying unmanned There is a purpose to provide.

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

To achieve the above object, according to the present invention, there is provided a system and method for measuring fresh water using drones, comprising: automatically flying to any one of a plurality of water level measuring points set in advance, hovering in a state adjacent to a water surface, A drones 200 for storing and charging the drones 100, and a controller 200 for dividing the volume of the reservoir to set the water level measurement position, And a server 300 for receiving the water level value of each water level measurement position from the water level measurement position and calculating a volume value of each water level measurement position to calculate a fresh water level and a soil level, A water level measurement position setting unit 311 for previously dividing the volume of the reservoir and setting each divided volume to a water level measurement position, a server communication unit 310 for communicating with the server communication unit 310, A water level value storage unit 312 for receiving and storing a water level value by the water level measurement location from the drones 100, and a water level value storage unit 312 for storing the values of the horizontal axis and the vertical axis of the volume plane in advance according to the water level measurement location, Value storage unit 312 to calculate a fresh water volume value according to the water level measurement position by using the water level value, the horizontal axis value, and the vertical axis value, A fresh water volume calculation unit 313 for calculating a total fresh water volume by summing the fresh water volume values calculated for each water level measurement location in the fresh water volume calculation unit 313, The soil height value is calculated by excluding the water level value corresponding to the water level measurement position from the existing water level value of the existing bottom surface of the reservoir, and the horizontal axis value of the volume plane A soil volume calculation unit 315 for calculating a soil volume value for each water level measurement location using the vertical axis value and the soil level value, And an amount-of-saturation calculation unit 316 for calculating the total amount of the total amount of the soil.

The dron 100 includes a drones communication unit 110 for communicating with the server 300, a current position measuring unit 111 for measuring the current position of the dron 100, 110) for setting a flight order for each level measurement position received from the server (300), comparing the current position with the level measurement position according to the set flight order, A water detection unit 113 for detecting the water and generating a water detection signal, the water detection unit being located at the water level measurement position through the automatic flight command unit 112, A counting unit 114 for counting the generated water sensing signal for a preset predetermined time, and a counting unit 114 for determining whether the counted number of water sensing signals counted by the counting unit 114 is equal to a preset normal sensing signal, Whether And a hovering command unit 116 for commanding hovering when it is judged that the number of water sensing signals is equal to the number of counts of water sensing signals and the number of normal sensing signals in the sleeping unit 115, A down command unit 117 for commanding a downward flight vertically when the water level determination unit 115 determines that the number of water sensing signals is not equal to the number of normal sensing signals, And a water level measuring unit 118 for measuring the water level of the water level measuring position by measuring the time of returning by irradiating the laser beam when the water level is hovered through the command unit 116 and comes into contact with the water surface.

The drones 100 may further include a photographing unit 119 for photographing the water level at the water level measuring position and an obstacle determining unit 120 for determining an obstacle present on the water surface photographed through the photographing unit 119 ).

In the present invention, the drone (100) in which the flight order for a plurality of water level measurement positions received from the server (300) dividing the volume of the reservoir and setting each divided volume as the water level measurement position is set in accordance with the flight order An automatic flying step of comparing the water level measurement position with a current position of the drones 100 to automatically fly the water; and a control unit 130 for sensing water in the reservoir when the current position is the same as the water level measurement position in the drones 100, A water detecting step of generating a detection signal by counting the number of counts of the water detection signal in the drones 100, a counting step of counting the water detection signal at a predetermined time in the drones 100, Determining whether or not the number of the water sensing signals is equal to the number of sensed signals and determining whether the water sensing signals are located on the water surface; A hovering step of hovering when it is judged that the water surface is the same as the inlaid water lake; and a hovering step of hovering when it is judged that the water surface is the same as the inlaid water lake, A level measuring step of measuring a water level by irradiating a laser beam after being hovered by the drones 100 to generate a water level value at the water level measuring position; And a water level value storing step of storing a water level value from the water level measuring unit 100 and storing the water level value in the water level measuring position by the server 300. [ A fresh water volume calculation step of calculating a fresh water volume value at each water level measurement location by multiplying the water level measurement value by the water level measurement location, Calculating a total fresh water amount by summing the fresh water volume of the reservoir and the fresh water volume of the reservoir, and calculating a total fresh water amount by summing the fresh water volume of the reservoir and the fresh water volume of the reservoir, A soil volume calculation step of calculating a soil volume value by multiplying the horizontal axis value and the vertical axis value of the volume plane by the water level measurement position, and calculating the total volume of the soil by summing the soil volume values at the respective water level measurement positions calculated by the server 300 And a calculating step of calculating an amount of soil to be calculated.

As described above, according to the present invention, it is possible to divide the volume of the reservoir to set a plurality of water level measurement positions, position the drone to each water level measurement position, hover the water level adjacent to the water level, and measure the water level of the reservoir. It is possible to accurately calculate the fresh water amount of the reservoir and to accurately grasp the stable low capacity of the reservoir. Therefore, it is possible to predict the exact dredging time and the dredging scale, thereby preventing the disaster from occurring.

In addition, it is possible to measure the water level and the water quality by hovering in the state where the dron is adjacent to the water surface, so that accurate measurement values can be provided even in areas where people are difficult to enter, .

Further, even if the wave height changes according to the waves, if the water sensor (not shown) attached to the dron counts a certain number of times, it is determined that the drones are adjacent to the water surface.

FIG. 1 is a view showing a system for measuring fresh water using a dron according to an embodiment of the present invention,
FIG. 2 is a perspective view showing a drones of a fresh water amount measuring system using a dron according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating a drowning hovering command unit of a fresh water amount measuring system using a dron according to an embodiment of the present invention,
4 is a block diagram illustrating a server of a fresh water amount measuring system using a dron according to an exemplary embodiment of the present invention,
FIG. 5 is a block diagram illustrating a water level measuring position setting unit of a server of a fresh water amount measuring system using a drone according to an embodiment of the present invention,
FIG. 6 is a diagram illustrating a fresh water volume calculating unit of a server of a fresh water amount measuring system using a drone according to an embodiment of the present invention,
FIG. 7 is a block diagram of a terminal for measuring a fresh water amount using a drone according to an embodiment of the present invention,
8 is a flowchart illustrating a method of measuring a fresh water amount using a drones according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a system and method for measuring fresh water using a drone according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a system for measuring fresh water using a drone according to an embodiment of the present invention. FIG. 2 is a drone of a fresh water amount measuring system using a drone according to an embodiment of the present invention. Is a hovering command of the drones of the freshwater measurement system using the drones.

FIG. 4 is a server of a fresh water amount measuring system using a drone according to an embodiment of the present invention, FIG. 5 is a water level measuring position setting unit of a server of a fresh water amount measuring system using a drone according to an embodiment of the present invention, 6 is a fresh water volume calculating unit of a server of a fresh water amount measuring system using a drone according to an embodiment of the present invention.

FIG. 7 is a terminal of a fresh water amount measuring system using a drone according to an embodiment of the present invention, and FIG. 8 is a flowchart illustrating a measuring method using a fresh water amount measuring system using a drone according to an embodiment of the present invention.

In the drawings, the same reference numerals are given to the same elements even when they are shown in different drawings. In the drawings, the same reference numerals as used in the accompanying drawings are used to designate the same or similar elements. And detailed description of the configuration will be omitted. Also, directional terms such as "top", "bottom", "front", "back", "front", "forward", "rear", etc. are used in connection with the orientation of the disclosed drawing (s). Since the elements of the embodiments of the present invention can be positioned in various orientations, the directional terminology is used for illustrative purposes, not limitation.

As shown in FIG. 1, the drone-based fresh water amount measuring system according to the preferred embodiment of the present invention automatically flies to any one of a plurality of water level measuring positions set in advance and hover A drum station 200 for storing and charging the drones 100, and a controller 200 for dividing the volume of the reservoir to set the water level measurement position, And a server 300 for receiving the water level value of each water level measurement position from the drones 100 and calculating a volume value of each water level measurement location to calculate a fresh water level and a soil level.

The terminal 300 may further include a terminal 400 for receiving and displaying the amount of fresh water and the amount of soil calculated by the server 300.

2, the drones 100 include a drones communication unit 110 for communicating with the server 300, a current position measuring unit 111 for measuring the current position of the drones 100, An automatic flight command unit 112 for commanding an automatic flight in advance by setting a flight order for each water level measurement position received from the server 300 through the drone communication unit 110, A water detection unit 113 positioned at the water level measurement position through the command unit 112 to generate a water detection signal by sensing the water, and a water detection unit 113 for detecting the water detection signal generated by the water detection unit 113 for a predetermined period of time A sleep determination unit 115 for determining whether the counted number of water sensing signals counted by the counting unit 114 is equal to a preset normal sensing signal and determining whether the water sensing signals are located on the water surface, And the sleep determination unit 11 A hovering command unit 116 for commanding hovering when it is judged that the vehicle is in a sleep state in the sleeping direction determination unit 115 and a descending command unit 117 And a water level measuring unit 118 for measuring the water level of the water level measurement position by irradiating the laser beam when the water level is hovered through the hovering command unit 116 and comes into contact with the water surface.

The drone 100 includes an image capturing unit 119 for capturing the water level at the water level measuring position and an obstacle determining unit 120 for determining an obstacle present on the water surface photographed through the image capturing unit 119. [ As shown in FIG.

Preferably, the dragon communication unit 110 uses a wireless network to communicate with the server 300.

The current position measuring unit 111 may measure a current position where the drones 100 are installed by mounting a GPS or the like inside the drones 100. The current position measuring unit 111 may measure the current position of the drones 100 from time to time.

The automatic flight command unit 112 receives a plurality of level measurement positions from the server 300 via the drone communication unit 110 and sets a flight order for flying the plurality of level measurement positions in advance.

The automatic flight command unit 112 may set the current position measured by the current position measuring unit 111 and the water level measurement according to the flight order to position the drones 100 at the water level measurement position in accordance with the set flying order Controls the direction of the flight relative to the position to command automatic flight.

At this time, the automatic flight command unit 112 positions the drones 100 at any one of the water level measurement positions according to the flight order, and then generates a water level value at the water level measurement position, You are ordered to fly.

The water sensing unit 113 senses water in the water level measurement position and generates a water sensing signal when the drones 100 are positioned at a water level measurement position according to the flight order.

At this time, the water sensing unit 113 can use a water sensing sensor (not shown) for sensing water, and the water sensing sensor (not shown) is connected to the water surface of the reservoir 100, In the water surface direction.

By mounting the water detection sensor (not shown) on the lower surface of the dron 100, it is easy to determine later the hovering point of the dron 100, and the dron 100 is hovered .

The counting unit 114 receives the water sensing signal from the water sensing unit 113, counts the number of the water sensing signals for a predetermined period of time, and transmits the counted number to the sleeping determination unit 115.

The sleep determination unit 115 determines whether the counted number of the water sensing signals counted by the counting unit 114 is equal to the preset normal sensing signal.

Here, the number of normal sensing signals is the number of water sensing signals sensed by the water sensing unit 113 for a predetermined time when the drones 100 are normally adjacent to the water surface.

The sleep determination unit 115 may determine whether the drones 100 are located on the water surface according to whether the number of counts of the water sensing signals is the same as the number of normal sensing signals. That is, when the number of counts of the water sensing signal is equal to the number of normal sensing signals, the water level determining unit 115 determines that the drones 100 are positioned on the water surface, If the set number of normal sensing signals is not equal, it is determined that the drones 100 are not located on the surface of the water.

It is possible to determine whether the drones 100 are located on the water surface through the water level judging unit 115, thereby preventing the drones 100 from flying down unsteadily to measure the water level, It is possible to prevent the drones 100 from entering the reservoir.

As shown in FIG. 3, when the hovering instruction unit 116 determines that the water level is equal to the number of counts of the water sensing signal and the predetermined number of normal sensing signals, And commands hovering to hover the horn 100.

The hovering command unit 116 hobbles the drones 100 adjacent to the water surface to prevent the water level value from being measured differently according to the wave height due to the wave when measuring the water level of the water level measurement position . In other words, the drones 100 can be hovered adjacent to the water surface through the hovering command unit 116, so that when the water level of the water level measuring position is measured later, the drones 100 can be fixed It is possible to prevent the water level value from being measured differently according to the digging.

If the number of counts of the water sensing signal and the preset number of normal sensing signals are not equal to each other and it is determined that the water surface is not in the water surface, the descent command unit 117 instructs the drones 100 to descend vertically Command the descent flight.

The descent command unit 117 may instruct the descending flight to descend the drones 100 at predetermined intervals and then stop the drones 100. [

In addition, the drones 100 can be descended until water is sensed by the water detection unit 113.

The reason why the drones 100 are caused to descend vertically and then to stop the flight in the descent command unit 117 is to prevent the drones 100 from entering the reservoir during the descending flight.

When the drones 100 are hovered and remain adjacent to the water surface, the level measuring unit 118 irradiates a laser beam and measures the time of returning the reflected laser beam. In other words, when the drones 100 are hovered, the level measuring unit 118 measures the time of the water level measuring position by measuring the time that the laser beam is reflected on the bottom surface of the reservoir and reflected back .

In this case, the level measuring unit 118 may use a laser sensor (not shown) capable of irradiating a laser beam to the reservoir, and the laser sensor (not shown) have.

The water level measuring unit 118 measures the water level by irradiating the laser beam after hovering the drones 100. Therefore, in order to calculate the distance between the water surface of the drones and the reservoir, a separate laser for irradiating the water surface with the laser beam It is possible to prevent the inconvenience and cost incurred in providing a sensor (not shown).

The water level measured by the water level measuring unit 118 may be transmitted to the server 300, including information about the water level measuring location.

The photographing unit 119 may be a camera or the like and may be mounted on the lower portion of the drones 100. That is, the photographing unit 119 photographs the water surface of the reservoir, and is preferably mounted on the lower portion of the dron.

The photographing unit 119 photographs the water surface in the water level measurement position when the current position of the drones 100 is the same as the water level measurement position.

The obstacle determining unit 120 determines an obstacle present on the surface of the water photographed through the photographing unit 119.

When the obstacle determining unit 120 determines that there is an obstacle on the water surface, the position of the drones 100 is corrected. In other words, when the obstacle determining unit 120 determines that there is an obstacle on the water surface, it prevents the water from being dropped or irradiated with the laser beam due to the descent of the drone 100 due to an obstacle present on the water surface The position of the drones 100 in the level measurement position is corrected.

On the other hand, if the obstacle determining unit 120 determines that there is no obstacle on the water surface, the drones 100 can be descended.

The drones 200 can be stored while charging the drones 100, and may be installed near reservoirs.

4, the server 300 includes a server communication unit 310 for communicating with the drones 100, a water level measurement location setting unit 311 for setting the water level measurement location, A water level value storage unit 312 for receiving and storing a water level value by the water level measurement location from the drones 100 via the server communication unit 310, a water level value storage unit 312 for calculating a fresh water volume value A fresh water volume calculation unit 314 for calculating a total fresh water volume by summing the fresh water volume values calculated for each water level measurement location in the fresh water volume calculation unit 313 by the calculation unit 313, And a soil volume calculation unit 316 for calculating the total soil volume by summing the soil volume values calculated for each water level measurement location by the soil volume calculation unit 315, .

The server communication unit 310 may use a wireless network to communicate with the drones 100.

The water level measurement position setting unit 311 divides the entire volume of the reservoir into a plurality of volumes in advance as shown in FIG. Then, each of the divided volumes is set as a water level measurement position.

In this case, it is preferable that the water level measurement position is a position of the central portion of the divided volume.

A plurality of water level measurement positions set by the water level measurement position setting unit 311 are transmitted to the drone 100.

The water level value storage unit 312 receives the water level value from the drone 100 and stores the water level value according to the water level measurement location.

The horizontal axis value and the vertical axis value of the volume plane should be stored in advance by the water level measurement location in advance, and the water level value stored in the water level value storage unit 312 and the volume level It is possible to calculate the fresh water volume value by the water level measurement position by using the horizontal axis value and the vertical axis value of the water level measurement position.

That is, the fresh water volume calculating unit 313 calculates a water level value corresponding to the water level measurement position stored in the water level storage unit 312 among the horizontal axis value and the vertical axis value of the volume surface for each stored water level measurement position, And the fresh water volume value for each water level measurement location can be calculated using the water level value, the horizontal axis value, and the vertical axis value.

For example, as shown in FIG. 6, the fresh water volume calculator 313 calculates the horizontal axis value (x1) of the first water level measurement position from the horizontal axis value and the vertical axis value of the volume plane by the previously stored water level measurement position The vertical axis value y1 is extracted and the water level value z1 of the first water level measurement position is extracted from the water level values stored in the water level storage unit 312. [ A water level value of the first water level measurement position is set as a height value of the volume with respect to the first water level measurement position so as to calculate a fresh water volume value with respect to the first water level measurement position, And the vertical axis value is multiplied by the water level value of the first water level measurement position to calculate the fresh water volume value (V1) at the first water level measurement position.

As described above, the fresh water volume calculating unit 313 can calculate the fresh water volume value by the water level measuring position.

The fresh water volume calculating unit 314 calculates the total fresh water volume by summing the fresh water volume values calculated by the water level measuring unit 313 in the fresh water volume calculating unit 313.

The total fresh water amount of the reservoir can be accurately calculated through the fresh water volume calculating unit 313 and the fresh water amount calculating unit 314 and the accurate low water amount can be calculated, It can help prepare for the disaster ahead of time.

The soil volume calculator 315 calculates the soil height value by excluding the water level value corresponding to the water level measurement position from the existing water level value for the existing floor of the reservoir previously stored for each water level measurement location.

The existing bottom surface is a bottom surface when the reservoir is installed for the first time, and the existing water level value is a water level value when the reservoir is desiccated from the existing bottom surface before the soil is deposited on the existing bottom surface.

Also, the soil volume calculator 315 calculates the soil volume by the water level measurement using the gravel height value and the horizontal axis value and the vertical axis value of the volume surface for each gravel measurement position.

For example, the soil volume calculator 315 extracts an existing water level value of the first water level measurement location from among the existing water level values by the previously stored water level measurement location, and then outputs the existing water level value to the water level storage unit 312 The soil height value is calculated by excluding the water level value of the stored first water level measurement location. Then, the horizontal axis value and the vertical axis value of the first water level measurement position are extracted from the horizontal axis value and the vertical axis value of the volume plane according to the previously stored water level measurement position, and the horizontal axis value and the vertical axis value of the first water level measurement position The slope volume value is calculated by multiplying the horizontal axis value and the vertical axis value.

The soil-volume calculating unit 316 calculates the total amount of soil by summing the soil-volume values calculated for each water level measurement location.

Since the total amount of the reservoir can be calculated through the soil volume calculator 315 and the earthquake amount calculator 316, accurate dredging time and dredge scale of the reservoir can be grasped and predicted.

7, the terminal 400 includes a terminal communication unit 410 for communicating with the server 300, and a server 400 for communicating the fresh water amount received from the server 300 through the terminal communication unit 410, A display unit 411 for displaying the amount of the fresh water, a recording unit 412 for recording the received fresh water amount and the amount of the soil, and a control unit 412 for, when the recorded fresh water amount and the amount of the soil amount exceed the pre- And a notification unit 413 for providing a notification.

The terminal communication unit 410 preferably uses a wireless network to communicate with the server 300.

The display unit 411 displays the amount of fresh water and the amount of soil received from the server 300 through the terminal communication unit 410 and displays the amount of fresh water and the amount of soil in 3D.

The fresh water amount and the amount of soil can be displayed in 3D through the display unit 411 so that the topography of the reservoir can be easily visually confirmed.

The recording unit 412 cumulatively records the fresh water amount and the soil amount. The recording unit 412 can confirm a change in the amount of fresh water and the amount of the soil in the reservoir so that the disaster can be predicted in advance.

The notification unit 413 should provide a notification when the amount of fresh water and the amount of the soil recorded in the recording unit 412 exceeds the appropriate amount of fresh water and the appropriate amount of soil.

If the amount of fresh water and the amount of the soil recorded in the recording unit 412 do not exceed or are equal to the appropriate amount of fresh water and the appropriate amount of soil, a notification is not provided.

8, a plurality of water level measurement positions set through the water level measurement position setting unit 311 of the server 300 are stored in the water level measurement position setting unit 311, (100).

The drone 100 sets a flight order for a plurality of level measurement positions received from the server 300 through the automatic flight command unit 112 and then sets the flight order for the water level measurement positions received from the server 300, And the water level measurement position are compared with each other (S10).

If the current position and the water level measurement position in the drone 100 are the same, the water sensing unit senses water through the water sensing unit 113 to generate a water sensing signal (S11).

The counting unit 114 of the drone 100 counts the water sensing signal for a preset predetermined time from the time when the current position and the water level measurement position are determined to be the same (S12).

The water level determining unit 115 of the drones 100 determines whether the count number of the water sensing signals counted by the counting unit 114 is equal to a predetermined number of normal sensing signals and determines whether the drones 100 are located on the water surface (S13).

When the water level judgment unit 115 of the dron 100 judges that the count number of the water detection signal is equal to the normal sense signal number and the drones 100 are located on the water surface, The drones 100 are hovered through the first dampers 116 (S14).

On the other hand, when it is determined that the count value of the water sensing signal is not equal to the number of normal sensing signals in the water level determiner 115 of the dron 100 and the dron 100 is not located on the water surface, The drones 100 are lowered vertically through the descent command unit 117 (S15).

At this time, it is preferable that the descent command part 117 of the dron 100 is lowered until the water sensing part 113 of the dron 100 senses water, and when the dron 100 descends, When water is sensed even once by the support unit 113, the user can stop the flight without falling down.

After the drones 100 are hovered by the water level measuring unit 118 of the drones 100, the laser beam is irradiated to the bottom surface of the reservoir using the laser sensor (not shown), and the reflected and reflected time is measured The water level is measured by measuring the water level at the water level measuring position (S16).

After the water level value of the water level measurement position is generated in the drone 100, the water level can be measured by automatically flying to the next water level measurement position in accordance with the flight order to detect and hover water.

The server 300 receives the water level value of the water level measurement location from the drones 100 and stores the water level value in the water level storage 312 according to the water level measurement location (S17).

The fresh water volume calculation unit 313 of the server 300 calculates the water level value and the volume level according to the water level measurement position using the water level value by the stored water level measurement position and the horizontal axis value and the vertical axis value of the volume plane by the previously stored water level measurement position The horizontal axis value and the vertical axis value are multiplied to calculate a fresh water volume value at each water level measurement position (S18).

The server 300 calculates the total fresh water amount by summing the fresh water volume values at the respective water level measuring positions through the fresh water amount calculating unit 314 (S19).

The soil volume calculator 315 of the server 300 may exclude the water level value by the water level measurement position from the existing water level value of the existing floor of the reservoir previously stored for each water level measurement location, . Thereafter, the slope volume value is calculated by multiplying the slope height value for each water level measurement location and the horizontal axis value and the vertical axis value of the volume plane for each water level measurement location (S20).

The soil amount calculation unit 316 of the server 300 calculates the total amount of soil by summing the soil volume values at the respective water level measurement locations (S21).

The calculated fresh water amount and the amount of landing can be transmitted to the terminal 400, and the terminal 400 can display the amount of fresh water and the amount of landing.

Since the fresh water amount can be measured using the dron as described above, the volume of the reservoir is divided to set a plurality of water level measurement positions, the drone is positioned at each water level measurement position, and the water level is hovered adjacent to the water surface. It is possible to accurately calculate the fresh water volume of the reservoir and accurately grasp the low capacity of the reservoir so that accurate dredging time and dredging scale can be predicted to prevent disaster disasters in advance.

In addition, since the drone 100 is hovered in a state adjacent to the water surface, the water level and the water quality can be measured, and accurate measurement values can be provided even in a region where people are difficult to enter. .

Further, even if the wave height changes according to the waves, if the water sensor (not shown) attached to the dron counts a certain number of times, it is determined that the drones are adjacent to the water surface.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention if they are apparent to those skilled in the art.

100: Drones 110: Drones Communications
111: current position measurement unit 112: automatic flight command unit
113: paint detection unit 114: counting unit
115: sleep determination unit 116: hovering command unit
117: descending command unit 118: water level measuring unit
119: photographing unit 120: obstacle judging unit
200: Drones Station 300: Server
310: a server communication unit 311: a water level measurement position setting unit
312: Water level value storage unit 313: Fresh water volume calculation unit
314: fresh water amount calculating unit 315: soil water volume calculating unit
316: Satisfaction amount calculation unit 400:
410: Terminal communication unit 411:
412: recording section 413:

Claims (4)

A drones 100 for generating a water level by measuring the water level by hovering in a state adjacent to the water surface by automatically flying to any water level measurement position among a plurality of water level measurement points set in advance, The volume of the reservoir is divided to set the water level measurement position. The volume value of each water level measurement position is calculated by receiving the water level value of each water level measurement position from the drone 100 And a server (300) for calculating a fresh water amount and a soil amount,
The server 300 includes a server communication unit 310 for communicating with the drones 100, a water level measurement position setting unit 311 for dividing the volume of the reservoir and setting the divided volume to a water level measurement position, A water level value storage unit 312 for receiving and storing a water level value by the water level measurement location from the drones 100 via the server communication unit 310, The horizontal axis value and the vertical axis value corresponding to the water level measurement position of the water level value stored in the water level value storage unit 312 are extracted and the water level value and the vertical axis value are calculated using the water level value, A fresh water volume calculation unit 313 for calculating a fresh water volume value for each position and a fresh water volume calculation unit 314 for calculating a total fresh water volume by summing the fresh water volume values calculated for each water level measurement location in the fresh water volume calculation unit 313, Wow, The soil height value is calculated by excluding the water level value corresponding to the water level measurement position from the existing water level value of the existing bottom surface of the reservoir previously stored for each water level measurement location and the horizontal axis value and the vertical axis value A soil volume calculation unit 315 for calculating a soil volume value for each water level measurement location using the water level measurement value and the soil level value, And a soil amount calculating unit (316) for calculating a soil amount.
The method according to claim 1,
The dron 100 includes a drones communication unit 110 for communicating with the server 300, a current position measurement unit 111 for measuring the current position of the drones 100, And an automatic flight command for commanding an automatic flight by comparing the current position and the level measurement position according to the set flight order in order to fly according to a level measurement position received from the server 300 through the automatic flight command A water detection unit 113 disposed at the water level measurement position through the automatic flight command unit 112 to generate a water detection signal by sensing water, A counting unit 114 for counting the water sensing signal for a preset predetermined time, and a control unit 114 for determining whether the counted number of the water sensing signals counted by the counting unit 114 is equal to the preset normal sensing signal, judgment A hovering command unit 116 for commanding hovering when the water level is determined to be the same as the number of counts of water sensing signals and the number of normal sensing signals in the water level determination unit 115; A descent command section 117 for commanding a descent flight vertically when the water level determination section 115 does not determine that the number of water sensing signals is not equal to the number of counts of the water sensing signal and the number of normal sensing signals, And a water level measuring unit 118 for measuring the water level of the water level measuring position by measuring the time of returning the water by irradiating the laser beam when the water level is hovered through the water level measuring unit 116, Measuring system.
The method of claim 2,
The drones 100 include a photographing unit 119 for photographing the water level at the water level measuring position and an obstacle determining unit 120 for determining obstacles existing on the water surface photographed through the photographing unit 119 A system for measuring fresh water volume using a drone.
The drone 100 in which the flight order for a plurality of water level measurement positions received from the server 300 that divides the volume of the reservoir and sets each divided volume as the water level measurement position is set to the water level measurement position An automatic flying step of automatically comparing the current position of the drones 100,
A water sensing step of sensing the water in the reservoir and generating a water sensing signal when the current position is the same as the water level measurement position in the drone 100,
A counting step of counting the water sensing signal in the drone (100) for a preset predetermined time;
Determining whether the number of counts of the water sensing signal counted in the drones 100 is equal to a predetermined number of normal sensing signals,
A hovering step of hovering when the number of counts of counting the water sensing signal in the drone (100) is equal to the number of normal sensing signals,
A falling flight step in which the water counting signal counted by the drones 100 is not equal to the number of normal sensing signals,
Measuring a water level by irradiating a laser beam after being hovered by the drones (100), and generating a water level value of the water level measuring location;
A water level value storing step of receiving the water level value from the drones (100) in the server (300) and storing the water level value according to the water level measurement location;
A fresh water volume calculation step of calculating a fresh water volume value at each water level measurement location by multiplying the horizontal axis value and the vertical axis value of the volume surface by the water level measurement location previously stored in the server 300 and the water level value by the water level measurement location, Wow,
A fresh water amount calculating step of calculating a total fresh water amount by summing the fresh water volume values of the respective water level measuring positions calculated by the server 300,
The soil height value excluding the water level value according to the water level measurement position is calculated from the existing water level value of the existing bottom surface of the reservoir previously stored for each water level measurement position and then multiplied by the horizontal axis value and the vertical axis value of the volume plane for each water level measurement position A soil volume calculation step of calculating a soil volume value,
And calculating a total amount of the soil by summing the soil volume values of the respective water level measurement positions calculated by the server (300).

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