KR102063743B1 - An unmanned surface vehicle searching for drowning people - Google Patents

Abstract

The present invention relates to an unmanned ship for searching for drowning people. According to the present invention, the unmanned ship for searching for drowning people comprises: an unmanned ship for searching for a site of water accidents; a propulsion unit installed on a lower side of the hull of the unmanned ship, generating propulsion force; a communication unit mounted on the unmanned ship, relaying communication with a central control center which is in a remote place; an underwater detection unit for detecting drowning people in water; an elevation/lowering unit installed on the unmanned ship, operating such that the underwater detection unit is lowered underwater or is elevated up to the surface of the water; and a control unit, controlling operations of each of the propulsion unit, the communication unit, the underwater detection unit, and the elevation/lowering unit. The present invention is characterized by the fact that data acquired by the underwater detection unit are first transmitted to the control unit, and then in real-time transmitted to the central control center via the communication unit. According to the present invention, with the above configuration, the unmanned ship for searching for drowning people has merits that it provides an unmanned system for searching for drowning people, which can be used for searching for the bodies of drowning victims due to marine or water accidents such as accidents of ships, and a structure for improving an image quality of a sound navigation and ranging (SONAR) which can be used for searching for drowning people.

Description

AN UNMANNED SURFACE VEHICLE SEARCHING FOR DROWNING PEOPLE}

The present invention relates to a drone system, and more particularly, to a drone search drone system for equipping and operating a sonar or the like for underwater detection so that it can be used for the search for drowned drowned water.

Recently, the number of national disasters, such as the sinking of the Cheonan and the sinking of the Sewol ferry, are increasing, so the nation needs to develop technologies to cope with marine accidents and minimize the damages caused by marine accidents. It is increasing.

Currently, search and visibility cameras (daytime) and infrared cameras (nighttime) using search platforms (ships and aircrafts) are used to search for missing and accidental vessels conducted by domestic search agencies (Marine Security Agency, Navy). It is becoming.

However, these methods have technical limitations that make them less useful under various marine environmental constraints (fog, fine dust, rainy weather, low light).

In addition, divers are involved in the search and rehabilitation of submerged rescue or underwater carcasses at the accident site, and depending on the environmental conditions of the work site, serious risks may be encountered even for divers used for rescue and search operations.

Therefore, if the search of drowners or underwater carcasses can be replaced by an unmanned ship, it is possible to significantly reduce the time required for divers to enter dangerous work.

As a prior art related to marine accident vessel and drowner detection as described above, the Republic of Korea Patent No. 10-1852476 may be taken as an example, the technology described in Republic of Korea Patent No. 10-1852476 is a visible visible image and Because it is limited to using the aerial infrared image, it may be useful for the location of the accident site of the ship, but has a limitation that it is difficult to be used for the location of the accident site and the underwater search and the body of the drowned body.

Republic of Korea Patent No. 10-1852476 (Invention: Multi-wavelength Image Analysis Electro-optical System for Accident Vessel and Sowing Water Detection and Its Analysis / Registration Date: April 20, 2018)

The present invention has been invented to improve the above problems, the problem to be solved by the present invention, a drone search drone system that can be used for the search of the drowned body due to marine and water accidents such as ship accidents To provide.

In addition, another problem to be solved by the present invention is to provide a structure for improving the image quality of sonar (SONAR) that can be used for the search for drowning, and a drone search drone system including the same.

Technical problem of the present invention is not limited to those mentioned above, another technical problem that is not mentioned will be clearly understood by those skilled in the art from the following description.

The drone search drone system according to an embodiment of the present invention devised to achieve the above object, the unmanned ship for searching the water accident scene; A propelling unit installed under the unmanned hull and generating a propulsion force; A communication unit mounted on an unmanned ship and relaying communication with a remote central control center; An underwater detection unit for detecting submerged water in the water; An elevating unit installed on an unmanned vessel and operating so that the underwater detection unit descends underwater or ascends above the water surface; And a control unit for controlling operations of the propulsion unit, the communication unit, the underwater detection unit, and the elevating unit, wherein the data obtained from the underwater detection unit is transmitted to the control unit and then transmitted in real time to the central control center through the communication unit. do.

In addition, the underwater detection unit of the drone search drone system according to an embodiment of the present invention, the sonar for detecting the drowner in the water; And an oil and water shield disposed on an upper side of the sonar to prevent the flow of water toward the sonar; Characterized in that it comprises a.

In addition, the underwater detection unit of the drone search drone system according to another embodiment of the present invention, the RF communication unit for receiving and transmitting the data obtained from the sonar to the control unit, and transmits the control signal generated by the control unit to the sonar; Characterized in that it comprises a.

In addition, the flowing out of the drone search drone system according to an embodiment of the present invention, the shield core plate made of a disk shape; A shield wing rotatably coupled to an edge of the shield center plate; A sensing unit installed in the shield center plate and sensing a flow rate outside the shield center plate and transmitting the flow rate to the control unit; A wing actuator installed at the shield center plate and operable to expand or fold the shield wings according to the flow rate under the control of the controller; It includes, The control unit, if the flow rate is greater than the set value to operate the wing actuator to control the shield wings folded, if the flow rate is less than the set value characterized in that the control to operate the wing actuator to expand the shield wings .

In addition, the elevating unit of the drone search drone system according to an embodiment of the present invention, one end is coupled to the sonar included in the underwater detection unit and the other end is fixed to the cable winch installed on the top of the deck of the unmanned ship; And a cable winch in which the other end of the cable is fixed and the cable is released or wound by being rotated under the control of the controller. Includes, the conductor is included in the material constituting the cable is an electrical signal can be transmitted through the cable, characterized in that the underwater detection unit is lowered or raised by the rotation of the cable winch.

In addition, the communication unit of the drone search unmanned wire system according to an embodiment of the present invention, characterized in that it comprises a communication system for relaying communication between the unmanned wire and the central control center.

In addition, the drone search drone system according to an embodiment of the present invention, characterized in that it comprises an environmental detector for detecting the position of the unmanned vessel and the wind conditions of the accident site in the top portion of the unmanned hull hull. It is done.

In addition, the environmental detection unit of the drone search drone system according to an embodiment of the present invention, DGPS or GPS for detecting the position of the unmanned ship; And a wind vane measuring wind direction and wind speed around the unmanned ship; It includes, and transmits the position data of the unmanned vessel measured using DGPS or GPS and the wind direction / wind speed data around the unmanned vessel measured using the wind vane to be used to determine the flight path and speed of the unmanned vessel It features.

In addition, the propulsion unit of the drone search drone system according to an embodiment of the present invention is located in the unmanned bow player portion responsible for the propulsion so that the drone rotates or moves left and right under the control of the controller; A stern propeller positioned on the stern portion of the unmanned ship and responsible for propelling the unmanned ship to rotate or move from side to side according to control of the controller; A starboard propulsion machine positioned at the stern starboard of the unmanned ship and responsible for driving the unmanned ship to move back, forth, left and right according to the control of the controller; Port ship propulsion is located on the stern port of the unmanned ship and is responsible for the propulsion to move the unmanned ship forward, backward, left and right under the control of the controller; It is characterized by operating each of the propeller to move the unmanned ship.

According to one embodiment of the present invention, by providing a drone search drone system that can be used for the search of the drowned body due to marine and aquatic accidents, such as ship accidents, the possibility of divers mobilized in the search of drowned body By lowering the number of people involved in diving search, such as divers, it has the effect of protecting lives.

In addition, according to an embodiment of the present invention, by spreading or folding the wing structure by providing a flowing shield structure that can prevent rapid water or turbulence toward the sonar and drone search drone system comprising the same, There is an effect of improving the image quality of the sonar (SONAR) that is utilized.

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

1 is a side view of the drone search drone system according to an embodiment of the present invention, showing a state before the sonar is dropped into the water.
2 is a side view of the drone search drone system according to an embodiment of the present invention, showing a state in which the sonar is dropped underwater.
Figure 3 is a side cross-sectional view of the folded state of the flowing water shield is dropped with the sonar underwater in the drone search drone system according to an embodiment of the present invention.
Figure 4 is a side cross-sectional view of the unfolded flowing water shield that is dropped with the sonar underwater in the drone search drone system according to an embodiment of the present invention.
Figure 5 is a side view showing a drone system for searching deep water drowner according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings such that those skilled in the art may easily implement the present invention.

In describing the embodiments, descriptions of technical contents which are well known in the technical field to which the present invention belongs and are not directly related to the present invention will be omitted. This is to more clearly communicate without obscure the subject matter of the present invention by omitting unnecessary description.

For the same reason, in the accompanying drawings, some components are exaggerated, omitted or schematically illustrated. In addition, the size of each component does not fully reflect the actual size. The same or corresponding components in each drawing are given the same reference numerals.

Prior to the description of the present invention, the drone search drone system 1000 and the low depth drown search drone system 2000 provided through the present invention are drifted underwater during marine accidents such as ship distress. As used for the search of the drowned drones, the central control center located on the land can directly control the drone search drone system (1000) and the low depth drown search drone system (2000). Let them know that

1 is a side view of the drone search drone system according to an embodiment of the present invention, showing a state before the sonar is dropped into the water.

Referring to FIG. 1, the drone search unmanned aerial vehicle system 1000 is installed under the hull 1 to generate propulsion in the water so that the hull 1 and the unmanned aerial vehicle system 1000 can operate at sea. A propulsion unit 400 to be installed, a communication unit 900 installed above the hull 1 to relay communications with a remote central control center, and an underwater detection unit for detecting underwater drowners ( 500), the elevating unit 700 which operates so that the underwater detection unit 500 is lowered into the water or ascended to the upper surface of the water, and the unmanned vessel system 1000 installed at the top of the hull 1 and injected into the water accident site The environmental detection unit 600 and the propulsion unit 400, the communication unit 900, the underwater detection unit 500, the elevating unit 700, the environmental detection unit 600 to detect the position of the wind and the accident site of each It includes a control unit 800 for controlling the operation, the data obtained from the underwater detection unit 500 is transmitted to the control unit 800 after communication Through 900 are transmitted in real time to a central control center.

Here, the underwater detection unit 500 includes a sonar 30 for detecting the drowned water in water and an oil and water shield 40 disposed above the sonar 30 to block the flow of water toward the sonar 30. In some embodiments, the control unit 800 may further include an RF communication unit 50 for transmitting the control signal generated by the control unit 800 to the sonar 30. The detailed configuration of the underwater detection unit 500 and the flowing shield 40 will be described again with reference to FIGS. 3 and 4.

The elevating unit 700 is unmanned at one end of the sonar 30 of the underwater detection unit 500 is coupled to the other end of the cable 80 and the unmanned fixed to the cable winch 70 installed on the deck upper surface of the unmanned aerial system 1000 The ship system 1000 includes a cable winch 70 installed at the upper side of the hull 1 so that the other end of the cable 80 is fixed and rotated under the control of the controller 800 so that the cable 80 is released or wound. .

At this time, the material constituting the cable 80 includes a conductor so that an electrical signal can be transmitted through the cable 80 to receive data obtained from the sonar 30 to control the controller 800 through the cable 80. To be sent).

In addition, the cable 80 is released or wound from the cable winch 70 by the rotation of the cable winch 70, so that the underwater detection unit 500, which is fixed to one end of the cable 80, descends and is underwater. As it is dropped or lifted up, it is lifted to the top of the water surface.

In addition, the flow shield 40 included in the underwater detection unit 500 for the purpose of preventing the flow of water toward the sonar 30 will be described in detail with reference to FIGS. 3 and 4.

The communication unit 900 includes a communication system 100 which relays communication between the unmanned aerial vehicle system 1000 and the central control center, and transmits data obtained from the underwater detection unit 500 and the sonar 30 to the central control center. To transmit in real time.

The environment detector 600 includes a DGPS or GPS 150 for detecting the position of the unmanned aerial vehicle system 1000 and a wind vane 160 for measuring the wind direction and the wind speed around the unmanned aerial vehicle system 1000, and the DGPS Alternatively, the controller transmits the position data of the unmanned aerial vehicle system 1000 measured using the GPS 150 and the wind direction / wind speed data of the vicinity of the unmanned aerial vehicle system 1000 measured using the wind vane system 160 to the controller 800. . In addition, in addition to the DGPS or GPS 150 and the wind vane 160 for positioning, the environmental detection unit 600 may further include a component capable of receiving information necessary for operation such as weather data and digging from the satellite.

The propulsion unit 400 is located in the bow portion of the unmanned aerial vehicle system 1000 and the bow propulsion propeller 110 which is in charge of the propulsion so that the drone system 1000 rotates or moves left and right under the control of the controller 500. The stern propeller 120 and the stern of the unmanned vessel system 1000 are positioned at the stern portion of the unmanned vessel system 1000 and are in charge of propulsion so that the unmanned vessel system 1000 rotates or moves left and right under the control of the controller. Located in the starboard and under the control of the control unit 500, the unmanned ship system 1000 in charge of the propulsion to move forward, backward, left and right, and the stern port of the unmanned ship system 1000 is located in the port 500 In accordance with the control of the UAV system 1000 includes a port propulsion propulsion unit 140 responsible for the propulsion to move back and forth, left and right, the bow thruster 110, the stern propeller 120 by the control of the control unit 500 ), Starboard propeller (130) and porthead propeller (14) 0) operate each to operate and operate the unmanned aerial vehicle system (1000).

The control unit 800 directly controls each of the propulsion unit 400, the underwater detection unit 500, the environmental detection unit 600, the elevation unit 700, and the communication unit 900, and commands from the central control center. The propulsion unit 400, the underwater detection unit 500, the environmental detection unit 600, the elevation unit 700, and the communication unit 900 may be controlled according to the control signal.

An example of the case in which the controller 800 directly controls the unmanned aerial system 1000 and its components may be an example of a patrol in a normally defined body of water. In this case, if a predetermined coordinate is input and set in advance in the controller 800, the unmanned ship system 1000 may search underwater in the virtual water within the virtual polygon range generated by connecting the coordinates. As such, when the unmanned aerial vehicle system 1000 of the present invention is always used for the purpose of searching or monitoring in a predetermined body of water, it may be used for various purposes such as monitoring of a certain body of water, collecting environmental data, or making underwater maps. These are different purposes from the search for the deliberate body, which is the object of the present invention, and the detailed description thereof will be omitted since the configuration of the drone system may be changed for other purposes.

When the control unit 800 receives a command and a control signal from the central control center to control the unmanned aerial system 1000 and its components, an accident occurs mainly, and the unmanned aerial system 1000 is a master at the accident site. Perform a body search mission. In this case, the central control center calls and controls the unmanned aerial vehicle system 1000 to dispatch the unmanned aerial vehicle system 1000 to the water accident position, and the underwater detection unit 500 and the sonar 30 of the unmanned aerial vehicle system 1000. Use to control the search for underwater learner bodies.

In addition, the camera for photographing the underwater on the bottom surface or the underwater detection unit 500 of the unmanned aerial system 1000 may be further configured to be used in combination with the sonar 30. In some embodiments, a camera for photographing the surroundings may be further provided on the top surface of the unmanned aerial vehicle system 1000.

2 is a side view of the drone search drone system according to an embodiment of the present invention, showing a state in which the sonar is dropped underwater.

Referring to FIG. 2, the underwater detection unit 500 is dropped into the water. In this case, the underwater detection unit 500 and the sonar 30 are used to search underwater. At this time, the underwater detection unit 500 and the sonar 30 may be dropped underwater from the unmanned aerial system 1000 and the hull 1 to a depth of several tens to hundreds of meters (meters).

As illustrated in FIG. 2, the underwater detection unit 500 includes a flowing water shield 40, and the flowing water shield 40 includes the sonar 30 having an excessively high flow rate or turbulent flow around the sonar 30. As a configuration for preventing adverse effects on the quality of an image acquired by using, the configuration and operation of the flowing shield 40 will be described with reference to FIGS. 3 and 4.

Figure 3 is a side cross-sectional view of the folded state of the flowing water shield is dropped with the sonar underwater in the drone search drone system according to an embodiment of the present invention.

Figure 4 is a side cross-sectional view of the unfolded flowing water shield that is dropped with the sonar underwater in the drone search drone system according to an embodiment of the present invention.

3 and 4, the underwater detection unit 500 installed at one end of the cable 80 is shown.

The underwater detection unit 500 includes a sonar 30 for detecting drowned water in the water, and a flowing shield 40 and a controller 800 disposed above the sonar 30 to block the flow of water toward the sonar 30. RF control unit 50 for transmitting a control signal generated in the sonar 30. Here, the RF communicator 50 may or may not be included according to the embodiment, and the weight 35 is fixed to the end of the cable 80 extending below the sonar 30. The weight weight 35 is a structure for suppressing the sonar 30 dropped into the water from shaking by the water flow.

In addition, the flowing shield 40 is provided in the shield center plate 41 formed in a disk shape, the shield wing 45 is rotatably coupled to the edge of the shield center plate 41, and the shield center plate 41. And a sensing device 47 that senses a flow rate outside the shield center plate 41 and transmits it to the control unit 800, and is installed in the shield center plate 41 and controlled by the control unit 800 to shield the blade according to the flow rate. 45) includes a wing actuator 49 operative to expand or collapse. Here, while the sonar 30 is operated to emit sound waves, the flowing shield 40 moves upward along the cable 80 to be spaced apart from the sonar 30 so as not to adversely affect the sonar 30 image. do.

The control unit 800 operates the vane actuator 49 when the flow rate is greater than or equal to the set value, and controls the shield wing 45 to be folded as shown in FIG. 3, and operates the vane actuator 49 when the flow rate is less than the set value. As shown in FIG. 4, the shield wing 45 is controlled to be unfolded.

Here, the flow rate measurement value by the sensor 47 is transmitted to the control unit 800 and the control unit 800 is described as to operate the wing actuator 49 by determining whether the flow rate measurement value is above or below the set value. In some cases, the central control center may control the wing actuator 49 and the shield wings 45.

In addition, the set value of the flow rate used to determine the spreading of the shield wing 45 varies depending on the sonar 30 model, which may be determined and used as an appropriate value through an experimental procedure according to the embodiment.

In the above description, when the drone search drone system 1000 is used in an environment with a lot of underwater obstacles such as the coast, ROV is added to the end of the cable 80 dropped underwater, and the underwater detection is performed on the ROV. It is also possible to install and operate the unit 500. At this time, the purpose of the ROV additional operation is to prevent the damage to the underwater detection unit 500 and the underwater detection unit 500 to increase the quality of the image obtained by the operation of the underwater detection unit 500 and the sonar 30 through obstacle avoidance / removal and underwater detection The position adjustment of the part 500 is made smooth. Here, of course, ROV can also be directly controlled from the ground central control station through the control unit 800.

Figure 5 is a side view showing a drone system for searching deep water drowner according to an embodiment of the present invention.

Referring to FIG. 5, a pivoting rod 280 is rotatably installed at the bottom of the bow side of the low referee drone search drone system 2000, and an imaging sonar 230 is provided at a lower end of the pivoting rod 280. Is rotatably installed. In addition, the rod shield 240 is provided on the surface of the rotating rod 280 extending along the longitudinal direction of the rotating rod 280.

Here, the low depth means a depth of about 20 to 30 meters, the pivoting rod 280 is inclined toward the front of the unmanned line system at an angle of about 30 degrees with respect to the horizontal plane, thereby unmanned of the imaging sonar 230 Facilitate navigation ahead of the line system.

In this manner, the imaging sonar 230 may move and search the unmanned aerial system in a state of directing the unmanned aerial system at a certain depth, and in this case, by conducting a mobile search, the time of drowning search of a certain body of water is performed. Of course, it can be greatly shortened.

In addition, when the area to be searched is mobilized using a drone search drone system 1000 or a low depth drone search drone system 2000, a plurality of drone systems are simultaneously inputted. However, there is a method of shortening the time required for searching by designating an area to be searched by each unmanned wireless system and operating each area independently searched by the unmanned wireless system.

In this case, the role of the imaging sonar 230 is in underwater scanning and imaging, and the image is scanned by scanning the front and the water in the forward direction of the low depth drone search drone system 2000. The researchers of the present invention used a Teleview BlueView product as the imaging sonar 230, but this product is not necessarily limited to that used as the imaging sonar 230, and suitable products according to the implementation purpose and environment Make it clear enough to use.

In addition, the rotating rod 280 is used for the purpose of rotatably installing the imaging sonar 230 in the hull of the low-core drone search drone system 2000, the rotating rod 280 is the imaging son ( It also has a role of providing and protecting a communication cable therein to enable communication between the 230 and the control unit 800.

The rod shield 240 is installed on the surface of the rotation rod 280, and the seal shield 240 is controlled by the controller 800 and has a relative angle with respect to the rotation rod 280 according to the speed and direction of the current. It is provided in a form capable of adjusting, serves to lower the possibility that the rotating rod 280 is damaged by the drag generated in the rotating rod 280 by the current.

In the description of the present invention as described above, the unmanned wire system is divided into a drone search drone system 1000 and a low depth drone search drone system 2000. The drone search drone system (2000) is an unmanned drone system used for low depth searches of depths of 30 meters or less, and the drone search drone system (1000) is used for underwater searches exceeding 30 meters. With unmanned drone system, the most used depth can be seen around 50m.

On the other hand, in the present specification and drawings have been described with respect to preferred embodiments of the present invention, although specific terms are used, it is merely used in a general sense to easily explain the technical details of the present invention and to help the understanding of the invention, It is not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention can be carried out in addition to the embodiments disclosed herein.

1: hull
30: sonar 40: flowing shield
41: shield center plate 43: wing joint
45: shield wing 47: sensing unit
49: wing actuator 50: RF communication
70: cable winch 80: cable
100: communication system 110: bow propeller
120: stern propeller 130: starboard propeller
140: Port forward propulsion 150: (D) GPS
160: wind direction anemometer 170: control computer
190: Bottom of the sea 230: Imaging sonar
240: bar shield 280: rotating rod
400: propulsion unit 500: underwater detection unit
600: environmental detection unit 700: elevating unit
800 control unit 900 communication unit
1000: drone search drone system
2000: Unmanned drone system for low water submerged search

Claims (9)

Unmanned aerial vehicles to search for water accident scenes;
A propelling unit installed under the unmanned ship hull and generating a propulsion force;
A communication unit mounted on the unmanned ship and relaying communication with a remote central control center;
An underwater detection unit for detecting submerged water in the water;
An elevating unit installed on the unmanned vessel and operating to lower the underwater detection unit into the water or to elevate the upper surface; And
And a controller configured to control operations of the propulsion unit, the communication unit, the underwater detection unit, and the elevating unit.
The data obtained by the underwater detection unit is transmitted to the control unit and then transmitted in real time to the central control center through the communication unit,
The underwater detection unit,
Sonar to detect drowners underwater; And
It is disposed on the upper side of the sonar flowing water shield to block the flow of water toward the sonar; includes,
The flowing shield,
Shield center plate made of a disk shape;
A shield wing rotatably coupled to an edge of the shield center plate;
A sensing device installed in the shield center plate and sensing a flow rate of the outside of the shield center plate to transmit to the control unit;
A wing actuator installed at the shield center plate and operable to expand or fold the shield wing according to the flow rate under the control of the controller; Including;
The control unit,
When the flow rate is more than the set value by operating the vane actuator to control the shield wings to be folded,
If the flow rate is less than the set value to operate the blade actuator to control the shield wing unfold, characterized in that drowning search drone system.
delete The method of claim 1,
The underwater detection unit,
Receiving the data obtained from the sonar and transmitting the data to the controller;
An RF communication unit for transmitting the control signal generated by the control unit to the sonar;
The drone search drone system comprising a.
delete The method of claim 1,
The elevating unit,
A cable coupled to the sonar included in the underwater detection unit at one end thereof and the other end fixed to a cable winch installed at an upper surface of the deck of the unmanned ship; And
A cable winch to which the other end of the cable is fixed and the cable is released or wound by being rotated under the control of the controller; Including;
Among the materials constituting the cable may include a conductor to transmit an electrical signal through the cable,
And the underwater detection unit is lowered or raised by the rotation of the cable winch.
The method of claim 1,
The communication unit,
And a communication system for relaying communication between the unmanned wire and the central control center.
The method of claim 1,
The drone search drone system comprising an environmental detection unit for sensing the position of the unmanned vessel and the wind conditions of the accident site is placed on the top of the unmanned ship hull.
The method of claim 7, wherein
The environmental detection unit,
DGPS or GPS for detecting the position of the unmanned line; And
Wind vane measuring the wind direction and the wind speed around the unmanned ship; Including;
The position data of the unmanned vessel measured using the DGPS or GPS;
And the wind direction / wind speed data of the vicinity of the unmanned vessel measured using the wind vane to be used to determine the flight path and speed of the unmanned aerial vehicle.
The method of claim 1,
The propulsion unit,
A bow thruster which is located in the unmanned bow portion and is responsible for propulsion so that the unmanned ship rotates or moves left and right under the control of the controller;
A stern thruster positioned at the stern portion of the unmanned ship and responsible for propelling the unmanned ship to rotate or move from side to side under control of the controller;
A starboard main thruster positioned at the stern starboard of the unmanned ship and responsible for driving the unmanned ship to move back, forth, left and right according to the control of the controller;
A port main propeller positioned at the stern port of the unmanned ship and responsible for propulsion such that the unmanned ship moves back and forth, left and right according to the control of the controller;
The drone search drone system, characterized in that the drone is moved by operating the bow propeller, the stern propeller, the starboard main propeller and the port main propeller under control of the controller.

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