KR102117488B1 - High resolution sonar mounting type unmanned investigation system for searching of victims and disaster action of underwater structure - Google Patents

Abstract

The present invention relates to a high-resolution sonar-mounted unmanned inspection system for floating structure disaster response and survivor search in case of damage from storm and flood. To this end, the present system is characterized by comprising: an unmanned floating vessel which is an unmanned moving body of a small boat type which can move on the water, and is provided to perform wireless communication with a ground control device in order to transmit underwater search and measurement data from a side scan sonar to the ground control device; a sonar mounting jig which is arranged underwater while being fixedly connected to the unmanned floating vessel by using a wire as a medium, and has the side scan sonar mounted therein to adjust the direction in accordance with the protection and underwater environment; the side scan sonar which is provided to transmit the underwater search and measurement data towards the unmanned floating vessel by being connected to and assembled with a data cable in a state of being mounted on the sonar mounting jig, and can utilize a high-resolution dual frequency in a high-frequency band to recognize whether damage has been caused through searching and measuring a floating structure, to check whether the underwater topography has been changed, and to perform emergency search with respect to survivors in case of disaster, while performing an unmanned precise survey; and the ground control device which performs autonomous navigation control by transmitting sailing information to the unmanned floating vessel, and monitors after receiving the actual underwater search and measurement result through the side scan sonar from the unmanned floating vessel in real time, while being installed on the ground to function as a ground control center. Therefore, efficiency in inspection can be increased.

Description

HIGH RESOLUTION SONAR MOUNTING TYPE UNMANNED INVESTIGATION SYSTEM FOR SEARCHING OF VICTIMS AND DISASTER ACTION OF UNDERWATER STRUCTURE}

The present invention relates to a high-resolution sonar-mounted unmanned investigation system for disaster response and search for distressed water structures due to disasters such as wind and flood damage, and more specifically, in the event of a disaster, detailed damage to underwater structures and changes in the topography of the bottom surface quickly It enables you to check and enable urgent search for distressed people who may occur in case of emergency, and it is possible to conduct a detailed investigation without assistance of human resources such as divers and boat operation for areas difficult to access due to disasters by installing high-resolution sonar. Accordingly, the present invention relates to a high-resolution sonar-mounted unmanned investigation system for disaster response and search for victims of water structures, which can increase the efficiency of investigation by adjusting the direction of the sonar investigation in real time and respond appropriately.

In general, Feng Shui Sea is a disaster caused by the influence of strong wind, heavy rain or typhoon, etc.Feng Shui Sea in Korea occurs mainly in the summer when precipitation is concentrated, and flood caused by heavy rain and typhoon during the rainy season and wind damage and It is to wear water damage.

The causes of such storms and floods can be largely divided into typhoons, rainy seasons, topographical rainfall, and other factors such as heavy rains, gusts, and strong winds. Typhoons are accompanied by strong winds and heavy rains and sometimes overlap with tidal waves, so the magnitude of the damage is greater than other meteorological phenomena. In Korea, typhoons are invading between summer and early autumn every year, and the damage is repeated every year, accompanied by strong wind and rain.

Looking at the damages caused by such storms, the typhoon'Sarah' in 1959 was a typhoon that inflicted enormous damage on the Korean Peninsula in September of the same year. Since then, the lowest minimum air pressure has caused great damage to Gyeongsang-do, and 849 people died and disappeared, 37,3459 victims, and a total of 190 billion won (in terms of currency value in 1992). In 2002, Typhoon'Lusa' landed on the Korean Peninsula from August 30 to September 1 of the same year and caused a record heavy rain of up to 1000 mm a day, mainly in Gangwon and Chungcheong provinces, resulting in 213 deaths and 33 missing persons. The casualties of more than 90,000 people, including the victims of the disaster, occurred, and the property damage was recorded as 5,469 billion won, the largest typhoon that caused the greatest property damage.

In addition, the typhoon'Maemi' in 2003 was a typhoon that inflicted enormous damage on the Korean Peninsula in September of the same year, and recorded the lowest pressure in the central region since the meteorological observations in Korea, 950 hPa. 4,225 billion won of damage occurred.

Since these typhoons are accompanied by other storm and flood damages such as floods, heavy rains, strong winds, wind storms, and tsunamis, immediate response or measures must be taken immediately after they occur, but there are many problems that manpower access is impossible.

Currently, as a survey method used in the event of a disaster such as Feng Shui, an underwater survey is conducted through sonar operation, and the depth of the damage is first checked, and then the diver is put into the required point and the diver directly utilizes optical equipment for further investigation. There is a need for improvement in the circumstances of carrying out.

On the other hand, in the search for victims and missing persons, according to the data of the'Number of Missing Persons at the Coastal Headquarters for 5 Years' from 2010 to 2014, 3,757 persons in 5 years and an average of 751 persons per year were reported as bodies in the sea. 674 in 2010, 717 in 2011, 738 in 2012, 741 in 2013, and 887 in 2014, showing an annual increase of 31.6% from 5 years ago. The highest was 736, followed by 361 suicides. Of the 3,757 missing persons, the corpse was found to be unidentifiable, accounting for 11.8% of the 445, and suspicions of death and suspicion among the confirmed corpses. The number of unsigned people also reached 215.

At the same time, the number of reported absentees (missing adults) from 2011 to 2014 was 21,315, and the number of unidentified adults disappeared from 1,417 in 2011 to 1,727 in 2012, 2013. With 2,302 people in a year and 3,515 in 2014, about 60% has increased rapidly in 4 years, and statistics on the number of missing persons who cannot be identified cannot be overlooked.

Accordingly, there is a need for a rapid search method for clear sign identification and strengthening identification, but there are unmanned watercrafts and drone search unmanned drones in the prior art. Most of them were affected by turbidity, etc., and in the case of sonar equipment, those with insufficient resolution were insufficient to be applied to search.

On the other hand, in Korean Patent Publication No. 10-2018-0094608, it is based on the watercraft that enables stable underwater work by identifying and controlling the position movement and posture change of the underwater robot performing work underwater based on the watercraft. Proposes and discloses an underwater robot system.

In addition, in Korean Patent Publication No. 10-2018-0094608, a submarine cable, a bridge, and an oil pipeline, etc. are underwater through a configuration including an unmanned submersible having a camera unit and an imaging sonar that outputs an underwater situation in an image form. We have proposed and launched an unmanned submersible for monitoring underwater facilities that can monitor or manage the targets.

In addition, in Korean Patent Registration No. 10-1642493, it is possible to accurately control the attitude of underwater structures at a port or coast by providing high-quality images while providing unattended posture control while operating unmanned through remote control. An unmanned diving device for underwater structure inspection is proposed and disclosed.

However, the prior arts, including the prior arts listed above, differ from the use purpose of the high-resolution sonar mounted on-board unmanned investigation system for responding to disasters and searching for victims due to disasters such as wind and flood damage of the present invention proposed below Of course, there are special differences in the technical composition.

Republic of Korea Patent Publication No. 10-2018-0094608 Republic of Korea Patent Publication No. 10-2019-125643 Republic of Korea Registered Patent Publication No. 10-1642493

The present invention has been devised in consideration of the above-mentioned problems and improvements, so that in case of a disaster such as Feng Shui, detailed damage to the underwater structure and topographic changes of the lower surface can be quickly identified, and an emergency search for distress that may occur in case of emergency This enables high-resolution sonar to enable precise investigation of the areas that are difficult to access due to the occurrence of a disaster without the assistance of personnel such as divers and boat operation, and adjusts the sonar irradiation direction in real time according to the underwater environment to respond appropriately. The aim is to provide a high-resolution sonar-mounted unmanned investigation system for disaster response and search for victims of water structures, which can increase the efficiency of investigations.

The present invention is to manufacture and utilize a high-resolution sonar-mounted unmanned watercraft and to properly respond to changes in the aquatic environment through a configuration including a ground control device for operating the unmanned watercraft on the ground, and to mount a high-resolution sonar on an unmanned watercraft The purpose of this is to provide a high resolution sonar mounted unmanned investigation system for disaster response and search for victims of water structures, which is equipped with a sonar mounting jig dedicated to unmanned watercraft for use and to increase the use and operation efficiency.

The present invention utilizes a sonar equipment, but it is possible to select and use a frequency band suitable for this so that the damage to the underwater structure can be checked in detail and accurately investigated, and disaster response and search for victims of water structures to improve sound wave detection efficiency The purpose is to provide a high resolution sonar mounted unmanned investigation system.

A high-resolution sonar-mounted unmanned survey system for disaster response and search of distressed water structures for achieving the above object is a small boat type unmanned mobile vehicle with a propulsion unit to enable water movement, and is awarded through wireless communication with a ground control device. An unmanned watercraft that receives a control command for position movement in and transmits underwater search and survey data received from the side scan sonar to the ground control device; A sonar mounting jig which is disposed in the water with a wire connected to the unmanned watercraft as a medium and is fixed, and is provided with a side scan sonar inside to be protected and adjustable in accordance with the underwater environment, and provided with a straight pipe body; It is equipped to be mounted on the sonar mounting jig to transmit underwater search and survey data to the unmanned watercraft by connecting and assembling with a data cable, and utilizing high-resolution dual frequencies of the high-frequency band to damage through the search and survey of water structures in the event of a disaster. A side scan sonar to enable identification and to check underwater terrain changes, as well as to enable emergency search of survivors, but to conduct unmanned detailed investigations; This is for monitoring the actual underwater search and survey results through the side scan sonar by sending flight information to the unmanned watercraft and monitoring the real-time results from the unmanned watercraft.It is installed on the ground and is equipped to function as a ground control center. And a control device.

Here, the unmanned watercraft is made of fiber-reinforced plastic, and the propulsion unit is a structure in which a motor is built in an aluminum waterproof housing and an aluminum propeller is connected and mounted; The unmanned watercraft, which has various input information processing and output functions according to a pre-loaded program, transmits underwater search and survey data received from the side scan sonar to the ground control device in real time through the first APC. computer; A first APC (Acess Point Controller) having a mesh network to enable data communication with the ground control device and having an operating frequency by a certain frequency band; For real-time providing location information by automatic operation to the ground control device, real-time positioning in the form of correcting the location information obtained with GPS after grasping the relative distance and angle of the unmanned watercraft using the ground control device as a reference station Moving Positioning Location Information Device (RTK-GPS); It is provided to enable the transmission and reception of flight information with the ground control device, and a first telemetry module that receives an automatic navigation control command and inputs it to a first computer.

Here, the sonar mounting jig, as a straight pipe body, is mounted with a side scan sonar inserted therein, and a wire fastener for connecting and fixing a main wire and an auxiliary wire used for connection with an unmanned water vessel is projected on the upper surface. Becoming a jig body; It is assembled to be connected to the rear end of the jig body, a cable connector for use in connecting and assembling the data cable is coupled to the upper surface, and a rear coupling body to which the wing portion for direction control is coupled to the rear side. It can be configured to form incisions of both sides and lower open structures in the middle to facilitate the insertion and insertion of the side scan sonar, and to form a lateral opening by cutting both sides at the rear end to reduce weight. .

Here, the jig body is provided with an aluminum material, and the rear coupling body is made of acetal resin (PolyOxyMethylene; POM, polyacetal), and can be configured to realize light weight and durability.

Here, the side scan sonar is for performing an overall search of underwater search and survey using a high frequency band of 1 MHz, a 1 MHz class side scan sonar having precision and resolution of 30 mm; For performing detailed investigation of underwater search and survey using the 2MHz ultra-high frequency, it can have a configuration including a 2MHz class side scan sonar with precision and resolution of 10mm or less;

Here, the ground control device, a mesh network (mesh network) to enable data communication with the unmanned watercraft, a second APC (Acess Point Controller) having an operating frequency by a certain frequency band; A second computer that is interfaced with a second APC and LAN communication to receive underwater search and survey data from the unmanned watercraft, and sends an automatic navigation control command to the unmanned watercraft and receives the result; A real-time mobile precision positioning device (GNSS-RTK) for navigation for providing a navigation system and accurately surveying a position in real time by using a satellite for an unmanned watercraft serving as a reference station and serving as a reference station; It may be configured to include; a second telemetry module that is provided to enable transmission and reception of flight information with an unmanned watercraft side and inputs flight information to a second computer.

Here, the ground control device may be configured to include; a wireless regulator for manually wirelessly adjusting the unmanned watercraft.

According to the present invention, in the event of a disaster such as feng shui, it is possible to quickly check the detailed damage of the underwater structure and the topographical change of the lower surface, and it is possible to urgently search for the distress that may occur in case of emergency, and approach the disaster by installing a high-resolution sonar. In addition to performing unattended precise investigations without the help of human resources such as divers and boat operators, it is possible to increase the efficiency of investigations such as responding appropriately by adjusting the sonar survey direction in real time according to the underwater environment. A useful effect can be achieved.

According to the present invention, it is possible to appropriately respond to changes in the underwater environment, while having a lightweight and durable equipment configuration, through the use of a jig to increase the use and operation efficiency of a high resolution side scan sonar, and use a side scan sonar However, as it adopts and uses dual frequency, it can perform detailed investigation and search operation unattended and provide useful effects to increase detection efficiency.

1 is a conceptual diagram showing a high-resolution sonar-mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention.
Figure 2 is a block diagram of a high-resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention.
3 is a schematic illustration showing a state in which a side scan sonar is mounted on a sonar mounting jig and connected to an unmanned watercraft in a high resolution sonar mounted unmanned investigation system for disaster response and search of distressed water structures according to an embodiment of the present invention.
4 is an exploded view showing a sonar mounting jig in a high-resolution sonar-mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention.
5 is a photograph showing a state equipped with a prototype for a high-resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention.
FIG. 6 is a photograph showing a prototype showing hardware and software configuration on the ground control device in a high resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention.
FIG. 7 is a photograph showing image data of side scan sonar side dual frequency search in a high resolution sonar mounted unmanned investigation system for disaster response and search of distressed water structures according to an embodiment of the present invention.
FIG. 8 is a photograph showing video data of underwater victim search by utilizing a side scan sonar side dual frequency in a high-resolution sonar mounted unmanned investigation system for disaster response and search for victims according to an embodiment of the present invention.
FIG. 9 is a photograph showing image data of underwater structures and bottom surface surveys using side scan sonar in a high resolution sonar mounted unmanned investigation system for disaster response and search of distressed water structures according to an embodiment of the present invention.

The preferred embodiments of the present invention will be described with reference to the drawings as follows, and through the detailed description and drawings, it will be possible to better understand the object and configuration of the present invention and features accordingly.

A high-resolution sonar-mounted unmanned investigation system for disaster response and search for victims according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 9 as follows.

The high resolution sonar onboard unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention enables quick identification of damage to underwater structures and changes in the topography of the lower surface in the event of a disaster caused by wind and flood damage, and may occur in case of emergency. As to implement the main purpose for utilizing to enable the emergency search for the distressed, as shown in Figures 1 to 6, unmanned watercraft 100, sonar mounting jig 200, side scan sonar 300 , And a ground control device 400.

The unmanned watercraft 100 is provided as a small boat type unmanned moving body having a propulsion unit 150 to enable water movement, and can move the position in the water through wireless communication with the ground control device 400 located on the ground. In addition to receiving a control command for, the underwater control and survey data received from the side scan sonar 300 which is mounted on the unmanned watercraft 100 and placed in the water, that is, the ground control device 400 that positions the captured image data on the ground ) This is the configuration for sending to the side.

The unmanned watercraft 100 is operated by mounting the side scan sonar 300, but is capable of moving on the water, and is a water equipment for use exclusively for marine navigation and surveying, such as underwater.

The unmanned watercraft 100 may be manufactured with dimensions such as length (L) 1600-2000 mm, width (W) 500-600 mm, and height (H) 300-400 mm, for a small boat type unmanned moving body, It is desirable to be made of fiber-reinforced plastic to provide light weight, corrosion prevention, and durability, and may be formed in various shapes.

The unmanned watercraft 100 has a function of processing and outputting various input information according to a pre-loaded program, and the underwater control and survey data received from the side scan sonar 300 through the first APC 120 through the ground control device ( 400) The first computer 110 for real-time transmission to the side and a wireless mesh network are configured to enable data communication with the ground control device 400 and have an operating frequency by a certain frequency band. A first APC (Acess Point Controller) and a real-time mobile positioning location information device (hereinafter referred to as "RTK-GPS") for providing real-time location information by the automatic operation of an unmanned watercraft to the ground control device 400 (hereinafter referred to as "RTK-GPS") ( 130), and is provided to enable transmission and reception of flight information with the ground control device 400, and is provided to receive an automatic navigation control command sent from the ground control device 400 and input it to the first computer 110. The first telemetry module 140 is mounted.

The first computer 110 includes a side scan sonar 300, a RTK-GPS 130, a memory unit for storing information input from the first telemetry module 140, and a basic operating system and various other programs. It can be mounted.

The first APC 120 is a configuration that builds a wireless mesh network with the second APC 410 provided on the ground control device 400 side, and the function of the mobile base station for the unmanned watercraft 100 It is wireless, but it can implement stability, scalability, and security.

The first APC 120 and the second APC 410 to be described later may use both the 2.4 GHz frequency band and the 5 GHz frequency band as operating frequencies, and may have a configuration including an omni-directional antenna.

The RTK (Real Time Kinematic)-GPS 130 uses the ground control device 400 installed on the ground as a reference station to determine the relative distances and angles of the unmanned watercraft 100 in automatic navigation in the water, and based on this. It is a configuration that locates in the form of correcting location information obtained by GPS, and can increase the precision of the location information compared to a configuration having a simple GPS receiver.

The propulsion unit 150 is mounted on the bottom of the rear of the unmanned watercraft 100 to provide propulsion for water movement. The motor is built in an aluminum waterproof housing and an aluminum propeller is connected and mounted in the water. Prevent corrosion due to use and facilitate direction control.

In addition, the unmanned watercraft 100 is equipped with a secondary battery of a lithium cobalt manganese/lithium iron phosphate power pack to stably supply operating power to each component, and is configured to be used interchangeably.

The sonar mounting jig 200 is disposed in the water while being fixed and connected to the unmanned watercraft wire 100 as a medium, and the side scan sonar 300 is mounted inside to protect and easily adjust the direction according to the underwater environment It is provided to be possible.

Since the sonar mounting jig 200 is used in an underwater environment, it is provided with a pipe body having a straight structure to minimize resistance due to movement.

The sonar mounting jig 200 is a pipe body having a straight-shaped structure, the side scan sonar 300 is inserted and disposed there, and the main wire 103 and auxiliary wire used for connection with the unmanned watercraft 100 on the upper surface The jig body 210 through which the wire fastener 211 for connecting and fixing 104 is protruded, and being used as a connection assembly to the rear end of the jig body 210, is used to assemble and connect the data cable 105 to the upper surface. Cable connector for the 221 is coupled and includes a rear coupling body 220 is coupled to the wing portion 222 for use in direction control on the rear side.

At this time, the lower portion of the unmanned watercraft 100, the hook portion 101 and the cable connector 102 is fixedly coupled, unmanned the sonar mounting jig 200 through the connection of the main wire 103 and the auxiliary wire 104 Can be installed connected to the water vessel 100, by connecting the data cable 105 through the cable connector 102, 221, underwater search and obtained from the side scan sonar 300 mounted on the sonar mounting jig 200 It is provided to transmit survey data, that is, image data, to the unmanned watercraft 100.

The jig body 210 is provided to facilitate the insertion and placement of the inner side of the side scan sonar 300 by forming cutouts 212 of both sides and lower open structures in the middle of the pipe body having a straight structure, and after It can be configured to reduce the overall weight by forming a lateral opening 213 by cutting on both sides at the end.

It may be desirable for a more stable arrangement to have a configuration in which the support portion is formed to support the front and rear ends of the side scan sonar 300 which is inserted and disposed in the front end portion and the rear end portion of the jig body 210.

The sonar mounting jig 200 is provided with an aluminum material for the jig body 210 to implement weight reduction and durability, and is provided with an acetal resin (PolyOxyMethylene; POM, polyacetal) for the rear coupling body 220 do.

Here, by providing the rear coupling body 220 with acetal resin, light weight can be realized while providing the advantage of enabling quick and smooth operation of the wing portion 222 side.

Here, it is possible to provide high durability and excellent formability through high fatigue strength and dimensional precision by configuring acetal resin with respect to the rear coupling body 220, suitable for a very humid environment, and has low friction and friction coefficient Characteristics can be utilized, and overall, it can provide advantages of exerting excellent tensile strength, flexural modulus, and impact resistance.

The side scan sonar 300 is provided so as to be mounted on the sonar mounting jig 200 and transmit underwater search and survey data such as image data to the unmanned watercraft 100 through connection assembly with the data cable 105, In order to increase resolution and resolution, it utilizes high-resolution dual frequencies in the high-frequency band to search for damages through water structures and survey and determine whether there are damages by surveying and surveying water structures, check for underwater terrain changes, and enable emergency search for survivors. It is an object detection and measurement device for performing detailed investigation.

To this end, it is preferable that the side scan sonar 300 uses dual frequencies of a 1 MHz class side scan sonar and a 2 MHz class scan sonar.

The 1 MHz class side scan sonar has a precision and a resolution of 30 mm, and is used to perform an underwater search and an overall survey of surveying using a high frequency band of 1 MHz.

The 2MHz side scan sonar has precision and resolution of 10mm or less, and since it has excellent precision and resolution for survey data compared to the 1MHz side scan sonar, it uses a 2MHz ultra-high frequency to search underwater and investigate the survey in detail. Used to perform.

In other words, through the 2MHz class side scan sonar, it is possible to eliminate operations such as divers who were put into the water by carrying optical equipment for additional detailed investigation such as Feng Shui, so that safety as well as safety due to the detailed investigation of underwater search and surveying can be eliminated. Can be increased.

The ground control device 400 sends flight information to the unmanned watercraft 100 to perform automatic navigation control, and real-time underwater search and survey results through the side scan sonar 300 from the unmanned watercraft 100. This is a configuration for receiving and monitoring.

The ground control device 400 is installed on the ground and is provided to function as a ground control center.

The ground control device 400 configures a wireless mesh network to enable data communication with the unmanned watercraft 100, and is a second Acess Point Controller (APC) having an operating frequency by a certain frequency band. (410), the second APC (410) and the LAN (LAN) interface to the communication by receiving the underwater search and survey data received from the unmanned watercraft (100) to the side scan sonar (300), to the unmanned watercraft (100) side A second computer 420 that sends an automatic navigation control command and receives the result, and is provided to function as a reference station in the ground control device 400, for transmitting and receiving automatic navigation location information with the unmanned watercraft 100 side. Real-time navigation precision positioning device for navigation (hereinafter referred to as "GNSS-RTK") 430, and is provided to enable transmission and reception of flight information between the unmanned watercraft 100 side and provides flight information to a second computer. It includes a second telemetry module 440 to input, and a wireless controller 450 for manually wirelessly adjusting the unmanned watercraft 100.

The second APC 410 is a configuration that builds a wireless mesh network with the first APC 220 provided on the unmanned watercraft 100 side, and functions as a reference base station for the unmanned watercraft 100. It is wireless, but it can implement stability, scalability, and security.

The second APC 410 may use both the 2.4 GHz frequency band and the 5 GHz frequency band as operating frequencies, and may have a configuration including an omni-directional antenna.

The second computer 420 includes a memory unit for storing information input from the unmanned watercraft 100, the GNSS-RTK 430, and the second telemetry module 440.

The second computer 420 is equipped with a basic operating system, a program for automatic navigation control of the unmanned watercraft 100 side, and a navigation program for display on the GNSS-RTK 430 side.

The GNSS (Global Navigation Satellite System)-RTK 430 uses a satellite (GPS) for an unmanned watercraft 100 that becomes a mobile station by moving in water and accurately surveys the location in real time and provides it to the navigation system. It is a device that displays the location of the watercraft 100 on the navigation screen.

As shown in FIG. 6, the unmanned watercraft 100 precisely surveyed through the GNSS-RTK 430 is received by the user because the current location is displayed in real time on the navigation displayed on the screen of the second computer 420. It is possible to easily grasp the position of the unmanned watercraft moving in (100).

On the other hand, Figure 7 is a high-resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention having the above-described configuration, the unmanned watercraft 100 while mounted on the sonar mounting jig 200 ) Is a picture showing the image data obtained by performing an underwater search by using the side scan sonar 300 side dual frequency connected to the image scan, the image data obtained in the 1MHz class frequency band and the image data obtained in the 2MHz class frequency band Comparative data shown.

That is, it shows that the resolution and resolution of the image data obtained in the 2 MHz class frequency band is superior to the image data acquired in the 1 MHz class frequency band, and a disaster occurs through the side scan sonar 300 using a high resolution dual frequency. As a result, it shows that it is possible to conduct a precise investigation of the difficult-to-access section without the help of personnel such as divers.

On the other hand, Figure 8 is a high-resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention having the above-described configuration, side scan sonar (300) side by utilizing the dual frequency As a picture showing the image data obtained by performing a search for the distress, it shows that the mannequin placed in the water is replaced by the sonar 300 in the side ski using dual frequency to replace the distress or missing person, which is a bad condition of the underwater Edo also shows that you can search for and find refugees or missing persons unattended.

On the other hand, Figure 9 is a high-resolution sonar mounted unmanned investigation system for disaster response and search for distressed water structures according to an embodiment of the present invention having the above-described configuration, showing the image data obtained by using the side scan sonar 300 As a photograph, this is a photograph showing the image data obtained by performing underwater structure and bottom surface survey.

That is, in the case of an underwater structure, it shows not only the presence or absence of damage and cross-section damage, but also a state of being able to confirm the damage scale with high resolution, and it is data that can be accurately used for evaluating the integrity of the water structure.

The above description is illustrative of the present invention, and the embodiments disclosed in the specification are not intended to limit the technical idea of the present invention, but are intended to explain the present invention. Various modifications and variations or substitution of steps will be possible without departing from the technical idea of. Therefore, the protection scope of the present invention is to be interpreted by the matters described in the claims, and technical matters within the equivalent scope thereof should be interpreted to be included in the scope of the present invention.

100: unmanned watercraft 110: first computer
120: first APC 130: RTK-GPS
140: first telemetry module 200: sonar mounting jig
210: jig body 220: rear coupling body
300: side scan sonar 400: ground control
410: Second APC 420: My computer
430: GNSS-RTK 440: 2nd telemetry module
450: unmanned regulator

Claims (7)

It is a small boat type unmanned mobile vehicle with a propulsion unit to enable water movement. It receives control commands for position movement in the water through wireless communication with the ground control device, as well as receiving underwater search and survey data received from the side scan sonar. An unmanned watercraft that transmits to the ground control device; A sonar mounting jig disposed in the water with the wire connected to the unmanned watercraft as a medium and fixed, provided with a side scan sonar inside to be protected and adjustable in accordance with the underwater environment, and provided with a straight pipe body; It is equipped to be mounted on the sonar mounting jig and is provided to transmit underwater search and survey data to the unmanned watercraft by connecting and assembling with a data cable, and utilizing high-resolution dual frequencies in the high-frequency band to damage through the search and survey of water structures in the event of a disaster. A side scan sonar to enable an emergency search of the victims, as well as to determine whether or not to check whether there is an underwater terrain change or not; This is for monitoring the actual underwater search and survey results through the side scan sonar by sending flight information to the unmanned watercraft and monitoring the real-time results from the unmanned watercraft. Including a control device;
The unmanned watercraft is made of fiber-reinforced plastic, and the propulsion unit is a structure in which a motor is built in an aluminum waterproof housing and an aluminum propeller is connected and mounted;
In the unmanned watercraft,
A first computer that processes and outputs various input information according to a pre-loaded program, and transmits underwater search and survey data received from the side scan sonar to the ground control device in real time through the first APC;
A first APC (Acess Point Controller) having a mesh network to enable data communication with the ground control device and having an operating frequency by a certain frequency band;
For real-time providing location information by automatic navigation to the ground control device, real-time positioning in the form of correcting the location information obtained by GPS after grasping the relative distance and angle of the unmanned watercraft using the ground control device as a reference station Moving Positioning Location Information Device (RTK-GPS);
A first telemetry module which is provided to enable transmission and reception of flight information with and from the ground control device and receives an automatic navigation control command and inputs it to a first computer; A high-resolution sonar-mounted unmanned investigation system for disaster response and search of distressed water structures, characterized by being equipped.
According to claim 1,
The sonar mounting jig,
As a straight pipe body, a side scan sonar is inserted and mounted therein, and a jig body in which a wire fastener for connecting and fixing a main wire and an auxiliary wire used for connection with an unmanned watercraft is projected on the upper surface;
The rear end of the jig body is assembled to be connected, a cable connector for use in connecting and assembling the data cable is coupled to the upper surface, and a rear coupling body to which the wing portion for direction control is coupled; It includes,
The jig body is provided to facilitate the insertion and insertion of the side scan sonar by forming incisions of both side surfaces and a lower open structure in the middle portion, and by forming a lateral opening portion by cutting both sides on the rear end portion to reduce weight. A high-resolution sonar-mounted unmanned investigation system for disaster response and search of distressed water structures, characterized by its construction.
According to claim 2,
The jig body is provided with an aluminum material,
The post-bonding body is provided with acetal resin (PolyOxyMethylene; POM, polyacetal),
A high-resolution sonar-mounted unmanned investigation system for disaster response and search for victims of water structures, characterized by being configured to realize light weight and durability.
According to claim 1,
The side scan sonar,
A 1 MHz side scan sonar having precision and resolution of 30 mm, for performing underwater search and overall survey of surveying using a high frequency band of 1 MHz;
2MHz side scan sonar having a precision and resolution of 10mm or less for performing detailed investigation of underwater search and surveying using a 2MHz ultra-high frequency; A high-resolution sonar-mounted unmanned investigation system for disaster response and search for distressed water structures, comprising a.
According to claim 1,
The ground control device,
A second APC (Acess Point Controller) having a mesh network to enable data communication with an unmanned watercraft and having an operating frequency by a certain frequency band;
A second computer that is interfaced with a second APC and LAN communication to receive underwater search and survey data from the unmanned watercraft, and sends an automatic navigation control command to the unmanned watercraft and receives the result;
A real-time mobile precision positioning device (GNSS-RTK) for navigation, which is provided to function as a reference station, and accurately measures a position in real time using a satellite for an unmanned watercraft serving as a mobile station and provides a navigation system;
A second telemetry module that is provided to enable transmission and reception of flight information with the unmanned watercraft, and inputs flight information to a second computer; A high-resolution sonar-mounted unmanned investigation system for disaster response and search for victims, including water structures.
The method of claim 5,
The ground control device,
A wireless controller for manually wirelessly controlling the unmanned watercraft; A high-resolution sonar-mounted unmanned investigation system for disaster response and search for distressed water structures, comprising a. delete

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