KR102196334B1 - SYSTEM FOR MEASURING WATER QUALITY BASED ON IoT NETWORK AND METHOD THEREOF - Google Patents

Abstract

Disclosed are a system for measuring the overall water quality based on an IoT network and a method thereof. The system for measuring the overall water quality based on the IoT network comprises: a plurality of first moving bodies which move to a predetermined measurement area to measure the water quality, and respectively generate measurement information including measurement values and coordinate values as a result of measuring the water quality; and a first moving body linked to the large number of first moving bodies to respectively collect measurement information from the plurality of first moving bodies to check if there is an area with pollution by using the measurement information collected, and transmit the crowding command for directing to measure the water quality in the area with the pollution to at least some of the plurality of first moving bodies. The first moving bodies include a moving body which is able to move on water. The second moving body includes a moving body which is able to fly. The system for measuring the overall water quality based on the IoT network and the method thereof are able to precisely measure the water quality.

Description

IoT network-based integrated water quality measurement system and its method {SYSTEM FOR MEASURING WATER QUALITY BASED ON IoT NETWORK AND METHOD THEREOF}

The embodiment relates to an IoT network-based integrated water quality measurement system and method thereof.

In Korea, a national water quality monitoring network is established to continuously measure water quality at major points centering on the large river. Water quality measurement is performed at all times, because manpower and equipment are limited, so only major points are measured, and between measurement points, water quality modeling is used for indirect prediction.

Water quality changes can be analyzed and predicted for all stream sections using the water quality modeling results, but there is a limitation in improving overall accuracy due to the limited observation points.

In addition, since it is difficult to operate a regular observation network for small rivers except for large rivers, there is no other way than to have the measurement team directly go to the site to measure in case of an accident or problem.

Once the observation network is fixed, even if an environmental accident occurs between observation points or a point of interest occurs, manpower assignment and semi-permanent equipment installation are required to increase the observation point. .

Also, in the case of green algae, measurement is performed indirectly using hyperspectral images, but the accuracy is low compared to that of direct measurement, and for other water quality factors, there is generally no indirect measurement method that can replace direct measurement.

Therefore, it is the best method to construct the water quality observation network in detail, but it is difficult to construct it in detail due to problems such as equipment manpower, efficiency, etc. Therefore, a solution to this is required.

Unexamined Patent Publication No. 10-2018-0000325 Registered Patent Publication No. 10-2122053

The embodiment may provide an IoT network-based integrated water quality measurement system and method thereof.

An integrated water quality measurement system according to an embodiment includes: a plurality of first moving bodies that move to a predetermined measurement area to measure water quality and generate measurement information including a measurement value and a coordinate value as a result of measuring the water quality; And interlocking with the plurality of first moving objects, collecting measurement information from each of the plurality of first moving objects, and using the collected measurement information to determine whether an area where contamination has occurred exists, and in the area where contamination has occurred And a second moving body that transmits a cluster command instructing the measurement of water quality to at least some of the plurality of first moving bodies, and the first moving body includes a moving body capable of water movement, and the second moving body is capable of flying. It may include a moving body.

The first moving body may move to the predetermined measurement area and measure water quality while moving along a predetermined measurement path within the moved measurement area.

The second moving object uses the collected measurement information to identify a first moving object capable of clustering when there is an area where contamination has occurred, and divides the polluted area according to the identified first moving object. , It is possible to generate a cluster command including the coordinate values of the divided regions and transmit the generated cluster command to the first moving object to be allocated to the divided regions.

When the second moving object divides the area where the contamination has occurred, the second moving object may calculate a coordinate value of the divided area and generate a cluster command including the calculated coordinate value.

When the first moving object receives the clustering command, the first moving object may move to an allocated area among the areas where the contamination has occurred and measure water quality according to the received clustering command.

The integrated water quality measurement system may further include an integrated management server that sets an area to measure water quality as a plurality of measurement areas, and allocates one first moving object among the plurality of first moving objects to each of the at least one measurement area. have.

The integrated management server checks whether a failure has occurred using the status information of each of the plurality of first moving objects, and the number of first moving objects that do not have the failure, except for the first moving object that has a failure, according to the check result. Accordingly, multiple measurement areas can be set.

An integrated water quality measurement method according to an embodiment includes the steps of: measuring water quality by moving a plurality of first moving bodies to a predetermined measurement area, and generating measurement information including a measurement value and a coordinate value as a result of measuring the water quality; And a second moving object interlocks with the plurality of first moving objects, collecting measurement information from each of the plurality of first moving objects, and using the collected measurement information to check whether an area where contamination has occurred exists, and the contamination is And transmitting a cluster command instructing the measurement of water quality in the generated area to at least some of the plurality of first moving objects, wherein the first moving object includes a moving object capable of water movement, and the second moving object is flying It may include such a possible moving body.

In the generating step, water quality may be measured while moving to the predetermined measurement area and moving along a predetermined measurement path within the moved measurement area.

In the transmitting step, when there is an area where contamination occurs using the collected measurement information, a first moving object capable of clustering is identified, and the area where the contamination occurs is divided according to the identified first moving object. , It is possible to generate a cluster command including the coordinate values of the divided regions and transmit the generated cluster command to the first moving object to be allocated to the divided regions.

In the transmitting step, when the area in which the contamination has occurred is divided, a coordinate value of the divided area may be calculated, and a cluster command including the calculated coordinate value may be generated.

The integrated water quality measurement method may further include, when the first moving object receives the clustering command, moving to an allocated area of the pollution-prone area according to the received clustering command and measuring the water quality.

The integrated water quality measurement method further includes the step of setting, by the integrated management server, an area to measure water quality as a plurality of measurement areas, and allocating one first moving body among the plurality of first moving bodies to each of the at least one measurement area. can do.

In the allocating step, it is determined whether or not a failure has occurred using the status information of each of the plurality of first moving objects, and the number of first moving objects not having the failure is calculated according to the check result, except for the first moving object that has a failure. Accordingly, multiple measurement areas can be set.

According to the embodiment, by dividing the measurement area into a plurality of areas and measuring the water quality by moving a moving object to each of the divided areas, water quality can be measured even in an area where it is difficult to operate a regular observation network. Even if an unmeasurable area occurs later, the moving object can be moved to enable dense and accurate water quality measurement.

According to the embodiment, since the water quality is measured by moving a plurality of moving objects, the input of manpower can be minimized.

According to the embodiment, when an environmental accident occurs, an adjacent moving object is called to measure water quality, so that real-time tracking of the spatial distribution transformation of pollutants may be possible.

1 is a view showing an integrated water quality measurement system according to an embodiment of the present invention.
2 is a diagram showing a network constituted by a mobile object and an integrated management server.
3 is a diagram illustrating a detailed configuration of the first moving body shown in FIG. 1.
4 is a diagram showing a detailed configuration of the second moving body shown in FIG. 1.
5 is a view showing an integrated water quality measurement method according to an embodiment of the present invention.
6 is a diagram specifically illustrating a process of setting and allocating an area shown in FIG. 5.
7 is a diagram illustrating a process of dividing an area for measuring water quality.
FIG. 8 is a first diagram specifically illustrating a process of measuring movement and water quality shown in FIG. 5.
9 is a diagram showing in detail the process of performing the intensive investigation shown in FIG. 8.
FIG. 10 is a second diagram specifically showing the movement and water quality measurement process shown in FIG. 5.

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

However, the technical idea of the present invention is not limited to some embodiments to be described, but may be implemented in various different forms, and within the scope of the technical idea of the present invention, one or more of the constituent elements may be selectively selected between the embodiments. It can be combined with and substituted for use.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention are generally understood by those of ordinary skill in the art, unless explicitly defined and described. It can be interpreted as a meaning, and terms generally used, such as terms defined in a dictionary, may be interpreted in consideration of the meaning in the context of the related technology.

In addition, terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

In the present specification, the singular form may include the plural form unless specifically stated in the phrase, and when described as “at least one (or more than one) of A and (and) B and C”, it is combined with A, B, and C. It may contain one or more of all possible combinations.

In addition, terms such as first, second, A, B, (a), and (b) may be used in describing the constituent elements of the embodiment of the present invention.

These terms are only for distinguishing the component from other components, and are not limited to the nature, order, or order of the component by the term.

And, when a component is described as being'connected','coupled' or'connected' to another component, the component is not only directly connected, coupled or connected to the other component, but also the component and It may also include the case of being'connected','coupled' or'connected' due to another component between the other components.

In addition, when it is described as being formed or disposed on the “top (top) or bottom (bottom)” of each component, the top (top) or bottom (bottom) is one as well as when the two components are in direct contact with each other. It also includes a case in which the above other component is formed or disposed between the two components. In addition, when expressed as "upper (upper) or lower (lower)", the meaning of not only an upward direction but also a downward direction based on one component may be included.

In the embodiment, water quality is measured by dividing the measurement area into a plurality of partial measurement areas and assigning a plurality of moving objects to each of the plurality of partial measurement areas. When an area with a high measurement value occurs, an adjacent moving object is called to measure the water quality. We propose a new way.

1 is a diagram illustrating an integrated water quality measurement system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a network configured by a mobile object and an integrated management server.

Referring to FIG. 1, an IoT network-based integrated water quality measurement system according to an embodiment of the present invention may include a plurality of moving objects 100, an integrated management server 200, and a database (DB) 300.

The plurality of moving objects 100 may measure water quality such as a river or a reservoir and transmit the measured value. The moving body 100 may include, for example, a first moving body 110 and a second moving body 120 according to a function or role. The first moving body 110 may include a moving body capable of water-driving, and the second moving body 120 may include a moving body capable of flying.

Here, when the first moving body 110 measures the water quality, a case where the second moving body collects the measured value is described as an example, but is not necessarily limited thereto, and both the first moving body 110 and the second moving body 120 Water quality measurements may be possible.

Here, the first moving body 110 may move to a predetermined measurement area and measure water quality at a predetermined location to generate measurement information including a measurement value and a coordinate value. To this end, the first moving body 110 may include a measuring device capable of measuring water quality.

The second moving object 120 may collect measurement information generated from the plurality of first moving objects 110 and use the measurement information to identify an area where contamination has occurred among the plurality of measurement areas.

When the area where contamination has occurred, the second moving body 120 generates a cluster command for instructing to measure the water quality by moving the first moving body, which was measuring water quality in the area adjacent to the area, to the area where contamination has occurred. It can be transmitted to the first moving object.

The integrated management server 200 may receive measured values from the first moving body 110 through the moving body 100, that is, the second moving body 120, and display the received measured values for each measurement area.

The integrated management server 200 may divide the entire area to be measured water quality into a plurality of measurement areas according to a user's menu or key operation, and allocate the moving object 100 to each measurement area.

Here, an example in which the integrated management server 200 is configured to interlock with the first moving object and the second moving object is described, but is not limited thereto, and a plurality of integrated management servers that are physically separated so as to interlock with the first moving object and the second moving object are described. Can be implemented.

The DB 300 may store identification information for identifying a plurality of moving objects 100, a measurement value measured for each of a plurality of measurement areas predetermined by the plurality of moving objects 100, and the like.

Referring to FIG. 2, an integrated water quality measurement system including a first moving object, a second moving object, and an integrated management server according to an embodiment may construct an IoT sensor network.

The sensor network refers to a network that can wirelessly collect information from distributed sensor nodes (devices) for measuring physical and environmental conditions and deliver it to a central server. The sensor network may use a topology such as a star type, a mesh type, and a tree type depending on the purpose.

The integrated water quality measurement system according to the embodiment builds a mesh-type sensor network. When a mesh-type sensor network is configured, the water quality meter can be operated even if a failure occurs in the central server, and the dual structure serves as a repeater depending on the situation, but the first moving object may take over the role even if a failure occurs in the second moving object. have.

3 is a diagram illustrating a detailed configuration of the first moving body shown in FIG. 1.

3, the first moving body 110 according to the embodiment includes a communication unit 111, a GPS receiver 112, a control unit 113, a storage unit 114, a power supply unit 115, a driving unit 116, and water quality. It may include a measuring device 117.

The communication unit 111 may wirelessly interwork with a plurality of first and second mobile bodies 110 and 120 and transmit and receive various types of information. Here, the communication unit 111 may include an IoT communication module, and the IoT communication protocol may include, for example, Constrained Application Protocol (CoAP), Message Queue Telemetry Transport (MQTT), and eXtesible Messaging and Presense Protocol (XMPP). .

The GPS receiver 112 may receive location information, that is, a coordinate value from a GPS satellite.

When receiving a command from the second moving body 120, the control unit 113 moves to a predetermined position according to the received command, measures the water quality at the moved position, and transmits the measured value to the second moving body 120 Can be controlled to do.

The storage unit 114 may store various types of information related to water quality measurement, such as coordinate values and measurement values.

The power supply unit 115 may supply power to all components mounted inside the first moving body 110. The power supply unit 115 may include, for example, a rechargeable battery.

The driving unit 116 may drive the first moving object to move in a predetermined direction on the water surface. The driving unit 116 may include, for example, a direct current (DC) motor.

The water quality meter 117 may measure water quality at a corresponding location according to a control signal.

4 is a diagram showing a detailed configuration of the second moving body shown in FIG. 1.

Referring to FIG. 4, the second moving body 120 according to the embodiment includes a communication unit 121, a GPS receiver 122, a control unit 123, a storage unit 124, a power supply unit 125, and a driving unit 126. can do.

The communication unit 121 may wirelessly interwork with a plurality of first mobile bodies 110 and the integrated management server 200 and transmit and receive various types of information. At this time, the communication unit 121 may include a first communication module and a second communication module, which communicates with a plurality of first mobile bodies 110 through the first communication module, and an integrated management server ( 200).

The GPS receiver 122 may receive location information, that is, a coordinate value from a GPS satellite.

When receiving a command from the integrated management server 200, the controller 123 may control to move to a predetermined position according to the received command and to interwork with a plurality of first moving objects at the moved position.

The storage unit 124 may store various types of information related to water quality measurement, such as coordinate values and measurement values.

The power supply unit 125 may supply power to all components mounted in the second moving body 120. The power supply unit 115 may include, for example, a rechargeable battery.

The driving unit 126 may drive the second moving body to fly in a predetermined direction in the air.

5 is a view showing an integrated water quality measurement method according to an embodiment of the present invention.

Referring to FIG. 5, the integrated management server according to an embodiment may divide the entire area for measuring water quality into a plurality of measurement areas and allocate a first moving object to each of at least one measurement area (S100).

Then, the integrated management server may transmit a measurement command instructing water quality measurement to the first and second moving objects. The measurement command may include a coordinate value to start water quality measurement.

In this case, the integrated management server may transmit a measurement command to the second moving object, and the second moving object may transmit the measurement command to the first moving object. Here, a case where the integrated management server transmits a measurement command to the first moving object through the second moving object is described as an example, but the present invention is not limited thereto, and the measurement command may be directly transmitted to the first moving object.

Next, upon receiving the measurement command, the first and second moving bodies may move to corresponding positions according to the received measurement command. At this time, the plurality of first moving objects may move to a predetermined position to an allocated measurement area according to the received measurement command, and start water quality measurement at the moved position (S200). One second moving body may move to a predetermined position according to the received measurement command, but the measurement area is not determined and may be located at the center of the entire area.

Then, the second moving object may collect measurement information including measurement values and coordinate values measured from the plurality of first moving objects, and transmit the collected measurement information to the integrated management server.

Next, upon receiving the measurement information, the integrated management server may analyze the water quality for each measurement area within the entire area based on the received measurement information and display the analysis result (S300). For example, the integrated management server can compare and analyze previously measured values and perform statistics.

6 is a diagram illustrating a process of setting and allocating an area shown in FIG. 5 in detail, and FIG. 7 is a view for explaining a process of dividing an area for measuring water quality.

Referring to FIG. 6, the integrated management server according to the embodiment may set an area to be measured on a map displayed on the screen based on an input according to a user's menu or key manipulation (S101).

Next, the integrated management server may receive the designation of at least one first moving object from the user, and may request and collect status information from the at least one first moving object (S102).

Next, the integrated management server can check whether a failure that is judged to be inoperable based on the collected status information has occurred, and determine the first moving object with no failure except for the first moving object with a failure based on the check result. Yes (S103).

At this time, the status information is a status value indicating whether or not it is possible to operate normally, measure water quality, and transmit measurement information. For example, whether the motor is operating, the remaining capacity of the battery, whether the water quality meter is operating, whether the communication modem is operating. And the like.

Next, the integrated management server may receive a measurement condition from the user (S104). Here, the measurement condition may include a driving speed, a measurement interval, a recording period, a measurement method, and the like.

Next, the integrated management server may receive a selection of a division method from the user (S105). Here, the segmentation method is a method of segmenting the measurement area, and may include automatic segmentation and manual segmentation.

Next, the integrated management server may divide the area to be measured into a plurality of measurement areas according to the number of first moving objects according to the division method (S106). For example, the integrated management server may automatically divide an area to be measured into a plurality of measurement areas according to an automatic division method, or may divide manually according to a user input according to a manual division method.

Referring to FIG. 7, the integrated management server can divide the area to be measured into multiple measurement areas such as {a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12}. have.

Next, the integrated management server may group at least one measurement area and one first moving object into one group by allocating one first moving object to each of the divided measurement areas (S107). For example, the integrated management server automatically allocates one first moving object (usv) to every three measurement areas according to the automatic division method, or one first moving object (usv) for every three measurement areas according to the user's input according to the manual division method. usv) by manually assigning (usv1 | a1, a2, a3}, {usv2 | a4, a5, a6}, {usv3 | a7, a8, a9}, {usv4 | It can be grouped into 4 groups: a10, a11, a12}. Here, a case in which the same number of measurement areas are allocated to each of the plurality of first moving objects is described as an example, but the present invention is not limited thereto, and the number of measurement areas may be allocated to each of the first moving objects.

Next, the integrated management server may calculate a first coordinate value of a location at which the first moving object moves for each measurement area to measure water quality (S108). In this case, the integrated management server may calculate at least one first coordinate value according to the measurement method. For example, the integrated management server may calculate one first coordinate value in case of a designated measurement method, and may calculate a plurality of second coordinate values for measurement while moving within the measurement area in case of a continuous measurement method. The measurement order of the plurality of second coordinate values calculated in this way may be predetermined.

In addition, the integrated management server may calculate a second coordinate value for the location of the second moving object for interworking with the first moving object to measure water quality in each measurement area (S109). For example, the integrated management server may calculate the center of the entire area to be measured as the second coordinate value of the second moving object, but is not limited thereto and may be set to various positions.

Next, the integrated management server may calculate the estimated time required for measurement based on the calculated first coordinate values and measurement conditions of each measurement area, and display the calculated estimated time required for measurement on the screen (S110).

FIG. 8 is a first diagram specifically illustrating a process of measuring movement and water quality shown in FIG. 5.

Referring to FIG. 8, the integrated management server according to the embodiment may generate a movement command including a coordinate value of each measurement area and an identifier for identifying a moving object (S201) and transmit the generated movement command to the moving object (S202). ).

For example, the integrated management server generates a first movement command including a first coordinate value of each measurement area and an identifier for identifying the first moving object, transmits the generated first movement command to the first moving object, and A second movement command including a coordinate value and an identifier for identifying the second moving object may be generated, and the generated second movement command may be transmitted to the second moving object.

Next, when the first moving object receives the first movement command, the first moving object moves to the position of the corresponding measurement area according to the received first movement command (S203), and the second moving object receives the second movement command. It is possible to move to the corresponding position according to the second measurement command (S204).

Next, the second moving object may check whether the plurality of first moving objects have completed moving to the corresponding position after a predetermined time has elapsed after completing the movement to the corresponding position (S205). As an example, the second moving object transmits an inquiry message inquiring whether the movement to the corresponding position has been completed to the plurality of first moving objects, and in response to this, a response indicating that the movement from the first moving object to the corresponding position has been completed. You can receive messages. As another example, when each of the plurality of first moving objects completes movement to a corresponding location, a notification message indicating that the movement has been completed may be generated and transmitted to the second moving object.

Next, the second moving object generates a measurement command instructing the plurality of first moving objects to measure water quality when all of the plurality of first moving objects have been moved as a result of the confirmation (S206), and the generated measurement command is Each can be transmitted to the first moving object (S207).

On the other hand, when at least one of the first moving objects has not been completed, the second moving object notifies the integrated management server that there is a first moving object that has not completed moving, and a new moving object to replace the first moving object A corresponding measurement area may be additionally allocated to another first moving object without waiting until the first moving object is input or adding a new moving object.

Next, when each of the plurality of first moving objects receives a measurement command, it starts water quality measurement according to the received measurement command (S208), and generates measurement information including a measurement value and a coordinate value as a result of the water quality measurement ( S209) The generated measurement information may be transmitted to the second moving object (S210).

Next, the second moving object may collect measurement information from the plurality of first moving objects (S211), and check whether an area where contamination has occurred exists (S212) using the collected measurement information. For example, if the measurement value included in the measurement information is equal to or greater than a predetermined threshold, the second moving object may determine that the measurement area is an area where contamination has occurred.

Next, the second moving object may check whether the intensive irradiation mode indicating whether or not the predetermined intensive irradiation is on/off when there is an area where contamination occurs as a result of the confirmation (S213). Here, the intensive irradiation mode may be previously set to on or off by the user.

Next, when the intensive irradiation mode is turned on, the second moving object may stop measuring the water quality in which at least some of the plurality of first moving objects are being conducted, and perform an intensive investigation on the area where contamination has occurred (S214).

On the other hand, as a result of the confirmation, when the intensive irradiation mode is turned off even if the polluted area does not exist or the polluted area exists as a result of the confirmation, the number of first moving objects continues to measure water quality. May not be instructed to do.

9 is a diagram showing in detail the process of performing the intensive investigation shown in FIG. 8.

9, the second moving object according to the embodiment generates a standby instruction command to wait for water quality measurement in the polluted area when the polluted area exists and the intensive irradiation mode is turned on. (S301) The generated standby instruction command may be transmitted to at least some of the plurality of first moving bodies (S302). For example, the second moving object may transmit a clustering command to at least one first moving object that measures water quality in an area adjacent to the polluted area.

Next, upon receiving the standby instruction command, the first moving object may stop the ongoing water quality measurement and wait (S303).

Next, the second moving object may divide the polluted area into a plurality of irradiated areas according to the number of the first moving objects that have transmitted the standby instruction command (S304).

Next, the second moving object may group at least one irradiation area and one first moving object into a group by allocating one first moving object to each of the divided irradiation areas (S305).

Next, the second moving object may calculate a coordinate value of a position at which the first moving object is moved to start water quality measurement for each irradiation area (S306).

Next, the second moving object may generate a cluster command including the calculated coordinate value and the identifier of the first moving object (S307) and transmit the generated cluster command to the waiting first moving object (S308).

Next, upon receiving the clustering command, the first moving object may move to a corresponding location in the area where contamination has occurred according to the received clustering command and start water quality measurement at the corresponding location (S309).

Next, the first moving object may generate measurement information including a measurement value and a coordinate value as a result of measuring the water quality (S310) and transmit the generated measurement information to the second moving object (S311).

Next, when the second moving object receives all of the measurement information measured at the corresponding position from the first moving object, it determines that the intensive investigation on the area where the contamination has occurred is completed, generates an atmospheric release command (S312), and releases the generated atmosphere. The command may be transmitted to the first moving object (S313).

Next, upon receiving the standby release command, the first moving object may determine whether to return to the original measurement area (S314). That is, if the first moving object completes the water quality measurement in the original measurement area, the work is terminated without needing to return, and if the water quality measurement in the original measurement area is not completed, it can return to the location where the water quality measurement was last performed. have.

Here, a case of checking whether contamination has occurred in the second moving object is described as an example, but is not limited thereto, and it is also possible to check whether contamination has occurred in the first moving object and inform the second moving object whether or not contamination has occurred. have.

FIG. 10 is a second diagram specifically showing the movement and water quality measurement process shown in FIG. 5.

Referring to FIG. 10, the integrated management server according to the embodiment may generate a movement command including a coordinate value of each measurement area and an identifier for identifying a moving object (S201) and transmit the generated movement command to the moving object (S202). ).

For example, the integrated management server generates a first movement command including a first coordinate value of each measurement area and an identifier for identifying the first moving object, transmits the generated first movement command to the first moving object, and A second movement command including a coordinate value and an identifier for identifying the second moving object may be generated, and the generated second movement command may be transmitted to the second moving object.

Next, when the first moving object receives the first movement command, the first moving object moves to the position of the corresponding measurement area according to the received first movement command (S203), and the second moving object receives the second movement command. It is possible to move to the corresponding position according to the second measurement command (S204).

Next, the second moving object may check whether the plurality of first moving objects have completed moving to the corresponding position after a predetermined time has elapsed after completing the movement to the corresponding position (S205).

Next, the second moving object generates a measurement command instructing the plurality of first moving objects to measure water quality when all of the plurality of first moving objects have been moved as a result of the confirmation (S206), and the generated measurement command is Each can be transmitted to the first moving object (S207).

On the other hand, when at least one of the first moving objects has not been completed, the second moving object notifies the integrated management server that there is a first moving object that has not completed moving, and a new moving object to replace the first moving object A corresponding measurement area may be additionally allocated to another first moving object without waiting until the first moving object is input or adding a new moving object.

Next, when each of the plurality of first moving objects receives the measurement command, it starts water quality measurement according to the received measurement command (S208), and it is possible to check whether contamination has occurred using the measurement value obtained as a result of the measurement ( S209).

Next, the plurality of first moving objects may generate measurement information including a measurement value, whether contamination has occurred, and a coordinate value (S210), and transmit the generated measurement information to the second moving object (S211).

Next, the second moving object may collect measurement information from a plurality of first moving objects (S212). For example, if the measurement value included in the measurement information is greater than or equal to a predetermined threshold, the second moving object may determine that the measurement area is an area where contamination has occurred.

Next, the second moving object may check the collected measurement information to determine whether an intensive irradiation mode indicating whether or not a predetermined intensive irradiation is on/off when there is an area where contamination has occurred (S213).

Next, when the intensive irradiation mode is turned on, the second moving object may stop measuring the water quality in which at least some of the plurality of first moving objects are being conducted, and perform an intensive investigation on the area where contamination has occurred (S214).

On the other hand, as a result of the confirmation, when the intensive irradiation mode is turned off even if the polluted area does not exist or the polluted area exists as a result of the confirmation, the number of first moving objects continues to measure water quality. May not be instructed to do.

The term'~ unit' used in this embodiment refers to software or hardware components such as field-programmable gate array (FPGA) or ASIC, and'~ unit' performs certain roles. However,'~ part' is not limited to software or hardware. The'~ unit' may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors. Thus, as an example,'~ unit' refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, and procedures. , Subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays, and variables. Components and functions provided in the'~ units' may be combined into a smaller number of elements and'~ units', or may be further separated into additional elements and'~ units'. In addition, components and'~ units' may be implemented to play one or more CPUs in a device or a security multimedia card.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. You will understand that you can do it.

100: moving object
200: integrated management server
300: DB

Claims (14)

A plurality of first moving objects that move to a predetermined measurement area to measure water quality and generate measurement information including a measurement value and a coordinate value as a result of measuring the water quality; And
Interworking with the plurality of first moving objects, collecting measurement information from each of the plurality of first moving objects, and using the collected measurement information to check whether an area where contamination has occurred exists, and in the area where contamination has occurred And a second moving body for transmitting a cluster command instructing water quality measurement to at least some of the plurality of first moving bodies,
The first moving body includes a moving body capable of running on water,
The second moving body includes a moving body capable of flying,
The second moving body,
If there is an area where contamination has occurred using the collected measurement information, a first moving object capable of clustering is identified,
Dividing the area where the contamination occurred according to the identified first moving object,
An integrated water quality measurement system for generating a cluster command including coordinate values of the divided area and transmitting the generated cluster command to a first moving object to be allocated to the divided area. The method of claim 1,
The first moving body,
An integrated water quality measurement system that moves to the predetermined measurement area and measures water quality while moving along a predetermined measurement path within the moved measurement area. delete The method of claim 1,
The second moving body,
When the pollution-occurring region is divided, a coordinate value of the divided region is calculated, and a cluster command including the calculated coordinate value is generated. The method of claim 1,
The first moving body,
Upon receiving the cluster command, the integrated water quality measurement system measures water quality by moving to an allocated area among the areas where contamination has occurred according to the received cluster command. The method of claim 1,
Integrated water quality further comprising an integrated management server that sets an area to measure water quality as a plurality of measurement areas, and allocates one first moving object among the plurality of first moving objects to at least one measurement area among the plurality of measurement areas Measuring system. The method of claim 6,
The integrated management server,
Checking whether a failure has occurred using the state information of the plurality of first moving objects,
An integrated water quality measurement system configured to set a plurality of measurement areas according to the number of the first moving objects without the failure, except for the first moving object in which the failure has occurred according to the result of the check. Measuring water quality by moving a plurality of first moving objects to a predetermined measurement area, and generating measurement information including a measurement value and a coordinate value as a result of measuring the water quality; And
A second moving object interlocks with the plurality of first moving objects, collecting measurement information from each of the plurality of first moving objects, and using the collected measurement information to check whether an area where contamination has occurred exists, and the contamination occurs. And transmitting a cluster command instructing measurement of water quality in the area to be formed to at least some of the plurality of first moving bodies,
The first moving body includes a moving body capable of water operation,
The second moving body includes a moving body capable of flying,
In the transmitting step,
If there is an area where contamination has occurred using the collected measurement information, a first moving object capable of clustering is identified,
Dividing the area where the contamination has occurred according to the identified first moving object,
A method for measuring integrated water quality, generating a cluster command including coordinate values of the divided areas and transmitting the generated cluster command to a first moving object to be allocated to the divided areas. The method of claim 8,
In the generating step,
Moving to the predetermined measurement area, and measuring water quality while moving along a predetermined measurement path within the moved measurement area. delete The method of claim 8,
In the transmitting step,
When the pollution-occurring region is divided, a coordinate value of the divided region is calculated, and a cluster command including the calculated coordinate value is generated. The method of claim 8,
When the first moving object receives the clustering command, the method further comprises the step of measuring water quality by moving to an allocated area among the areas in which the contamination has occurred according to the received clustering command. The method of claim 8,
The integrated management server further comprises: setting an area to measure water quality as a plurality of measurement areas, and allocating one first moving object among the plurality of first moving objects to at least one measurement area among the plurality of measurement areas. Integrated water quality measurement method. The method of claim 13,
In the allocating step,
Checking whether a failure has occurred using the state information of the plurality of first moving objects,
Excluding the first moving object in which the failure has occurred according to the check result, a plurality of measurement areas are set according to the number of the first moving objects in which the failure has not occurred.

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