KR102229294B1 - Smart station system for unmanned moving objects for ocean observation - Google Patents

Abstract

Disclosed is a smart station system for ocean observation using unmanned moving objects. The smart station system for ocean observation by unmanned moving objects according to the present invention comprises: a structure of which a part is submerged and the rest is exposed on the surface of the water; a first docking part arranged in the underwater area of the structure so that unmanned moving objects autonomously driving on the seabed or underwater can be docked; a second docking part arranged in the water surface area of the structure so that the unmanned moving objects autonomously driving on the water surface can be docked; and a third docking part arranged in an upper portion of the structure so that the unmanned moving objects autonomously driving in the air can be docked. A data transmitting and receiving part and a power supply part electrically connected to the docked unmanned moving object to transmit and receive data are respectively arranged in the first docking part, the second docking part, and the third docking part.

Description

Smart station system for unmanned marine observation vehicles {SMART STATION SYSTEM FOR UNMANNED MOVING OBJECTS FOR OCEAN OBSERVATION}

The present invention relates to a smart station system for an unmanned marine observation vehicle, and more particularly, a drone for marine environment observation (DRONE), AUV (AUTONOMOUS UNDERWATER VEHICLE), USV (UNMANNED SURFACE VEHICLE), ROV (REMOTELY OPERATED VEHICLE) And data transmission/reception with unmanned vehicles including underwater gliders, charging and management (maintenance) through power supply, etc. It relates to a smart station system for an unmanned marine observation vehicle capable of communication and underwater communication and performing functions such as a repeater if necessary.

In general, marine environment surveys are conducted by personnel with specialized knowledge aboard a survey vessel to obtain marine environment data such as water temperature, salinity, and submarine topography by using observation equipment, or by using optical equipment mounted on a vehicle or an artificial satellite. It is a way of acquiring data.

However, it takes a lot of time for technical personnel with expert knowledge to directly investigate, and the sea area to be investigated is very wide, and the sea has severe climate change, so there are many risk factors, so it is often difficult to conduct necessary investigations and observations when necessary. In addition, it is a reality that continuous observation in real time is very difficult due to rapid weather changes at sea.

In recent years, as a solution to this problem, unmanned aerial vehicles such as drones (UAV: UNMANNED AERIAL VEHICLE), USV: UNMANNED SURFACE VEHICLE, AUTONOMOUS UNDERWATER VEHICLE (AUV), ROV (REMOTELY OPERATED VEHICLE) ) And underwater gliders. In other words, marine observation is performed by attaching sensors that can acquire marine environment data to an unmanned moving object that can move unmanned and perform marine observation.

On the other hand, the marine observation buoy (BUOY) and the marine science base are equipped with sensors for marine observation to obtain marine environment data at a fixed point, but they do not acquire marine environment data by depth and three-dimensional marine environment data. have.

As a prior art of the marine observation system using an unmanned aerial vehicle as described above, Korean Patent Registration No. 10-0962615 (announcement date: 2010.06.10) discloses a marine environment observation system. The marine environment observation system according to the prior art is an unmanned aerial vehicle that automatically unmanned a designated route and transmits the information of the observation of the sea and the information of the detected flight route in real time, and a control signal and a control signal by wirelessly connecting the unmanned aerial vehicle and the cellular manner. A wireless network that communicates information in real time, a control station that receives and manages the information observed by the unmanned aerial vehicle by accessing the wireless network in real time, and remotely controls the flight route and collection of information in real time, and a control station that accesses the control station. A database for recording the information observed and measured by the unmanned aerial vehicle, a web server that provides the information recorded in the database in real time to the Internet under the control of the control station, and a public network providing a communication path to access the control station Includes.

However, this marine environment observation system has a problem that it is difficult to fly for a long time depending on the capacity of the battery mounted on the unmanned aerial vehicle.

As another prior art, Korean Patent Registration No. 10-1930923 (Registration Date: 2018.12.20) discloses a drone and a marine observation system using the same. In the ocean observation system using such a drone, since ocean observation is performed using a drone, measurement efficiency can be improved, equipment stability and equipment efficiency can be improved, but there is a difficulty in operating for a long time. That is, since the drone is equipped with a rechargeable battery, when the battery runs for a long time and the battery is consumed, it must be returned to its original position in order to recharge it, so there was a lot of difficulty in ocean observation using a drone.

. Korean Patent Registration No. 10-1930923 (Registration Date: 2018.12.20) . Korean Patent Registration No. 10-0962615 (Announcement date: 2010.06.10)

An object of the present invention is to allow an unmanned vehicle for marine environment observation to be docked underwater and on the water and take off and landing from the air, so that the data obtained by the unmanned vehicle can be obtained through wireless data transmission and reception, and power to the docked unmanned vehicle It is to provide a smart station system for unmanned marine observation vehicles that can charge batteries by supplying them.

Another object of the present invention may include a marine environment observation system capable of acquiring meteorological, atmospheric and marine environment data, and a communication system capable of functioning as a wireless communication, underwater communication, and communication repeater. It is to provide a smart station system for an unmanned marine observation vehicle that supports marine observation by itself and can perform marine observation on its own.

In addition, the problem to be solved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

The object is, according to the present invention, a structure in which some are located underwater and some are exposed to the water; A first docking unit provided in the underwater area of the structure so that an unmanned moving vehicle that autonomously operates underwater is docked; A second docking unit provided in the floating area of the structure so that the unmanned moving object autonomously operating on the water is docked; And a third docking part provided in an upper area of the structure so that an unmanned moving body autonomously traveling in the air docks, and the first docking part, the second docking part, and the third docking part are electrically connected to the docking unmanned moving body. It is achieved by a smart station system for an unmanned marine observation vehicle, characterized in that a data transmission/reception unit and a power supply unit for connecting to and receiving data are provided, respectively.

The above object is, according to the present invention, a first docking unit configured to dock an unmanned moving body autonomously running on the sea floor or underwater to a structure in which some are underwater and others are exposed to the water; A second docking unit configured to dock an unmanned mobile vehicle that operates autonomously on the water; The first docking part, the second docking part, and/or the third docking part selected from among the third docking parts for docking an unmanned aerial vehicle autonomously moving in the air are provided, and the first docking part and the second docking part Each of the unit and the third docking unit is achieved by a smart station system for an unmanned marine observation vehicle, characterized in that a data transmission/reception unit and a power supply unit for transmitting and receiving data by electrically connecting with the docking unmanned vehicle are respectively provided. .

Each of the first docking part and the second docking part is configured to move in a vertical direction with respect to the structure and rotate around the structure, and at one side, a front end of the unmanned moving body when the unmanned moving body enters A docking support provided with a receiving portion opened in one direction to accommodate; And a docking means positioned on the docking support and selectively coupled to a front end of the unmanned moving body to pull the unmanned moving body to dock and undock the receiving part.

The docking support may include a vertical moving body provided to be movable in a vertical direction with respect to the structure by a vertical moving means; And a horizontal moving body which is formed on one side of the receiving part, and is rotatably coupled while surrounding the periphery of the vertical moving body and selectively horizontally rotates by a horizontal rotation means.

The docking means is provided with a traction coupling part for inserting a part of the front end of the unmanned moving body on one side, and connected to the horizontal movable body by a traction wire on the other side, and selectively coupled to the front end and A coupling member provided with coupling means for separating; And a hook for selectively coupling to a coupling ring provided in the front end while rotating within an angular range set by a driving member embedded in the coupling member.

The coupling means may be made of an electromagnet for selectively coupling with a magnetic material provided on the front end.

The horizontal rotation means may be configured to rotate the horizontal moving body in a direction of an ocean current required for docking and undocking of the unmanned moving body or a direction opposite to the ocean current based on a detection signal detected by the ocean current detection sensor.

The coupling member may include a plurality of propellers provided to access the unmanned moving body for docking traction of the unmanned moving body; And a buoyancy adjuster provided to adjust the buoyancy so that the coupling member does not sink.

The third docking part may include a first docking support member provided with a first receiving part opened upward on an upper end of the structure; A vertical take-off and landing member configured to land or take off the unmanned aerial vehicle autonomously traveling in the air and provided inside the first accommodating part; And a lifting and lowering member having one end coupled to the vertical take-off and landing member and operating withdrawal and retracting in a vertical direction, and the other end of the lifting and lowering member, and configured to operate the lifting and retracting members of the lifting and descending member. It may be made of a first landing operation unit provided in the inside of.

The first docking support member is provided with an interference preventing means for laying the support provided with a lightning rod and/or an antenna so as not to interfere during takeoff and landing of the unmanned moving body, and the interference preventing means includes the first docking support member A driving gear engaged with a driven gear provided at a lower end of the support, which is axially coupled to the support; And when the start of take-off or the start of landing of the unmanned moving body is sensed, it is composed of a driving motor to lay the support by driving the driving gear, or the lower end and one end of the support, which are axially coupled to the first docking support member, are axially coupled, and The other end is axially coupled to the first docking support member, and when the start of take-off or the start of landing of the unmanned moving object is sensed, the other end may be pulled out or retracted, thereby forming a first cylinder device for laying the support.

The third docking part may include a second docking support member provided with a second receiving part opened upward and in one horizontal direction at an upper end of the structure; A horizontal take-off and landing member configured to land or take off the unmanned aerial vehicle autonomously traveling in the air, and installed to be movable in a horizontal direction in the second receiving portion; The horizontal take-off and landing member may include a second landing operation unit provided on the second docking support member so that the horizontal take-off and landing member is drawn out or inserted in a horizontal direction from the second receiving portion.

The second driving unit is composed of a rack gear provided in the horizontal take-off and landing member and a pinion gear for moving the horizontal take-off and landing member horizontally forward and backward by engaging the rack gear, or one end is coupled to the second docking support member The other end is coupled to the horizontal take-off and landing member, and may consist of a second cylinder device for moving the horizontal take-off and landing member forward and backward through withdrawal and retracting operations.

The structure may be provided with a meteorological observation means, an atmospheric observation means, and/or a marine environment observation means for each depth of water, and a communication repeater module for performing a communication repeater function.

The data transmission/reception unit is provided to correspond to the first docking unit, the second docking unit and the third docking unit and the unmanned mobile unit, respectively, to wirelessly receive the data obtained by the unmanned mobile unit, and to wirelessly transmit a control signal. And a wireless transmission/reception module for wireless transmission and reception, wherein the power supply unit is provided in each of the first docking unit, the second docking unit, and the third docking unit and the unmanned mobile unit, It may be made of a charging module or a wired charging module.

According to the present invention, by providing a means for docking unmanned vehicles operating unmanned on the sea floor, underwater and in the air to structures installed in the ocean, it is possible to receive marine environment observation information acquired by the unmanned vehicle, and By supplying power to the unmanned moving vehicle, it is possible to provide an effect that enables additional operation.

In addition, by configuring a smart station system for an unmanned marine observation vehicle, it is possible to provide an effect of constructing an unmanned automated marine observation system.

1 is a schematic diagram showing a smart station system for an unmanned marine observation vehicle according to the present invention.
FIG. 2 is a schematic configuration diagram illustrating a first docking part or a second docking part shown in FIG. 1.
3 is a schematic configuration diagram illustrating a third docking unit shown in FIG. 1.
4 is a schematic configuration diagram showing another embodiment of a third docking unit as illustrated in FIG. 1.
5 is a schematic view for explaining a state in which the smart station system for an unmanned marine observation vehicle according to the present invention shown in FIG. 1 is applied to a structure of an offshore wind power generator.
6 is a schematic block diagram illustrating a control structure of the smart station system for an unmanned marine observation vehicle shown in FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in describing the present invention, descriptions of functions or configurations that are already known will be omitted in order to clarify the gist of the present invention.

In addition, terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other components.

In the accompanying drawings, FIG. 1 is a schematic diagram showing a smart station system for an unmanned marine observation vehicle according to the present invention, and FIG. 2 is a schematic configuration diagram for explaining a first docking part or a second docking part shown in FIG. 1 , FIG. 3 is a schematic configuration diagram for explaining a third docking unit illustrated in FIG. 1. And FIG. 6 is a schematic block diagram for explaining the control structure of the smart station system for an unmanned marine observation vehicle shown in FIG. 1.

Hereinafter, the unmanned moving object docked to the first docking unit 20 and the second docking unit 30 is assigned the same symbol'V', and the unmanned moving object docking or taking off and landing on the third docking unit 40 is'D'. 'Is added to explain.

As shown in FIGS. 1 to 3 and 6, the smart station system for an unmanned marine observation vehicle according to the present invention includes a structure 10 and a structure 10 that is partly located underwater and partly exposed to the water and at the bottom of the sea or underwater. The first docking unit 20 provided in the underwater area of the structure 10 so that the autonomously moving unmanned moving object V docks, and the floating area of the structure 10 so that the autonomously moving unmanned moving object V on the water docks. And a second docking part 30 provided in, and a third docking part 40 provided in the upper region of the structure 10 so that the unmanned moving body D that operates autonomously in the air docks.

This will be described in more detail.

The structure 10 may be formed of a ship, a barge, or the like, and may be configured with a structure in which the lower part is underwater and the upper part is exposed to the water surface by a mooring device. In this embodiment, as shown in FIG. 1, a description will be made on the basis of a fixed structure in which the lower part is fixed to the sea floor and the upper part is exposed to the water surface.

In the above-described structure 10, a first docking part 20 is provided in an underwater area or an area close to the seabed, and a second docking part 30 is provided in an aquatic area (area exposed to the water surface), and A third docking part 40 is provided in the area.

In this way, the first docking part 20 is provided in the lower part of the structure 10, the second docking part 30 is provided in the water area, and the third docking part 40 is provided in the upper area, respectively, Each unmanned mobile vehicle (V, D) running in the surface, underwater, surface, and air can freely dock at the same time or individually to transmit and receive data while temporarily staying and receive power.

In this case, the structure 10 may be composed of a column structure 60 of an offshore wind power generator, as shown in FIG. 5. That is, in the column structure 60 of the offshore wind generator, the first docking part 20 is configured in an area in contact with the underwater or the sea floor, and the second docking part 30 is configured in the area exposed to the water surface, and By configuring the third docking part 40 in the spaced area, the column structure 60 of the offshore wind generator can be utilized as the structure 10 of the smart station system for an unmanned marine observation vehicle.

In addition, the structure 10 according to the present invention, although not shown in the drawings, may utilize various structures installed in the ocean.

Meanwhile, the structure 10 is provided with a meteorological observation means, an atmospheric observation means, and/or a marine environment observation means for each depth of water. Meteorological observation means and atmospheric observation means are provided in an area exposed above the surface of the structure 10, and consist of a rain sensor, an optical device for checking the amount of snowfall or surrounding environment, a fine dust collection and detection device, an ozone detection device, etc. I can. In addition, the means for observing the marine environment by depth may be installed on the structure 10 corresponding to the underwater area, consisting of sensors for detecting water temperature, salinity, and ocean current direction by depth, and an optical device for obtaining an underwater image is provided. It may be provided. In addition, the communication repeater module 150 (communication relay system) is capable of relaying communication with unmanned mobiles (V, D) as well as other mobiles underwater and at sea. The smart station system for an unmanned marine observation vehicle according to the present invention can serve as a communication repeater.

The first docking part 20 is provided in an underwater area (a lower end or an area in contact with the sea floor) of the structure 10 so that the unmanned moving vehicle V that operates autonomously in the sea or underwater docks.

The second docking unit 30 is provided in the floating area exposed above the water surface of the structure 10 so that the unmanned moving object V that operates autonomously on the water can dock.

The first docking part 20 and the second docking part 30 described above have the same or similar structure. Therefore, a detailed description of the first docking part 20 and the second docking part 30 will be described based on the first docking part 20.

The first docking part 20 is configured to move in a vertical direction with respect to the structure 10 and rotate around the structure 10, and at one side, when the unmanned moving body V enters, the unmanned moving body V The docking support 22 is provided with a receiving portion 22A opened in one direction to accommodate the front end F of the unmanned moving body V, and is selectively combined with the front end F of the unmanned moving body V to provide an unmanned moving body V It includes a docking means (50) for docking by pulling into the receiving portion (22A) and separating the docked unmanned moving body (V).

The docking support 22 includes a vertical moving body 22B provided to be movable in a vertical direction with respect to the structure 10 by a vertical moving means, and a receiving portion 22A on one side, and the opposite region is a vertical moving body ( It is configured to include a horizontal moving body (22C) that is rotatably coupled while surrounding the circumference of 22B) and selectively rotates horizontally by a horizontal rotating means.

The above-described vertical moving means is for operating the vertical moving body 22B to be movable in a vertical direction with respect to the structure 10 as needed or the tide level detection signal, as shown in Figs. 2 and 6, the vertical moving body A plurality of guide support rollers 22B-1 that are provided on the inner circumferential surface of (22B) and rolled while being supported on the outer circumferential surface of the structure 10, and lifting and lowering provided in the upper area of the structure 10 or at a specific position. It is configured to include a wire (22B-2) wound on a winch (not shown) for the end is coupled to the vertical moving body (22B). Therefore, the vertical moving body 22B may rise or fall in the vertical direction by an operation of the tide level detection signal detected by the tide level detection sensor 110 or by a winch operating as needed to wind and unwind the wire 22B-2. I can. In this case, the guide support rollers 22B-1 may be guided in a state inserted into a guide groove formed on the outer circumferential surface of the structure 10 or may be guided to a guide rail separately installed on the structure 10.

On the other hand, the vertical moving means is not shown, but may be composed of a rack gear installed vertically on the structure 10 and a pinion gear provided on the vertical moving body 22B and operated by a drive motor, and one end is vertical. It is connected to the moving body (22B) and the other end may be composed of a lifting and lowering cylinder device installed in the interior of the structure (10).

The above-described horizontal rotation means, as shown in Figs. 2 and 6, the detection signal detected by the ocean current detection sensor 120 or, if necessary, the horizontal moving body 22C in the opposite direction of the ocean current (facing the direction of the ocean current). Direction). In this case, the horizontal rotation means may have a rotation direction determined according to conditions such as the shape of the unmanned moving body V or a lower structure. That is, the horizontal rotation means may have a rotational direction determined by various conditions such as the direction of the ocean current, the shape of the unmanned moving body V, or the lower structure.

Such a horizontal rotation means includes a rack gear 22C-1 formed on the inner circumferential surface of the horizontal movable body 22C coupled while surrounding the above-described vertical movable body 22B, and a vertical movable body ( It consists of a drive gear 22C-2 provided outside of 22B) and driven by a drive motor. Therefore, the docking support 22 is structured by driving the driving gear 22C-2 of the driving motor that operates based on the current detection signal (the direction of the current) sensed by the ocean current detection sensor 120 or selectively operates as needed. It can rotate in the horizontal direction based on (10). That is, by the horizontal rotation means, the front portion of the docking support 22 always faces the direction of the ocean current, and the receiving portion 22A can maintain an open state in the direction in which the ocean current flows.

At this time, the formation positions of the rack gear 22C-1 and the driving gear 22C-2 may be interchanged with each other.

In this way, the docking support 22 rises or descends as needed or the tide level, and the receiving portion 22A can maintain an open state in the direction in which the ocean current flows according to the direction of the ocean current.

The docking means 50 is selectively coupled with the front end (F) of the unmanned moving body (V) to pull the unmanned moving body (V) to enter the receiving part (22A) to dock, and separate the docked unmanned moving body (V). It is configured to let. This docking means 50, as shown in FIG. 2, is formed with a traction coupling portion 52A having a bugle structure extended outward so that a part of the front end portion F of the unmanned moving body V is inserted on one side. It is connected to the horizontal moving body (22C) by the traction wire (52B) of the winch (52C) on the opposite side, and the traction coupling part (52A) for selectively combining with the magnetic body (F1) provided in the front end (F) While rotating within the angular range set by the coupling member 52 provided with the electromagnet 52D and the driving member 54A embedded in the coupling member 52, the front end portion protrudes into the inside of the traction coupling portion 52A. It is configured to include a hook (54) for selectively coupled to the coupling ring (F2) provided in (F).

Therefore, when a part of the front end (F) is inserted into the traction coupling portion (52A) and the electromagnet (52D) is coupled with the magnetic body (F1), the hook 54 is rotated by the driving member 54A while the coupling ring ( F2), so the unmanned moving body (V) maintains a solid docking state with the coupling member (52), and when the driving member (54A) is rotated in the release direction (the direction opposite to the initial rotation direction), the hook (54) Is separated to the coupling ring F2, and then the power applied to the electromagnet 52D is cut off to separate the electromagnet 52D and the magnetic body F1, thereby releasing the docking state of the unmanned moving body V. At this time, when the detection sensors detect that the electromagnet 52D is coupled to the magnetic body F1, the control unit 100 rotates the driving member 54A in the locking direction, and the electromagnet 52D is connected to the magnetic body F1. When separation is detected by the detection sensors, it rotates in the direction of disengagement.

In the present embodiment, the coupling means provided in the above-described coupling member 50 and temporarily coupled with the unmanned moving body V for traction was described on the basis of consisting of an electromagnet 52D and a magnetic body F1, but limited to this It can be configured in a variety of structures. For example, a part of the coupling member 50 is configured in the form of a flexible suction cup, and after the suction cup is in close contact with the front end (F) of the unmanned moving body (V) or its surrounding surface, the internal pressure of the suction cup is reduced to negative pressure. It may be configured to be formed and adsorbed.

In addition, a plurality of buffer rollers 52A-1 for buffering the impact of the unmanned moving body V entering for docking are provided on both sides of the traction coupling part 52A. These buffer rollers 52A-1 are shaft-coupled rotatably, and both sides of the shaft are configured to be supported by a spring or a shock absorber, so that the unmanned moving body V or the docking support 22 can be prevented from being damaged due to a docking impact. .

Meanwhile, the coupling member 52 is provided with a means for pulling the unmanned moving body V spaced apart from the coupling member 52. That is, a plurality of propellers 55 provided to access the unmanned moving body V for docking traction of the unmanned moving body V are provided in the coupling member 52, and the coupling member 52 is provided by the propeller 55 A buoyancy regulator 57 is provided for controlling buoyancy so as not to sink when swimming on the water or underwater. Here, the thruster 55 may be made of a screw operated by a motor, and the buoyancy regulator 57 is known, so a detailed description thereof will be omitted.

Further, although not shown in the drawings, the coupling member 52 of the unmanned moving body V and the docking means 50 is provided with a docking induction system for inducing docking by accurately grasping the positions of each other. In this docking induction system, a sound wave signal transmission/reception device or a precision location information transmission/reception device is provided to correspond to each other to the unmanned moving body (V) and the coupling member (52), so that the coupling member 52 is more accurately attached to the unmanned moving body (V). I can access it. That is, when the coupling member 52 approaches the unmanned moving body V by the operation of the thruster 55 and the buoyancy controller 57, the sound wave signal transmission/reception device or the precision location information transmission/reception device is operated, so that the control unit 100 is The thruster 55 and the buoyancy regulator 57 can be controlled based on the position signal obtained from the transmission/reception device or the precise location information transmission/reception device, and thus the coupling member 52 can more accurately access the unmanned moving body (V). .

In this way, the coupling member 52 is provided with a thruster 55 and a buoyancy regulator 57, and a sound wave signal transmission/reception device or a precision location information transmission/reception device is provided, so that an unmanned moving body (V) approaching the docking support 22 It can be accurately and stably forced to traction with the coupling member 52.

The third docking part 40 is a first docking support provided with a first receiving part 42A opened upward at the upper end of the structure 10, as shown in FIGS. 1, 3 and 6 A member 42 and a vertical take-off and landing member 44 provided in the interior of the first receiving part 42A by being configured to land or take off the unmanned moving body D that operates autonomously in the air, and a vertical take-off and landing member 44 at one end. ) Is combined with the lifting and lowering members 46A, which operate in the vertical direction withdrawal and retracting, and the other end of the lifting and lowering members 46A, and configured to operate the lifting and retracting members 46A. It is configured to include a first landing operation unit 46 provided in the interior of (10). Here, the lifting and lowering members 46A may be made of a cylinder device operated by hydraulic or pneumatic, and the lifting and lowering members 46A may be withdrawn and retracted by an operation part 46B that generates pneumatic or hydraulic pressure. . In addition, the first landing operation unit 46 may be configured to raise and lower the vertical take-off and landing member 44 by meshing the rack gear and the pinion gear.

And, in the first docking support member 42, when the takeoff start of the unmanned moving body D is detected or the landing start is detected, the support 12 provided with the lightning rod and/or the antenna does not interfere with take-off and landing. Interference preventing means 80 for laying down so as not to be provided is provided. The interference preventing means 80, as shown in the enlarged view'A' of FIG. 3, the driven gear 12A provided at the lower end of the support 12 axially coupled to the first docking support member 42 and It consists of a driving gear 82 that engages, and a driving motor 84 for laying the support 12 by driving the driving gear 82 when the start of takeoff or landing of the unmanned moving body D is detected.

In addition, as shown in the accuracy diagram'B' of FIG. 3, the lower end and one end of the support 12 axially coupled to the first docking support member 42 are axially coupled, and the other end is the first docking support member 42 ) Is coupled to the axis to detect the start of take-off or landing of the unmanned moving body (D), it may be withdrawn or pulled in, and may consist of a first cylinder device 86 for laying or erecting the support 12.

In this way, the first docking support member 42 is provided with an interference preventing means 80 capable of laying or erecting the support 12, so that the support 12 during landing and take-off of the unmanned moving body D that lands while traveling in the air. ) Will not interfere.

The above-described third docking portion 40, the vertical take-off and landing member 44, by the first landing operation portion 46, the first accommodation portion (42A) to protrude upwardly upward, so that the unmanned moving body (D) It is possible to induce the landing of the unmanned vehicle D, in particular, by moving and receiving the landed unmanned vehicle (D) inside the first receiving portion (42A), it is possible to protect the unmanned vehicle (D) from wind and the like.

Meanwhile, in the accompanying drawings, FIG. 4 shows another embodiment of the third docking unit 40 according to the present invention.

As shown in FIG. 4, the third docking part 40 according to another embodiment includes a second receiving part 43A opened upward and one horizontally at an upper end of the structure 10. 2 A docking support member 43 and a horizontal take-off and landing member 45 configured to land or take off the unmanned aerial vehicle (D) for autonomously traveling in the air, and installed to be movable in the horizontal direction in the second receiving part 43A And, it includes a second landing operation unit 47 provided on the second docking support member 43 so that the horizontal take-off and landing member 45 is drawn out or inserted in the horizontal direction from the second receiving portion 43A. Here, the second landing operation unit 47 includes a drive motor 47B having a pinion gear 47A and a rack gear 47C provided on the horizontal take-off and landing member 45 so as to engage with the pinion gear 47A.

Of course, the second landing operation unit 47 is not shown in the drawing, but may be formed of a cylinder device. That is, one end is coupled to the second docking support member 43, the other end is coupled to the horizontal take-off and landing member 45, and can be made of a second cylinder device for moving the horizontal take-off and landing member 45 forward and backward through withdrawal and retracting operations. There is.

The data transmission/reception unit 200 provided in the above-described first docking unit 20, the second docking unit 30, and the third docking unit 40 is, as shown in FIG. 6, the first docking unit 20 ), the second docking part 30 and the third docking part 40 and the unmanned moving body (V,D) are provided to correspond to each other to receive and control the data acquired by the unmanned moving body (V,D) wirelessly. It consists of a wireless transmission/reception module 210 for transmitting a signal wirelessly.

In addition, the power supply unit 300 is provided in each of the first docking unit 20, the second docking unit 30, and the third docking unit 40 and the unmanned moving bodies (V, D), ) Is made of a charging module 310 (power supply module) for supplying power wirelessly or supplying power by wire. If the charging module 310 has a wired supply structure, it may be made of connection terminals that are connected when the unmanned moving objects V and D are docked. That is, in the first docking part 20, the second docking part 30, and the third docking part 40, a supply connection terminal module that is elastically supported by a spring is provided, and the front end of the unmanned moving body (V,D) By providing a supply/supply connection terminal module to be connected to the supply connection terminal module when docking is completed in the part (F) or its surrounding area, the unmanned moving body (V,D) is wired from each docking part (20, 30, 40). It can also be supplied by power.

The wireless transmission/reception module 210 and the charging module 310 are each docking area of the unmanned moving body (V,D), that is, a horizontal moving body (22C) in an area close to the front end (F), and a first docking support member (42). Alternatively, it is installed on the second docking support member 43.

By using the wireless transmission/reception module 210 and the charging module 310, the data acquired by the unmanned moving object (V, D) can be wirelessly received and the control signal can be transmitted, and power is supplied to the unmanned moving object (V, D). ) Can be supplied wirelessly or wired to charge the battery.

The control unit 100, as shown in Fig. 6, is configured to wirelessly transmit and receive data to and from the main server of the land or ship wirelessly, the tide level sensor 110, the ocean current sensor 120, the wind direction sensor ( 130), and an access detection unit 140. The tide level detection sensor 110 derives a water level change value based on the water level sensed by the water level detection sensor and data according to the tide level.

The control unit 100 operates and controls the first docking unit 20, the second docking unit 30, and the third docking unit 40 based on the detection values sensed by each of the above-described sensing means. In particular, it is configured to electrically control each component so that each unmanned moving body (V,D) is docked or talked off.

The smart station system for an unmanned marine observation vehicle according to the present invention configured as described above is forcibly towed and docked when the unmanned vehicles (V, D) approach, and data transmission and reception are completed, and when the power supply is completed, docking is performed. Works to release.

This will be briefly described.

As shown in Figure 2, the unmanned moving body (V) running on the sea floor or the unmanned moving body (V) running underwater or on the surface is close to the first docking part 20 and the second docking part 30 When detected, the control unit 100 operates the winch 52C to release the traction wire 52B, and at the same time, operates the thruster 55 and operates the buoyancy regulator 57 to move the coupling member 52 to the unmanned moving body ( Move it toward V).

At this time, the position of the coupling member 52 is identified as a separate GPS, and the position of the unmanned moving body V is identified through the GPS provided in the unmanned moving body V, and the coupling member 52 is moved to the unmanned moving body (V). Move to the side. In this way, when the coupling member 52 approaches the front end portion F of the unmanned moving body V due to the movement of the coupling member 52, the electromagnet 52D is coupled to the magnetic body F1 of the unmanned moving body V.

When the coupling of the electromagnet 52D and the magnetic body F1 is detected by a separate detection switch, for example, a limit switch, a contact switch, or the like, the control unit 100 operates the driving member 54A so that the hook 54 is While rotating, make it catch on the coupling ring (F2). Through this process, the coupling member 52 maintains a state that is stably coupled to the front end portion F of the unmanned moving body V.

Subsequently, the control unit 100 pulls the traction wire 52B by operating the winch 52C.

In this way, as the traction wire 52B pulls the unmanned movable body V, the unmanned movable body V enters the receiving portion 22A of the horizontal movable body 22C, and when the entry completion is detected by the entry detection sensors The winch 52C is locked to maintain the docking state of the unmanned moving body V.

At this time, it is possible to maintain a stable docking state of the unmanned moving body (V) by operating an additional separate locking means.

When the unmanned moving object V is docked to the first docking unit 20 or the second docking unit 30 through the above-described process, the control unit 100 is It receives ocean observation data, transmits a control signal, and controls to supply power to the unmanned moving object V through a wireless or wired charging module 310.

In addition, when it is sensed that data transmission and reception and charging are completed, the control unit 100 unlocks the winch 52C and releases the locked state so that the unmanned moving object V is separated from the accommodation unit 22A. At this time, it is possible to separate the unmanned moving body V from the receiving part 22A by operating the thruster 55. When the unmanned moving body V is separated from the receiving part 22A by this process, the controller 100 The driving member 54A is operated to separate the hook 54 from the coupling ring F2, and then the power applied to the electromagnet 52D is cut off so that the electromagnet 52D and the magnetic body F1 are separated from each other.

Through this process, the unmanned moving body V may be undocked from the first docking unit 20.

On the other hand, the control unit 100, when the approach of the unmanned moving body (D) running in the air is sensed, by operating the first landing operation unit 46 to raise the vertical take-off and landing member 44. And by operating the interference preventing means 80, the support 12 is laid horizontally or downward. Therefore, the unmanned moving body (D) can be stably landed on the resin take-off and landing member 44 without interference of the support 12. In addition, when the unmanned vehicle D lands, the control unit 100 lowers the vertical take-off and landing member 44 so that the unmanned vehicle D is accommodated in the first receiving unit 42A or the second receiving unit 43A. It is possible to protect the unmanned moving object D from the back.

In this way, various unmanned moving bodies (V, D) for marine environment observation are quickly and easily docked to the structure 10 provided in one ocean, and each unmanned moving body ( V,D) will be able to perform continuous and unmanned environmental observations of the ocean.

In the above, although specific embodiments of the present invention have been described and illustrated, the present invention is not limited to the described embodiments, and various modifications and variations can be made without departing from the spirit and scope of the present invention. It is self-evident to those who have Therefore, such modifications or variations should not be individually understood from the technical spirit or point of view of the present invention, and the modified embodiments should be said to belong to the claims of the present invention.

10: structure 20: first docking part
30: second docking part 40: third docking part
50: docking means 60: column structure
80: interference prevention means 100: control unit
200: data transmission/reception unit 210: wireless transmission/reception module
300: power supply 310: charging module

Claims (14)

Some structures are underwater and others are exposed to the water; A first docking unit provided in the underwater area of the structure so that an unmanned moving vehicle that autonomously operates underwater is docked; A second docking unit provided in the floating area of the structure so that the unmanned moving object autonomously operating on the water is docked; And a third docking part provided in the upper area of the structure so that an unmanned moving object autonomously traveling in the air docks,
Each of the first docking part, the second docking part, and the third docking part is provided with a data transmitting/receiving part and a power supply part for transmitting/receiving data by electrically connecting to an unmanned moving object to be docked,
Each of the first docking part and the second docking part,
A docking support that moves in a vertical direction with respect to the structure, is configured to rotate about the structure, and has a receiving portion opened in one direction to accommodate a front end of the unmanned moving body when the unmanned moving body enters; And a docking means positioned on the docking support and selectively coupled with a front end of the unmanned moving body to pull the unmanned moving body to dock and undock the receiving part,
The docking support,
A vertical moving body provided to be movable in a vertical direction with respect to the structure by a vertical moving means; And a horizontal moving body that is formed on one side of the receiving portion and rotatably coupled while surrounding the circumference of the vertical moving body and selectively horizontally rotates by a horizontal rotation means,
Smart station system for unmanned marine observation vehicles. A first docking unit configured to dock a structure partially underwater and partially exposed to the water, on the bottom of the sea or in an unmanned moving vehicle that operates autonomously in the water; A second docking unit configured to dock an unmanned mobile vehicle that operates autonomously on the water; The first docking part, the second docking part, and/or the third docking part selected from among the third docking parts for docking an unmanned aerial vehicle autonomously traveling in the air are provided,
Each of the first docking part, the second docking part, and the third docking part is provided with a data transmitting/receiving part and a power supply part for transmitting/receiving data by electrically connecting to an unmanned moving object to be docked,
Each of the first docking part and the second docking part,
A docking support that moves in a vertical direction with respect to the structure, is configured to rotate about the structure, and has a receiving portion opened in one direction to accommodate a front end of the unmanned moving body when the unmanned moving body enters; And a docking means positioned on the docking support and selectively coupled with a front end of the unmanned moving body to pull the unmanned moving body to dock and undock the receiving part,
The docking support,
A vertical moving body provided to be movable in a vertical direction with respect to the structure by a vertical moving means; And a horizontal moving body that is formed on one side of the receiving portion and rotatably coupled while surrounding the circumference of the vertical moving body and selectively horizontally rotates by a horizontal rotation means,
Smart station system for unmanned marine observation vehicles. delete delete The method according to claim 1 or 2,
The horizontal rotation means,
It characterized in that it is configured to rotate the horizontal moving body in the direction of the ocean current or in the opposite direction of the ocean current based on the detection signal detected by the ocean current detection sensor,
Smart station system for unmanned marine observation vehicles. The method according to claim 1 or 2,
The docking means,
On one side, a traction coupling part for inserting a part of the front end of the unmanned moving body is formed, and connected to the horizontal movable body by a traction wire on the opposite side, and a coupling means for selectively coupling and separating from the front end part at the traction coupling part A coupling member provided therein; And
It characterized in that it comprises a hook for selectively coupled to the coupling ring provided in the front end while rotating within the angular range set by the driving member embedded in the coupling member,
Smart station system for unmanned marine observation vehicles. The method of claim 6,
The coupling means,
Characterized in that consisting of an electromagnet to be selectively coupled with a magnetic material provided on the front end,
Smart station system for unmanned marine observation vehicles. The method of claim 6,
The coupling member,
A plurality of propellers provided to access the unmanned vehicle for docking traction of the unmanned vehicle; And
It characterized in that it comprises a buoyancy regulator provided to adjust the buoyancy so that the coupling member does not sink,
Smart station system for unmanned marine observation vehicles. The method according to claim 1 or 2,
The third docking part,
A first docking support member provided with a first accommodating portion opened upward on an upper end of the structure;
A vertical take-off and landing member configured to land or take off the unmanned aerial vehicle autonomously traveling in the air and provided inside the first accommodating part; And
One end is coupled to the vertical take-off and landing member and is configured to operate with the lifting and lowering members which operate withdrawal and retracting in the vertical direction, and the other ends of the lifting and lowering members and configured to operate the lifting and retracting of the lifting and descending members. Characterized in that consisting of a first landing operation portion provided,
Smart station system for unmanned marine observation vehicles. The method of claim 9,
In the first docking support member,
An interference preventing means is provided for laying the support provided with a lightning rod and/or an antenna so as not to interfere during take-off and landing of the unmanned moving body,
The interference preventing means,
A driving gear engaged with a driven gear of the support, which is axially coupled to the first docking support member; And when the start of take-off or the start of landing of the unmanned moving object is detected, the drive gear is driven and the support is laid down, or
The lower end and one end of the support, which are axially coupled to the first docking support member, are axially coupled, and the other end is axially coupled to the first docking support member, and when the start of takeoff or landing of the unmanned vehicle is detected, the support is withdrawn or retracted. Characterized in that consisting of a first cylinder device for laying down,
Smart station system for unmanned marine observation vehicles. The method according to claim 1 or 2,
The third docking part,
A second docking support member provided with a second accommodating portion opened upward and in one horizontal direction at an upper end of the structure;
A horizontal take-off and landing member configured to land or take off the unmanned aerial vehicle autonomously traveling in the air, and installed to be movable in a horizontal direction in the second accommodating part;
It characterized in that it comprises a second landing operation unit provided on the second docking support member so that the horizontal take-off and landing member is drawn out or retracted in a horizontal direction from the second receiving portion,
Smart station system for unmanned marine observation vehicles. The method of claim 11,
The second landing operation unit,
Consisting of a rack gear provided in the horizontal take-off and landing member and a pinion gear for moving the horizontal take-off and landing member in a horizontal direction by engaging with the rack gear,
One end is coupled to the second docking support member and the other end is coupled to the horizontal take-off and landing member, characterized in that consisting of a second cylinder device for moving the horizontal take-off and landing member forward and backward through a withdrawal and retracting operation,
Smart station system for unmanned marine observation vehicles. The method according to claim 1 or 2,
In the structure,
Meteorological observation means, atmospheric observation means and/or marine environment observation means for each depth of water are provided, and a communication repeater module for performing a communication repeater function is provided,
Smart station system for unmanned marine observation vehicles. The method according to claim 1 or 2,
The data transmission/reception unit,
A wireless transmission/reception module for wirelessly receiving data obtained by the unmanned mobile body and transmitting a control signal wirelessly, provided to correspond to the first docking part, the second docking part and the third docking part and the unmanned mobile body, respectively. Done,
The power supply unit,
The first docking part, the second docking part, the third docking part, and each of the unmanned moving body, characterized in that consisting of a charging module for supplying power when the unmanned moving body is close,
Smart station system for unmanned marine observation vehicles.

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