KR102309477B1 - Device for measuring mud flat using dron - Google Patents

Abstract

Disclosed is a device for measuring a mud flat using a drone. After flying to a measurement target point of the mud flat using the drone, the device is designed to easily measure the ecology of the mud flat through analysis of gas composition, dissolved oxygen, and pH of a large area of the mud flat while moving a soft bottom of the mud flat through wheels and a skid mounted on the drone. The device for measuring a mud flat using a drone comprises: a drone; left and right landing rods; a skid; a wheel part; and a mud flat observation sensor part.

Description

A device for measuring tidal flat ecology using drones {DEVICE FOR MEASURING MUD FLAT USING DRON}

The present invention relates to a device for measuring tidal flat ecology using a drone, and more particularly, using a drone to fly and move to a measurement target point of the tidal flat, and then move the soft bottom of the tidal flat through the wheels and skid mounted on the drone while moving It relates to a tidal flat ecology measuring device using a drone that can easily perform tidal flat ecology measurement through analysis of gas composition, dissolved oxygen, and pH of a large tidal flat.

In general, studies on tidal flats in coastal areas include various gas components, dissolved oxygen and pH, etc. This is done through the analysis of

In addition, the state of contamination of the tidal flat by various foreign substances or wastes introduced from the land and the activity state of endophytes or endophytes resulting from it are also judged as a result of analyzing various gas components, dissolved oxygen, and pH contained in the tidal flat. A device called a Profiler is the most widely used to measure the pollution level of these tidal flats.

The profiler device includes a stand for mounting the device on the tidal flat, a controller installed on the stand to operate a sensor mechanism, and to store and output data, and installed on the front side of the stand It consists of a manipulator that adjusts the position of the sensor mechanism in the front, rear, left, right, and up and down directions.

However, the prior art has a problem in that it is difficult to analyze gas components, dissolved oxygen, pH, etc. of the tidal flat, which is difficult to access, because it is configured to be installed in the tidal flat after the operator moves with the profiler device directly.

That is, the conventional technology has a problem in that the movement of workers is limited in the area of tidal flats with a soft bottom surface with a wide area, and a correspondingly large number of measuring devices are required to measure the tidal flats in a wide area. There is a problem in that it is difficult to measure ecology economically.

The present invention has been devised to solve the above problems, and its purpose is to fly and move to the measurement target point of the tidal flat using a drone, and then move the soft bottom surface of the tidal flat through the wheels and skid mounted on the drone while moving over a large area It is to provide a tidal flat ecology measurement device using a drone that enables easy measurement of the tidal flat ecology by analyzing the gas composition, dissolved oxygen, and pH of the tidal flat.

An object of the present invention is a drone body, a plurality of supports coupled to the edge of the drone body extending radially, a drive motor coupled to an end of the support, and a plurality of propellers coupled to the drive motor and rotating. Consisting of a drone, left and right landing rods extending downward from the lower part of the drone body, and coupled to the left and right landing rods, respectively, installed on the left and right sides of the lower part of the drone body, respectively, do not fall into the tidal flat A skid that supports the drone body and slides along the surface of the tidal flat when movement is necessary, and the front and rear ends of the skid are spaced apart so that they can be rotated and moved along the surface of the tidal flat by the power of a forward/reverse motor A tidal flat ecology measuring device using a drone configured including a wheel part which becomes a wheel part, and a tidal flat observation sensor part provided at the lower center of the drone body to measure the gas component or dissolved oxygen of the tidal flat and output a position signal of the drone body This can be achieved by providing

Here, inside the drone body, a battery for providing power to the driving motor and the propulsion motor, an RTL-based autonomous flight module (Autonomous flight based on RTL modlue), a GPS module (GPS modlue), a control module, and a communication module (Network module) is installed, and the tidal flat observation sensor unit includes a measurement sensor consisting of a gas sensor for measuring gas components and an oxygen sensor for measuring dissolved oxygen, and a GPS chip to output the location signal of the drone to the ground. , It is preferable to be configured to include a wireless communication unit, a memory, an interface unit, a control unit, and a power supply unit.

And, the left and right landing rod rods are installed in pairs at the front end and rear end of the drone body, respectively, the skid is formed wide and flat, and the upper surface is coupled to the left and right land rod rods, respectively; The front end and rear end of the flat plate are composed of an inclined portion bent upwardly to support the drone body so as not to fall into the tidal flat, and to slide along the surface of the tidal flat when movement is necessary. Left and right landings provided at the front end of the drone main body The front end horizontal bar connecting the lower ends of the left and right landing rods is coupled to the rod bar, and the rear end horizontal bar connecting the lower ends of the left and right landing rods is coupled to the left and right landing rods provided at the rear end of the drone body. , the forward and reverse motor is composed of a first forward and reverse motor coupled to one end of the front end horizontal bar and the rear end horizontal bar, and a second forward and reverse motor coupled to the other end of the front end horizontal bar and the rear end horizontal bar, and the wheel portion is the first forward and reverse motor The first wheel coupled to the first wheel configured to rotate in the forward or reverse direction by the forward or reverse rotation of the first forward or reverse motor, and the second forward and reverse motor coupled to the second forward or reverse rotation of the second forward or reverse motor in the forward or reverse direction It consists of a second wheel configured to rotate and move, and solar panels are installed to be folded in a hinge manner on both sides of the upper surface of the drone body, and when the solar panel is used, it is unfolded by the unfolding means to generate electricity through sunlight. It is preferable to be charged and used as an auxiliary power source.

In addition, a tidal flat internal observation sensor means capable of measuring the degree of contamination inside the tidal flat is further installed on the rear side of the tidal flat observation sensor unit, and the tidal flat internal observation sensor means is coupled to the lower surface of the drone body so that the cylinder rod moves in the vertical direction an operating cylinder configured to be extended or contracted; a sensor holder coupled to the end of the cylinder rod and having a sensor coupling hole; A sensor body in the shape of a pipe that is fitted and coupled to the sensor coupling hole of the sensor holder, and a sensor rod that extends below the sensor body and is driven into the tidal flat by the extension of the cylinder rod to perform the function of a probe rod; and the sensor; It is preferable to include a tidal flat internal measurement sensor provided at the lower end of the rod and configured with a sensor tip for measuring gas components, dissolved oxygen, or pH.

In addition, a spherical protective cap protecting the tidal flat observation sensor unit is coupled to the central lower portion of the drone body, and a plurality of ventilation holes are formed on the outer surface of the protective cap to allow air to pass through, and the protective cap is a protective cap molding composition It is molded to have durability, cold resistance, and heat resistance, but the protective cap molding composition has a spherical protective cap that surrounds and protects the tidal flat observation sensor unit in the central lower part of the drone body, and air passes through the outer surface of the protective cap A plurality of vent holes are formed to do this, and the protective cap is molded with a protective cap molding composition to have durability, cold resistance, and heat resistance, wherein the protective cap molding composition comprises 10% by weight of dihydroxybutanedioic acid, PEBAX (Polyether- block-amide) 8.5% by weight, 15% by weight of a mixture of calcium hydroxide and silicic acid in a weight ratio of 1:2, 5% by weight of sulforaphane, 5% by weight of ethylene glycol diacetate, and phenyltrimethoxysilane 5% by weight and the remaining polycarbonate resin is preferred.

The device for measuring the tidal flat ecology using a drone according to the present invention uses the drone to fly to the measurement target point of the tidal flat, and then moves the soft bottom surface of the tidal flat through the wheels and skid mounted on the drone while moving the gas of a large area of the tidal flat It has the effect of being able to easily measure the ecology of tidal flats through analysis of components, dissolved oxygen, and pH.

1 is a side view of an apparatus for measuring tidal flat ecology using a drone according to the present invention;
2 is a plan view of a tidal flat ecology measuring device using a drone according to the present invention;
3 is a configuration diagram of various modules installed inside the drone body in the device for measuring tidal flat ecology using a drone according to the present invention;
4a to 4d are views for explaining the operation of the wheel in the tidal flat ecology measuring device using a drone according to the present invention;
5a and 5b are views for explaining that a solar panel is installed in the tidal flat ecology measuring device using a drone according to the present invention;
6 is a configuration diagram of a tidal flat observation sensor unit in the tidal flat ecology measuring device using a drone according to the present invention;
7 and 8 are views for explaining the tidal flat internal observation sensor means in the tidal flat ecology measuring device using a drone according to the present invention;
8 is a view for explaining a protective cap in the tidal flat ecology measuring device using a drone according to the present invention.

Hereinafter, an apparatus for measuring tidal flat ecology using a drone according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a side view of a device for measuring tidal flat ecology using a drone according to the present invention, FIG. 2 is a plan view of a device for measuring tidal flat ecology using a drone according to the present invention, and FIG. 3 is a tidal flat ecology using a drone according to the present invention. It is a configuration diagram of various modules installed inside the drone body in the measurement device.

Referring to this, the tidal flat ecology measuring device using a drone according to the present invention uses the drone to fly to the measurement target point of the tidal flat, and then moves the soft bottom of the tidal flat through the wheels and skid mounted on the drone while moving the large area It is characterized in that it is configured to easily perform the ecological measurement of the tidal flat through the analysis of gas composition, dissolved oxygen and pH of the tidal flat, drone 100, landing rod 200, skid 300, It is configured to include a wheel part 400 and a tidal flat observation sensor part 500 .

First, the drone 100 is configured to fly and move the measuring device to the measurement target point of the tidal flat, and the drone body 110, coupled to the edge of the drone body 110 and extending radially ( 120), a driving motor 130 coupled to the end of the support 120, and a plurality of propellers 140 coupled to the driving motor 130 to rotate.

More specifically, inside the drone body 110, a battery 111 for providing power to the driving motor and a propulsion motor to be described later, an RTL-based autonomous flight module (Autonomous flight based on RTL modlue) 112, and a GPS A module (GPS modlue) 113 , a control module 114 and a communication module 115 are installed.

The RTL-based autonomous flight module 112 is a UWB RTL (UltraWide Band Real Time Location System) that is an ultra-precise real-time positioning technology provided by the GPS receiver of the GPS module 113 and the drone integrated control server according to the control of the control module 114 . It performs the role of autonomously flying to the measurement target point or returning to the drone integrated control server.

The GPS module (GPS modlue) 113 provides coordinate information by the GPS receiver to the control module 114 in real time.

The control module 114 autonomously flies to the measurement target point through the coordinate information identified by the GPS module (GPS modlue) or performs autonomous flight to return to the drone integrated control server to automatically find the RTL-based autonomous flight. The main function is to control the module 112 . Here, the control module 114 performs periodic access to the integrated control server.

The communication module 115 transmits real-time location information to the control module 114, and performs correction on the GPS information collected by the GPS module 113 using the location information received by the control module, thereby providing precise location information It is possible to control the RTL-based autonomous flight module 112 to autonomously fly to a measurement target point based on , or perform autonomous flight to return to the drone integrated control server.

Next, the landing rod 200 is extended downwardly from the lower part of the drone body, and is formed on the left and right sides of the drone body 110 . Here, the landing rod 200 is a part to which a skid to be described later is coupled, and the left and right landing rod rods 210 and 220 are installed in pairs at the front and rear ends of the drone body 110, respectively.

Next, the skid 300 is coupled to the left and right landing rod rods 210 and 220, respectively, and installed on the left and right sides of the lower part of the drone body 110, respectively, so as not to fall into the tidal flat, the drone body 110. It is configured to slide along the surface of the tidal flat when movement is necessary.

More specifically, the skid 300 is formed to be wide and flat, and a flat plate part 310 having upper surfaces coupled to the left and right land rod rods 210 and 220, respectively, and the front and rear ends of the flat plate part 310 are upward. It is composed of an inclined portion 320 bent at an angle to support the drone body 110 so as not to fall into the tidal flat, and is configured to slide along the surface of the tidal flat when movement is necessary.

Next, the wheel part 400 is disposed to be spaced apart from the front end and the rear end of the skid 300 and is mounted to rotate along the surface of the tidal flat by the power of the forward/reverse motor 430 . That is, the wheel part 400 is configured to be movable along the bottom surface of the tidal flat when the forward/reverse motor 430 rotates.

More specifically, the left and right landing rod rods 210 and 220 provided at the front end of the drone body 110 are coupled to the front end horizontal rod 410 connecting the lower ends of the left and right landing rod rods, and the drone body 110 ), the rear end horizontal bar 420 connecting the lower ends of the left and right landing rod rods is coupled to the left and right landing rod rods 210 and 220 provided at the rear end portion.

In addition, the forward and reverse motor 430 includes a first forward and reverse motor 431 coupled to one end of the front horizontal rod 410 and the rear horizontal rod 420 and the other end of the front horizontal rod 410 and the rear horizontal rod 420 . It is composed of a second forward and reverse motor 432 coupled to.

In addition, the wheel part 400 is coupled to the first forward and reverse motor 431 and is configured to rotate in the forward or reverse direction by the forward or reverse rotation of the first forward and reverse motor 431. A first wheel 401 and It is coupled to the second forward and reverse motor 432 and consists of a second wheel 402 configured to rotate in the forward or reverse direction by the forward or reverse rotation of the second forward or reverse motor 432 .

By this configuration, the drone main body 110 is configured to be able to move forward, backward, and left and right, as shown in FIG. 4A , the first forward and reverse motor 431 and the second forward and reverse motor 432 are When forward rotation, the first wheel 401 and the second wheel 402 rotate forward and the drone body 110 moves forward, and as shown in FIG. 4B , the first forward and reverse motor 431 and the second forward and reverse motor When 432 rotates in reverse, the first wheel 401 and the second wheel 402 rotate in reverse, and the drone body 110 moves backward, and as shown in FIG. 4c , the first forward and reverse motor 431 is When it rotates forward and the second forward and reverse motor 432 rotates in reverse, the first wheel 401 rotates forward and the second wheel 402 rotates in reverse, causing the drone body 110 to rotate right, and the first forward and reverse motor 431 is When the reverse rotation and the second forward and reverse motor 432 rotates forward, the first wheel 401 rotates in the reverse direction and the second wheel 402 rotates forward, and the drone body 110 rotates to the left. Therefore, the present invention selectively adjusts the forward or reverse rotation of the first forward and reverse motor 431 and the second forward and reverse motor 432 to adjust the rotation direction of the first wheel 401 and the second wheel 402, It is configured to freely move forward, backward, and left and right rotation of the drone main body 110 by giving it.

Here, on the outer surfaces of the first wheel 401 and the second wheel 402, anti-skid protrusions 401a and 402a are formed along the circumferential direction to move the first wheel 401 and the second wheel 402 along the tidal flat. ) is preferably configured to be able to be rotated without sliding.

Furthermore, as shown in Figures 5a and 5b, the photovoltaic panel (P) is installed to be foldable in a hinge (H) manner on both sides of the upper surface of the drone body 110, when using the photovoltaic panel (P) It is preferably configured to be used as an auxiliary power source by charging electricity to the battery through sunlight while being unfolded by a known unfolding means (O).

Finally, the tidal flat observation sensor unit 500 is provided at the lower center of the drone body 110 to measure the gas component or dissolved oxygen of the tidal flat, and to output the position signal of the drone body 120 . That is, according to the present invention, since the drone body 110 is configured to move freely along the soft bottom surface of the tidal flat through the wheel part 400 and the skid 300 mounted on the drone body, the drone body 110 Through the tidal flat observation sensor unit 500 provided in the lower part of the tidal flat, it is possible to easily measure the ecology of the tidal flat by analyzing the gas composition, dissolved oxygen, and pH of the tidal flat of a large area.

More specifically, as shown in FIG. 6 , the tidal flat observation sensor unit 500 includes a gas sensor 511 for measuring gas components and an oxygen sensor 512 for measuring dissolved oxygen 510. And, a GPS chip 520, a wireless communication unit 530, a memory 540, an interface unit 550, a control unit 560, a power supply unit to output the location signal of the drone to the ground ( 570) may be included. Here, since these components are not essential, it goes without saying that a weather sensor having more or fewer components than that can be implemented.

The measurement sensor 510 may include a gas sensor 511 for measuring a gas component and an oxygen sensor 512 for measuring dissolved oxygen. And the measuring sensor 510 may further include other sensors such as a ph measuring sensor, a temperature sensor and a humidity sensor as well as the gas sensor 511 and the oxygen sensor 512 .

The GPS chip 520 is a module for acquiring the position of the tidal flat observation sensor unit 500, and a representative example thereof is a Global Position System (GPS) module. According to the current technology, the GPS chip 520 calculates distance information and accurate time information from three or more satellites, and then applies trigonometry to the calculated information, thereby generating a three-dimensional current according to latitude, longitude, and altitude. Location information can be accurately calculated. Currently, a method of calculating position and time information using three satellites and correcting errors in the calculated position and time information using another one satellite is widely used. In addition, the GPS chip 520 may calculate the speed information by continuously calculating the current position in real time. Such a GPS chip is a navigation device for receiving a GPS signal received from an antenna ANT. The GPS chip 520 may be configured to receive a Loran-C signal other than a GPS signal.

The wireless communication unit 530 serves to transmit data output from the control unit 560 to the UHF antenna. Meanwhile, the wireless communication unit 530 may include a mobile communication module, a wireless Internet module, and the like.

The memory 540 may store a program for processing and control of the controller 560 and may perform a function for temporarily storing input/output data. The memory 540 may also store the frequency of use of each of the data.

The interface unit 550 serves as a passage with all external devices connected to the tidal flat observation sensor unit 500 . The interface unit 550 receives data from an external device, receives power and transmits it to each component inside the tidal flat observation sensor unit 500, or transmits data inside the tidal flat observation sensor unit 500 to an external device. do.

The control unit 560 controls the overall operation of the tidal flat observation sensor unit 500, and outputs the information measured by the tidal flat observation sensor unit 500 and the location information received from the GPS chip 520 as digital data.

The power supply unit 570 receives external power and internal power under the control of the control unit 560 to supply power required for operation of each component. Here, of course, the power supply unit 560 may be used together with a battery for supplying power to the drone.

On the other hand, according to the present invention, it is preferable that the tidal flat internal observation sensor means 560 for measuring the degree of contamination inside the tidal flat is further installed on the rear side of the tidal flat observation sensor unit 500 .

More specifically, as shown in FIGS. 7 and 8, the tidal flat internal observation sensor means 600 is coupled to the lower surface of the drone body 110 so that the cylinder rod 611 is extended or reduced in the vertical direction. an operating cylinder 610 and; a sensor holder 620 coupled to an end of the cylinder rod 611 and having a sensor coupling hole 621 formed therein; A pipe-shaped sensor body 631 fitted and coupled to the sensor coupling hole 621 of the sensor holder, and extending to the lower part of the sensor body 631, is driven into the tidal flat by the extension of the cylinder rod 611 A tidal flat internal measurement sensor 630 consisting of a sensor rod 632 that functions as a probe rod and a sensor tip 633 provided at the lower end of the sensor rod 632 to measure gas components, dissolved oxygen, or pH, etc. ) is included. In addition, a cable 634 for converting the gas component, dissolved oxygen or pH measured from the sensor tip 633 into an electrical signal and transmitting it to the controller 560 is connected to the upper end of the sensor body 631 .

Through the tidal flat internal observation sensor means 600 configured as described above, it is possible to easily measure the gas component, dissolved oxygen, and pH, which are the standards for measuring the internal contamination level of the tidal flat, and reduce the time and cost required for measuring the contamination of the tidal flat. On the other hand, by moving the drone body 110 along the bottom surface of the tidal flat and simultaneously collecting various data, it enables the practical realization of the internal environment of the tidal flat, providing very useful information for tidal flat ecology research and its restoration project. It has the advantage of being able to provide

Further, according to the present invention, as shown in FIG. 9 , a spherical protective cap 590 that surrounds and protects the tidal flat observation sensor unit 500 is coupled to the lower portion of the drone body 110 , the protective cap 590 . It is preferable that a plurality of vent holes 591 are formed on the outer surface of the to allow air to pass therethrough.

With this configuration, the tidal flat observation sensor unit 500 is wrapped through the protection cap 590 to protect the tidal flat observation sensor unit, and the tidal flat does not directly contact the gas sensor and oxygen sensor used in the tidal flat observation sensor unit 500 . The response speed of the tidal flat observation sensor unit 500 by allowing the external air to circulate well into the protective cap through the ventilation hole 591 while preventing errors that may occur when measuring gas components or dissolved oxygen has the advantage of increasing

However, the protective cap 590 must be maintained at all times in a state exposed to the sun at 100%, and must also withstand heavy rain and heavy snow. Therefore, the protective cap 590 must have high water pressure resistance, and long life can be achieved only when it has resistance to ultraviolet rays, heat resistance, and cold resistance. If this is not the case, it must be replaced every time, and it takes too much replacement cost, replacement manpower, and replacement work time for maintenance rather than installation, resulting in great loss.

Accordingly, in the present invention, the protective cap 590 is configured to be manufactured by forming a specially formulated protective cap molding composition and then molding it. The protective cap molding composition according to the present invention contains 10% by weight of dihydroxybutanedioic acid, 8.5% by weight of PEBAX (Polyether-block-amide), and 15% by weight of a mixture of calcium hydroxide and silicic acid in a weight ratio of 1:2; Sulforaphane (Sulforaphane) 5% by weight, ethylene glycol diacetate 5% by weight, phenyltrimethoxysilane 5% by weight and the rest of the polycarbonate resin.

At this time, the dihydroxybutanedioic acid is added to maintain strong bonding by reducing voids due to adsorption between resin particles during mixing, and to increase heat resistance and cold resistance. In addition, the PEBAX (Polyether-block-amide) has a small change in hardness even at low temperatures, excellent fatigue resistance, and excellent molding processability due to its small specific gravity, as well as low hygroscopicity, bending fatigue resistance, weather resistance, flexibility, and creep resistance. It is added to ensure good adhesion and good adhesion.

In addition, in the case of a mixture in which the calcium hydroxide and silicic acid are mixed in a weight ratio of 1:2, calcium hydroxide is dissolved in water to generate free calcium ions, and the free calcium ions and silicic acid react to form a CSH gel. It increases the crack suppression, salt damage blocking, and waterproof reinforcement functions due to void filling and film formation. In addition, the sulforaphane (C ₆ H ₁₁ NOS ₂ ) is added to suppress decay and increase resistance to UV rays to maintain discoloration resistance, durability, and crack resistance.

And, the ethylene glycol diacetate promotes the gelation of the silicic acid mixture and maintains a strong bond to secure tensile strength and strengthen the rust prevention function. Furthermore, the phenyltrimethoxysilane is very effective in inhibiting freezing due to its high freezing inhibitory properties. Due to this, the durability is strengthened by suppressing cracks caused by shrinkage and expansion.

In addition, the polycarbonate resin is a base resin with very strong heat resistance, durability, and cold resistance.

In addition, in the present invention, 5 parts by weight of antimony doped tin oxide (ATO), 5 parts by weight of allophene powder, and 10 parts by weight of hydrocolloid, based on 100 parts by weight of the molding composition, in the protective cap molding composition to further strengthen the water pressure resistance characteristics. Part by weight, 3.5 parts by weight of apatite powder, 2.5 parts by weight of dichlorodimethylsilane, 5 parts by weight of nonylphenol ethoxylate, and 10 parts by weight of 2-phenylimidazole may be further added.

At this time, ATO contributes to securing insulation and heat shielding performance, and allopen powder is micronized by pulverizing porous allopen clay mineral to have a particle size of 0.01 mm or less. Therefore, it is added to exert this effect.

In addition, hydrocolloid is added to strengthen adhesion by forming a gel and maintaining a wet state for a long time, so it is not only flexible, but also waterproof and water-repellent to prevent wetting, thereby preventing water pressure resistance. added to strengthen In addition, apatite, as a mineral belonging to the hexagonal system, has a complex structure to enhance water pressure resistance.

In addition, dichlorodimethylsilane is a material showing very strong hydrophobicity due to the presence of two chlorine atoms having the second largest electronegativity after fluorine (F). In addition, nonylphenol ethoxylate is added to provide a surface active function while increasing occlusion with the resin, and in particular, to obtain an antioxidant effect. In addition, 2-phenylimidazole reduces heat shrinkage during drying to enhance heat stability, discoloration resistance, and resin deterioration inhibition.

As described above, the present invention has been shown and described in relation to specific embodiments, but it is known in the art that various modifications and changes are possible without departing from the spirit and scope of the invention as defined by the claims. When you grow up, anyone will find out easily.

100: drone 200: landing rod
300: skid 400: wheel
500: tidal flat observation sensor unit 600: tidal flat internal observation sensor means

Claims (5)

A drone comprising a drone body, a plurality of supports coupled to the edge of the drone body and extending radially, a drive motor coupled to an end of the support, and a plurality of propellers coupled to the drive motor and rotating; Left and right landing rods extending downward from the lower part of the drone body, respectively coupled to the left and right landing rod rods, respectively installed on the left and right sides of the lower part of the drone body, support the drone body so as not to fall into the tidal flat and a skid configured to slide along the surface of the tidal flat when movement is necessary, and a wheel part arranged to be spaced apart from the front and rear ends of the skid and mounted to rotate along the surface of the tidal flat by the power of a forward/reverse motor; It is provided at the lower center of the drone body and includes a tidal flat observation sensor unit configured to measure the gas component or dissolved oxygen of the tidal flat and output a position signal of the drone body,
The left and right landing rod rods are installed in pairs at the front end and rear end of the drone body, respectively,
The skid is formed to be wide and flat, and consists of a flat plate portion with an upper surface coupled to the left and right land rod rods, respectively, and an inclined portion bent upwardly at the tip and rear ends of the flat portion. If necessary, it is configured to slide along the surface of the tidal flat,
Front horizontal rods connecting the lower ends of the left and right landing rods are coupled to the left and right landing rods provided at the front end of the drone body, and the left and right landing rods provided at the rear end of the drone body include left and right landing rods. The rear end horizontal bar connecting the lower end of the right landing rod is combined,
The forward and reverse motor is composed of a first forward and reverse motor coupled to one end of the front end horizontal bar and the rear end horizontal bar, and a second forward and reverse motor coupled to the other end of the front end horizontal bar and the rear end horizontal bar,
The wheel part is coupled to a first wheel and the second forward and reverse motor which are coupled to the first forward/reverse motor and configured to rotate in a forward or reverse direction by the forward or reverse rotation of the first forward/reverse motor in the forward direction of the second forward or reverse motor Consists of a second wheel configured to rotate in a forward or reverse direction by reverse rotation,
On both sides of the upper surface of the drone body, solar panels are installed to be foldable in a hinged manner, and when the solar panel is used, it is unfolded by the unfolding means and charged with electricity through sunlight, characterized in that it is used as an auxiliary power source. Tidal flat ecology measurement device using drone.
According to claim 1,
A battery for providing power to the driving motor and the propulsion motor inside the drone body, an RTL-based autonomous flight module (Autonomous flight based on RTL modlue), a GPS module (GPS modlue), a control module, and a communication module (Network module) is installed,
The tidal flat observation sensor unit includes a measurement sensor composed of a gas sensor for measuring gas components and an oxygen sensor for measuring dissolved oxygen, a GPS chip, a wireless communication unit, and a memory to output the location signal of the drone to the ground; A device for measuring tidal flat ecology using a drone, characterized in that it comprises an interface unit, a control unit, and a power supply unit.
delete According to claim 1,
A tidal flat internal observation sensor means capable of measuring the degree of contamination inside the tidal flat is further installed on the rear side of the tidal flat observation sensor unit,
The tidal flat internal observation sensor means is coupled to the lower surface of the drone body and the cylinder rod is configured to extend or contract in the vertical direction and;
a sensor holder coupled to an end of the cylinder rod and having a sensor coupling hole;
A sensor body in the shape of a pipe that is fitted and coupled to the sensor coupling hole of the sensor holder, and a sensor rod that extends below the sensor body and is driven into the tidal flat by the extension of the cylinder rod to perform the function of a probe rod; and the sensor; A tidal flat ecology measurement device using a drone, characterized in that it includes a tidal flat internal measurement sensor provided at the bottom of the rod and configured with a sensor tip for measuring gas components, dissolved oxygen, or pH.
According to claim 1,
A spherical protective cap protecting the tidal flat observation sensor unit is coupled to the central lower portion of the drone body, and a plurality of ventilation holes are formed on the outer surface of the protective cap to allow air to pass through,
The protective cap is molded with a protective cap molding composition to have durability, cold resistance and heat resistance, wherein the protective cap molding composition comprises 10% by weight of dihydroxybutanedioic acid, 8.5% by weight of PEBAX (Polyether-block-amide), 15% by weight of a mixture in which calcium hydroxide and silicic acid are mixed in a weight ratio of 1:2, 5% by weight of sulforaphane, 5% by weight of ethylene glycol diacetate, 5% by weight of phenyltrimethoxysilane and the remaining polycarbonate resin Tidal flat ecology measurement device using a drone, characterized in that made.

Images