KR102322946B1 - Underwater drone that can be combined with life tube - Google Patents

Abstract

The present invention provides a lifeboat or lifeguard that is connected to a drone to the location of a drowning person in an emergency situation when there is a drowning person in an area where it is difficult to access, and a life tube controlled by a drone can be quickly sent to rescue it. , It aims to provide an underwater drone that can be combined with a life tube.
The underwater drone 10 according to the present invention is configured to include a body 100 and a remote control device 20 for coupling the life tube 30, and the body 100 receives the underwater drone 10 A propulsion motor 150 for generating power to move in the .

Description

Underwater drone that can be combined with life tube

The present invention relates to an underwater drone, and more specifically, a lifeboat that can be rescued using a life tube that is controlled by combining a drone with a survivor in a situation in which a lifeboat or lifeguard is difficult to access. It relates to an underwater drone configured to be combinable with.

In general, drowning accidents occur frequently in places with abundant water, such as rivers, lakes, reservoirs, and the sea. Such drowning accidents are caused by not responding promptly and appropriately to emergencies such as inexperienced swimming, drinking after drinking excessively, or overturning a ship. Therefore, in places where drowning accidents frequently occur, equipment capable of saving lives is installed or lifeguards are stationed to prevent drowning accidents. Since these drowning accidents occur unexpectedly, most of them are because prompt rescue was not carried out, or the general public who did not receive proper safety and rescue training went to rescue themselves and drowned together with the drowning person.

In addition, the drowning person can be rescued by throwing a life tube, rope, or a long rod out of the water to a drowning person who is located nearby. There is a high probability of failure, and even if it succeeds, it takes a lot of time, so the rescue operation may be in vain as the drowning person may lose consciousness or miss a rope.

Taking the “small radio-controlled boat for the rescue of drowning people” of Utility Model Registration No. 392304 as a prior art for rescuing drowning people, the technology is a small boat remotely controlled by a wireless transmitter, and an airbag ejector mounted on the small boat. And, it is loaded in the airbag ejector and it is discharged and inflated by a remote signal at the place where the drowning person is located, and it consists of an airbag for the drowning person to be able to float on the water. A wire is connected between the small boat and the airbag, and the small boat A towing wire is connected between the land and the land, and when a drowning occurs, the small boat is floated on the water, the radio transmitter is controlled to send the small boat to the drowning person's location, and when the small boat approaches the drowning person, it is loaded into the airbag ejector. airbags will be fired.

However, the structure for firing an airbag through an airbag ejector mounted on a small boat as in the above technique has the following problems.

First, if there is a drowning person in an area that a small boat cannot access, it is not possible to rescue and remote control the boat, so it is not easy to send the airbag to the exact location of the drowning person,

Second, there is a problem that the drowning person cannot be rescued because it is impossible to approach a small boat in a place where the current is fast or the waves are high and rough.

Third, in a place where the airbag cannot be thrown to the drowning person, there is no way to send the airbag to the drowning person, so the problem that the drowning person cannot be rescued occurs.

Therefore, there is an urgent need for a lifesaving means that can deliver the lifebub to the drowning person more safely and quickly and lead the drowning person to a safe place.

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a location for a drowning person or a shipwreck in an emergency situation when there is a drowning person drowning in an area difficult to access by a lifeboat or lifeguard. An object of the present invention is to provide an underwater drone that can be combined with a life tube and can be rescued by quickly sending a life tube that is coupled to and controlled by a drone.

The underwater drone capable of being combined with a life tube according to the present invention has a semicircular cross-section to which the life tube is coupled, and has a 'C'-shaped body in a plane; Including; first and second propulsion motors mounted on each lower portion of the 'C'-shaped both ends of the body, the body is formed in a structure symmetrical to each other with respect to the center line, the 'C' 'First and second coupling portions formed at both ends of the 'C'-shaped body in an open structure in order to couple the life-saving tube to the upper portion of the 'C'-shaped body; an electronic component accommodating unit formed to accommodate an internal circuit unit made of electronic components for control at the rear end of the 'C'-shaped body; A third coupling part formed in a concave shape to be coupled to the life tube on the inner surface of the electronic component receiving part; the life tube is configured with a first coupling part, a second coupling part and a third coupling part formed in the body It is characterized in that it is closely coupled to the .

Preferably, the life tube is pressed into the concave surface formed in the third coupling part and then pressed downward toward the first and second coupling parts so that the life tube is closely coupled in at least three parts of the body, and the first And when the life tube is fitted to the second coupling part, the body of the life tube is fitted through the open upper part of each of the first and second coupling parts so that the first and second coupling parts come into close contact with the outer surface of the life tube .

Preferably, the underwater drone can be wirelessly connected to an external remote control device, and the internal circuit unit includes: a wireless transceiver for transmitting and receiving wireless signals to and from the remote control device; a control unit for processing a control signal from a remote control device received through a wireless transceiver; GPS receiver for receiving the current GPS position of the underwater drone; a route calculation unit for calculating a return route to a predetermined location; a memory in which the control logic of the underwater drone is stored; a motor driving unit for driving the first and second propulsion motors; Power supply means for supplying power required to the first propulsion motor, the second propulsion motor and the internal circuit unit; is configured to include.

Preferably, when receiving a home position setting command from the remote control unit, the control unit receives the current GPS coordinates from the GPS receiving unit and stores the current GPS coordinates as home position coordinates in the memory, and the control unit returns the home position from the remote control unit to the home position. Upon receiving , the route calculating unit compares the current GPS coordinates with the home position GPS coordinates, and operates to calculate the shortest return path from the current position to the home position, following the shortest return path from the current position to the home position. The underwater drone is driven to move.

Preferably, when receiving a home position setting command from the remote control unit, the control unit receives the current GPS coordinates from the GPS receiver and stores them in the memory as home position coordinates, and the control unit returns to a third location from the remote control unit. Upon receiving the control command, the route calculating unit sets the GPS coordinates of the third location and operates to calculate the shortest return route from the current location to the third location, and the shortest route from the current location to the third location. The underwater drone is driven to move along the return path.

A drowned or distressed person in need of rescue is in an area inaccessible to a lifeboat, such as a river, lake or sea; There is no way to send a life tube to a drowning person or a person in distress when a situation such as a case in which the lifeboat cannot be approached due to a rough blow occurs, and there is a problem that it is impossible to rescue even while seeing a dangerous situation. However, since the underwater drone capable of being combined with the life tube according to the present invention is configured to remotely control the drone combined with the life tube, even if the rescue is difficult as described above, the drone to the position of a drowning person or a shipwreck in an emergency situation It can be rescued by quickly sending a life tube attached to it.

In addition, the underwater drone according to the present invention combines a life tube to an underwater drone equipped with a motor, and then controls a remote control device such as a lifeboat or a remote control in a safe place to send a lifeboat to the drowning or in distress. It is also very simple and easy to operate, and it is equipped with a GPS function to automatically return the underwater drone to the starting position after rescuing a drowning or distressed person, or guide it to a third safe place for safe and rapid rescue work. have.

1A is a diagram schematically illustrating the configuration of an underwater drone according to the present invention.
Figure 1b is a view showing a combined form of the underwater drone and the life tube according to the present invention.
2 is an internal block diagram schematically illustrating the configuration of an internal circuit of an underwater drone.
3 is a flowchart schematically illustrating a control operation flow in the control unit of the underwater drone.

The biggest technical feature of the underwater drone according to the present invention is that it allows to send the life tube to the underwater drone equipped with a motor to the drowning or distressed in an area where the life tube cannot be sent, and the GPS function is equipped It is possible to automatically return to the initial position after rescue or return to a third safe place.

The underwater drone 10 according to the present invention is configured to include a body 100 and a remote control device 20 for coupling the life tube 30, and the body 100 receives the underwater drone 10 A propulsion motor 150 for generating power to move in the .

As shown in FIG. 1A, the body 100 has a semicircular cross-section to which the life tube 30 is coupled, and the plane is formed in a 'C' shape, based on the center line (C) of each other. It is formed in a symmetrical structure, and both ends of the semi-circular shape are formed in an open structure, and the first and second coupling portions 120a and 120b for coupling with the life tube 30 are formed at both ends.

The first and second coupling parts (120a, 120b) are made of a flexible material, and each of the first and second coupling parts (120a, 120b) is a 'C'-shaped body in order to couple the life tube to the upper part. It has an open top structure, and is formed in a structure symmetrical to each other at both ends of the 'C'-shaped body 100, and each of the first and second coupling portions 120a and 120b is configured to have surfaces facing each other. When the life tube is fitted, the surfaces facing each other are spread apart, and after the life tube is fitted, the first and second coupling parts 120a and 120b are coupled in close contact with the outer surface of the life tube due to the restoring force.

In addition, the third coupling portion 120c is a configuration formed in a concave shape so as to be coupled to the life tube on the inner surface of the electronic component accommodating portion 110, as shown in FIG. 1A, the number of electronic components in which electronic components are embedded The inner surface of the payment 110 is formed, and the inner surface of the concave shape is in close contact with the outer surface of the life tube. The electronic component accommodating unit 110 is configured so that an internal circuit unit made of electronic components for control can be accommodated in the rear end of the 'C'-shaped body 100 .

When the life tube 30 is coupled to the body 100 of the underwater drone, the life tube is pushed into the concave surface formed in the third coupling part 120c, and then the first and second coupling parts 120a and 120b) When the life-saving tube 30 is closely coupled in at least three parts of the body 100 by pressing downward toward the The body 100 of the life tube is fitted through the open upper part of each of the first and second coupling parts 120a and 120b, so that the first and second coupling parts 120a and 120b are coupled in close contact with the outer surface of the life tube. will become As such, the life tube 30 is in close contact with the first coupling part 120a, the second coupling part 120b, and the third coupling part 120c formed on the body 100 and is coupled in at least three parts, so the underwater drone During this movement, the situation in which the life tube is separated or separated from the underwater drone will not occur.

The first and second propulsion motors 150a and 150b are mounted on the lower portions of the first and second coupling portions 120a and 120b formed on both ends of the 'C' shape of the body 100 . . As shown in FIGS. 1A and 1B, the propulsion motor is accommodated in a cylindrical case, and when a drowning person or a distressed person holds the life tube 30 or the body 100 of the underwater drone, it is injured by the propulsion motor. It must be installed inside the case to prevent it.

The operation or driving of the underwater drone 10 is controlled by a remote control device 20 such as a remote control as shown in FIG. 1A . Specifically, the remote control device 20 includes a power button 210 and a direction control means 220 . When using the underwater drone 10, the user presses the power button 210 to turn on the remote control device 20, and then uses the direction control means 220 to control the operation of the underwater drone 10 to drown. It will send an underwater drone (10) combined with a lifeboat to the person in distress.

The underwater drone 10 is controlled by a wireless signal transmitted from the remote control device 20 , and for this purpose, the underwater drone is provided with a circuit unit 130 including a wireless transmitter and receiver. In this regard, Figure 2 is a block diagram showing the internal main circuit configuration of the underwater drone 10 according to the present invention.

As shown in FIG. 2 , the internal circuit unit 130 includes a wireless transmission/reception unit 131 for transmitting and receiving wireless signals with the remote control device 20 , and a control signal received through the wireless transmission/reception unit 131 for processing The control unit 132, the GPS receiver 133 for receiving the current GPS position of the underwater drone, the route calculation unit 137 for calculating and calculating the return route to a predetermined location, and the control logic of the underwater drone are stored Power required for the memory 134, the first and second propulsion motors 150a and 150b for driving the motor driving unit 135, the first and second propulsion motors 150a and 150b and the internal circuit unit 130 A battery 136 is included as a power supply means for supplying.

In general, when the user presses the power button 210 of the remote control device 20 to turn on the power, the power of the underwater drone 10 is turned on and a communication channel between the remote control device 20 and the underwater drone 10 is turned on. is activated, and the control unit 132 receives a control command from the remote control unit 20 through the wireless transmission/reception unit 131 . Thereafter, the user controls the direction control means 220 of the remote control device 20 to control the direction of the underwater drone 10, and the underwater drone coupled with the lifeboat is directed toward the target where the drowning person or the person in distress is located. be able to move

Under the control of the control unit 132, the motor driving unit 135 controls the outputs of the first and second propulsion motors 150a and 150b in response to the control signal generated from the user's direction control means 220, so that the underwater drone ( 10) is moved in four directions, for example, forward movement, leftward movement, rightward movement, and backward movement.

The internal circuit unit 130 of the underwater drone 10 includes a GPS receiver 133 and a route calculation unit 137 . Such a GPS receiver 133 and a route calculation unit 137 may be more conveniently used when a user moves the underwater drone 10 to a target and then recovers the underwater drone 10 .

More specifically, the GPS receiver 133 is configured to receive the current GPS location of the underwater drone 10 . For example, the user may set a GPS position to return to by using a GPS fix button provided in the remote control device 20 or provided at least in part on the body 100 of the underwater drone. When the user sets the GPS fixing button provided on at least a part of the remote control device 20 or the body 100 of the underwater drone, the controller 132 uses the GPS coordinates currently received from the GPS receiver as home coordinates in the memory 134 will be stored in

Thereafter, after the user transfers the underwater drone 10 to the target through the remote control device 20 , and the user presses the return button or the return button provided in the remote control device, the control unit 132 receives from the GPS receiver 133 . The current position is read and transmitted to the path calculating unit 137 .

The route calculation unit 137 compares the current GPS coordinates of the underwater drone 10 located on the target with the home GPS coordinates previously stored by the user, calculates the shortest return path from the current location to the home location, and calculates the 132). The control unit 132 drives the motor driving unit 135 along the received shortest return path to operate the first and second propulsion motors 150a and 150b, and returns to the home position.

In other words, when the control unit 132 receives a control command to return to the home position from the remote control unit 20, the path calculating unit 137 compares the current GPS coordinates with the home position GPS coordinates, It operates to calculate the shortest return path from the position to the home position, and drives the underwater drone to move along the shortest return path from the current position to the home position.

If, after rescuing the drowned or in distress, the underwater drone 10 is to be returned to a third safe place other than the place where it first started, the control unit 132 controls the remote control unit 20 from the Upon receiving the home location setting command, the current GPS coordinates are received from the GPS receiver and stored in the memory as home location coordinates, and the control command 132 returns to the third location from the remote control device 20 to the remote control device. Upon receiving, the route calculating unit 137 sets the GPS coordinates of the third location and operates to calculate the shortest return path from the current location to the third location, and from the current location to the third location Drive the underwater drone 10 to move along the shortest return path to.

Such a return operation continues until a stop command is received from the remote control device 20 , and when a stop command is received from the remote control device 20 , the control unit stops the return operation and receives the stop command from the remote control device 20 . waits for the next command from

3 is a flowchart showing the control operation of the control unit of the underwater drone 10. The control unit 132 receives the power ON signal from the user's remote control device 20 in step S110, and remote control in step S120. It becomes wireless communication with the control device. After wireless communication with the remote control device is connected in step S120, the control unit receives a command from the user's remote control device in step S130 and determines the received user command in step S140.

When the user command received in step S140 is a home setting input as in step S142, the control unit registers the current GPS coordinates received from the GPS receiver as home coordinates in the memory, and returns to step S130 to wait for the user command. If the user command received in step S140 is a direction control input as in step S144, the control unit drives the first and second propulsion motors in the direction input through the motor driving unit and returns to step S130 to execute the user command. waiting to receive

If the user command received in step S140 is a feedback control command as in step S146, the control unit causes the route calculator to reread the current GPS coordinates of the underwater drone, and calls the home coordinates stored in step S1421 and The shortest return path from the GPS coordinates to the home coordinate is calculated, and the first and second propulsion motors are driven through the motor driving unit along the calculated shortest return path. listen for commands

If the user command received in step S140 is a stop control command as in step S148, the controller stops the operation of the propulsion motor in step S150 and terminates all processes.

The above description is illustrative of the present invention, and the embodiments published in the specification are for explanation rather than limiting the technical idea of the present invention, so those of ordinary skill in the art to which the present invention pertains. Various modifications and variations will be possible without departing from the technical idea of Therefore, the protection scope of the present invention is to be interpreted by the matters described in the claims, and technical matters within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: underwater drone 100: body
110: electronic component accommodating part 120a, 120b, 120c: coupling part
130: internal circuit unit 131: wireless transmission and reception unit
132: control unit 133: GPS receiver
134: memory 135: motor driving unit
136: battery 137: path calculation unit
150: propulsion motor
20: remote control device 210: power button
220: direction change means
30: life tube

Claims (5)

The cross-section to which the life tube is coupled is semi-circular, and the plane is a 'C'-shaped body;
First and second propulsion motors mounted on each lower portion of the 'C'-shaped both ends of the body;
Including, the body,
First and second coupling parts formed at both ends of the 'C'-shaped body in a structure that is symmetrical to each other with respect to the center line and has an open top for coupling the life tube to the upper part of the 'C'-shaped body. ;
an electronic component receiving unit in which an internal circuit unit made of electronic components for control is accommodated in the rear end of the 'C'-shaped body, and an inner side thereof is formed in a concave shape;
a third coupling part formed in a concave shape so that the outer surface of the life tube is in close contact with the inner surface of the electronic component accommodating part;
is composed of,
After the life tube is pushed into the concave surface formed in the third coupling part, it is pressed downward toward the first and second coupling parts so that the body and the life tube in the first coupling part, the second coupling part and the third coupling part are to be tightly coupled,
When the life-saving tube is fitted to the first and second coupling parts, the body of the life-saving tube is fitted through the open upper part of each of the first and second coupling parts, so that the first and second coupling parts cover the outer surface of the life-saving tube. An underwater drone that can be combined with a life tube, characterized in that it comes in close contact.
delete According to claim 1,
The underwater drone can be wirelessly connected to an external remote control device,
The internal circuit unit,
a wireless transceiver for transmitting and receiving a wireless signal to and from the remote control device;
a control unit for processing a control signal from a remote control device received through the wireless transceiver;
a GPS receiver for receiving the current GPS location of the underwater drone;
a route calculation unit for calculating a return route to a predetermined location;
a memory in which the control logic of the underwater drone is stored;
a motor driving unit for driving the first and second propulsion motors;
a power supply means for supplying power required to the first propulsion motor, the second propulsion motor and the internal circuit unit;
A drone for underwater that can be combined with a life tube, characterized in that it comprises a.
4. The method of claim 3,
When the control unit receives a home position setting command from the remote control unit, the control unit receives the current GPS coordinates from the GPS receiver and stores the current GPS coordinates in the memory as home position coordinates,
When the control unit receives a control command to return to the home position from the remote control unit, the control unit compares the current GPS coordinates with the home position GPS coordinates to calculate the shortest return path from the current position to the home position. And, an underwater drone that can be combined with a life tube, characterized in that it drives the underwater drone to move along the shortest return path from the current position to the home position.
5. The method of claim 4,
When the control unit receives a home position setting command from the remote control unit, the control unit receives the current GPS coordinates from the GPS receiver and stores the current GPS coordinates in the memory as home position coordinates,
When the control unit receives a control command to return to the third location from the remote control device, the control unit sets the GPS coordinates of the third location and calculates the shortest return path from the current location to the third location. An underwater drone that can be combined with a life tube, characterized in that it drives the underwater drone to move along the shortest return path from the current location to the third location.

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