KR102402703B1 - Apparatus for diver assistance underwater drone and method for tracing diver thereof - Google Patents

Abstract

The present invention relates to an underwater drone device for assisting a diver and a method for tracking a diver using the same, and more specifically, to an underwater drone device for assisting a diver and a method for tracking a diver using the same, which may track a diver to check the bodily condition of the diver, inspect equipment and check the underwater environment to prevent accidents. To this end, the underwater drone device for assisting a diver according to the present invention is characterized by comprising: a diver tracking unit (110) which estimates a marker (10) mounted at a predetermined portion of a diver; a filming unit (120) which films the diver and the underwater surrounding circumstances; an underwater environment sensing unit (130) which measures information of the underwater environment; a diver sensing unit (170) which measures information of the diver; a receiving unit (140) which receives the information of the diver measured in the diver sensing unit (170); a data analysis unit (160) which analyzes data received from the filming unit (120), the underwater environment sensing unit (130), the diver sensing unit (170) and the receiving unit (140) so as to, in case the information of the underwater environment and the diver exceed the information of a predetermined range, set as an emergency circumstance to determine as an emergency circumstance; a warning emitting unit (180) which, in case the emergency circumstance is determined by the data analysis unit (160), emits a warning signal to the diver and the operator; and a data storage unit (150) which stores data delivered by the filming unit (120), the underwater environment sensing unit (130), the diver sensing unit (170), the receiving unit (140) and the data analysis unit (160).

Description

An underwater drone device for assisting a diver and a method for tracking a diver using the same

The present invention relates to an underwater drone device for assisting a diver and a method for tracking a diver using the same, and more specifically, an underwater drone device for assisting a diver that can prevent accidents by following a diver and checking the body condition, equipment inspection, and underwater environment of the diver and a diver tracking method using the same.

Anti-vibration is a programmable drive mechanism with two or more axes that operates within the environment with a certain degree of autonomy to control the generation of static electricity, similar to dust-proof clothing in a clean room environment. In general, it refers to a machine that automatically processes or operates a given task based on its own capabilities. Therefore, the robot includes the interface between the control system and the control system, and is classified according to the intended application and can be used in a very diverse way.

Currently, more and more intelligent robot technology is needed as it has already been put to practical use in many fields such as industrial, medical, and submarine applications. Recently, a mobile robot that recognizes the surrounding environment and moves autonomously while avoiding obstacles by placing an automatic device in a certain place has been developed. In addition, various assistive devices have recently been developed to assist the disabled or the elderly in their movement or convenience, and various auxiliary robots for supporting the daily life of the elderly have been released. However, it can be said that there is still no robot that assists underwater divers (divers) in the water.

Korean Patent Publication No. 10-2011-0062248

The present invention has been devised to solve the above problems, and an object of the present invention is to provide an underwater drone for assisting a diver that can prevent accidents by checking a diver's body condition, equipment inspection, and underwater environment.

The technical problems to be solved by the invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

The underwater drone device for assisting a diver according to the present invention,

a diver tracking unit 110 for estimating the marker 10 mounted on a specific part of the diver;

A photographing unit 120 for photographing a diver and underwater surroundings;

The underwater environment sensing unit 130 for measuring the underwater environment information;

a diver sensing unit 170 for measuring diver information;

a receiving unit 140 for receiving the diver information measured by the diver sensing unit 170;

By analyzing the data received from the photographing unit 120, the underwater environment sensing unit 130, the diver sensing unit 170 and the receiving unit 140, when the underwater environment and diver information is out of the preset range, an emergency situation a data analysis unit 160 for setting and determining an emergency situation;

an alarm transmission unit 180 for transmitting an alarm signal to a diver and an operator when it is determined by the data analysis unit 160 as an emergency; and

The photographing unit 120, the underwater environment sensing unit 130, the diver sensing unit 170, the receiving unit 140 and the data storage unit 150 for storing the data transmitted from the data analysis unit 160; Consisting of characterized in that

In addition, the diver tracking method using the underwater drone device for assisting the diver of the present invention,

Diver tracking step in which the diver tracking unit 110 tracks the diver according to the marker 10 mounted on the underwater drone on a specific part of the diver;

An underwater environment information measurement step in which the photographing unit 120 captures the underwater environment while tracking the diver, and the underwater environment sensing unit 130 measures the underwater environment information;

a diver information measurement step in which the diver sensing unit 170 measures diver information;

a diver information receiving step in which the receiver 140 receives the diver information measured in the diver information measuring step;

A data storage step of storing the data obtained by the data storage unit 150 in the step of measuring the underwater environment information and the step of receiving the diver information;

A data analysis step of setting the data analysis unit 160 as an emergency situation when the information of the underwater environment and the diver is out of the preset range by analyzing the stored data and determining the emergency situation;

When the data analysis unit 160 determines that it is not an emergency situation in the data analysis step, the diver tracking step is resumed, and when it is determined as an emergency situation, the alarm transmission unit 180 sends an alarm signal to the emergency situation processing step; It is characterized in that it includes.

By means of solving the above problems, the present invention can provide a diver assistance underwater drone that can prevent accidents by checking the diver's body condition, equipment inspection, and underwater environment.

1 is a configuration diagram of an underwater drone device for assisting a diver according to the present invention.
2 is a flowchart illustrating a method for tracking a diver using the underwater drone device for assisting a diver according to the present invention.
Figure 3 is an embodiment showing an underwater drone device for a diver and a diver assistance wearing a marker (10).

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the entire specification, when a part “includes” a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein.

Specific details including the problem to be solved for the present invention, the means for solving the problem, and the effect of the invention are included in the embodiments and drawings to be described below. Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

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

The present invention relates to an underwater drone device for assisting a diver and a method for tracking a diver using the same, and more specifically, an underwater drone device for assisting a diver that can prevent accidents by following a diver and checking the body condition, equipment inspection, and underwater environment of the diver and a diver tracking method using the same.

The underwater drone device for assisting a diver according to the present invention, as shown in FIG. 1 , a diver tracking unit 110 , a photographing unit 120 , an underwater environment sensing unit 130 , a receiving unit 140 , a data analysis unit 160 ), an alarm transmission unit 180 and a data storage unit 150 are characterized in that it is composed.

First, the diver tracking unit 110 estimates the marker 10 mounted on a specific part of the diver. As shown in FIG. 3 , the marker 10 is mounted on a specific part of the diver, and the marker 10 is preferably an image or an optical signal acquired by the photographing unit 120 .

The image of the marker 10 is an image that can identify the diver through the imaging by the photographing unit 120, and includes, for example, a QR (Quick Response) code image, a pattern image, and the like.

In addition, the optical signal of the marker 10 is also a signal that can identify the diver through the imaging by the photographing unit 120, for example, a light signal of an underwater lamp that emits light in a specific pattern, an underwater LED light signals, etc.

Next, the photographing unit 120 photographs the diver and the underwater environment. The photographing unit 120 creates an image or a video by taking a 360° video of the diver and the underwater environment.

In addition, the diver is identified by photographing the marker 10 attached to the diver.

Next, the underwater environment sensing unit 130 measures the underwater environment information. The underwater environment information preferably includes water temperature, illuminance, pressure and flow rate in the water.

Next, the diver sensing unit 170 measures the diver's information. It is preferable that the information of the diver is information including the heart rate of the diver and the remaining amount of oxygen.

Next, the receiving unit 140 receives the diver information measured by the diver sensing unit 170 . It is preferable that the receiving unit 140 receives according to the underwater communication method transmitted by the diver, including optical communication or sound wave communication.

The optical communication or sound wave communication is an underwater wireless communication method that takes into account the situation in which a diver and an underwater drone cannot be connected by wire. It is a method that enables high-speed communication in the water.

Next, the data analysis unit 160 analyzes the data received from the photographing unit 120 , the underwater environment sensing unit 130 , the diver sensing unit 170 and the receiving unit 140 , and the underwater environment and diver information If the information is out of the preset range, it is set as an emergency and the emergency is judged.

More specifically, it is preferable that the data analysis unit 160 compares preset images and numerical data stored in the data storage unit 150 with the currently received image and numerical data in the current state to determine the emergency situation. .

Next, the alert transmitter 180 transmits an alert signal to the diver and the operator when it is determined by the data analysis part 160 as an emergency.

Next, the data storage unit 150 stores data transmitted from the photographing unit 120 , the underwater environment sensing unit 130 , the diver sensing unit 170 , the receiving unit 140 , and the data analysis unit 160 . do. It is preferable that the data storage unit 150 provides the information of the underwater environment in the form of images and numerical data.

In addition, the diver tracking method using the underwater drone device for a diver assistance of the present invention, as shown in Figure 2, is performed by the first step (S10) to the eighth step (S80).

First, the first step (S10) is a diver tracking step. In the diver tracking step, the diver tracking unit 110 tracks the diver according to the marker 10 in which the underwater drone is mounted on a specific part of the diver.

The marker 10 is preferably an image or an optical signal acquired by the photographing unit 120 .

Next, the second step (S20) is the underwater environment information measurement step. In the step of measuring the underwater environment information, the photographing unit 120 captures the underwater environment while tracking the diver, and the underwater environment sensing unit 130 measures the underwater environment information.

The photographing unit 120 creates an image by taking a 360° video of the diver and the underwater environment.

The underwater environment information preferably includes water temperature, illuminance, pressure and flow rate in the water.

Next, the third step ( S30 ) is a diver information measurement step. In the diver information measurement step, the data sensing unit measures diver information.

It is preferable that the information of the diver is information including the heart rate of the diver and the remaining amount of oxygen.

Next, the fourth step ( S40 ) is a diver information receiving step. In the diver information receiving step, the receiver 140 receives the diver information measured in the diver information measuring step.

It is preferable that the receiving unit 140 receives according to the underwater communication method transmitted by the diver, including optical communication or sound wave communication.

Next, the fifth step ( S50 ) is a data storage step. In the data storage step, the data storage unit 150 stores the data obtained in the underwater environment information measurement step and the diver information reception step.

The data storage unit 150 stores data transmitted from the photographing unit 120 , the underwater environment sensing unit 130 , the diver sensing unit 170 , the receiving unit 140 , and the data analysis unit 160 . It is preferable that the data storage unit 150 provides the information of the underwater environment in the form of images and numerical data.

Next, the sixth step ( S60 ) is a data analysis step. In the data analysis step, when the data analysis unit 160 analyzes the stored data and the underwater environment and the diver's information are out of the preset range, the data analysis unit 160 sets the emergency situation and determines the emergency situation.

More specifically, it is preferable that the data analysis unit 160 compares preset images and numerical data stored in the data storage unit 150 with the currently received image and numerical data in the current state to determine the emergency situation. .

Next, the seventh step (S70) is an emergency situation processing step. In the emergency situation processing step, when the data analysis unit 160 determines that it is not an emergency situation in the data analysis step, the diver tracking step proceeds again, and when it is determined as an emergency situation, the alarm transmitter 180 sends an alarm signal send out

Next, the eighth step ( S80 ) is a step of transmitting an alarm signal. When the warning signal transmission step receives a minor signal in the emergency situation processing step, the warning transmission unit 180 sends an alarm signal to the diver and the operator.

By means of solving the above problems, the present invention can provide a diver assistance underwater drone that can prevent accidents by checking the diver's body condition, equipment inspection, and underwater environment.

As such, those skilled in the art to which the present invention pertains will understand that the above-described technical configuration of the present invention may be implemented in other specific forms without changing the technical spirit or essential characteristics of the present invention.

Therefore, the embodiments described above are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the following claims rather than the above detailed description, and the meaning and scope of the claims and their All changes or modifications derived from the concept of equivalents should be construed as being included in the scope of the present invention.

10. Markers
110. Diver Tracking Department
120. Cinematography
130. Underwater Environment Sensing Department
140. Receiver
150. Data storage
160. Data Analysis Department
170. Diver Sensing Department
180. Alert transmitter
S10. The diver tracking step in which the underwater drone tracks the diver by following the marker (10) mounted on a specific part of the diver
S20. An underwater environment information measurement step of photographing the underwater environment while tracking the diver and measuring the underwater environment information
S30. Diver information measurement step to measure the diver's information
S40. Diver information receiving step of receiving the diver information measured from the diver information measuring step
S50. A data storage step of storing the data obtained in the step of measuring the underwater environment information and the step of receiving the diver information
S60. A data analysis step of analyzing the stored data to set an emergency situation when the underwater environment and diver information is out of a preset range of information and determining the emergency situation
S70. If it is determined that the data analysis step is not an emergency situation, the diver tracking step is re-progressed, and if it is determined as an emergency situation, an emergency situation processing step of sending an alert signal

Claims (11)

a diver tracking unit 110 for estimating the marker 10 mounted on a specific part of the diver;
A photographing unit 120 for photographing a diver and underwater surroundings;
The underwater environment sensing unit 130 for measuring the underwater environment information;
a diver sensing unit 170 for measuring diver information;
a receiving unit 140 for receiving the diver information measured by the diver sensing unit 170;
By analyzing the data received from the photographing unit 120, the underwater environment sensing unit 130, the diver sensing unit 170 and the receiving unit 140, when the underwater environment and diver information is out of the preset range, an emergency situation a data analysis unit 160 for setting and determining an emergency situation;
an alarm sending unit 180 that transmits an alarm signal to a diver and an operator when it is determined by the data analysis unit 160 as an emergency; and
The photographing unit 120, the underwater environment sensing unit 130, the diver sensing unit 170, the receiving unit 140 and the data storage unit 150 for storing data transmitted from the data analysis unit 160; An underwater drone device for assisting a diver, characterized in that.
The method of claim 1,
The marker 10 is
An underwater drone device for a diver assistance, characterized in that the image or optical signal obtained from the photographing unit 120.
The method of claim 1,
The photographing unit 120,
An underwater drone device for assisting a diver, characterized in that it creates an image or a video by shooting the entire 360° as an image.
The method of claim 1,
The receiving unit 140,
Underwater drone device for assisting a diver, characterized in that it is received according to the underwater communication method transmitted by the diver, including optical communication or sound wave communication.
The method of claim 1,
The underwater environment information,
Underwater drone device for a diver assistance, characterized in that the information including the water temperature, illuminance, pressure and flow velocity in the water.
The method of claim 1,
The diver's information is
An underwater drone device for assisting a diver, characterized in that it is information including the diver's heart rate and the remaining amount of oxygen.
6. The method of claim 5,
The data storage unit 150,
An underwater drone device for assisting a diver, characterized in that it provides the information of the underwater environment in the form of images and numerical data.
The method of claim 1,
The data analysis unit 160,
The underwater drone device for assisting a diver, characterized in that by comparing the image and numerical data stored in the data storage unit 150 and the image and numerical data of the currently received current state with a preset image and numerical data to determine an emergency situation.
Diver tracking step in which the diver tracking unit 110 tracks the diver according to the marker 10 mounted on the underwater drone on a specific part of the diver;
An underwater environment information measurement step in which the photographing unit 120 captures the underwater environment while tracking the diver, and the underwater environment sensing unit 130 measures the underwater environment information;
a diver information measurement step in which the diver sensing unit 170 measures diver information;
a diver information receiving step in which the receiver 140 receives the diver information measured in the diver information measuring step;
A data storage step of storing the data obtained by the data storage unit 150 in the step of measuring the underwater environment information and the step of receiving the diver information;
A data analysis step of setting the data analysis unit 160 as an emergency situation when the information of the underwater environment and the diver is out of the preset range by analyzing the stored data and determining the emergency situation;
When the data analysis unit 160 determines that it is not an emergency situation in the data analysis step, the diver tracking step is resumed, and when the data analysis unit 160 determines that it is an emergency situation, the alarm transmission unit 180 sends an alarm signal; and
A diver tracking method using an underwater drone device for assisting a diver, comprising: an alarm signal transmission step in which the alarm transmission unit 180 sends an alarm signal to the diver and the operator when a minor signal is received in the emergency situation processing step .
10. The method of claim 9,
The marker 10 mounted on a specific part of the diver is,
A diver tracking method using an underwater drone device for assisting a diver, characterized in that it is an image or an optical signal obtained in the underwater environment information measurement step.
10. The method of claim 9,
The data analysis step is
A diver tracking method using an underwater drone device for assisting a diver, characterized in that determining an emergency situation by comparing the image and numerical data stored in the data storage step with the image and numerical data of the currently received current state.

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