KR102409043B1 - Drone for release of fry and young shellfish - Google Patents

Abstract

The present invention installs a self-developed fry release device on a drone equipped with a precision GNSS (Global Navigation Satellite System) technology to precisely and safely discharge fry and shellfish at a specific time and point. It relates to a drone that can release fry and shellfish that can be released.
According to the present invention, by mounting a precision GNSS (Global Navigation Satellite System) device on a drone, it is possible to accurately transport fry and molluscs to a preset point with an error rate of less than 30 cm, and by minimizing the separation distance from the water surface It is possible to minimize the damage to fry and shellfish, which will have a positive effect on the conservation of aquatic resources.

Description

Drones releasing fry and oysters {DRONE FOR RELEASE OF FRY AND YOUNG SHELLFISH}

The present invention relates to a fry and larvae discharging drone, and more particularly, to precisely discharge fry and larvae at a specific time and point for the conservation of aquatic resources, using a drone equipped with precision GNSS technology. It is related to a fry and tooth shellfish discharging drone that discharges oysters.

There are 584 fish species caught in the world, and only 441 fish species, 76% of which have the information to evaluate the resource quantity. According to the FAO (United Nations World Food and Agriculture Organization), 25% of the 441 fish species are at risk of being depleted or in a state of depletion due to excessive use.

About 200 fish species are also used in Korea, and it is estimated that 20-30% of them are overused after peaking in the mid-1980s. In addition to such excessive use, continuous marine environmental pollution and increased demand for coastal development are also contributing factors to a decrease in aquatic resources, acting as obstacles to the development of aquatic resources.

The fishery production in Korea is on a declining trend, and its industrial share is also shrinking, and despite many problems at home and abroad, the fishery industry is still recognized as an important industry.

The reason is that aquatic biological resources are the resource with the highest economic value among natural resources possessed by Korea and serve as a food supply source. because you have

Since the late 20th century, the government has introduced and implemented various policies such as the creation of sea forests and sea ranches, the Total Allowable Catch (TAC), and the aquatic seed release project for the creation, management and recovery of aquatic resources.

Among them, the fishery seed release project, which artificially produces young fish and shellfish, selects only healthy individuals through disease testing, and releases them in a natural environment suitable for growth, has been carried out since 1976 to recover aquatic resources and increase the income of fishermen. . And recently, due to the decrease in aquatic resources, the scale of the aquatic seed stocking business is expanding and the stocking varieties are also diversifying.

Fish and shellfish, which are very small (1 cm in size), have a very low survival rate of around 20% when released. When the survival rate of fry and shellfish is increased, the recovery of fishery resources can be accelerated, and the effect of increasing the income of fishermen can also be increased.

As such, it is very important to develop a technology that can increase the survival rate during the release of juveniles and oysters. Developing a technology that can safely release fry and shellfish at the correct time and place so that they are not damaged will increase the survival rate of fry and shellfish, which will contribute to the recovery of fishery resources and increase in the income of fishermen.

Republic of Korea Patent No. 10-2129131 'Drone equipped with a transport container and flying method using the same'

The present invention was invented for the conservation of aquatic resources, and the self-developed fry release device for a drone equipped with precision GNSS (Global Navigation Satellite System) technology in order to precisely discharge fry and larvae at a specific time and point. The purpose is to provide a fry and shellfish dispensing drone that can be installed to accurately and safely discharge fry and shellfish.

An object of the present invention is to provide a fry and shellfish dispensing drone that increases precision and minimizes damage to fry and shellfish by minimizing the separation distance from the water surface and safely transporting and monitoring the fry to the release area.

In order to achieve the object as described above, the fry and shellfish discharge drone according to the present invention includes a body portion, a wing portion that is connected to the body portion through a frame and enables flight, and is installed under the body portion, A storage tank for containing chives and seawater, a discharging device for discharging larvae and larvae contained in the storage tank through a discharging hose, a camera module for capturing real-time images, a location measuring module for measuring and providing real-time location, a remote control device and a communication module for performing real-time wireless communication and video information captured by the camera module and location information measured by the location measurement module are transmitted to a remote control device through the communication module, and the discharge device is automatically controlled, It includes a control module for manually controlling by a control signal received from the remote control device so that the fry and shellfish contained in the storage tank are discharged through the discharge hose, and to control the discharge hose to be recovered after the discharge.

According to the present invention, a precision GNSS (Global Navigation Satellite System) device is mounted on a drone so that it is possible to accurately transport fry and oysters to a preset point with an error rate of less than 30 cm.

In addition, it is possible to minimize the damage to the fry and shellfish by minimizing the separation distance from the water surface.

In addition, the residual state of fry and larvae can be checked by monitoring the internal condition of the storage tank after the fry / larvae are released. It is possible to discharge cleanly so that it does not remain in the tank.

In addition, a sensor that measures salinity and temperature is installed in the discharging device that transports fry and larvae, and real-time monitoring of salinity and temperature changes during the transfer of larvae and larvae makes it the optimal environment for transfer of larvae and larvae. was made to form.

Furthermore, by utilizing the coordinate designation and autonomous flight functions of the GNSS, it is possible to split the discharge at multiple points.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a front view (a) and a rear view (b) of a fry and shellfish discharge drone according to the present invention;
2 is a conceptual diagram showing the appearance of each stage in which the fry and larvae discharge drone according to the present invention proceed with the discharge;
Figure 3 is a product photo of the fry and shellfish discharge drone according to the present invention;
4 is a functional configuration diagram of a fry and shellfish discharge drone according to the present invention;
5 is a functional configuration diagram of the storage tank;
6 is a functional configuration diagram of the discharge device;
7 is a functional configuration diagram of the secondary injector

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

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

1 to 7 , the fry/flyfish discharge drone according to the present invention includes a body portion 10, a wing portion 20, a storage tank 30, a discharge device 40, a camera module 50, It includes a position measurement module 60 , a communication module 70 and a control module 80 , and may further include a secondary injector 90 .

In the lower portion of the body portion 10, leg units 11 for supporting the ground when the drone lands are provided on both left and right sides. A battery 100 is mounted on the leg unit 11 .

Three or four or more frames are coupled to the periphery of the body portion 10, and the wing portion 20 is coupled to an end of the frame bent at a right angle. The wing part 20 is connected to the body part 10 through a frame and receives power from the battery 100 to enable flight.

The storage tank 30 is installed in the lower part of the body part 10, and contains fry, scallops and seawater. The upper part of the storage tank 30 is equipped with a transparent cover so that it can be opened and closed, and the transparent cover can be opened to contain fry, shellfish and seawater, and the internal state can be visually checked. The inner wall of the storage tank 30 is coated with a fry protection material so that the fry and shellfish do not adhere and are not chemically damaged. The lower portion of the storage tank 30 is formed with a discharge port capable of discharging the fry and shellfish.

The discharge device 40 discharges the fry and shellfish contained in the storage tank 30 through the discharge hose 41 . Referring to FIG. 2 , the discharge hose 41 is inserted into the discharge port of the lower portion of the storage tank 30 and maintains a wound state until the discharge.

The camera module 50 is composed of an optical camera and captures a real-time image. A device fixing frame 12 is installed between the two leg units 11, and the device fixing frame 12 includes a camera module 50, servo devices 42 and 43, a communication module 70, and a control module. (80), etc. are installed.

The location measurement module 60 measures and provides a real-time location. The location measurement module 60 may be configured with a GNSS antenna for transmitting and receiving GNSS signals and a GNSS module for deriving GNSS coordinates of the drone location. GNSS (Global Navigation Satellite System) is a system that enables location determination using artificial satellites, and uses a GNSS antenna and a GNSS module to provide a minimum error rate of about 30 cm at a point that has been irradiated and created in advance to be suitable for the growth of larvae and oysters. to enable accurate transfer.

The drone of the present invention can autonomously fly by specifying GNSS coordinates, and can also be divided and discharged at multiple points.

The communication module 70 is composed of communication equipment such as frequency communication, LTE and 5G-based mobile communication, and performs real-time wireless communication with the user's remote control device.

The control module 80 transmits the video information captured by the camera module 50 and the location information measured by the location measurement module 60 to the remote control device through the communication module 70, and automatically controls the discharge device 40 or manually controlled by a control signal received from a remote control device so that the fry and shellfish contained in the storage tank 30 are discharged through the discharge hose 41, and after the discharge, the discharge hose 41 is control to recover.

The control module 80 is configured to include a flight controller (FC, Flight Controller). The flight controller collects information from the gyroscope and accelerometer built into the board to accurately calculate the direction and position, and adjusts the speed of each motor through the electronic speed controller (ESC) to adjust the speed of the wing unit 20 ) and controls the vertical take-off and landing and flight of the drone.

Referring to FIG. 5 , a temperature sensor 31 for measuring the temperature of seawater and a salinity sensor 32 for measuring salinity are provided inside the storage tank 30 . It is important to maintain an appropriate temperature and salinity in the storage tank 30 in order to transport the fry and oysters in an optimal environment.

The control module 80 transmits the data measured by the temperature measuring sensor 31 and the salinity measuring sensor 32 to the remote control device through the communication module 70 . The user can check the temperature and salinity in the storage tank 30 in real time through the monitor of the remote control device, and can respond when the temperature or salinity shows an inappropriate value.

Referring to FIG. 6 , the discharge device 40 includes a discharge hose 41 , a discharge hose operation servo device 42 , a discharge hose recovery servo device 43 , a line for fixing the discharge hose 44 , and a line for recovering the discharge hose. (45) is included.

2 and 3, one end of the discharge hose 41 is coupled to the outlet at the lower portion of the storage tank 30, and the remaining part is fixed in a rolled state to block the outlet at the lower portion of the storage tank 30. Even if there is no separate opening/closing device at the outlet at the lower part of the storage tank 30, the coiled discharge hose 41 serves as an opening/closing device for the outlet. In the wound state, the discharge port is blocked, and when the discharge hose 41 is released and falls, the discharge port is opened and the fry, shellfish and seawater in the storage tank 30 are discharged through the discharge hose 41 .

Referring to FIG. 2( a ), the discharge hose 41 remains wound until the drone arrives at the discharge point.

Referring to FIG. 2( b ), the discharge hose operation servo device 42 releases the discharge hose 41 when the drone arrives at the discharge point and controls the other end to automatically fall. With the automatic setting function, when the drone reaches the target point without the user directly operating the remote control device, the control module 80 drives the discharge hose operation servo device 42 to automatically release the discharge hose 41 and will fall The discharge hose 41 can be composed of a length of about 3 m, and when the discharge hose 41 is released, the height of the drone can be precisely adjusted so that the lowest end of the hose is maintained at a height of about 60 cm to 1 m from the sea level (S). have. In order to avoid damage when discharging fry and oysters, it should be approached close to the sea level (S), and it is desirable to discharge them at a height of about 60 cm to 1 m from the sea level (S). Of course, the above process is not automatically performed, but manual operation is also possible while the user watches the monitor of the remote control device.

The discharge hose 41 is made of a polyethylene material, a fry protection material is applied therein, and the volume and weight are minimized.

Referring to FIG. 2( c ), the discharge hose recovery servo device 43 discharges the fry and shellfish through the discharge hose 41 and then recovers the dropped discharge hose 41 again. After discharging the fry and oysters, the drone must fly again, and flying with the discharge hose 41 extended is dangerous in terms of flight safety. For safe flight, the discharge hose 41 was recovered and then it was allowed to fly.

Specifically, the discharge device 40 includes a line 44 for fixing the discharge hose and a line 45 for collecting the discharge hose. It is preferable to use a nylon file for the discharge hose fixing file 44 and the discharge hose recovery file 45 . Since the weight of the device should be minimized for securing flight time and stable flight of the drone, a device using a nylon string for dropping and retrieving the discharge hose 41 was independently developed.

Referring to Figure 2 (b), the discharge hose fixing line 44 is fixed to the outer surface of the discharge hose 41 along the longitudinal direction of the discharge hose 41 through a knot 46 at regular intervals. Knots are formed at intervals of about 40 cm and a nylon line for fixing the discharge hose passes through the knot 46 .

Referring to FIG. 2( a ), in a state in which the discharge hose 41 is wound, the end is connected to the discharge hose operation servo device 42 through a string 44 for fixing the discharge hose. At the same time as the end is released by the operation of the discharge hose operation servo device 42, the other end of the discharge hose 41 is automatically dropped as shown in FIG. 2(b).

2(c), one end of the discharge hose recovery line 45 is connected to the discharge hose recovery servo device 43, and the other end is connected to the discharge hose 41, and the discharge hose recovery servo device ( 43) so that the discharge hose 41 is recovered while winding by the drive.

The secondary spraying device 90 is a secondary injection water so that the discharge device 40 drops the discharge hose 41 down to discharge the fry and the larvae and then the larvae and larvae do not remain in the storage tank 30 . The tank 91 is operated so that the water W is sprayed into the storage tank 30 .

1, 2 and 7, the secondary injection device 90 is a secondary injection water tank 91 for storing water (W), a secondary injection hose 92 for supplying water, the secondary The end of the secondary injection pump 93 and the secondary injection hose 92 for controlling the water (W) of the injection water tank 91 to be supplied and blocked into the storage tank 30 through the secondary injection hose 92 It is connected to and includes a secondary spray nozzle 94 for spraying water into the storage tank (30). Specifically, the water of the two secondary injection water tanks 91 passes through the secondary injection hoses 92 on both sides, respectively, and then is collected through the injection pipe 96 and finally to the secondary injection nozzle 94 . The water is sprayed into the storage tank 30 by the

Referring to FIG. 2(b), after discharging the fry, shellfish and seawater in the storage tank 30 in a state in which the discharge hose 41 is released, the water in the secondary injection water tank 91 is discharged from the secondary injection hose ( 92) through the secondary injection nozzle 94 to be injected. After discharging the fry, shellfish and seawater in the storage tank 30 in the state in which the discharge hose 41 is released without the user's confirmation and control command through the monitoring module 95, for a certain period of time (for example, 10 to 15 seconds) ), it is possible to control so that water from the secondary injection water tank 91 is automatically sprayed to the secondary injection nozzle 94 .

The secondary injector 90 may further include a monitoring module 95 for monitoring the remaining state of fry and oysters in the storage tank 30 . The monitoring module 95 does not have to be high-performance like an optical camera for real-time images taken by a drone, and a camera capable of checking the inside of the storage tank 30 is sufficient.

The control module 80 transmits the monitoring state of the monitoring module 95 to the remote control device and receives a control signal from the remote control device to control the operation of the secondary injection pump 93 . After the user confirms the remaining state of fry and larvae in the storage tank 30 , it is possible to control the water from the secondary injection water tank 91 to be sprayed through the secondary injection hose 92 using a remote control device. Of course, it is also possible to control the time and amount of the secondary injection.

In addition, rather than a manual control method through a remote control device from the user, the control module 80 determines the monitoring state of the monitoring module 95 by itself, and the operation of the secondary injection pump 93 according to the remaining amount of larvae and shellfish It is also possible to automatically control the time.

The fry and shellfish discharge drone of the present invention mainly used carbon, PVC, aluminum, and vinyl materials to remove unnecessary weight, and the configuration of the discharge device 40 did not include a special device and used a gravity method, and dried A separate opening/closing device was not added so that the raised discharge hose 41 serves as an outlet for the lower portion of the storage tank 30 .

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains know that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

10: body part 20: wing part
30: storage tank 31: temperature sensor
32: salinity measurement sensor 40: discharge device
41: discharge hose 42: discharge hose operation servo device
43: discharge hose recovery servo device 44: file for fixing the discharge hose
45: discharge hose recovery line 50: camera module
60: position measurement module 70: communication module
80: control module 90: secondary injection device
91: secondary injection water tank 92: secondary injection hose
93: secondary injection pump 94: secondary injection nozzle
95: monitoring module W: water
S: sea level

Claims (7)

body portion 10;
a wing portion 20 connected to the body portion 10 through a frame and enabling flight;
a storage tank 30 installed in the lower portion of the body portion 10 and containing fry, scallops and seawater;
a discharging device 40 for discharging the fry and shellfish contained in the storage tank 30 through a discharging hose 41;
a camera module 50 for capturing real-time images;
a location measurement module 60 that measures and provides a real-time location;
Communication module 70 for performing real-time wireless communication with the remote control device; and
The video information captured by the camera module 50 and the location information measured by the location measurement module 60 are transmitted to the remote control device through the communication module 70, and the discharge device 40 is automatically controlled Alternatively, by manually controlling by a control signal received from the remote control device, the fry and shellfish contained in the storage tank 30 are discharged through the discharge hose 41, and the discharge hose 41 is recovered after the discharge. Control module 80 to control so that; including;
The discharge device 40,
a discharge hose 41 having one end coupled to the discharge port of the lower portion of the storage tank 30 and the remaining portion being fixed in a wound state to block the discharge port of the lower portion of the storage tank 30;
When it arrives at the discharge point, the discharge hose 41 is released and the other end is automatically dropped by the discharge hose operation servo device 42; and
A discharge hose recovery servo device 43 that recovers the dropped discharge hose 41 after discharging the fry and larvae through the discharge hose 41;
According to claim 1,
It is mounted inside the storage tank 30 and includes a temperature measuring sensor 31 for measuring the temperature of seawater and a salinity measuring sensor 32 for measuring salinity,
The control module 80 transmits the data measured by the temperature measuring sensor 31 and the salinity measuring sensor 32 to the remote control device through the communication module 70.
delete According to claim 1,
The discharge device 40,
It is fixed to the outer surface of the discharge hose 41 along the longitudinal direction of the discharge hose 41, and in a state in which the discharge hose 41 is wound, the end is connected to the discharge hose operation servo device 42 to operate the discharge hose. The discharge hose fixing line 44 for automatically dropping the other end of the discharge hose 41 at the same time as the end is released by the driving of the device 42; and
One end is connected to the discharge hose recovery servo device 43 and the other end is connected to the discharge hose 41, so that the discharge hose 41 is recovered while being wound by the driving of the discharge hose recovery servo device 43. A file for hose recovery (45); fry and shellfish discharge drone, characterized in that it further comprises.
body portion 10;
a wing portion 20 connected to the body portion 10 through a frame and enabling flight;
a storage tank 30 installed in the lower portion of the body portion 10 and containing fry, scallops and seawater;
a discharging device 40 for discharging the fry and shellfish contained in the storage tank 30 through a discharging hose 41;
a camera module 50 for capturing real-time images;
a location measurement module 60 that measures and provides a real-time location;
Communication module 70 for performing real-time wireless communication with the remote control device; and
The video information captured by the camera module 50 and the location information measured by the location measurement module 60 are transmitted to the remote control device through the communication module 70, and the discharge device 40 is automatically controlled Alternatively, by manually controlling by a control signal received from the remote control device, the fry and shellfish contained in the storage tank 30 are discharged through the discharge hose 41, and the discharge hose 41 is recovered after the discharge. Control module 80 to control so that; including;
After the discharge device 40 drops the discharge hose 41 down to discharge the fry and larvae, the secondary injection water tank 91 is operated so that the larvae and larvae do not remain in the storage tank 30. The fry and shellfish discharge drone, characterized in that it further comprises; a secondary injection device (90) to be injected into the storage tank (30).
body portion 10;
a wing portion 20 connected to the body portion 10 through a frame and enabling flight;
a storage tank 30 installed in the lower portion of the body portion 10 and containing fry, scallops and seawater;
a discharging device 40 for discharging the fry and shellfish contained in the storage tank 30 through a discharging hose 41;
a camera module 50 for capturing real-time images;
a location measurement module 60 that measures and provides a real-time location;
Communication module 70 for performing real-time wireless communication with the remote control device; and
The video information captured by the camera module 50 and the location information measured by the location measurement module 60 are transmitted to the remote control device through the communication module 70, and the discharge device 40 is automatically controlled Alternatively, by manually controlling by a control signal received from the remote control device, the fry and shellfish contained in the storage tank 30 are discharged through the discharge hose 41, and the discharge hose 41 is recovered after the discharge. Control module 80 to control so that; including;
a secondary injection water tank 91 for storing water;
a secondary spray hose 92 for supplying water;
a secondary injection pump (93) for controlling the water in the secondary injection water tank (91) to be supplied and blocked into the storage tank (30) through the secondary injection hose (92); and
and a secondary injection nozzle (94) connected to the end of the secondary injection hose (92) to spray water into the storage tank (30).
7. The method of claim 6,
The storage tank 30 includes a monitoring module 95 for monitoring the remaining state of the fry and shellfish; further comprising,
The control module 80 transmits the monitoring status of the monitoring module 95 to the remote control device, and receives a control signal from the remote control device to control the operation of the secondary injection pump 93 . · Chipotle release drone.

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