KR102431452B1 - Underwater survey system using under water drone - Google Patents

Abstract

The present invention relates to an underwater exploration system using an underwater drone. The present invention is provided with a main body made of a light and corrosion-resistant material, a propulsion device connected to the main body to move the main body back and forth, up and down, left and right, and a purification device connected to the main body to filter a fluid containing marine pollutants. and a thermal imaging camera for photographing the main body by tracking the position of the main body in real time, a second camera for photographing the surrounding environment adjacent to the main body, and a third camera capable of magnifying the object to be inspected An underwater drone that captures and collects underwater information while driving in the investigation area, including the equipped photographing device, and the image information obtained from the second camera, and coordinate information and underwater of the underwater drone derived from the location of the heating part A control information processing device for modeling an underwater surface within a set area by mapping surface information in three dimensions, a database unit for receiving and storing information collected by the underwater drone from the control information processing device, and data stored in the database unit It is characterized in that it comprises an analysis unit in which an output unit is formed to analyze and map the underwater information through, and output the underwater information.

Description

Underwater survey system using under water drone

The present invention relates to an underwater exploration system using an underwater drone, and more particularly, to an underwater exploration system using an underwater drone that can perform three-dimensional modeling using a camera formed in the underwater drone and analyze an image in a deep learning method. it's about

Research on vertical and hoisting drones is being actively carried out, and they are performing tasks such as aerial photography over land or transmitting captured images to users on land through wireless communication.

However, recently, drones are being developed including underwater drones that can operate not only over land but also underwater. These underwater drones are being developed to be used to search for underwater objects or underwater terrain.

And, a sonar (Sound Navigation and Ranging, SONAR) is an acoustic expression device used for the detection or expression of an underwater object, and generally refers to a hydrophone or a sound detector.

Hydrophones have been developed since World War I for submarine detection, and developed rapidly especially during and after World War II. Electromagnetic waves such as visible light and radar waves are not transmitted in water, so ultrasonic waves are used to make facial expressions. The speed of sound transmitted in the water varies depending on the sea conditions, but it is about 1,500 m/s, and when it touches an object, it reflects and returns, so various sonars use this.

There are two types of sonar: an active type sonar that detects an object by making a sound by itself, such as an acoustic probe type, and a passive sonar that detects an object by measuring sound from a sound source, such as a hydrophone type.

Active devices generally emit sound waves in short intermittent tones, measure the distance to an object by measuring the time it takes for them to bounce off an object and return, and also detect the direction by rotating a transmitter. In addition, the passive sonar can measure the direction, distance, size, etc. of an object by measuring the time difference, intensity, etc. at which the sound emitted by the object arrives by combining several highly directional sounders.

In order to explore the ocean, which is a treasure trove of abundant resources, marine equipment such as submarines are operated based on topographical information of the seafloor, so human access is virtually impossible in areas where there is no seafloor information.

Therefore, there is an urgent need to develop a technology for ocean exploration using the system having the underwater drone and sonar described above.

Republic of Korea Patent Application No. 2017-0072616 Korean Patent Publication No. 2016-0089701 Korean Patent Publication No. 2014-0033656

Therefore, the present invention provides an underwater exploration system using an underwater drone that can be easily operated despite environmental factors such as rough currents, waves, or wave heights in the survey area when using an underwater drone to investigate underwater or sea level. aim for what is possible.

In addition, the objective is to provide an underwater exploration system using an underwater drone that enables accurate exploration by greatly improving the precision of the underwater surface shape of the investigation area because the underwater drone can derive accurate positional coordinates.

In addition, by mapping the precise location information acquired by the underwater drone with the underwater image information measured by the underwater drone's camera, it is possible to provide an underwater exploration system using an underwater drone that can obtain information on the precise shape of the seabed topography or underwater surface. aim to

In order to solve this problem, the present invention relates to an underwater exploration system using an underwater drone, a main body made of a lightweight corrosion-resistant material, and a propulsion device connected to the main body to move the main body forward and backward, up and down, left and right, and the main body It is connected to a purifying device for filtering the fluid containing contaminants in the sea, and a thermal imaging camera that captures the main body by tracking the position of the main body in real time and the surrounding environment adjacent to the main body, While the underwater drone is operating, the thermal image information captured by the thermal imaging camera is acquired in real time, and the second camera is formed with a transmission module that converts it into data and transmits it to the control information processing device. The third camera is equipped with a photographing device and the central part of the main body includes a cable for supplying power and receiving control from an external device, the underwater drone for photographing and collecting underwater information while operating in the irradiation area, and the second By processing the image information obtained from the camera and mapping the coordinate information and the underwater surface information of the underwater drone derived from the location of the heating part to three-dimensionally model the underwater surface in the area set by the underwater drone and the control information processing device It includes a database unit for receiving and storing the collected information from the control information processing device, and an analysis unit having an output unit configured to analyze and map the underwater information through the data stored in the database unit, and output the underwater information. It is characterized by

In addition, it is characterized in that a processing unit is provided that receives the data stored in the database unit from the control information processing device, analyzes the thermal image and image information of the underwater surface in real time, and transmits the data to the analysis unit.

Therefore, the present invention has the effect of providing an underwater exploration system using an underwater drone that can obtain precise shape information of the seabed topography or underwater surface through the underwater image information measured from the underwater drone and the sonar attached thereto.

In addition, there is an effect that accurate marine information and data can be grasped by using the method of analyzing the marine information of underwater exploration and the image information of the underwater surface collected using the deep learning system into big data and analyzing it through the analysis unit.

1 is a perspective view of an underwater drone.
Figure 2 is a cross-sectional view of the underwater drone.
Figure 3 is a bottom view of the discharge unit of the underwater drone.
4 is a photograph showing a display screen of a thermal image according to the embodiment.
5 is a photograph showing a display screen at a location of a heat generating unit according to an embodiment.
Figure 6 is a photograph showing the display screen of the underwater surface image according to the embodiment.
7 is a photograph showing a display screen of 3D modeling according to an embodiment.
8 is a block diagram showing an underwater exploration system using an underwater drone according to the present invention.
9 is a flowchart of a method of analyzing underwater information and thermal images and image information of the underwater surface;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are marked on different drawings.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, since the terms used in the present application are only used to describe specific embodiments, it is not intended to limit the present invention, and the singular expression means a plural expression unless the context clearly indicates otherwise. we want to leave For reference, a control information processing device appearing in this specification means a means capable of exchanging and inputting information, such as a PC, a smartphone, a tablet, a server, and the like.

Figure 1 is a perspective view of an underwater drone, Figure 2 is a cross-sectional view of the underwater drone, Figure 3 is a bottom view of the discharge part of the underwater drone, Figure 4 is a photograph showing a display screen of the thermal image according to the embodiment, Figure 5 is a photograph showing the display screen of the location of the heating element according to the embodiment, Figure 6 is a photograph showing the display screen of the underwater surface image according to the embodiment, Figure 7 is a photograph showing the display screen of the three-dimensional modeling according to the embodiment 8 is a block diagram showing an underwater exploration system using an underwater drone according to the present invention, and FIG. 9 is a flowchart of a method of analyzing underwater information and thermal images and image information of the underwater surface.

1 is an underwater drone 100 that is one of the components in an embodiment of the present invention. The underwater drone 100 can be operated remotely in a floating state in the water, and can remove foreign substances in the water by sucking the fluid including foreign substances in the water, and at the same time, balance without disturbance in the process of removing the foreign substances that can be maintained In addition, the underwater drone 100 is provided with a separate lighting member (not shown) so that easy shooting even in a dark environment.

The body 110 is formed of a member constituting a frame, and may be configured to include a plurality of panels or a plurality of beams. The body 110 may be made of, for example, a material having a relatively light weight and corrosion resistance, such as an aluminum panel or an aluminum beam.

As shown in FIG. 2 , the purification device 120 connected to the body 110 and filtering the fluid containing the pollutants in the sea sucks the fluid containing the pollutants, filters the pollutants, and then the purified As a device for discharging the fluid once again, it includes a purification tank 121 , a suction pump 122 , and a discharge unit 123 .

As shown, the purification tank 121 includes an inlet 121a through which a fluid flows and a filter 121b that filters contaminants. The filter 121b divides the storage space inside the purification tank 121 into an upper space 121c and a lower space 121d, and the filter 121b includes the upper space 121c and the lower space 121d as a filter. The fluid communicated through the 121b may be moved toward the suction pump 122 only through the filter 121b.

Here, the inlet portion 121a is formed in the lower space 121d partitioned by the filter 121b, and the fluid flowing into the lower space 121d filters the filter 121b by the suction force of the suction pump 122. It moves to the upper space 121c past.

The filter 121b may be inclined to have a predetermined inclination with respect to the lower surface of the storage space. The filter 121b may be formed so that a portion closer to the inlet portion 121a has a greater height than a portion farther from the inlet portion 121a.

Since the filter 121b has a through hole formed so small that the contaminants cannot pass, the contaminants are caught by the filter 121b and cannot move into the upper space 121c. That is, the filtered contaminants are deposited in the lower space 121d.

In addition, the purification tank 121 may be further formed with a foreign material discharge part (not shown) formed so as to be able to open and close to remove the foreign material deposited on one surface of the lower surface.

The suction pump 122 is formed in communication with the upper space 121c, and may be connected through a communication member (not shown) such as a connection pipe. The suction pump 122 has a high suction power so that contaminants can be sufficiently removed, and the fluid can be introduced into the inlet part 121a by the suction power of the suction pump 122 and the fluid is introduced through the discharge part 123 . A fluid may be discharged.

The suction pump 122 sucks the fluid in the upward direction so that the fluid in the purification tank 121 flows back from the lower space 121d to the upper space 121c. Accordingly, as the fluid moves into the upper space 121c through the filter 121b by the suction pump 122 , the foreign material is filtered by the filter 121b.

In addition, the suction pump 122 sucks and discharges the fluid at a pressure sufficient to use the discharge pressure for discharging the fluid through the discharge unit 123 as a driving force of the body 110 .

The discharge unit 123 is connected to the suction pump 122 to receive and discharge the fluid from which foreign substances are removed by the filter 121b by the suction pump 122 . The discharge unit 123 discharges the suctioned fluid in a direction that cancels each other so as to maintain the balance of the body 110 in discharging the fluid.

The discharge unit 123 may have a shape symmetrical to each other based on the center of the discharge unit 123 , and may have, for example, a circular ring shape. At this time, the discharge part 123 is formed to have the same width along the longitudinal direction. However, the shape of the discharge part 123 is not limited to a circular ring, and may be changed as needed.

Referring to FIG. 3 , the discharge unit 123 has a plurality of discharge holes 123a through which the fluid received by the suction pump 122 can be discharged. The discharge holes 123a are formed at positions symmetrical to each other with respect to the central point of the discharge unit 123 , and the discharge holes 123a facing each other formed at symmetrical positions have the same shape and size.

In addition, the discharge hole 123a may be formed on the lower surface of the discharge part 123 to raise the body 110 by a reaction force when the fluid is discharged in the downward direction. At this time, as shown, a plurality of discharge holes 123a are arranged at regular intervals along the circumferential direction of the discharge unit 123 .

As another example, the discharge hole 123a may be formed on the upper surface of the discharge unit 123 to lower the body 110 by a reaction force when the fluid is discharged in the upward direction.

In addition, as another example, the discharge hole 123a may be formed on the side surface of the discharge unit 123 to cancel each other out when the fluid is discharged in the side direction so that no reaction force is received.

The photographing device 130 is connected to the main body 110 to determine the position of the main body 110 and the adjacent surrounding environment.

You can take pictures of the scenery. The photographing device 130 includes a thermal imaging camera 131 for photographing the main body 110 and a thermal image so as to track the position of the main body 110 in real time, and a second second imaging camera 131 for photographing the surrounding environment adjacent to the main body 110 . It includes a camera 132 . In addition, a third camera 133 capable of magnifying and photographing an object to be inspected is also included.

The lens of the thermal imaging camera 131 may be disposed toward the body 110 , and may provide location information of the body 110 by simultaneously photographing the body 110 and the surrounding environment.

In addition, the thermal imaging camera 131 may detect information on the posture of the main body 110 by photographing not only the position of the main body 110 , but also the posture of the main body 110 .

In addition, referring to FIG. 1 , the member supporting the thermal imaging camera 131 includes a light emitting part L, and the light emitting part L is made of a plurality of light emitting diodes (LEDs) in a circular shape at regular intervals. there will be

The second camera 132 may be rotatably disposed to photograph both the front and the rear, and may be raised and lowered to photograph a wide band.

In addition, the photographing apparatus 130 may further include a third camera 133 which is a magnifying camera capable of photographing an object and an area to be inspected by enlarging the photographing apparatus. The third camera 133 may have a zoom-in or zoom-out function, so that an image to be inspected may be enlarged up to about 30 times to capture an image.

The propulsion device 140 is connected to the main body 110 to provide a propulsive force to the main body 110 to move the main body 110 in front, back, left, right, and vertical directions. The propulsion device 140 is capable of moving the main body 110 in various directions by independently controlling each of the internal components. Since the technology for this is widely known, a detailed description thereof will be omitted.

The propulsion device 140 includes a duct (not shown), a tilting shaft (not shown) and a propeller (not shown), and the duct is disposed on the outer peripheral surface of the propeller to protect the propeller. The duct is connected to the tilting shaft and rotated by tilting, thereby providing propulsive force to the main body 110 in all directions by rotation of a propeller disposed in the duct.

Referring to FIG. 1 , the underwater drone 100 further includes a communication device 150 and a cable 160 , respectively.

The communication device 150 may include a pressure transmitter, a displacement transmitter, or any other device capable of transmitting any signal. The communication device 150 may also communicate wirelessly with wirelessly accessible devices (not shown) such as an ultra wideband receiver, smartphone, tablet, or other computing device installed in an underwater terrain area.

In addition, the underwater drone 100 may be controlled from an external device (not shown) while receiving power from the outside by connecting the cable 160 to the central portion of the main body 110 . Here, an example of the cable 160 may include a tether cable.

Using the imaging device 130 for the underwater drone 100 that has the above-described structural features and that captures and collects underwater information while operating in the survey area of the ocean, the underwater drone 100 is irradiated while it is operating It functions to acquire thermal image information in real time by photographing the entire area at an appropriate size and location.

To explain this, when the thermal imaging camera 131 captures and acquires an image, the image information obtained from the second camera 132 is processed, and the underwater drone 100 derived from the position of the heat generating unit (L). A control information processing device 200 for modeling the underwater surface in a preset area in three dimensions by mapping the coordinate information of and the underwater surface information measured by the thermal imaging camera 131 is formed to be remotely spaced apart.

In addition, the control information processing device 300 includes a cable 160 for information captured by the thermal imaging camera 131 , the second camera 132 , and the third camera 133 corresponding to the photographing device 130 . will be sent by

The thermal imaging camera 131 and the second camera 132 photograph the entire area and the surrounding environment corresponding to the area of the underwater surface to be irradiated so that the underwater drone 100 can be tracked to produce a thermal image. it will create

The thermal imaging camera 131 functions as an infrared thermal imaging device through the light emitting part L formed by supporting the lower part, and tracks and detects the heat of the object to control the temperature distribution. ) to be displayed on the screen through transmission.

Therefore, in this embodiment, in order to solve the problem that a large error occurs when measuring the position of an underwater drone with GPS in a narrow space or a closed space, the position error is greatly increased by using the infrared thermal imager as described above in this embodiment. can be reduced

Specifically, the infrared thermal imaging camera, which is the thermal imaging camera 131, is installed to photograph the surface area sufficiently including a preset irradiation area.

Furthermore, when the underwater drone 100 is photographed with the thermal imaging camera 131 while operating within the set irradiation area, a thermal image of the underwater drone 100 appears, and the heating part L is relatively Since it is a high temperature, it can be recognized by accurately tracking the position of the underwater drone 100 because it appears in a color that is clearly recognized.

In addition, while the underwater drone 100 is operating, the second camera 132 acquires the thermal image image information photographed by the thermal imaging camera 131 in real time and converts it into data to the control information processing device 200 . A transmitting module (not shown) for transmitting is also included.

The control information processing device 200 maps the position coordinates of the underwater drone 100 obtained by processing the image information obtained from the second camera 132 of the underwater drone 100 to each other to finally a three-dimensional underwater surface. to create an image.

The control information processing apparatus 200 detects the position of the heating unit L by processing the image information acquired and transmitted from the second camera 132, and is derived from the detected position information of the heating unit L. The coordinate information of the underwater drone 100 is derived by calculating the position coordinates.

In addition, the control information processing apparatus 200 stores the thermal image image information transmitted from the transmission module of the second camera 132 in the database unit 250 in real time. Then, the stored image information is also displayed on a screen (not shown) of the control information processing apparatus 200 .

Through this, the manager can actually monitor the operating status of the underwater drone 100 . In addition, the control information processing device 200 processes the thermal image image information within the irradiation area (range) set by the administrator on the screen and converts it into temperature distribution information, and among the processed temperature distribution information, a specific temperature value or higher. The region is detected, and the position of the detected region is recognized and acquired as position information of the heating unit (L).

In other words, image warping of the thermal image information is performed, and after binarizing the thermal image, a region above a specific temperature value is detected. And, the coordinates corresponding to the detected values are determined as the positional coordinates of the heating unit L. Also, the temperature-distributed image information may be displayed on a colored screen. That is, the manager can clearly monitor the position of the heating part (L) on the screen, that is, the operating situation and position of the underwater drone 100.

And, the control information processing device 200 finally derives the actual position coordinates of the underwater drone 100 by processing the obtained position information of the heating unit (L).

And, when the thermal imaging camera 131 takes an image of the underwater surface, the control information processing device 200 stores the image information of the underwater surface or the seabed photographed by the thermal imaging camera 131, and such It is to display the underwater surface image information stored in this way on the screen. That is, the manager is also capable of real-time monitoring of the image of the underwater surface or the seabed surface photographed through the thermal imaging camera 131 .

Furthermore, the underwater drone 100 is also provided with an inertial measurement sensor (not shown: IMU, Inertial Measurement Unit). The inertial measurement sensor is such as a 3-axis acceleration sensor, a 3-axis gyro sensor, and a 3-axis geomagnetic sensor, for measuring the speed, acceleration, direction, gravity, etc. of the underwater drone 100 .

The image information of the underwater surface is also made three-dimensional mapping (mapping). For reference, the control information processing device 200 receives and processes the information of the inertial measurement value measured by the inertial measurement sensor, and then derives the correct position coordinates of the underwater drone 100 . That is, the control information processing apparatus 200 maps the underwater surface information to three-dimensionally model the underwater surface in the set area. For reference, the mapping means three-dimensional transformation and matching with each other.

The actual position coordinates of the underwater drone 100 derived in this way, the image captured by the thermal imaging camera 131, and the image information of the underwater surface are received and mapped to each other, and the mapped information is converted into a three-dimensional image. , to be modeled and displayed on the screen of the control information processing apparatus 200 .

That is, the shape of the underwater surface measured using the thermal imaging camera 131 at the specific location coordinate value of the underwater drone 100 and the specific location coordinate value is matched to form a point cloud. As a specific example, the point cloud formation preferentially models the processed underwater surface image information by a preset three-dimensional model format based on modeling for the body surface of the underwater surface.

And, it consists of an operation of mapping the calculated actual position coordinates of the underwater drone 100 and the modeled underwater surface image information to form a point cloud.

It is possible to convert and show a certain number of such point cloud-formed data into a three-dimensional three-dimensional image shape. At this time, it is possible to clearly distinguish the color according to the height of the underwater surface. Since the 3D modeling generated by the point cloud is a known technique, a detailed description thereof will be omitted.

Hereinafter, a tertiary modeling process of the underwater surface will be described with reference to FIGS. 4 to 7 .

All of the above drawings are photographs. Specifically, FIG. 4 is a photograph showing a display screen of a thermal image, and FIG. 5 is a photograph illustrating a display screen at the location of the heating part (L). And, FIG. 6 is a photograph showing a display screen of an underwater surface image, and FIG. 7 is a photograph illustrating a display screen of three-dimensional modeling.

For reference, the meaning of the operator mentioned below is an operator who operates the underwater drone 100 and an engineer who operates the control information processing device 200 .

First, the three-dimensional modeling process designates an investigation target area (generally a rectangle), and places the underwater drone 100 at a position and height that can capture the entire area including the investigation area.

Then, the engineer checks the thermal image, designates the irradiation area as shown in the dotted rectangle in FIG. 4 , and measures the horizontal and vertical actual distance of the irradiation area.

In addition, the irradiation area is divided into one or more grids for the location of the heating part (L). When the engineer inputs the number of grids, it is automatically partitioned as shown in the photo of FIG. 5 .

After the setting as described above, the operator operates the underwater drone 100 to which the heating part (L) is attached within the irradiation area.

The operator may operate the underwater drone 100 along a predetermined route to scan all areas within the irradiation area. For example, the underwater drone 100 can be operated over the entire area of the irradiation area by moving left or right while reciprocating from one side of the rectangular irradiation area in the front and rear directions.

At this time, the image information of the underwater surface measured by the thermal imaging camera 131 and the thermal image image information data data through the second camera 132 are transmitted to the control information processing device 200 in real time and synchronized. .

And, among the information transmitted to the control information processing device 200, the thermal image image information is derived from the underwater drone 100 through location recognition of the underwater drone 100, and the mapping proceeds.

Next, the image information of the underwater surface provides the underwater surface shape of the irradiation area as a three-dimensional color image as shown in FIG. 7 by mapping these two pieces of information after the underwater surface information processing.

Hereinafter, a block diagram of an underwater exploration system 500 using an underwater drone according to the present invention will be described with reference to FIG. 8 .

As shown, the database unit 250 for receiving and storing the image information of the underwater surface and the exploration information of the ocean collected by the underwater drone 100 from the control information processing device 200 is formed.

That is, a database unit 250 for storing image information, etc. photographed by the photographing device 130 including the thermal imaging camera 131 , the second camera 132 and the third camera 133 is provided, and the A processing unit T is formed that receives the data stored in the database unit 250 from the control information processing device 200, analyzes and processes the thermal image and image information of the underwater surface in real time, and transmits it to the analysis unit 300 .

For reference, the database unit 250 is accommodated in the control information processing device 250 and transmitted to the processing unit T according to its own control signal.

Furthermore, it is characterized in that a deep learning system is used in analyzing the captured images transmitted to the processing unit (T).

The deep learning method refers to a machine learning technology based on artificial neural networks that have been programmed to allow computers to learn on their own, like humans, based on big data. Therefore, it is widely applied to the processing of photos, images, and sound data, and the processing unit T analyzes the object in the captured image in real time and then analyzes the characteristics of the object found in the image to present the distribution status in the water. characterized by being able to.

Then, the processing unit T transmits the analysis result to the analysis unit 300 .

The analysis unit 300 analyzes the underwater information, the thermal image, and the image information of the underwater surface through the data stored in the database unit 250 and analyzes and matches the information and data of the result of the analysis and mapping again The output unit 350 is formed therein.

Hereinafter, a method of analyzing underwater information and thermal images and image information of the underwater surface will be described with reference to FIG. 9 .

First, an image is photographed through the photographing device 130 (S1).

The control information processing apparatus 200 receiving the image from the photographing apparatus 130 transmits the photographed image of the target to be analyzed to the processing unit T. That is, the control information processing apparatus 200 transmits the captured images such as images, images, and photos stored in the database 250 to the processing unit T (S2).

Accordingly, the analysis unit 300 analyzes the image received from the processing unit T via the control information processing device 200, and receives the captured image and analyzes the result value through a neural network for each function. is to generate (S 3).

That is, the analysis unit 300 may receive the captured image and generate a result value analyzed through an image (photo) description neural network and an image recognition neural network.

In addition, the analysis unit 300 generates a result value by reflecting the priority according to the weight to the probability value of the generated analysis result value (S 4), and receives the result value reflecting the weight, that is, the priority in this way. It can be displayed on a display unit (not shown) or output through the output unit 350 (S5).

In more detail, the analysis unit 300 displays the analysis result value having the highest priority among the analysis result values generated through the image description neural network and the image recognition neural network, and sets the analysis result value in the order of priority. can be displayed as

In other words, the analysis unit 300 derives the results of recognizing images and images through several types of neural networks at once, gives priority to each result value, and transmits them to the output unit 350 , and the output unit In (350), the output is performed from the highest priority result.

Accordingly, the manager may be sequentially provided with the results of the following priorities through the output of a screen or a document of the output unit 350 (S6).

For example, when the analysis unit 300 generates a result value analyzed through the image description neural network, the object recognition neural network, and the image recognition neural network, the output unit 350 is the image description neural network, The analysis result value having the highest priority among the analysis result values generated using the image recognition neural network or the like is displayed first, and when the user inputs a predetermined control command, the analysis result values may be displayed in the order of priority.

Therefore, the neural networks of the analysis unit 300 that analyze a specific image or image from various viewpoints operate simultaneously to generate each result value and then output it to the output unit 350 at once, so that the manager can They can be selected one by one according to their priority, and the analysis results can be output and provided.

That is, the image provided from the control information processing device 200 is calculated through the neural networks generated by the analysis unit 300 , and the overall result value is analyzed after arranging the images in the order of highest score in each result value. It is transmitted by the unit 300 and provided to an administrator or the like.

Therefore, it is possible to provide a convenient and efficient marine information and image analysis environment that can effectively check various types of result values by receiving feedback from the above result values.

In addition, the output unit 350 receives and outputs the image information and underwater information transmitted from the processing unit T, and can map and output information according to a set area, through which underwater information or thermal image or If you want to check the underwater surface image information, it is implemented so that image information and underwater information can be provided by clicking a location on the information map screen (not shown).

In this way, using the deep learning method of analyzing and classifying information such as thermal images or underwater exploration collected through the imaging device 130 of the underwater drone 100 into big data, collecting information in the ocean underwater characterized.

Therefore, the database unit 250 for storing the image information of the ocean collected by the control information processing device 200, and the processing unit T for receiving and analyzing the information stored in the database unit 250, the deep learning system By analyzing and classifying the marine information using In this case, as more accurate classification is possible, there is an effect of increasing the accuracy along with the accumulation and accumulation of marine information and video image analysis over time.

Those skilled in the art to which the present invention pertains as described above will understand that the present invention may be implemented in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative and not restrictive.

The scope of the present invention is indicated by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

100: underwater drone 110: body
120: purification device L: heating part
121: purification tank 122: suction pump
123: discharge unit 130: photographing device
131: thermal imaging camera 132: second camera
133: third camera 140: propulsion device
150: communication device 160: cable
200: control information processing device 250: database unit
300: analysis unit 350: output unit
T: processing unit
500: Underwater exploration system using an underwater drone

Claims (2)

In the underwater exploration system using an underwater drone,
a body made of a lightweight corrosion-resistant material;
a propulsion device connected to the main body to move the main body back and forth, up and down, left and right;
A thermal imaging camera connected to the main body and provided with a purifying device for filtering fluid including marine contaminants, and a thermal imaging camera for photographing the main body by tracking the position of the main body in real time, and the surrounding environment adjacent to the main body A second camera having a transmission module for capturing and transmitting the thermal image image information captured by the thermal imaging camera in real time while the underwater drone is operating, converting it into data and transmitting it to the control information processing device, and the object to be photographed can be enlarged and taken an underwater drone for photographing and collecting underwater information while operating in the irradiation area, including a photographing device having a third camera and a cable capable of receiving power and control from an external device in the middle portion of the main body;
a control information processing device that processes the image information obtained from the second camera and maps the underwater surface information and coordinate information of the underwater drone derived from the location of the heating unit to three-dimensionally model the underwater surface in the set area;
a database unit for receiving and storing the information collected by the underwater drone from the control information processing device;
and an analysis unit having an output unit configured to analyze and map the underwater information through the data stored in the database unit, and output the underwater information,

The control information processing device detects the position of the heating unit (L) by processing the image information obtained and transmitted from the second camera, and coordinate information of the underwater drone derived from the position information of the heating unit (L); The location information is calculated and stored in the database unit, and displayed on the screen of the control information processing device,

The method of analyzing the image information captured by the thermal imaging camera, the second camera, and the third camera
a first step of photographing an image through the thermal imaging camera, the second camera, and the third camera;
a second step of transmitting, by the control information processing apparatus receiving the images from the thermal imaging camera, the second camera, and the third camera, the captured image of the target to be analyzed to the processing unit (T);
a third step of analyzing, by the analyzing unit, the image received from the processing unit T via the control information processing device through a plurality of neural networks for each function;
a fourth step of generating, by the analysis unit, a result value by reflecting a priority according to a weight to a probability value of the generated analysis result values;
a fifth step of receiving a weight value, that is, a priority reflected in the fourth step, and displaying it on a display unit or outputting it through an output unit;
a sixth step of sequentially receiving the results of the following priorities through the output of a screen or a document of the output unit; An underwater exploration system using an underwater drone and sonar, characterized in that it consists of.
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