KR102478093B1 - Umbilical Cable Status Monitoring system of underwater drone - Google Patents

Abstract

An umbilical cable condition monitoring system for an underwater drone is disclosed. The present invention includes a main body, a propulsion device connected to the main body to move the main body forward and backward, up and down, and left and right, and a purifier connected to the main body to filter fluid containing marine pollutants, and determining the location of the main body. A first camera that photographs the body and a transmission module that photographs the surrounding environment and the umbilical cable adjacent to the body and obtains and converts body information captured by the first camera into data in real time so as to be tracked in real time A photographing device equipped with a formed second camera and a third camera capable of enlarging and taking a picture of an object to be photographed, and an umbilical cable capable of supplying and controlling power from an external device at the center of the main body, When the underwater drone and the second camera for photographing and collecting underwater information while traveling in the area photograph the umbilical cable, a control signal for changing the photographing position and angle of the second camera is transmitted to the second camera The control signal transmission unit, the monitoring unit receiving the image acquired from the second camera, and the umbilical cable have a power supply cable for supplying power to the underwater drone and a power supply cable for transmitting and receiving data to and from the underwater drone. Characterized in that a data cable is built-in.
The result of this application was carried out with the support of "Tongmyong University University Innovation Research Complex Creation Industry" among the University Innovation Research Complex creation projects of Busan Metropolitan City.

Description

Umbilical Cable Status Monitoring system of underwater drone}

The present invention relates to an umbilical cable condition monitoring system for an underwater drone, and relates to an umbilical cable condition monitoring system capable of accurately monitoring the occurrence of an abnormal state of the umbilical cable in real time.

Umbilical cable is a general term for composite cables used in marine engineering, and is largely classified into geological exploration, oil drilling, and ROV (remotely controlled robotic submersible). The umbilical cable is connected to marine equipment to supply power, control equipment, and transmit signals to monitoring equipment. It is mainly used for offshore plants, energy exploration and drilling, unmanned submersibles, and underwater drones.

For example, it is connected between the mother ship and the underwater marine equipment to supply power and hydraulic pressure to the underwater marine equipment or functions as a communication line between the mother ship and the underwater marine equipment.

In particular, when operating an underwater drone on the seabed with a lot of dynamic movement through the umbilical cable, entanglement of the umbilical cable frequently occurs, resulting in poor communication through the umbilical cable or damage to the umbilical cable. There is a high chance that damage problems will occur.

In order to prevent such damage to the umbilical cable and accidents caused by it, a buoy is attached to the umbilical cable of the underwater drone or a camera is installed on the top so that the operator or manager monitors the condition of the umbilical cable from time to time. method can be presented.

An underwater drone using such a thick and heavy umbilical cable must use a buoy of a corresponding size, which eventually interferes with the operation of the underwater drone.

In addition, the surveillance method using a camera in an underwater drone also has a disadvantage in that work efficiency is low and it is very difficult to use in areas where visibility in the deep sea is poor.

Korean Patent Publication No. 2015-0101757 Korean Patent Publication No. 2019-0133694 Korean Patent Publication No. 2020-0129137

Therefore, the present invention was created to solve the above-mentioned problems, and monitors the state of the umbilical cable connected to the underwater drone in real time and transmits the state information of the umbilical cable so that the operator can know To provide an underwater drone umbilical cable condition monitoring system to prevent secondary damage that may be generated when an abnormal condition occurs in the umbilical cable by helping the operator safely maneuver the underwater drone. Aim for what you can.

In addition, an object of the present invention is to provide an umbilical cable condition monitoring system for an underwater drone capable of more accurate monitoring by controlling the shooting angle and shooting position of an image capture device.

In order to solve this problem, the present invention has a main body and a propulsion device connected to the main body to move the main body forward and backward, up and down, left and right, and a purification device connected to the main body to filter fluid containing marine pollutants, , To track the position of the main body in real time, photographing the first camera for photographing the main body, the surrounding environment adjacent to the main body and the umbilical cable, and obtaining the main body information photographed by the first camera in real time A photographing device equipped with a second camera having a transmission module for converting data into data and a third camera capable of zooming in and taking a photograph of an object to be photographed, and an umbilical in the center of the main body that can be supplied with power and controlled from an external device. A control signal for changing the photographing position and angle of the second camera when the second camera photographs the umbilical cable and the underwater drone that includes a cable and collects underwater information while traveling within a certain area. A power supply cable for supplying power to the underwater drone inside the control signal transmitter for transmitting to the second camera, the monitoring unit for receiving the image obtained from the second camera of the image capture device, and the umbilical cable. and a data cable for transmitting and receiving data to and from the underwater drone.

In addition, the second camera is an infrared camera equipped with a video image enhancement module to increase photographing accuracy, and includes a communication unit for receiving a control signal from the control signal transmission unit.

In addition, the umbilical cable may further include a sensor unit that moves along the umbilical cable, receives a gradient detected by the umbilical cable, and transfers it to the control signal transmission unit.

In addition, the control signal transmission unit transmits a control signal to the second camera to take a picture when the slope set through the sensor unit is exceeded, and transmits the captured image to the monitoring unit through the communication unit.

Therefore, the present invention monitors the state of the umbilical cable connected to the underwater drone in real time so that the manager can know the real-time status monitoring information to help the safety control of the underwater drone, thereby increasing the efficiency of work using the underwater drone There is an effect of saving cost and time for maintenance related to underwater drones.

In addition, when the connection between the umbilical cable and the network is disconnected, the automatic switching system connects the network automatically and in real time through an alternative network path, thereby ensuring reliability of the network.

1 is a perspective view of an underwater drone.
Figure 2 is a cross-sectional view of an underwater drone.
Figure 3 is a bottom view of the discharge unit of the underwater drone.
4 is a configuration diagram of an image capture device and a control signal transmission unit;
5 is a configuration diagram of an umblical cable;
6 is a cross-sectional view of an umblical cable.
7 is a block diagram of an umblical cable monitoring system;
8 is a flow chart of a monitoring method;
9 is a block diagram of an umbilical cable and a network connection monitoring device.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed 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 subject matter of the present invention, the detailed description will be omitted.

In addition, since the terms used in this application are only used to describe specific embodiments, it is not intended to limit the present invention, and it is clear in advance that a singular expression also means a plurality of expressions unless the context clearly indicates otherwise. want to leave

1 is a perspective view of an underwater drone, FIG. 2 is a cross-sectional view of the underwater drone, FIG. 3 is a bottom view of a discharge unit of the underwater drone, FIG. 4 is a configuration diagram of an image capture device and a control signal transmission unit, and FIG. 6 is a cross-sectional view of an umblical cable, FIG. 7 is a block diagram of an umblical cable monitoring system, and FIG. 8 is a flowchart of a monitoring method, and It is a block diagram of a network connection status monitoring device.

1 is an underwater drone 100 that travels in a certain area under water, which is one of the components in an embodiment of the present invention, and collects underwater information. The underwater drone 100 can be operated remotely while floating in water, and can remove foreign substances in the water by sucking fluids containing foreign substances in the water, and at the same time, in the process of removing the foreign substances, the balance is maintained without disturbing. that can be maintained

In addition, the underwater drone 100 is provided with a separate lighting member (not shown) to enable easy shooting even in a dark environment.

As shown, the main body 110 is formed of a framing member and may include a plurality of panels or a plurality of beams. The main body 110 may be made of a relatively lightweight and corrosion-resistant material, such as an aluminum panel or an aluminum beam.

In addition, a propulsion device 140 formed on the main body 110 to move the main body 10 forward and backward, up and down, left and right is provided. 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 circumferential surface of the propeller to protect the propeller. A detailed description of propelling the underwater drone 100 using the propulsion device 140 will be omitted because it is a well-known technique.

The umbilical cable 160 is formed through a substantially central portion of the main body 110 of the underwater drone 100, and receives power supply and control from an external device.

In addition, the communication device 150 is formed to communicate with external equipment and the like. For example, it can also communicate wirelessly with wirelessly accessible devices (not shown) such as ultra wideband receivers, smartphones, tablets, or other computing devices installed in an underwater terrain area.

2 is a cross-sectional view of the underwater drone 100. As shown, the purification device 120 connected to the main body 110 and filtering the fluid containing marine pollutants sucks the pollutant-containing fluid and removes pollutants. It is a device for discharging the purified fluid after filtering it out, and includes a cleaning container 121, a suction pump 122, and a discharge unit 123. For reference, the drawing shows a state in which the umbilical cable 160 is pulled out of the fixing member (reference numerals are omitted).

As shown, the purification container 121 includes an inlet 121a through which fluid flows and a filter 121b through which contaminants are filtered. The filter (121b) partitions the storage space inside the purification container (121) into an upper space (121c) and a lower space (121d), and the filter (121b) is the upper space (121c) and the lower space (121d) is a filter 121b communicates with it, and the introduced fluid can move 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 introduced into the lower space 121d is filtered through the filter 121b by the suction force of the suction pump 122. It passes and moves to the upper space (121c).

The filter 121b may be formed 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 contaminants cannot pass through, the contaminants are caught by the filter 121b and cannot move to the upper space 121c. That is, the filtered contaminants are deposited in the lower space 121d.

In addition, the cleaning container 121 may further have a foreign material discharge unit (not shown) formed to be opened and closed so as to remove foreign materials accumulated 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 connecting pipe. The suction pump 122 has a high suction power so that contaminants can be sufficiently removed, and fluid can be introduced into the inlet portion 121a by the suction force of the suction pump 122 and introduced through the discharge portion 123. Fluid may be ejected.

The suction pump 122 sucks the fluid upward so that the fluid in the purifier 121 flows backward from the lower space 121d to the upper space 121c. Therefore, as the fluid is moved to the upper space 121c through the filter 121b by the suction pump 122, foreign substances are caught in 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 the driving force of the main body 110 .

The discharge unit 123 is connected to the suction pump 122 and receives and discharges the fluid from which foreign substances are removed by the filter 121b by the suction pump 122 . The discharge unit 123 discharges the sucked fluids in mutually offset directions so as to maintain the balance of the main body 110 in discharging the fluids.

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

Hereinafter, the discharge unit 123 will be described.

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

In addition, the discharge hole 123a may be formed on the lower surface of the discharge portion 123 to raise the main body 110 by a reaction force when fluid is discharged in a 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 portion 123 .

As another example, the discharge hole 123a may be formed on an upper surface of the discharge portion 123 so that the main body 110 is lowered by a reaction force when fluid is discharged upward.

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

Hereinafter, a description of the image capturing device 130 for capturing the umbilical cable 160 will be roughly described.

The image capture device 130 is connected to the main body 110 to capture the location of the main body 110 and the surrounding environment. The image capture device 130 includes a first camera 131 for capturing the body 110 by tracking the position of the body 110 in real time, and a surrounding environment adjacent to the body 110 and an umbilical cable 160 It includes a second camera 132 for photographing and a third camera 133 for enlarging and taking a picture of an object to be photographed.

In addition, in the first camera 131, light emitting diodes (L) for checking the position of the underwater drone 100 are configured in a circular shape at regular intervals on the surface.

In addition, while the underwater drone 100 is operating, the second camera 132 acquires the surrounding image information and the umbilical cable 160 captured by the first camera 131 in real time, converts them into data, and monitors the A transmission module (not shown) for transmission to 180 is also included.

The monitoring unit 180 serves to receive the image of the umbilical cable 160 obtained from the second camera 132 . Also, images are received from the other first camera 131 and the third camera 133 .

Hereinafter, a description of the image capture device 130 will be given with reference to the drawings.

Referring to FIG. 4 , when a control signal is transmitted from the control signal transmitter 170 to the image capture device 130, the communication unit 136 of the image capture device 130 controls the control signal from the control signal transmitter 170. receive a signal The image capture device 130 is implemented to monitor the image of the tracked object in real time by automatically moving to the location of the corresponding coordinates.

As shown, the image capture device 130 may include a communication unit 136 in a form in which a CCD (Charge Coupled Device) camera 134 and an infrared camera 135 are coupled to each other. Here, it should be noted that the CCD camera 134, the infrared camera 135, and the communication unit 136 are built in all of the first camera 131, the second camera 132, and the third camera 133. Accordingly, the first camera 131, the second camera 132, and the third camera 133 all have dual cameras of a CCD camera 134 and an infrared camera 135.

In the imaging device 130, the CCD camera 134 is for visually checking the sea conditions in real time during the day, and the infrared camera 135 is for real-time monitoring of the sea conditions even at night and in fog. Therefore, there is also an effect of monitoring all of them regardless of day and night.

Therefore, the infrared camera 135 removes wavelengths of light reflected by obstacles such as fog, smoke, yellow dust, sea fog, bad weather, etc., and amplifies and restores the original light of the object behind the obstacle to prevent malfunction of the tracking object. A video image improvement module (not shown) is applied to prevent in advance and increase the shooting accuracy of target monitoring.

The communication unit 136 transmits photographing information generated through the camera unit 130 to the monitoring unit 180 and receives a control signal from the control signal transmission unit 170 . Accordingly, the capturing position or the capturing angle of the CCD camera 134 and the infrared camera 135 is changed by receiving the control signal.

When the second camera 132 of the imaging device 130 photographs the umbilical cable 160 based on underwater information collected by the underwater drone 100, the above A control signal transmitting unit 170 is formed to transmit a control signal for changing a photographing position or a photographing angle of the second camera 132 to the second camera 132 . That is, when the second camera 132 takes a picture of the umbilical cable 160, a control signal is transmitted to the second camera 132 so that the picture can be taken more clearly. It is to change the shooting angle and shoot.

When the control signal transmission unit 170 transmits a control signal to the second camera 132, the second camera 132 automatically moves to the location of the corresponding coordinate and displays an image of the umbilical cable 160 in real time. that can be monitored.

Hereinafter, a description of the umbilical cable 160 will be given with reference to FIGS. 5 and 6 .

5, the umbilical cable 160 is a power supply cable 161 for supplying power to the underwater drone 100 therein and for transmitting and receiving signals or data to and from the underwater drone 100. It is made in the form of a housing in which the data cable 162 is embedded.

The buoyancy body 167 is coupled to the outer circumference of the mesh tube 165 to maintain neutral buoyancy throughout the umbilical cable 160. The buoyancy body 167 allows the umbilical cable 160 to float or have neutral buoyancy so as to maintain a constant water depth. The buoyancy body 167 has a cylindrical shape and a hole (not shown) through which the mesh tube 165 can be inserted is formed in the center. Furthermore, it is preferable that the shape of the buoyancy body 167 is formed as streamlined as possible in consideration of currents in the water.

The power supply cable 161 receives power provided from a power supply unit (not shown) from the underwater drone 100 and operates it. The power supply cable 161 may be composed of a + cable and a - cable to supply current.

And, the data cable 162 transmits and receives signals or data to the underwater drone 100.

The data cable 162 can be any type capable of transmitting and receiving data or electrical signals, but it is preferable to use a UTP (Unshielded Twisted Pair) type LAN communication cable having neutral buoyancy due to the nature of being underwater.

Therefore, a command issued by an operator in the underwater drone 100 can be input to a communication board (not shown) of the underwater drone 100 through the data cable 162 . In addition, image data of the surroundings may be received in real time from the first camera 131, the second camera 132, and the third camera 133 mounted on the underwater drone 100.

Referring to FIG. 6 , one or more data cables 162 may be provided, and each may be wrapped with a shield 163 made of silicon. In addition, the entire bundle of the data cables 162 may have a shielding structure surrounded by one shielding film 164 .

The shielding film 164 is provided to block an electromagnetic field or electrical noise generated from the power supply cable 161 from interfering with data transmission performance of the data cable 162 . At this time, the shielding film 164 may be made of a thin plate made of aluminum. That is, the entire data cable 162 may be wrapped with something such as silver foil.

The mesh tube 165 is a configuration for maintaining and protecting the shape of the cable by bundling the power supply cable 161 and the data cable 162 into one cable. That is, both the power supply cable 161 and the data cable 162 are accommodated inside the mesh tube 165.

At this time, the mesh tube 165 is made of an insulating material and protects the internal cables 161 and 162 from external impact. The mesh tube 165 is made of a net, but is not coupled to a cable or a pneumatic hose, but is provided to surround it.

Therefore, it is possible to prevent tangling or twisting of the cables 161 and 162 due to the mesh tube 165, and fatigue failure due to continuous bending (such as cutting a metal wire when it is continuously bent and stretched) signs of deterioration) may be prevented. Furthermore, even if water is introduced through the mesh tube 165, the introduced seawater or river water serves as cooling water to cool the power supply cable 161 or data cable 162 from being heated.

In addition, the pneumatic hose 166 is to control the internal pressure of the underwater drone 100 by injecting or adjusting the compressed air inside the underwater drone 100, the pneumatic hose 166 is formed on the ground or sea plate It is connected to a compressor (not shown) and serves to deliver air of a certain pressure to the underwater drone 100.

In addition, the umbilical cable 160 is network-connected to devices (not shown) on the ground, and a related description thereof will be given later.

Hereinafter, a configuration for monitoring the umblical cable 160 having the above configuration will be described.

As shown in FIG. 7, in the configuration of monitoring the umblical cable 160 of the present invention, it is formed on the surface of the umblical cable C to move along or transmit an abnormal phenomenon from an arbitrary sensor. A receiving sensing unit 168 and a signal amplifier 190 amplifying the signal sensed by the sensing unit 168 are configured.

Here, the signal amplifier 190 may be composed of a general operational amplifier (OP-AMP). The OP-AMP is widely used as a buffer or an amplifier, and the OP-AMP can also be used as a charge amplifier or a voltage amplifier. The output voltage of a charge amplifier is related to the feedback capacitance, not the input capacitance. This means that the output voltage of the charge amplifier is independent of the capacitance of the cable.

The above-mentioned advantage of the voltage amplifier is that it has its own temperature compensation function, which is very useful when using a sensor with a certain length. The sensitivity of voltage to temperature (g-constant) is smaller than the sensitivity of charge to temperature (d-constant). Therefore, the voltage amplifier is less affected by temperature.

The second camera 132, which is one of the cameras constituting the image capture device 130, captures the pressure or the area where the pressure change is sensed when pressure or a change in pressure is sensed by the sensing unit 168.

When pressure or a change in pressure is sensed from the sensing unit 168, the control unit C transmits a control signal to the second camera 132 from the control signal transmission unit 170 and receives the signal, the second camera Step 132 captures pressure or a region in which a change in pressure is sensed based on the pressure of the sensing unit 168 or a signal in which a change in pressure is detected, and transmits the obtained image to the monitoring unit 180 .

If the second camera 132 is fixedly installed, the corresponding area is photographed when a pressure or pressure change signal is received from the detector 168 .

Here, the monitoring unit 180 refers to a device capable of outputting a screen, such as a computer, mobile device, tablet, etc. with a configuration capable of checking an image captured by the camera 200 . At this time, the control unit C and the monitoring unit 180 may be connected through a network.

In addition, when the control signal transmission unit 170 receives the pressure or pressure change detected signal from the sensor 168, based on the pressure or pressure change detected signal from the sensor 168, The second camera 132 is controlled to obtain an image by adjusting an angle of the second camera 132 to capture a region where pressure or a change in pressure is detected.

That is, when the second camera 132 receives a pressure or a pressure change detected signal from the sensor 168, the second camera 132 captures the corresponding portion of the umbilical cable 160. After adjusting the angle of the part, take a picture.

The control unit (C) may be characterized in that it automatically transmits the captured image (still image, video) to the manager by e-mail or mobile text message.

That is, it is possible to check and manage images in an abnormal state in real time without performing a separate image search to check an image corresponding to an abnormal state of the umblical cable 160 .

In the process of transmitting the image of such an abnormal situation, when pressure or a change in pressure is detected through the sensor 168 and a signal is generated, the control unit C receives it and controls the second camera 132 to take a picture ( Shooting or shooting after moving (rotation) is performed), and accurate shooting can be performed with assistance from the control signal transmission unit 170.

The control unit C receives the captured image and transmits it to the monitoring unit 180 through a network or the like so that the manager can check it in real time.

At this time, it is preferable that the control unit C automatically transmits the captured image (still image, moving picture) to an upper manager who is absent or does not reside by e-mail or mobile text message.

Hereinafter, in the method of monitoring the umbilical cable 160, a method of monitoring an abnormal situation by analyzing the slope of the umbilical cable 160 will be described.

The surface of the umbilical cable 160 moves along the umbilical cable 160, receives the slope detected by the umbilical cable 160, and transfers it to the control signal transmitter 170. A sensor unit (not shown) is formed.

The sensor unit detects the posture of the umblical cable 160 . Here, the sensor unit is an AHRS and measures inclination with respect to the X-axis, Y-axis, and Z-axis.

Referring to the AHRS, a system for estimating the attitude information (roll, pitch) of an object using angular velocity and acceleration is called an Attitude Reference System (ARS). Here, a system that acquires position information (roll, pitch, yaw) of an object by adding a compass sensor is called an Attitude Heading Reference System (AHRS). In other words, instead of outputting angular velocity and acceleration, Roll, Pitch, and Yaw values are calculated and output.

Then, the control signal transmission unit 170 transmits a control signal to the second camera 132 to photograph the umbilical cable 160 when the slope exceeds a predetermined inclination through the sensor unit, The captured image is transmitted to the monitoring unit 180 through the communication unit 136 inside the second camera 132 . This is to ensure that the manager confirmed through the monitoring unit 180 takes appropriate measures.

Hereinafter, a method of monitoring an umbilical cable will be described with accompanying drawings. A description overlapping with the above-described embodiment will be omitted to some extent.

Referring to FIG. 8, the monitoring method according to the present invention includes the step of executing an operation for underwater work using an underwater drone 100 (S100), an umbilical cable 160 using an image capture device 130 ) In order to monitor the surroundings, generating detection information or photographing information (S110), receiving information while the underwater drone 100 travels around (S120), based on the photographing information The umbilical cable 160 includes a step of determining an abnormal situation (S130) and a step of transmitting to the monitoring unit 180 when it is determined that the umbilical cable 160 is in an abnormal situation (S140).

At this time, after the transmitting step (S140), if it is determined that the umbilical cable 160 is damaged or tangled due to a steep inclination, transmitting the image to the person in charge of the management unit for confirmation may further include.

In the step S100, the underwater drone 100 through the image capture device 130 executes a task in an underwater area.

In the step S110, in order to monitor the umbilical cable 160 through the imaging device 130, photographing information is generated by photographing the periphery of the umbilical cable 160. Therefore, it is preferable that the image capture device 130 be installed at a location suitable for monitoring the umbilical cable 160 and monitor it.

The image capture device 130 includes a CCD camera 134 and an infrared camera 135, and is provided separately for daytime use and nighttime use. The CCD camera 134 is for checking the underwater situation in real time during the day, and the infrared camera 135 is for monitoring the underwater situation in real time at night.

Therefore, the infrared camera 135 removes wavelengths of light reflected by interfering factors such as sea fog and underwater cloudiness, and amplifies and restores the light inherent to the interfering factor, thereby preventing malfunction of the tracking object. A video image improvement module is applied to prevent in advance and increase the accuracy of target surveillance.

In addition, in the step S110, based on the detection information, the capturing position or angle of the second camera 132 is changed so that the image capturing device 130 captures the umbilical cable 160 so that the capturing information is captured. can also create

In step S120, the underwater drone 100 receives detection information and shooting information while operating underwater.

In the step S130, the state of the umbilical cable is monitored based on the detection information and the photographing information in the step S120 to determine whether an abnormal situation exists.

The step S130 is the detection of pressure or pressure change through the sensing unit 168 of the umbilical cable 168 and whether or not the tilt of the umbilical cable 160 through the sensor unit exceeds a preset gradient, and the like. It is to judge the same abnormal situation.

In the step S140, when the umbilical cable 160 is judged to be in an abnormal situation, such as a detection signal due to pressure conversion or an excessive inclination, it is transmitted to the monitoring unit 180.

Hereinafter, a description of the apparatus 200 for monitoring a connection state between the umbilical cable 160 and a network (not shown) will be described with reference to the drawings. This method corresponds to a method of transmitting the state of the umbilical cable 160 to the monitoring unit 180 through a network or the like.

Referring to FIG. 9, it is a block diagram of the monitoring device 200, the overall configuration of which is a management system 210, a diagnosis device 220, a switch 230, a multi-service support platform 240 (MSPP), a tap monitoring system ( 250), an automatic transfer system 260, a distributor 270, and an online service provider 280.

Here, the tap monitoring system 250 is a system that monitors the signal level of the umbilical cable 160 in real time and finds an alternative network path when the connection between the umbilical cable 160 and the network is disconnected. .

The management system 210 is connected to the tap monitoring system 250 so that the user can check the network status in real time and is installed in a PC or the like.

At this time, it is preferable that the management system 210 and the tap monitoring system 250 are connected via RS-232, but is not limited thereto.

The diagnosis device 220 is connected to the management system 210 to measure the presence or absence of abnormalities such as damage to the network communication network in real time, and is connected to the management system 210 via USB, but is not limited thereto. In addition, the diagnosis device 220 may monitor an abnormal network state of the umbilical cable 160 in operation.

In addition, the automatic switching system 260 is connected to the tap monitoring system 250, and when the connection between the umbilical cable 160 and the network is disconnected, the tap monitoring system 250 connects to the alternative path found by the network. reconstitute

The distributor 270 is a distribution box that is connected to the automatic switching system 260 and distributes one signal to a plurality of cables (not shown).

In addition, an LED (not shown), which is a light emitting diode, may be additionally formed in the distributor 270 so that it can be visually confirmed whether the umbilical cable 160 is properly connected to the network.

Therefore, when the connection between the umbilical cable 160 and the network is disconnected, the automatic switchover system 260 automatically connects them in an alternative path, thereby securing the reliability of the network and visually checking the network status. It also has the advantage of being able to check the network status in real time.

Therefore, there is an advantage in securing reliability of the network even in a sudden failure state such as network disconnection.

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

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

100: underwater drone 110: main body
120: purifier 121: purifier
121b: filter 121c: upper space
122: suction pump 123: discharge unit
130: image capture device 131: first camera
132: second camera 133: third camera
134: CCD camera 135: infrared camera
136: communication unit 140: propulsion device
150: communication device 160: umbilical cable
161: power supply cable 162: data cable
163: shield 164: shield
165: mesh tube 166: pneumatic hose
167: buoyancy body 168: sensing unit
170: control signal transmission unit 180: monitoring unit
190: signal amplifier C: control unit
200: monitoring device L: light emitting diode
210: management system 220: diagnosis device
230: switch 240: multiservice support platform (MSPP)
250: tap monitoring system 260: automatic transfer system
270: distributor 280: online service provider

Claims (4)

In the umbilical cable condition monitoring system of an underwater drone,
A main body and a propulsion device connected to the main body to move the main body forward and backward, up and down, left and right;
A purifying device connected to the main body to filter fluid including marine pollutants is provided, and the position of the main body can be tracked in real time, so that a first camera for photographing the main body and a surrounding environment adjacent to the main body and A video recording device equipped with a second camera having a transmission module for taking pictures of an umbilical cable and acquiring body information captured by the first camera in real time and turning it into data, and a third camera capable of enlarging and taking pictures of an object to be photographed; and An underwater drone including an umbilical cable capable of receiving power supply and control from an external device in the middle of the main body, and collecting and photographing underwater information while traveling within a certain area;
a control signal transmission unit which transmits a control signal for changing a photographing position and angle of the image photographing apparatus to the image photographing apparatus when photographing by the image photographing apparatus;
a monitoring unit that receives an image acquired from a second camera of the imaging device; The umbilical cable has a built-in power supply cable for supplying power to the underwater drone and a data cable for transmitting and receiving data to and from the underwater drone,
The image photographing apparatus includes an infrared camera equipped with a video image enhancement module to increase photographing accuracy and a communication unit for receiving a control signal from the control signal transmission unit,
An abnormal situation is monitored by analyzing the slope of the umbilical cable,
A sensor unit is formed on a surface of the umbilical cable to move along the umbilical cable, receive a gradient detected by the umbilical cable, and transfer the received gradient to the control signal transmission unit;
The sensor unit detects the posture of the umbilical cable, the sensor unit measures the inclination with respect to the X-axis, Y-axis, and Z-axis, and obtains position information (Roll, Pitch, and Yaw) of the object using normal angular velocity and acceleration. Estimating and acquiring the posture information (Roll, Pitch, Yaw) of the object by adding a geomagnetic sensor,
The second camera uses an infrared camera, and the infrared camera removes wavelengths of light reflected by obstruction factors such as sea fog and underwater cloudiness, amplifies and restores the light inherent to the obstruction factor, and transmits light to the tracking object. An umbilical cable condition monitoring system for an underwater drone, characterized in that a video image improvement module is applied to prevent malfunction of the target in advance to increase the accuracy of target monitoring. delete delete delete

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