KR102601681B1 - Energy independent real time aquatic environment observing and monitoring system - Google Patents

Abstract

The present invention relates to an energy-independent real-time aquatic ecosystem observation and monitoring system that observes and monitors the aquatic ecosystem in real time. It operates continuously in real time without restrictions on battery use, and is capable of observing and monitoring the aquatic ecosystem in real-time. and monitoring systems.

Description

Energy independent real time aquatic environment observing and monitoring system}

The present invention relates to an energy-independent real-time aquatic ecosystem observation and monitoring system that observes and monitors the aquatic ecosystem in real time.

Most of our water use relies on public water bodies such as rivers and lakes. Accordingly, the importance of water quality management in public waters is increasing day by day.

Currently, an automatic water quality measurement network is being used to manage the water quality of public waters. The automatic water quality measurement network is operated by installing measurement stations in major rivers and lakes across the country. The measuring station can measure and monitor water pollution conditions in real time and provide water quality information in real time.

However, since the automatic water quality measurement network is not installed in tributary rivers or reservoirs mainly used for farming, where pollution accidents mainly occur, real-time observation and monitoring of tributary rivers and reservoirs is necessary.

In addition, the currently used automatic water quality measurement network and real-time water quality monitoring system are very expensive to install and operate. Therefore, in reality, mass installation is difficult.

Accordingly, water quality monitoring systems using water drones are being researched, but continuous operation is difficult due to battery management issues.

In order to analyze aquatic ecosystems and manage water quality efficiently in aquatic ecosystems across the country, it is important to acquire large amounts of data. However, the data obtained through the currently installed automatic water quality measurement network and the temporarily operated water quality monitoring system using water drones is an insufficient amount of data to analyze the aquatic ecosystem.

Korean Patent No. 10-0477554

The present invention was conceived to solve the above-described problems, and its purpose is to provide an energy-independent, real-time aquatic ecosystem observation and monitoring system that can operate at all times without restrictions on battery use and perform real-time aquatic ecosystem observation and monitoring. .

An energy-independent real-time aquatic ecosystem observation and monitoring system according to an aspect of the present invention includes a docking station unit fixedly installed in the aquatic ecosystem; and a buoy-type observation device moored in the aquatic ecosystem to observe aquatic ecosystem information and obtain observation information; It includes an aerial observation device that travels on the water and observes aquatic ecosystem information to obtain observation information, wherein the docking station unit is capable of wireless communication with at least one of the buoy type observation device, the water observation device, and the aerial observation device, , The docking station unit is capable of wirelessly charging at least one of the water observation device and the aerial observation device.

In addition, the docking station unit generates self-generated power using at least one of a solar power generator and a wind power generator.

In addition, the docking station unit includes a charging stage unit that can be raised and lowered, and at least one of the water observation device and the aerial observation device is seated on the charging stage unit and wirelessly charged.

In addition, the buoy-type observation device includes a solar power generator; a battery that stores electricity generated by the solar generator; And a measurement sensor that acquires the aquatic ecosystem environment information.

In addition, the water observation device includes a solar power generator; a battery that stores electricity generated by the solar generator; and an acoustic wave sensor that acquires underwater terrain information; LiDAR sensor that acquires information about surrounding obstacles; And a camera that acquires surrounding image information.

The energy-independent real-time aquatic ecosystem observation and monitoring system according to the present invention can observe and monitor the aquatic ecosystem in real time without being restricted by battery use. Accordingly, it is possible to detect aquatic ecosystem pollution situations early and implement prompt response.

In addition, the energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention is capable of constructing big data on the aquatic ecosystem based on a large amount of observation information obtained through continuous measurement in real time, thereby preventing accidents in the aquatic ecosystem. and can provide big data for effective response to environmental improvement.

1 is a diagram illustrating an energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention.
Figure 2 shows a docking station unit constituting an energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention.
Figure 3 is a diagram showing a buoy-type observation device constituting an energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention.
Figure 4 is a diagram showing an aquatic observation device constituting an energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention.
Figure 5 is a flowchart of the operation of an energy-independent real-time aquatic ecosystem observation and monitoring system according to a preferred embodiment of the present invention when a specific event occurs.

The following merely illustrates the principles of the invention. Therefore, those skilled in the art will be able to invent various devices that embody the principles of the invention and are included in the concept and scope of the invention, although not clearly described or shown herein. In addition, all conditional terms and embodiments listed in this specification are, in principle, expressly intended only for the purpose of ensuring that the inventive concept is understood, and should be understood as not limiting to the embodiments and conditions specifically listed as such. .

The above-mentioned purpose, features and advantages will become clearer through the following detailed description in relation to the attached drawings, and accordingly, those skilled in the art in the technical field to which the invention pertains will be able to easily implement the technical idea of the invention. .

Embodiments described herein will be explained with reference to cross-sectional views and/or perspective views, which are ideal illustrations of the present invention. The thickness and width of members and regions shown in these drawings are exaggerated for effective explanation of technical content. The form of the illustration may be modified depending on manufacturing technology and/or tolerance.

Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in form produced according to the manufacturing process.

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

Figure 1 is a diagram illustrating an energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention.

As shown in Figure 1, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention includes a docking station unit (DA), a buoy-type observation device (BY), and a water observation device (FD). ) and an aerial observation device (AD).

The aquatic ecosystem in which the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is installed includes lakes, ponds, swamps, springs, temporary pools, rivers, streams (including tributary streams), small streams, and artificial May include water, reservoirs and oceans.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention includes a docking station unit (DA), a buoy-type observation device (BY), a water observation device (FD), and an aerial observation device (AD). Each can be equipped to generate and store electricity through self-generation. At this time, the water observation device (FD) and the aerial observation device (AD), which consume relatively high battery consumption, may be able to be wirelessly charged in the docking station unit (DA).

Due to this, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can observe and monitor the aquatic ecosystem at all times without battery constraints. The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can construct big data about the aquatic ecosystem by accumulating information obtained at all times.

In addition, the energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention can manage the battery without using human resources for battery management. Therefore, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can be installed in aquatic ecosystems that are difficult to manage by man, obtain observation information, and operate efficiently.

Hereinafter, each device (BY, FD, AD) constituting the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention will be described in detail as follows.

The docking station unit (DA) can be fixedly installed in the aquatic ecosystem. The docking station unit (DA) can generate self-generated power by at least one of a solar power generator (PV) and a wind power generator (WP). The docking station unit (DA) may store electricity generated by at least one of a solar power generator (PV) and a wind power generator (WP) in the energy storage unit. The docking station unit (DA) can supply electricity stored in the energy storage unit to the batteries of each of the water observation device (FD) and the aerial observation device (AD). This allows the batteries of surface observation devices (FD) and aerial observation devices (AD) to be charged wirelessly.

In this way, the docking station unit (DA) can generate and store electricity by generating power independently without external energy supply. Then, the docking station unit (DA) can wirelessly charge at least one of the water observation device (FD) and the aerial observation device (AD) using the stored energy.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can wirelessly charge the water observation device (FD) and the aerial observation device (AD) by the self-generating docking station unit (DA). there is. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is a battery of the docking station unit (DA), water observation device (FD), and aerial observation device (AD) installed in the aquatic ecosystem. It is possible to implement regular observation and monitoring of the aquatic ecosystem without any restrictions.

The docking station unit (DA) may include a communication unit. The docking station unit (DA) can transmit and receive wireless signals with at least one of a buoy-type observation device (BY), a water observation device (FD), and an aerial observation device (AD) on a mobile communication network through the communication unit. Because of this, the docking station unit (DA) may be capable of wireless communication with at least one of the buoy-type observation device (BY), the water observation device (FD), and the aerial observation device (AD). Here, the wireless signal may include various types of data according to voice call signals, video call signals, or text/multimedia message transmission and reception.

The docking station unit (DA) may acquire observation information by wirelessly communicating with at least one of a buoy-type observation device (BY), a water observation device (FD), and an aerial observation device (AD). The docking station unit (DA) may be configured to include a control unit and a data storage unit. The docking station unit (DA) may store the acquired observation information in the data storage unit.

The observation information includes at least one of the aquatic ecosystem information observed by the buoy-type observation device (BY), the aquatic ecosystem information observed by the water-based observation device (FD), and the aquatic ecosystem information observed by the aerial observation device (AD). It can be included.

Each device (FD, AD) can observe and obtain water ecosystem information suitable for the device's function.

Specifically, in the case of a buoy-type observation device (BY), aquatic ecosystem environmental information including real-time weather information, wave direction, wave height, direction, current speed, and water depth can be observed and obtained as observation information.

In the case of a water observation device (FD), underwater information of the aquatic ecosystem, including topographical information of the aquatic ecosystem, can be observed and obtained as observation information.

In the case of an aerial observation device (AD), water surface information of the aquatic ecosystem can be obtained as observation information by observing the water surface of the aquatic ecosystem.

The docking station unit (DA) can receive observation information observed from a wireless communication device. In this case, the device that communicates wirelessly may be at least one of a buoy type observation device (BY), a water observation device (FD), and an aerial observation device (AD).

The docking station unit (DA) may control the operation of at least one of the water observation device (FD) and the aerial observation device (AD) when a specific event occurs based on observation information through the control unit. Here, the specific event may be a change in the weather situation of the aquatic ecosystem and the aquatic ecosystem environment under the constant observation status of the water observation device (FD) and the aerial observation device (AD).

In the case of water observation devices (FD) and aerial observation devices (AD), they are devices that travel and observe the aquatic ecosystem. Therefore, the water observation device (FD) and the aerial observation device (AD) operate according to the weather conditions of the aquatic ecosystem and changes in the aquatic ecosystem environment (e.g., weather changes, flow speed changes, etc.). must be different.

The docking station unit (DA) can control the operation of the water observation device (FD) and the aerial observation device (AD) based on observation information, preferably observation information obtained from the buoy-type observation device (BY). .

The docking station unit (DA) can communicate wirelessly with the central control unit constituting the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention. The central control unit can receive and store observation information observed by the buoy-type observation device (BY), the water observation device (FD), and the aerial observation device (AD) through the docking station unit (DA). The central control unit can configure, store, and manage aquatic ecosystem observation big data based on the observation information received from the docking station unit (DA).

The docking station unit (DA) may be provided between devices directly installed in the aquatic ecosystem, including a buoy-type observation device (BY), a water observation device (FD), and an aerial observation device (AD), and the central control unit. . In the case of an aquatic ecosystem, the distance between the devices directly installed in the aquatic ecosystem and the central control unit is too long, so it may be difficult to directly transmit observation information through wireless communication. In the case of the docking station unit (DA), it may be fixedly installed in the aquatic ecosystem, but at a distance where wireless communication with the central control unit is possible.

Therefore, the docking station unit (DA) can function as an intermediate control unit that transmits observation information from devices directly installed in the aquatic ecosystem to the central control unit between devices directly installed in the aquatic ecosystem and the central control unit. Accordingly, the central control unit may be able to construct big data about the aquatic ecosystem by receiving all information observed at all times in the aquatic ecosystem.

Additionally, the docking station unit (DA) may function as an intermediate base station between portable devices and devices directly installed in the aquatic ecosystem so that observation information can be checked on portable devices (eg, PCs and smartphones).

Figure 2 is a diagram showing an implementation example of the docking station unit (DA). The shape of the docking station unit DA shown in FIG. 2 is shown as an example, and is not limited thereto.

The docking station portion (DA) may be configured to include a support portion (S) that contacts the bottom surface of the aquatic ecosystem and enables fixed installation of the docking station portion (DA).

The support part (S) includes a first support surface (S1) formed at a relatively high height and exposed above the water surface, and a second support surface (S2) formed at a lower height than the first support surface (S1) and located underwater. can do.

The first support surface S1 may support a solar power generator (PV) or a wind power generator (WP). As an example, the solar power generator (PV) may be coupled to the first support surface (S1) by being combined with a separate support plate (SP). As an example, the wind power generator WP may be coupled to be fixedly installed on the first support surface S1.

The second support surface (S2) may be formed on one side of the first support surface (S1), have a lower height than the first support surface (S1), and be located underwater.

The docking station unit (DA) may include a charging stage unit (CS) that can be raised and lowered. The charging stage unit (CS) is provided to support and seat at least one of the water observation device (FD) and the aerial observation device (AD) when wirelessly charging at least one of the water observation device (FD) and the aerial observation device (AD). It can be.

At least one of the water observation device (FD) and the aerial observation device (AD) may be docked to the charging stage unit (CS). Then, the docking station unit (DA) can supply the electricity stored in the energy storage unit to at least one of the water observation device (FD) and the aerial observation device (AD) docked to the charging stage unit (CS). Specifically, it can be supplied as a battery that constitutes each device (FD, AD).

The charging stage unit (CS) may be provided to be raised and lowered. As shown in Figure 2, the charging stage unit (CS) can be coupled to the support unit (S) in a structure that can be raised and lowered.

As an example, the charging stage unit (CS) has a first coupling unit (CS1) coupled to the first support surface (S1) side, and at least one of the water observation device (FD) and the aerial observation device (AD) directly. It may be configured to include a second coupling portion (CS2) that is seated.

The first and second coupling parts CS1 and CS2 may be connected by a step that exists at a height difference between the first and second coupling parts CS1 and CS2.

The first coupling portion CS1 may be coupled to the first support surface S1. The second coupling portion (CS2) of the charging stage portion (CS) may be located underwater at a lower height than the first coupling portion (CS1). Each of the first and second coupling portions CS1 and CS2 may be integrally connected by a step portion formed at one end.

As shown in FIG. 2, the support plate (SP) coupled with the solar power generator (PV) may have the solar power generator (PV) on one side. The raising/lowering distance portion (RL) configured in the form of a rod may be provided on the other surface of the support plate (SP).

The charging stage unit (CS) may be provided with an insertion hole into which the raising/lowering distance unit (RL) can be inserted at one end of the first coupling unit (CS1). The raising/lowering distance unit (RL) may be inserted into the insertion hole of the charging stage unit (CS).

The charging stage unit (CS) may be raised and lowered by moving the length of the raising/lowering distance unit (RL) in the height direction. Therefore, the raising/lowering distance unit (RL) can guide the raising/lowering movement of the charging stage unit (CS).

The charging stage unit (CS) rises and falls by the height direction length of the raising/lowering distance unit (RL), and the moving distance may be limited. At this time, the first coupling portion (CS1) of the charging stage portion (CS) may move along the raising/lowering distance portion (RL). Because of this, the position of the second coupling portion (CS2) located in water may also change.

When the charging stage unit (CS) rises, the second coupling part (CS2) located in the water may change in height away from the second support surface of the support part (S). The second coupling portion (CS2) is located in water, and may move away from the second support surface (S2) when the charging stage portion (CS) rises and may approach the second support surface (S2) when the charging stage portion (CS) descends.

When docking, the water observation device (FD) and the aerial observation device (AD) may be automatically docked to the second coupling portion (CS2) of the charging stage portion (CS) and docking may be completed. This can be implemented by providing an automatic docking system in the docking station unit (DA).

The charging stage unit (CS) rises to wirelessly charge at least one of the water observation device (FD) and the aerial observation device (AD), and then automatically docks the device located above the second coupling unit (CS2). .

Specifically, at least one of the water observation device (FD) and the aerial observation device (AD) that require wireless charging may move toward the charging stage unit (CS). Preferably, the position can be moved toward the second coupling portion (CS2) of the charging stage portion (CS).

Then, the charging stage CS can rise. Because of this, the second coupling portion (CS2) can change in height so that it moves away from the second support surface (S2) and approaches the water surface.

At least one of the water observation device (FD) and the aerial observation device (AD), which have moved toward the charging stage unit (CS), may be docked to the second coupling unit (CS2). At this time, docking of at least one of the waterborne observation device (FD) and the aerial observation device (AD) to the second coupling unit (CS2) may be completed by the automatic docking system of the charging stage unit (CS).

Then, the electricity stored in the energy storage unit of the docking station unit (DA) can be supplied to at least one of the water observation device (FD) and the aerial observation device (AD) to implement wireless charging.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is equipped with an automatic docking system in the docking station (DA), thereby enabling at least one of the water observation device (FD) and the aerial observation device (AD). When wirelessly charging one, the position adjustment process on the charging stage unit (CS) for wireless charging can be omitted.

Unlike the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention, when an automatic berthing system is not provided, at least one wireless observation device (FD) and an aerial observation device (AD) is used. During charging, there is the inconvenience of having to adjust the wireless charging positions of the water observation device (FD) and the aerial observation device (AD) on the charging stage unit (CS) using manpower.

When wirelessly charging at least one of the waterborne observation device (FD) and the airborne observation device (AD), at least one of the waterborne observation device (FD) and the aerial observation device (AD) is not stably docked on the charging stage (CS). If not, the wireless charging process may not occur properly.

However, the energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention may be equipped with an automatic docking system. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention includes at least one of the water observation device (FD) and the aerial observation device (AD) on the charging stage unit (CS) through manpower. Docking can be achieved stably without adjusting a single position. As a result, the wireless charging process of at least one of the surface observation device (FD) and the aerial observation device (AD) can be performed more quickly and efficiently.

When wirelessly charging at least one of the water observation device (FD) and the aerial observation device (AD), the solar power generator (PV) coupled to the water observation device (FD) and the aerial observation device (AD) is exposed above the water surface. You can. As a result, when the water observation device (FD) and the aerial observation device (AD) are wirelessly charged, the electricity generated through the solar power generator (PV) coupled to each device (FD, AD) and the docking station unit (DA) It can be charged more quickly by electricity supplied through the energy storage unit.

The docking station unit (DA) may provide a waiting area for at least one of the water observation device (FD) and the aerial observation device (AD). The waiting area may be the charging stage unit (CS) of the docking station unit (DA), or may be a separate protective space created to protect at least one of the water observation device (FD) and the aerial observation device (AD). At least one of the water observation device (FD) and the aerial observation device (AD) may be moved to a standby location and maintained in an operational standby state when driving is difficult, such as on days with very high wind and current speeds. By providing a waiting area, the docking station unit (DA) can prevent the risk of loss of the water observation device (FD) and the aerial observation device (AD) according to the aquatic ecosystem environment and perform the function of protecting safety.

The docking station unit (DA) may provide a wireless charging function for at least one of the water observation device (FD) and the aerial observation device (AD), and at least one of the water observation device (FD) and the aerial observation device (AD). It may also provide the ability to replace a depleted battery installed in the device with a fully charged battery.

In this case, the docking station unit (DA) may include a battery replacement unit. The battery replacement unit may provide a function of replacing a depleted battery mounted on at least one of the surface observation device (FD) and the aerial observation device (AD) with a fully charged battery.

The battery replacement unit may include a battery module storage unit. The battery module storage unit can always be equipped with spare batteries of the same type as the batteries mounted on the surface observation device (FD) and the aerial observation device (AD) in a fully charged state. The battery module storage unit may be equipped with an extra battery in a fully charged state using electricity stored in the docking station unit (DA).

At least one of the water observation device (FD) and the aerial observation device (AD) may move to the charging stage CS when the pre-installed battery is consumed. At this time, the docking station unit (DA) can control the operation of the battery replacement unit through the control unit.

The battery replacement unit may separate at least one battery of the water observation device (FD) and the aerial observation device (AD) located on the charging stage unit (CS). As an example, the battery replacement unit is provided as a robot-type device and can perform battery separation and replacement operations of the water observation device (FD) and the aerial observation device (AD).

The battery replacement unit separates the spent battery of at least one of the water observation device (FD) and the aerial observation device (AD) located on the charging stage unit (CS), then takes out the fully charged battery provided in the battery module storage section. It can be installed. The separated battery in a spent state can be stored in a fully charged state in the battery module storage unit.

The docking station unit (DA) is provided with a battery replacement unit and can replace the spent battery of at least one of the waterborne observation device (FD) and the aerial observation device (AD) with another fully charged battery.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is fully charged when at least one battery of the water observation device (FD) and the aerial observation device (AD) is consumed through the battery replacement unit. It can be quickly replaced with another battery. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention has an observation pause time according to the battery charging time of at least one of the water observation device (FD) and the aerial observation device (AD). It may not occur.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention replaces the spent battery of at least one of the water observation device (FD) and the aerial observation device (AD) with a fully charged battery. Battery management time can be minimized. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention can substantially maximize the time required for observation alone, thereby making it possible to acquire a greater amount of observation information.

Figure 3 is a diagram showing an example of implementation of a buoy-type observation device (BY).

As shown in FIG. 3, the buoy-type observation device (BY) may be configured to include a solar power generator (PV), a battery (BT), a measurement sensor (MS), and GPS.

The buoy-type observation device (BY) may be equipped with a solar power generator (PV) on the uppermost side exposed above the water. Photovoltaic generators (PVs) can produce electricity by converting solar energy into electrical energy. A photovoltaic generator (PV) can be protected from the outside by a transparent cover (CV) that covers the photovoltaic generator (PV).

The buoy-type observation device (BY) can combine an underwater housing (HS) at the bottom of a solar power generator (PV). The underwater housing (HS) may include a battery (BT) and a measurement sensor (MS) therein.

The buoy-type observation device (BY) can store electricity generated by a solar power generator (PV) in a battery (BT). Electricity stored in the battery (BT) can be used to operate the measurement sensor (MS).

Measurement sensors (MS) may include weather observation sensors and Acoustic Doppler Current Profilers (ADCP) sensors. Weather observation sensors can measure weather information including temperature and humidity, wind speed, rainfall, and atmospheric pressure. The ADCP sensor is an acoustic Doppler velocimeter that can measure wave direction, wave height, direction, flow velocity, and water depth.

The buoy-type observation device (BY) can measure real-time weather information and aquatic ecosystem environmental information including wave direction, wave height, current direction, current speed, and water depth through a measurement sensor (MS). The measurement sensor MS is not limited to this and may include an acceleration sensor, a tension measurement sensor, a wire length measurement sensor, a noise sensor, and a vibration sensor.

The buoy-type observation device (BY) can generate electricity through a solar power generator (PV) and store it in a battery (BT). Accordingly, the buoy-type observation device (BY) can independently produce electricity without supplying electricity from the outside to charge the battery (BT) and use this to operate the measurement sensor (MS) at all times.

The buoy type observation device (BY) may include a communication unit. The buoy-type observation device (BY) can transmit aquatic ecosystem environmental information acquired through the measurement sensor (MS) to the docking station unit (DA) through the mobile communication unit. The buoy type observation device (BY) may be configured to include GPS. Therefore, when the buoy-type observation device BY transmits the aquatic ecosystem environment information observed through the measurement sensor MS to the docking station unit DA, it can also transmit location information.

The buoy type observation device (BY) may be capable of wireless communication with at least one of the water observation device (FD) and the aerial observation device (AD) through the communication unit.

The buoy-type observation device (BY) may include an operation control unit (OS). The operation control unit (OS) is connected to at least one of an aquatic observation device (FD) and an aerial observation device (AD) that communicate with the buoy-type observation device (BY) based on the aquatic ecosystem environment information acquired through the measurement sensor (MS). An evacuation signal can be transmitted.

For example, a buoy-type observation device (BY) can acquire very large flow velocity measurements through a measurement sensor (MS). At this time, a reference flow rate value may be preset in the operation control unit (OS). If the flow rate measurement value obtained through the measurement sensor (MS) is greater than the reference flow rate value, the operation control unit (OS) may transmit an evacuation signal to the water observation device (FD) to evacuate to a safe location.

As another example, the buoy-type observation device (BY) can acquire very large wind speed measurements through the measurement sensor (MS). At this time, a reference wind speed value may be preset in the operation control unit (OS). If the wind speed measurement value obtained through the measurement sensor (MS) is greater than the reference wind speed value, the operation control unit (OS) may transmit an evacuation signal to the aerial observation device (AD) to evacuate to a safe location.

Figure 4 is a diagram showing an example of implementation of a water observation device (FD).

As shown in FIG. 4, the water observation device (FD) may be configured to include a solar power generator, a battery, a sonic sensor (SN), a lidar sensor (LS), a camera (CR), and GPS.

A water observation device (FD) can obtain observation information by driving on the water and observing aquatic ecosystem information. A water observation device (FD) can observe aquatic ecosystem information including aquatic ecosystem topography information.

The water observation device (FD) may further include a propeller and an autonomous navigation control unit.

The autonomous driving control unit may implement autonomous driving of the water observation device (FD) by controlling the propeller according to the autonomous driving information stored in the data storage unit of the water observation device (FD). Autonomous driving information may include a designated route.

The autonomous driving control unit can determine the location of the water observation device (FD) through GPS and implement autonomous driving of the water observation device (FD).

The autonomous driving control unit can control the direction of movement of the water observation device (FD) while rotating the propeller in a forward or reverse direction. Accordingly, the water observation device (FD) can autonomously navigate the aquatic ecosystem according to autonomous driving information. At this time, the water observation device (FD) can drive autonomously while preventing collisions through the LiDAR sensor (LS).

The water observation device (FD) may be equipped with a solar power generator on the upper side exposed above the water. Electricity generated from the solar generator can be stored in a battery provided inside the water observation device (FD). The floating observation device (FD) may be operable by independently charging its batteries by a solar power generator. However, in the case of a water observation device (FD), a relatively large amount of battery can be consumed by the sonic sensor (SN), lidar sensor (LS), and camera (CR). Accordingly, when the battery consumption of the water observation device (FD) is greater than the amount of battery charged by the solar generator, the floating observation device (FD) can be wirelessly charged more quickly through the docking station unit (DA).

A sonic sensor (SN) can acquire underwater terrain information. A sonic sensor (SN) can identify underwater terrain and obtain underwater terrain information converted into visual signals. The sound wave sensor (SN) may preferably be provided on the lower side of the water observation device (FD). Accordingly, the sonic sensor (SN) is located underwater and can acquire underwater topographic information.

The floating observation device (FD) may include a communication unit. The water observation device (FD) can communicate wirelessly with the docking station unit (DA) through the communication unit. The operation of the water observation device (FD) may be controlled by the docking station unit (DA). If the docking station unit (DA) determines that operation of the water observation device (FD) is difficult based on weather information and aquatic ecosystem environment information, the operation of the water observation device (FD) can be controlled to wait in a safe waiting area. Here, the waiting area may be the charging stage unit (CS) of the docking station unit (DA) or a separate protective space provided in the docking station unit (DA). The water observation device (FD) can be moved to the waiting area of the docking station (DA) and maintained in a standby state without operating.

Additionally, the water observation device (FD) may be capable of wireless communication with the buoy-type observation device (BY) and the aerial observation device (AD) through the communication unit. Accordingly, the floating observation device (FD) may be subject to operational control by the buoy-type observation device (BY). If the water observation device (FD) determines that it is difficult to operate the water observation device (FD) based on the weather information and aquatic ecosystem environment information independently acquired from the buoy-type observation device (BY), it signals to move to a waiting area. can be delivered. Because of this, the operation of the floating observation device (FD) can be controlled by the buoy-type observation device (BY).

The water observation device (FD) can transmit underwater terrain information acquired through the sonic sensor (SN) to the docking station unit (DA) through the communication unit. The water observation device (FD) includes GPS and can transmit location information when transmitting underwater terrain information to the docking station unit (DA).

The water observation device (FD) can check sediment accumulation and water pollution conditions in real time by acquiring underwater topographical information through a sonic sensor (SN).

The LiDAR sensor (LS) may be provided to prevent collision with an obstacle (OT) that exists while the water observation device (FD) is driving. The lidar sensor (LS) may be provided on at least one of the upper and lower sides of the water observation device (FD). A plurality of LiDAR sensors (LS) may be provided on both the upper and lower sides of the water observation device (FD). In this case, the LiDAR sensor (LS) provided on the upper side of the water observation device (FD) can detect surrounding obstacles (OT) on the water. The LiDAR sensor (LS) provided on the lower side of the water observation device (FD) can detect surrounding obstacles (OT) in the water.

In Figure 4, as an example, a ship is shown as a peripheral obstacle (OT) of the water observation device (FD).

Lidar sensor (LS) can acquire the distance and direction speed of an object by shining a laser beam on the target. The LiDAR sensor (LS) can fire a pulse laser. LiDAR sensors (LS) can have high precision and resolution by using short-wavelength lasers. LiDAR sensors (LS) can even provide three-dimensional recognition depending on the object. The LiDAR sensor (LS) can rotate 360° and detect all directions. The rotation angle of the lidar sensor (LS) may be set to a certain angle.

The LiDAR sensor (LS) rotates in all directions or at a certain angle and can obtain information about obstacles (OT) around the water observation device (FD). Information about the obstacle (OT) may be transmitted to the operation control unit of the water observation device (FD). The water observation device (FD) can transmit information about obstacles (OT) acquired through the lidar sensor (LS) to the docking station unit (DA). The water observation device (FD) can transmit location information along with information about obstacles (OT) to the docking station unit (DA). In this case, the docking station unit (DA) can move the aerial observation device (AD) to the corresponding location based on the location information received from the water observation device (FD). This may be to check information about the obstacle (OT).

The operation control unit of the water observation device (FD) can operate the camera (CR) when it obtains information about surrounding obstacles (OT) through the LiDAR sensor (LS).

The camera (CR) may be operated at all times or may be operated by an operation signal from the operation control unit of the water observation device (FD). However, if the camera (CR) operates constantly, the battery consumption of the water observation device (FD) may increase. Accordingly, the camera CR may preferably be activated only when an event (eg, detection of a collision risk obstacle (OT) through the lidar sensor LS) occurs.

The camera (CR) can acquire surrounding image information of the water observation device (FD). Surrounding image information may include images of collision risk obstacles (OT).

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention provides surrounding images on the driving path of the water observation device (FD) through a camera (CR) provided in the water observation device (FD). can be obtained. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can immediately confirm abnormal phenomena such as pollution accidents in the aquatic ecosystem through images.

The operation control unit of the water observation device (FD) may store surrounding image information acquired by the camera (CR). The floating observation device (FD) can transmit surrounding image information to the docking station unit (DA) through the communication unit.

The water observation device (FD) may additionally be equipped with a water temperature sensor that measures the temperature of the water, a dissolved oxygen measurement sensor (DO sensor) that measures the concentration of dissolved oxygen, and an acidity (PH) sensor that measures the acidity of the water. As a result, the water observation device (FD) can travel through the aquatic ecosystem and obtain various environmental information about the aquatic ecosystem.

The energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention may further include an underwater observation device (not shown).

The underwater observation device may communicate wirelessly with at least one of a docking station unit (DA), a buoy type observation device (BY), a water observation device (FD), and an aerial observation device (AD).

The underwater observation device mainly travels underwater and can observe the shape of the underwater terrain. For example, the underwater observation device may receive an operation signal including location information from the docking station unit (DA). The underwater observation device is operated by an operation signal received from the docking station unit (DA) and can move according to the received location information. At this time, the docking station unit (DA) may operate the underwater observation device based on the underwater terrain information received from the water observation device (FD). The docking station unit (DA) can operate an underwater observation device to check the underwater terrain information received from the water observation device (FD) in more detail.

The underwater observation device may further include a propeller and an autonomous navigation control unit.

The autonomous navigation control unit of the underwater observation device may be capable of wireless communication with the docking station unit (DA). When the autonomous navigation control unit of the underwater observation device receives an operation signal including location information from the docking station unit (DA), it can control the underwater observation device to autonomously travel based on the received location information.

The autonomous navigation control unit of the underwater observation device determines the location of the underwater observation device through the GPS provided in the underwater observation device, and can enable autonomous navigation of the underwater observation device using the location information received from the docking station unit (DA).

The autonomous driving control unit of the underwater observation device may implement autonomous driving of the underwater observation device according to the received location information while rotating the propeller of the underwater observation device forward or reverse.

Referring again to FIG. 1, the aerial observation device (AD) travels in the air and observes the water surface to obtain water ecosystem water surface information as observation information.

An aerial observation device (AD) may be comprised of a photovoltaic generator (PV), a battery, a camera (CR), and GPS.

Aerial observation devices (ADs) can independently generate electricity by solar photovoltaics (PVs). Electricity generated by a solar photovoltaic (PV) can be stored in a battery. An aerial observation device (AD) can operate by generating self-generation using a solar power generator (PV) and charging the battery.

However, the aerial observation device (AD) can obtain observation information by photographing the water surface of the aquatic ecosystem using a camera (CR). Therefore, battery consumption may be high. The aerial observation device (AD) can be quickly and wirelessly charged at the docking station (DA) when the battery consumption is greater than the amount of battery charged by the solar power generator (PV).

The aerial observation device (AD) may further include a propeller and an autonomous navigation control unit.

The autonomous driving control unit of the aerial observation device (AD) may implement autonomous driving of the aerial observation device (AD) by controlling the propeller according to the autonomous driving information stored in the data storage unit of the aerial observation device (AD). Autonomous driving information may include a designated route.

The autonomous driving control unit of the aerial observation device (AD) can determine the location of the aerial observation device (AD) through GPS and implement autonomous driving of the aerial observation device (AD).

The autonomous driving control unit of the aerial observation device (AD) can control the direction of movement of the aerial observation device (AD) while rotating the propeller in a forward or reverse direction. Accordingly, the aerial observation device (AD) can autonomously navigate in the air in the aquatic ecosystem according to autonomous navigation information.

The aerial observation device (AD) can communicate wirelessly with the docking station unit (DA), the buoy-type observation device (BY), and the surface observation device (FD).

The operation of the aerial observation device (AD) can be controlled when it is determined that operation is difficult based on weather information and aquatic ecosystem environment information received from the buoy-type observation device (BY) at the docking station (DA). The aerial observation device (AD) can be controlled to stand by in a waiting area provided in the docking station (DA) without operating.

Alternatively, the aerial observation device (AD) may receive operation control from the buoy-type observation device (BY). The operation of the aerial observation device (AD) can be controlled when it is determined that operation of the aerial observation device (AD) is difficult based on weather information and aquatic ecosystem environment information independently acquired from the buoy-type observation device (BY). The aerial observation device (AD) can be controlled to stand by in a waiting area provided in the docking station (DA) without operating.

Figure 5 is a flowchart of the operation of the energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention when a specific event occurs.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is operated in real time by the constant operation of the buoy-type observation device (BY), the water observation device (FD), and the aerial observation device (AD). Observation information can be obtained.

When no specific event occurs, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention includes a buoy-type observation device (BY), a water observation device (FD), and an aerial observation device (AD). Aquatic ecosystem information can be obtained at all times through each operation.

The aquatic ecosystem information constantly acquired by each device (BY, FD, AD) can be transmitted to the docking station unit (DA) in real time. The docking station unit (DA) can transmit the delivered aquatic ecosystem information to the central control unit.

The central control unit stores the aquatic ecosystem information received from the docking station unit (DA) and can construct big data on the aquatic ecosystem based on this. Big data may include data analyzed about the aquatic ecosystem based on observation information including aquatic ecosystem environment information, underwater topography information, and aquatic ecosystem water surface information. Big data may include water quality and river ecosystem analysis data, fish farm growth environment analysis data, coastal and marine ecosystem analysis data, and underwater topography analysis data.

Meanwhile, the energy-independent real-time aquatic ecosystem observation and monitoring system 1 according to a preferred embodiment of the present invention can control the operation of the water observation device (FD) and the aerial observation device (AD) when a specific event occurs.

As shown in FIG. 5, in step S10, the buoy-type observation device BY may be in a constant operating state. The buoy-type observation device (BY) can obtain real-time weather information and aquatic ecosystem environmental information. Then, the buoy-type observation device (BY) can transmit real-time weather information and aquatic ecosystem environment information to the docking station unit (DA). At this time, the water observation device (FD) and the aerial observation device (AD) may be in constant operation.

In step S20, the docking station unit (DA) can acquire real-time weather information and aquatic ecosystem environment information, which are observation information of the buoy-type observation device (BY). At this time, the docking station unit (DA) can check whether a specific event has occurred based on real-time weather information and aquatic ecosystem environment information.

In step S30, the docking station unit (DA) may determine whether at least one of the water observation device (FD) and the aerial observation device (AD) can be operated based on real-time weather information and aquatic ecosystem environment information.

For example, in step S30, the docking station unit (DA) may determine that operation of the water observation device (FD) is difficult when the flow rate measurement value is higher than the reference flow rate value set in the control unit of the docking station unit (DA). . Additionally, when the wind speed measurement value is higher than the reference wind speed value set in the control unit of the docking station unit (DA), the docking station unit (DA) may determine that it is difficult to operate the aerial observation device (AD).

In step S30, the docking station unit (DA) may determine that it is difficult to operate both the water observation device (FD) and the aerial observation device (AD) due to a specific event. The docking station unit (DA) can transmit an unoperable signal to the surface observation device (FD) and the aerial observation device (AD), and control the operation of the water observation device (FD) and the aerial observation device (AD) so that they cannot operate. there is.

Accordingly, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention includes the operation standby stage of the water observation device (FD) in the S30c stage and the operation of the aerial observation device (AD) in the S30d stage. A waiting step can be performed.

Meanwhile, in step S30, the docking station unit (DA) may determine that at least one of the water observation device (FD) or the aerial observation device (AD) is operable. In this case, either step S30c or step S30d corresponding to each device (FD, AD) may be performed.

For example, if the water observation device (FD) determines that operation is possible, only step S30c can be performed. In contrast, if the aerial observation device (AD) determines that operation is possible, only step S30d can be performed.

In step S30c, the water observation device (FD) may move to the waiting location of the docking station unit (DA). The surface observation device (FD) can remain in operational standby mode without operating in a staging area.

In step S30d, the aerial observation device (AD) may move to the waiting location of the docking station unit (DA). An airborne observation device (AD) can remain in operational standby mode without operating in a staging area.

Meanwhile, in step S30, the docking station unit (DA) operates at least one of the water observation device (FD) and the aerial observation device (AD) in case of a specific weak event based on real-time weather information and aquatic ecosystem environment information. It can be judged that it is possible.

Or, in step S30, the docking station unit (DA) confirms that a specific event has changed to a normal operating situation based on real-time weather information and aquatic ecosystem environment information, and one of the water observation devices (FD) and the aerial observation device (AD) It can be determined that at least one operation is possible.

In this case, at least one of the aerial observation device (AD) operation step of step S30a and the water observation device (FD) operation step of step S30b may be performed.

In step S30a, the aerial observation device (AD) can acquire water ecosystem water surface information as observation information. Then, in step S40, the aerial observation device (AD) may transmit observation information to the docking station unit (DA).

The aerial observation device (AD) can check the battery charging state by an operation control unit constituting the aerial observation device (AD). If the operation control unit determines that the charge amount is insufficient compared to the battery consumption, the aerial observation device (AD) may move to the charging stage unit (CS) of the docking station unit (DA).

In step S60, the aerial observation device (AD) may be wirelessly charged in the charging stage unit (CS).

In step S70, the aerial observation device (AD) can maintain an operational rest state by waiting on the charging stage unit (CS) after completion of charging. Alternatively, observations of the water surface of the aquatic ecosystem can be continued by moving to the observation location set in the aerial observation device (AD).

Meanwhile, in step S30b, the water observation device (FD) can acquire underwater information about the aquatic ecosystem as observation information. Then, in step S40, the water observation device (FD) may transmit observation information to the docking station unit (DA).

When the operation control unit of the water observation device (FD) determines that the charge amount is insufficient compared to the battery consumption, the water observation device (FD) may move to the charging stage unit (CS) of the docking station unit (DA).

In step S60, the water observation device (FD) can be wirelessly charged in the charging stage unit (CS).

In step S70, the water observation device (FD) can maintain an operational rest state by waiting on the charging stage unit (CS) after completion of charging. Alternatively, the aquatic observation device (FD) may move to the observation position set in the aquatic observation device (FD) and continue to observe underwater information about the aquatic ecosystem.

Meanwhile, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is equipped with at least one of a water observation device (FD) and an aerial observation device (AD) by a buoy-type observation device (BY). You can also control the operation.

In step S10, the buoy-type observation device (BY) can acquire real-time weather information and aquatic ecosystem environment information. Then, the buoy-type observation device (BY) determines whether at least one of the water observation device (FD) and the aerial observation device (AD) can be operated by itself through the operation control unit (OS) of the buoy-type observation device (BY). can do. The buoy-type observation device (BY) can determine whether at least one of the water observation device (FD) and the aerial observation device (AD) can be operated based on real-time weather information and aquatic ecosystem environment information.

The buoy type observation device (BY) may determine that at least one of the water observation device (FD) and the aerial observation device (AD) is impossible to operate. The buoy-type observation device (BY) may transmit an unoperable signal to at least one of the respective devices (FD and AD). Accordingly, at least one of step S30c and step S30d corresponding to at least one of each device (FD, AD) may be performed. Specifically, at least one of the steps S30c and S30d may be a step corresponding to the device that received the unoperable signal from the buoy-type observation device (BY) among the water observation device (FD) and the aerial observation device (AD). there is.

In this way, when a specific event occurs, the water observation device (FD) and the aerial observation device (AD) may be controlled by the buoy-type observation device (BY) and remain in a standby state without operating on the docking station unit (DA).

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can acquire weather information and aquatic ecosystem environmental information in real time through a buoy-type observation device (BY) that operates at all times. Accordingly, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can immediately confirm situations in which normal operation of the always-running water observation device (FD) and aerial observation device (AD) is difficult. there is.

For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention prevents the risk of loss and damage of the water observation device (FD) and the aerial observation device (AD), thereby more efficiently monitoring the aquatic ecosystem. Information can be obtained.

Water observation devices (FD) and aerial observation devices (AD) can obtain information about the aquatic ecosystem while traveling. Therefore, the scope in which aquatic ecosystem information can be obtained can be wide. The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is temporarily operated in situations where there is a risk of loss or damage to the water observation device (FD) and the aerial observation device (AD). can be limited.

For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention safely uses the water observation device (FD) and the aerial observation device (AD) for a long period of time and provides a greater amount of information on the aquatic ecosystem. Information can be obtained efficiently.

The energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention is capable of continuously observing and monitoring the aquatic ecosystem in real time without being restricted by battery use. Accordingly, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can detect aquatic ecosystem pollution situations early and implement prompt response.

In addition, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention may be able to construct big data on the aquatic ecosystem based on a large amount of observation information obtained by constant measurement in real time. For this reason, the energy-independent real-time aquatic ecosystem observation and monitoring system (1) according to a preferred embodiment of the present invention can provide big data for effective response to accident prevention and environmental improvement in the aquatic ecosystem.

As described above, although the present invention has been described with reference to preferred embodiments, those skilled in the art may modify the present invention in various ways without departing from the spirit and scope of the present invention as set forth in the following patent claims. Or, it can be carried out in modification.

DA: Docking station section
PV: solar power generator WP: wind power generator
BY: Buoy type observation device FD: Floating observation device
AD: Aerial Observation Device

Claims (5)

A docking station unit fixedly installed in the aquatic ecosystem;
A buoy-type observation device moored in the aquatic ecosystem and observing aquatic ecosystem information to obtain observation information;
A water observation device that obtains observation information by traveling on the water and observing aquatic ecosystem information; and
It includes an aerial observation device that travels in the air and observes aquatic ecosystem information to obtain observation information,
The docking station unit is capable of wireless communication with at least one of the buoy-type observation device, the water-based observation device, and the aerial observation device,
The docking station unit is capable of wirelessly charging at least one of the water observation device and the aerial observation device,
The docking station unit, at least one of the water observation device and the aerial observation device based on real-time weather information and aquatic ecosystem environment information received from the buoy-type observation device in a constant operating state of the water observation device and the aerial observation device. Determine whether it is possible to drive,
If it is determined that driving of the at least one is difficult, the at least one is moved to a waiting location and is not driven and remains in a standby state,
The docking station unit determines that operation of the water observation device is difficult when the flow velocity measurement value is higher than the standard flow velocity value set in the control unit of the docking station unit, and when the wind speed measurement value is higher than the standard wind speed value set in the control unit of the docking station unit. , an energy-independent real-time aquatic ecosystem observation and monitoring system that determines that operation of the aerial observation device is difficult.
According to paragraph 1,
The docking station unit is an energy-independent real-time aquatic ecosystem observation and monitoring system that generates self-power by at least one of a solar power generator and a wind power generator.
According to paragraph 1,
The docking station unit includes a charging stage unit that can be raised and lowered,
An energy-independent, real-time aquatic ecosystem observation and monitoring system in which at least one of the water observation device and the aerial observation device is wirelessly charged by being seated on the charging stage.
According to paragraph 1,
The buoy type observation device,
solar generator;
a battery that stores electricity generated by the solar generator; and
An energy-independent, real-time aquatic ecosystem observation and monitoring system comprising a measurement sensor that acquires the aquatic ecosystem environmental information.
According to paragraph 1,
The water observation device is,
solar generator;
a battery that stores electricity generated by the solar generator; and
Acoustic sensor that acquires underwater topographic information;
LiDAR sensor that acquires information about surrounding obstacles; and
An energy-independent, real-time aquatic ecosystem observation and monitoring system including a camera that acquires surrounding image information.

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