KR102604527B1 - Method of monitoring and containing spilt oil by containment system using drone - Google Patents

Abstract

In the oil spill monitoring and control method of a drone control system including a drone and a server according to an embodiment of the present invention, the drone flies and takes images of the water area at selected intervals, and the captured image and the image transmitting the GPS coordinates of the water area where the photograph was taken to the server; The server reading the received image to determine whether oil spill occurs in the corresponding water area; When it is determined that spilled oil has occurred in the relevant water area as a result of reading the image, the server transmits GPS coordinates of the relevant water area and a control information signal to the drone; And after the drone moves to the water area corresponding to the received GPS coordinates, it includes the step of dropping a control cloth on the water area according to the received control information signal.

Description

Oil spill monitoring and control method of drone control system {METHOD OF MONITORING AND CONTAINING SPILT OIL BY CONTAINMENT SYSTEM USING DRONE}

The present invention relates to an oil spill monitoring and control method using a drone control system. More specifically, the drone detects the occurrence of spilled oil by reading images taken while flying over a water area, and upon detecting the spilled oil, the drone automatically enters the water area. This relates to an oil spill monitoring and control method using a drone control system that can respond early to water pollution by dropping a control cannon.

Drones are a common name for unmanned aerial vehicles and are also called UAV (Unmanned Aerial Vehicle), UAS (Unmanned Aerial System), and RPAS (Remotely Piloted Aircraft Systems). It is being used in various industrial fields as the dependence on piloting technology, such as the ability to cruise the flight path, is reduced through the development of attitude control technology using motion sensors and linkage with satellite positioning systems. Currently, domestic research on drones is being conducted with a focus on utilizing them in public interest fields such as marine and fisheries, disaster safety, transportation, forest surveillance, walking guidance for the visually impaired, landscape analysis, and post office delivery services. The use of drones is being actively researched into ways to introduce drones that take efficiency and economy into account in order to achieve specific purposes.

As the urbanization of the country progresses due to the development of industrial technology and the expansion of road networks, industrial areas, and agro-industrial areas, water pollution in rivers, streams, reservoirs, etc. is becoming increasingly severe. Rivers and reservoirs serve as sources of drinking water, so regular monitoring and management of pollution in these water bodies is very important. Because reservoirs and rivers cover a wide area, water quality monitoring requires a lot of manpower and equipment, and in particular, it is virtually impossible for many manpower to monitor water quality that changes in real time.

Accordingly, a method of monitoring by installing water quality measurement sensors at key points in reservoirs or rivers is being used, but this has the limitation of only measuring water quality at that point, and installing sensors in all areas of reservoirs or rivers is not economically feasible at all. don't do it To complement this, a method of monitoring water quality through real-time filming using drones is being used. However, conventional drones only perform the operation of capturing images and transmitting them to a remotely located server, and do not play a role in responding to water pollution at all. Therefore, when a server manager far from a water body judges water pollution by watching the video, and orders workers to respond to water pollution based on the manager's subjective judgment, only then does the worker move to the water body and determine water pollution with the naked eye. The reality is that only ineffective coping methods are being repeated.

Accordingly, there is a need for the development of technology that allows drones to more accurately determine in real time whether water pollution has occurred in a river or reservoir, and when water pollution is detected, drones can autonomously carry out control measures in response to water pollution.

Korean Patent Publication No. 10-2022-0106492, published on July 29, 2022

The present invention was developed to improve the prior art as described above. The drone detects the occurrence of spilled oil by reading the images taken while flying over the water area, and upon detecting the spilled oil, the drone automatically drops a control cloth on the water area. The purpose is to provide an oil spill monitoring and control method using a drone control system that can respond early to water pollution.

In order to achieve the above object and solve the problems of the prior art, the oil spill monitoring and control method of the drone control system including a drone and a server according to an embodiment of the present invention is a method of monitoring and controlling oil spills in the water area at each selected period during which the drone flies. Taking an image and transmitting the captured image and GPS coordinates of the water area where the image was captured to the server; The server reading the received image to determine whether oil spill occurs in the corresponding water area; When it is determined that spilled oil has occurred in the relevant water area as a result of reading the image, the server transmits GPS coordinates of the relevant water area and a control information signal to the drone; And after the drone moves to the water area corresponding to the received GPS coordinates, it includes the step of dropping a control cloth on the water area according to the received control information signal.

In addition, in the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention, the step of the server reading the received image and determining whether or not oil spill occurs in the relevant water area includes the step of the server reading the image. Converting to gray scale; The server summing the values of all pixels included in the gray scale image; Comparing, by the server, the summed pixel sum value with a selected reference value; And when the comparison result shows that the pixel sum value is less than the reference value, the server determines that oil spill has occurred in the water area where the image was captured.

In addition, in the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention, when it is determined that spilled oil has occurred in the relevant water area as a result of reading the image, the server sends the GPS coordinates of the relevant water area and the control information signal. The step of transmitting to the drone includes the server maintaining a pest control information table in which a plurality of pixel value ranges and the number of pest control cloths corresponding to each pixel value range are recorded; The server reading a pixel value range to which the added pixel sum value belongs from the pest control information table; The server reading the number of pest control cloths corresponding to the read pixel value range from the pest control information table; And a step where the server generates a control information signal including the number of control cloths read and transmits it to the drone along with the GPS coordinates of the relevant water area.

In addition, in the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention, the drone flies in a first direction in the water area where the spilled oil occurred, takes images of the water area at selected intervals, and captures the images of the water area at selected intervals. Transmitting the image and GPS coordinates of the water area where the image was captured to the server; The server continuously reads images received at each cycle, and reads an image in which a boundary line between water and spilled oil is captured among the images; The server transmitting GPS coordinates and pest control information signals corresponding to the read boundary image to the drone; and the step of the drone moving to a water area corresponding to the received GPS coordinates and dropping a control agent on the water area according to the received control information signal.

In addition, in the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention, the server continuously reads the images received at each cycle, and among the images, an image of the boundary line between water and spilled oil is captured. The reading step includes converting the image N received in the Nth cycle by the server into gray scale, and calculating a pixel sum value N by adding up the values of all pixels included in the gray scale image N; The server converting the image N+1 received in the N+1th cycle into gray scale and calculating a pixel sum value N+1 by adding up the values of all pixels included in the gray scale image N+1; The server converting the image N+2 received in the N+2th cycle into gray scale and calculating a pixel sum value N+2 by adding up the values of all pixels included in the gray scale image N+2; The server comparing the pixel sum value N, the pixel sum value N+1, and the pixel sum value N+2 with selected reference values, respectively; As a result of the comparison, the pixel summation value N is smaller than the reference value, the pixel summation value N+1 has the same value as the reference value and within a selected error range, and the pixel summation value N+2 is the reference value. If it is larger, the server determines that the water area where image N was taken is an area polluted by spilled oil, the water area where image N+1 was taken is a borderline area between water and spilled oil, and the water area where image N+2 was taken is a borderline area between water and spilled oil. A step of determining that the water area is not yet polluted; And a step of the server reading the image N+1 as an image in which the boundary line between water and spilled oil is captured.

In addition, in the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention, the drone moves to the water area corresponding to the received GPS coordinates and fills the water area according to the received control information signal. The dropping step includes moving the drone to a water area corresponding to the received GPS coordinates; And the drone, in accordance with the received pest control information signal, carries out pest control while moving back and forth in the water area in a second direction perpendicular to +90 degrees with respect to the first direction and a third direction perpendicular to -90 degrees with respect to the first direction. It includes the step of dropping the artillery.

In addition, in the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention, the drone flies in a first direction in the water area where the spilled oil occurred, takes images of the water area at selected intervals, and takes the pictures. The step of transmitting an image and the GPS coordinates of the water area where the image was captured to the server includes the drone flying in a first direction and passing through the first water area, second water area, and third water area, and the first water area in each water area. Taking an image, a second image, and a third image, and transmitting the first image and the first GPS coordinates, the second image and the second GPS coordinates, and the third image and the third GPS coordinates to the server, respectively. ; And after the drone passes the third water area, it returns to the first water area, flies again in the first direction, and passes through the first water area, the second water area, and the third water area, making a fourth water area in each water area. Taking an image, a fifth image, and a sixth image, and transmitting the fourth image and the first GPS coordinates, the fifth image and the second GPS coordinates, and the sixth image and the third GPS coordinates to the server, respectively. Includes.

In addition, in the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention, the server converts the first to sixth images into gray scale, and the converted first to gray scale images to gray scale. The first pixel summation value, the second pixel summation value, the third pixel summation value, the fourth pixel summation value, and the fifth pixel summation value are the sum of the values of all pixels included in each grayscale image for each of the sixth grayscale images. calculating a pixel sum value and a sixth pixel sum value, respectively; The server comparing the first to sixth pixel sum values with selected reference values, respectively; As a result of the comparison, the first pixel sum value is smaller than the reference value, the second pixel sum value has the same value as the reference value and within a selected error range, and the third pixel sum value is smaller than the reference value. greater than the fourth pixel sum value is less than the reference value, the fifth pixel sum value is smaller than the reference value, and the sixth pixel sum value has the same value as the reference value within the error range. or if it is smaller than the reference value, determining, by the server, that the spilled oil is spreading in the first direction; The server transmitting the third GPS coordinates and pest control signal information to the drone; And it further includes the step of the drone moving to the water area corresponding to the third GPS coordinates and dropping the control cloth on the water area according to the received control information signal.

In addition, the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention is that the server provides fourth GPS coordinates for a fourth water area spaced apart from the third water area by a selected distance in the first direction, and Transmitting a pest control information signal to the drone; And after the drone moves to the fourth water area, it further includes dropping a control cloth into the fourth water area according to the control information signal.

According to the oil spill monitoring and control method of the drone control system of the present invention, the floating range of the spilled oil can be more accurately read as well as whether spilled oil has occurred in the water area through the gray scale pixel value of each image continuously captured by the drone. You can get the effect.

In addition, according to the oil spill monitoring and control method of the drone control system of the present invention, the effect of minimizing damage through early response to oil spill accidents can be obtained by detecting spilled oil and having the drone immediately drop control cloth in the relevant water area. there is.

In addition, according to the oil spill monitoring and control method of the drone control system of the present invention, the gray scale pixel value of the image captured by the drone is used to prevent the spread of spilled oil by dropping more control cloth into a water area with a high concentration of spilled oil. You can get the effect of:

In addition, according to the oil spill monitoring and control method of the drone control system of the present invention, the boundary line between spilled oil and water is detected by comparing the gray scale pixel values of images continuously captured by the drone, and the control cloth is concentrated on the water area forming the boundary line. By doing so, the effect of minimizing the spread of spilled oil can be achieved.

In addition, according to the oil spill monitoring and control method of the drone control system of the present invention, the direction in which the spilled oil spreads is detected by comparing the gray scale pixel values of images continuously captured by the drone, and the direction in which the spilled oil spreads is detected. The effect of minimizing the spread of spilled oil can be achieved by intensively dropping control foam on the borderline water area.

Figure 1 is a diagram showing the configuration of a drone pest control system according to an embodiment of the present invention.
Figure 2 is a flowchart showing the flow of the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention.
Figure 3 is a flowchart showing the flow of the method for determining the occurrence of oil spill in the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention.
Figure 4 is a diagram illustrating the concept of a gray scale image applied to the method for determining the occurrence of spilled oil according to an embodiment of the present invention.
Figure 5 is a flowchart showing the flow of a method for transmitting a pest control information signal from a server according to an embodiment of the present invention.
Figure 6 is a flowchart showing the flow of the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention.
Figure 7 is a diagram illustrating the concept of reading the boundary line between water and spilled oil according to another embodiment of the present invention.
Figure 8 is a diagram illustrating the concept of spraying a drone according to another embodiment of the present invention.
Figure 9 is a diagram illustrating the concept of reading the direction of flow of spilled oil according to another embodiment of the present invention.

In order to make the characteristics and advantages of the problem-solving means of the present invention clearer, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the attached drawings. However, in the following description and attached drawings, detailed descriptions of known functions or configurations that may obscure the gist of the present invention are omitted. Additionally, it should be noted that the same components throughout the drawings are indicated by the same reference numerals whenever possible.

Terms or words used in the following description and drawings should not be construed as limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of the term to explain his or her invention in the best way. It should be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it is. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent the entire technical idea of the present invention, so at the time of filing this application, various alternatives may be used to replace them. It should be understood that equivalents and variations may exist.

In addition, terms containing ordinal numbers, such as first, second, etc., are used to describe various components, and are used only for the purpose of distinguishing one component from other components and to limit the components. Not used. For example, the second component may be referred to as the first component without departing from the scope of the present invention, and similarly, the first component may also be referred to as the second component. In addition, when a component is referred to as being “connected” or “connected” to another component, it means that it is or can be connected logically or physically.

In other words, a component may be directly connected or connected to another component, but it should be understood that other components may exist in the middle and may be indirectly connected or connected. In addition, terms such as "comprise" or "have" used in the specification are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but one or more It should be understood that this does not preclude the existence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

In addition, terms such as "... unit", "... unit", and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. there is. Additionally, the words “a or an,” “one,” “the,” and similar words may indicate otherwise herein in the context of describing the invention (particularly in the context of the claims below). It may be used to include both singular and plural terms, unless clearly contradicted by the context.

In describing the embodiments of the present invention, descriptions of known configurations that can be easily understood by those skilled in the art will be omitted so as not to obscure the gist of the present invention. Additionally, when referring to drawings, it should be taken into consideration that the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation.

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

Figure 1 is a diagram showing the configuration of a drone pest control system according to an embodiment of the present invention.

The drone control system according to an embodiment of the present invention consists of a drone 110 and a server 120. The drone 110 and the server 120 are connected to each other through wireless communication networks of various standards and transmit and receive signals. The server 120 may be implemented as a separate computing device from the drone 110 and may be located in a river or river basin or in a remote control system, or may be implemented as a small computing device built into the drone 110. . A camera may be attached to the drone 110 to capture images or videos. Additionally, the drone 110 is equipped with a wireless communication module and can transmit captured images or videos to the server 120 in real time.

A pest control cloth box 130 in which a pest control cloth 133 is embedded is attached to the drone 110. Inside the control cloth box 130, a control cloth push bar 131, a spring 132, a control cloth 133, and a control cloth dropping slit 134 may be built into or formed therein. The pest control cloth 133 is loaded inside the pest control cloth box 130 side by side in the vertical direction. The pest control cloth push bar 131 supports the protection cloth 130 stacked in layers in the vertical direction on one side. The spring 132 is installed on the inner wall of the response cloth box 130 to apply elasticity to the response cloth push bar 131 in one direction.

The spray cloth dropping slit 134 is formed on one side of the bottom of the spray cloth box 130, and is formed in the form of a sliding door to maintain a closed state. It can be implemented to switch to an open state only when the spray cloth 133 is dropped. . According to this configuration, the control cloth can be dropped one by one or in multiples downward in the same way as the principle of releasing stapler cores one by one from inside the stapler. When the control cloth dropping slit 134 is switched to the open state, it can be implemented to adjust the size of the slit to control the number of control cloth dropped at the same time. In addition, the drone 110 may be equipped with a blue light LED to emit blue light into the water body at the same time as the camera takes pictures. Blue light, which has a wavelength of 465 nm in the visible light range of electromagnetic waves, has a high transmittance for water and a high absorption rate for oil, so the occurrence of oil can be detected more accurately by taking images using a blue light source.

Figure 2 is a flowchart showing the flow of the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention, and Figure 3 is a flow chart of the oil spill monitoring and control method of the drone control system according to an embodiment of the present invention. This is a flowchart showing the flow of the method for determining the occurrence of spilled oil.

The oil spill monitoring and control method according to an embodiment of the present invention can be implemented by a drone control system, and the drone control system can be composed of a drone and a server. The drone flies over the selected water area, captures images of the water area at selected intervals, and transmits the captured image and the GPS coordinates of the water area where the image was captured to the server (step 210). Drones can fly over water bodies such as streams, rivers, reservoirs, and the sea and take images at regular intervals. Drones can also capture video and transmit it to a server. Whenever an image is captured, the drone can measure the GPS coordinates of the area and record them in a table corresponding to the image.

The server reads the image received from the drone and determines whether oil spill occurs in the relevant water area (step 220). In step 220, the server converts the image to gray scale (step 221). The server sums the values of all pixels included in the gray scale image (step 222). The server compares the summed pixel sum value with a selected reference value (step 223). As a result of the comparison, if the pixel sum value is smaller than the reference value, the server may determine that oil spill has occurred in the water area where the image was captured (step 224). The determination of the occurrence of spilled oil according to gray scale image conversion will be described in detail with reference to FIG. 4.

Figure 4 is a diagram illustrating the concept of a gray scale image applied to the method for determining the occurrence of spilled oil according to an embodiment of the present invention.

Pixels are the raw building blocks of an image. Every image is made up of a set of pixels, which generally refers to the color or intensity of light that appears at a given location in the image. When an image is divided into a grid, each square contains a single pixel. Gray scale images, like black-and-white photos, consist only of brightness information and no color information. The pixel brightness of a gray scale image has 256 levels of brightness information divided into values from 0 to 255. Typically, 0 represents black and 255 represents white. That is, in a grayscale image, a small pixel value represents a relatively dark area, and a high pixel value represents a relatively bright area. As shown in Figure 4, the pixel value appears high in the bright background area, and the pixel value appears low in the dark human hair area.

When spilled oil occurs in a river or reservoir, the pixel value of a gray-scale image of clean water without floating oil may appear relatively high, and the pixel value of a gray-scale image of the spilled oil may appear relatively low. there is. Accordingly, in the present invention, an image captured by a drone is converted into a gray scale image, the brightness of each pixel of the converted gray scale image is measured, and the brightness values of all pixels included in the gray scale image are summed. Comparing the pixel sum value with the reference value, if it appears small, it can be judged that spilled oil, a relatively dark area, has been imaged, and if it appears large, it can be judged that clean water, a relatively bright area, has been imaged. The standard value can be set as the average value of several summed values by taking pictures of spilled oil in advance and adding up the pixel values. This can be set to various appropriate values according to the judgment of the manager.

Referring again to FIG. 2, if it is determined that spilled oil has occurred in the relevant water area as a result of reading the image after step 220, the server transmits the GPS coordinates of the relevant water area and a control information signal to the drone (step 230). .

Figure 5 is a flowchart showing the flow of a method for transmitting a pest control information signal from a server according to an embodiment of the present invention. In step 230, the server maintains a pest control information table in which a plurality of pixel value ranges and the number of pest control cloths corresponding to each pixel value range are recorded (step 231). The server reads the pixel value range to which the added pixel sum value belongs from the pest control information table (step 232). The server reads the number of pest control cloths corresponding to the read pixel value range from the pest control information table (step 233). The server generates a control information signal including the number of control cloths read and transmits it to the drone along with the GPS coordinates of the relevant water area (step 234). In the control information table, the number of control cloths is recorded for each pixel value range. As the pixel value range is smaller, the number of control cloths is set higher, and as the pixel value range is larger, the number of control cloths is set lower. can be set. Therefore, by varying the number of control cloths according to the level of the pixel sum value, efficient control can be achieved by dropping more control cloths in water areas with a high concentration of spilled oil and relatively less control cloths in water areas with a low concentration of spilled oil.

Referring again to FIG. 2, after step 230, the drone moves to the water area corresponding to the GPS coordinates received from the server and then drops the control cloth on the water area according to the received control information signal (step 240 )). Signal transmission and reception between the drone and the server occurs in real time considering the speed of radio waves, and the server's calculations are also performed in real time, so the drone takes images and transmits them to the server, and the drone drops the spray under the control of the server. Actions can occur almost simultaneously. Accordingly, the drone can be implemented to simultaneously and continuously perform the operation of capturing an image and transmitting it to a server while immediately dropping the spray without moving to another location.

Figure 6 is a flowchart showing the flow of the oil spill monitoring and control method of the drone control system according to another embodiment of the present invention.

The oil spill monitoring and control method according to another embodiment of the present invention may be implemented by a drone control system, and the drone control system may be composed of a drone and a server. The drone flies in the first direction in the water area where the spilled oil occurred, captures images of the water area at selected intervals, and transmits the captured image and the GPS coordinates of the water area where the image was captured to the server (step 610) ). The server continuously reads the images received in each cycle, and reads an image in which the boundary line between water and spilled oil is captured among the images (step 620).

In step 620, the server converts the image N received in the Nth cycle into gray scale and calculates a pixel sum value N, which is the sum of the values of all pixels included in the gray scale image N. The server converts the image N+1 received in the N+1th cycle to gray scale, and calculates a pixel sum value N+1 by adding up the values of all pixels included in the gray scale image N+1. The server converts the image N+2 received in the N+2th cycle into gray scale and calculates a pixel sum value N+2 by adding up the values of all pixels included in the gray scale image N+2.

The server compares the pixel sum value N, the pixel sum value N+1, and the pixel sum value N+2 with selected reference values, respectively. As a result of the above comparison, if the pixel summation value N is smaller than the reference value, the pixel summation value N+1 has the same value as the reference value and within the selected error range, and the pixel summation value N+2 is greater than the standard value, the server The water area where image N was taken is an area polluted by spilled oil, the water area where image N+1 was taken is a borderline area between water and spilled oil, and the water area where image N+2 was taken is an area of water that has not yet been polluted. You can judge. Accordingly, the server reads the image N+1 as an image in which the boundary line between water and spilled oil is captured.

Figure 7 is a diagram illustrating the concept of reading the boundary line between water and spilled oil according to another embodiment of the present invention.

As shown in FIG. 7, the drone flies over the river 710 in the first direction, photographing the first water area 731 in the first cycle, photographing the second water region 732 in the second cycle, and photographing the third water region 732 in the second cycle. The third water area 733 can be photographed during the cycle. In a state in which spilled oil is floating in the river 710 as shown in FIG. 7, the pixel sum value of the first gray scale image taken of the first water area 731 in which the spilled oil is floating is calculated to be smaller than the reference value, and The pixel sum value of the third gray scale image taken of the third water area 733 may be calculated to be greater than the reference value. The pixel sum value of the second gray scale image taken of the second water area 732 where spilled oil and water are mixed may be calculated as the same or similar value within a certain range as the reference value. Accordingly, the server may determine that the second water area 732 where the second image was captured is the water area where the boundary line between water and spilled oil was photographed.

Referring again to FIG. 6, the server transmits GPS coordinates and a pest control information signal corresponding to the read boundary image to the drone (step 630). The drone moves to the water area corresponding to the received GPS coordinates and drops a control agent on the water area according to the received control information signal (step 640). Real-time control spray dropping, rather than the number of pesticide drops included in the control information signal or the water area movement of the drone, can be implemented in the same way as in the above-described embodiment.

Figure 8 is a diagram illustrating the concept of spraying a drone according to another embodiment of the present invention.

In step 640, the drone moves to the water area corresponding to the received GPS coordinates. According to the received control information signal, the drone drops the control cloth while moving back and forth in the water area in the second direction perpendicular to +90 degrees with respect to the first direction and the third direction perpendicular to -90 degrees with respect to the first direction. You can. As shown in FIG. 8, the server moves the drone back and forth in the upward and downward directions perpendicular to the first direction in the second water area 732, which is the boundary area between water and the spilled oil 720, to intensively drop the control cloth. Drones can be controlled through pest control information signals. In this way, by concentrating on the boundary area between the spilled oil 720 and water and dropping the control cloth, the spilled oil can be prevented from spreading further in the first direction.

Figure 9 is a diagram illustrating the concept of reading the direction of flow of spilled oil according to another embodiment of the present invention.

According to another embodiment of the present invention, in step 610, the drone flies in the first direction and passes through the first water area 731, the second water area 732, and the third water area 733, respectively. Take a first image, a second image, and a third image, and send the first image and the first GPS coordinates, the second image and the second GPS coordinates, and the third image and the third GPS coordinates to the server, respectively. send.

After passing the third water area 733, the drone returns to the first water area 731 and flies in the first direction again, passing through the first water area 731, the second water area 732, and the third water area 733. As it passes, a fourth image, a fifth image, and a sixth image are taken in each water area, the fourth image and the first GPS coordinates, the fifth image and the second GPS coordinates, and the sixth image and the third GPS coordinates. are transmitted to the above servers respectively.

The server converts the first to sixth images into gray scale, and adds the values of all pixels included in each gray scale image to the converted first to sixth gray scale images. One value of the first pixel summation value, the second pixel summation value, the third pixel summation value, the fourth pixel summation value, the fifth pixel summation value, and the sixth pixel summation value are calculated, respectively. The server compares the first to sixth pixel sum values with selected reference values, respectively.

As a result of the comparison, the first pixel sum value is smaller than the reference value, the second pixel sum value has the same value as the reference value and within a selected error range, and the third pixel sum value is smaller than the reference value. greater than the fourth pixel sum value is less than the reference value, the fifth pixel sum value is smaller than the reference value, and the sixth pixel sum value has the same value as the reference value within the error range. Or, if it is smaller than the above reference value, the server may determine that the spilled oil is spreading in the first direction.

As shown in Figures 7 and 9, when the spilled oil floating in the river 710 spreads in the first direction, the second water area 732 is judged to be the borderline area between water and spilled oil according to the image taken in the previous cycle. According to the image taken in the next cycle, the second water area 732 is judged to be a spilled oil area, and the third water area 733, which is spaced apart from the second water area 732 in the first direction, is a borderline area between water and spilled oil. can be judged. Therefore, the server can accurately read the direction of diffusion of spilled oil and where the boundary area between water and spilled oil is at the current time through images taken at intervals of the same water area at different times.

The server transmits the third GPS coordinates and pest control signal information to the drone. The drone can move to the water area corresponding to the third GPS coordinates and drop a control agent on the water area according to the signal from the received control information. Additionally, the server transmits fourth GPS coordinates and a pest control information signal for a fourth water area 734 spaced apart from the third water area 733 by a selected distance in the first direction to the drone. After moving to the fourth water area 734, the drone can drop a control cloth on the fourth water area 734 according to the control information signal. Therefore, the server understands the direction of spread of spilled oil and the current borderline area between water and spilled oil in real time, and controls the drone to intensively drop sprays on the borderline area and uncontaminated areas in relation to the direction of spread of spilled oil, thereby spreading the spill. It is possible to prevent as much as possible while detecting oil spills and allowing initial control measures to be carried out in real time.

As described above, although the present invention has been described with reference to limited embodiments and drawings, the present invention is not limited to the above embodiments, and various modifications and variations can be made from these descriptions by those skilled in the art. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the claims and equivalents thereof as well as the claims described later.

Step 210: Image capture and transmission step by drone
Step 220: Determination step of server oil leakage
Step 230: Step of transmitting GPS coordinates and pest control information signal from the server
Step (240): Drone spraying step

Claims (9)

In the oil spill monitoring and control method of the drone control system including drones and servers,
The drone flies and captures images of a water area at selected intervals, and transmitting the captured image and the GPS coordinates of the water area where the image was captured to the server;
The server reads the received image to determine whether oil spill occurs in the relevant water area, and the server converts the image to gray scale and sums the values of all pixels included in the gray scale image. Comparing the summed pixel sum value with a selected reference value, and if the pixel sum value is less than the reference value as a result of the comparison, determining that oil spill has occurred in the water area where the image was captured;
If it is determined that oil spill has occurred in the relevant water area as a result of reading the image, the server transmits GPS coordinates of the relevant water area and a control information signal to the drone, and the server responds to a plurality of pixel value ranges and each pixel value range. Maintain a control information table in which the number of control cloths is recorded, read the pixel value range to which the added pixel sum value belongs from the control information table, and enter the number of control cloths corresponding to the read pixel value range into the control information. Reading from a table, generating a control information signal including the number of control cloths read, and transmitting it to the drone along with GPS coordinates of the relevant water area; and
After the drone moves to the water area corresponding to the received GPS coordinates, dropping a control cloth into the water area according to the received control information signal.
Oil spill monitoring and control method of a drone control system comprising a. delete delete In the oil spill monitoring and control method of the drone control system including drones and servers,
The drone flies in a first direction in the water area where the spilled oil occurred, taking images of the water area at selected intervals, and transmitting the captured image and the GPS coordinates of the water area where the image was captured to the server;
Converting the image N received in the Nth cycle by the server to gray scale, and calculating a pixel sum value N by adding up the values of all pixels included in the gray scale image N;
The server converting the image N+1 received in the N+1th cycle into gray scale and calculating a pixel sum value N+1 by adding up the values of all pixels included in the gray scale image N+1;
The server converting the image N+2 received in the N+2th cycle into gray scale and calculating a pixel sum value N+2 by adding up the values of all pixels included in the gray scale image N+2;
The server comparing the pixel sum value N, the pixel sum value N+1, and the pixel sum value N+2 with selected reference values, respectively;
As a result of the comparison, the pixel summation value N is smaller than the reference value, the pixel summation value N+1 has the same value as the reference value and within a selected error range, and the pixel summation value N+2 is the reference value. If it is larger, the server determines that the water area where image N was taken is an area polluted by spilled oil, the water area where image N+1 was taken is a borderline area between water and spilled oil, and the water area where image N+2 was taken is a borderline area between water and spilled oil. A step of determining that the water area is not yet polluted;
The server reading the image N+1 as an image in which the boundary line between water and spilled oil is captured;
The server transmitting GPS coordinates and pest control information signals corresponding to the read boundary image to the drone; and
A step where the drone moves to the water area corresponding to the received GPS coordinates and drops control foam into the water area according to the received control information signal.
Oil spill monitoring and control method of a drone control system comprising a. delete According to clause 4,
The step of the drone moving to the water area corresponding to the received GPS coordinates and dropping the control cloth on the water area according to the received control information signal,
Moving the drone to a water area corresponding to the received GPS coordinates; and
The drone moves back and forth in the water area in a second direction perpendicular to +90 degrees with respect to the first direction and a third direction perpendicular to -90 degrees with respect to the first direction, according to the received control information signal, step of dropping
Oil spill monitoring and control method of a drone control system comprising a. According to clause 4,
The step of the drone flying in a first direction in the water area where the spilled oil occurred, capturing images of the water area at selected intervals, and transmitting the captured image and the GPS coordinates of the water area where the image was captured to the server,
The drone flies in a first direction and passes through a first water area, a second water area, and a third water area, captures a first image, a second image, and a third image in each water area, and uses the first image and the first GPS Transmitting the coordinates, the second image and the second GPS coordinates, and the third image and the third GPS coordinates, respectively, to the server; and
After the drone passes the third water area, it returns to the first water area, flies in the first direction again, and passes through the first water area, the second water area, and the third water area, capturing a fourth image in each water area. , taking a fifth image and a sixth image, and transmitting the fourth image and the first GPS coordinates, the fifth image and the second GPS coordinates, and the sixth image and the third GPS coordinates to the server, respectively.
Oil spill monitoring and control method of a drone control system comprising a. In clause 7,
The server converts the first to sixth images into gray scale, and calculates the values of all pixels included in each gray scale image for each of the converted first to sixth gray scale images. calculating a first pixel sum value, a second pixel sum value, a third pixel sum value, a fourth pixel sum value, a fifth pixel sum value, and a sixth pixel sum value, respectively;
The server comparing the first to sixth pixel sum values with selected reference values, respectively;
As a result of the comparison, the first pixel sum value is smaller than the reference value, the second pixel sum value has the same value as the reference value and within a selected error range, and the third pixel sum value is smaller than the reference value. greater than the fourth pixel sum value is less than the reference value, the fifth pixel sum value is smaller than the reference value, and the sixth pixel sum value has the same value as the reference value within the error range. or if it is smaller than the reference value, determining, by the server, that the spilled oil is spreading in the first direction;
The server transmitting the third GPS coordinates and pest control signal information to the drone; and
A step where the drone moves to the water area corresponding to the third GPS coordinates and drops control foam into the water area according to the received control information signal.
Oil spill monitoring and control method of a drone control system further comprising: In clause 7,
The server transmitting fourth GPS coordinates and a pest control information signal for a fourth water area spaced apart from the third water area by a selected distance in the first direction to the drone; and
After the drone moves to the fourth water area, dropping a control cloth into the fourth water area according to the control information signal.
Oil spill monitoring and control method of a drone control system further comprising: