KR200372653Y1 - Remotely Operated Acoustic Seabed Topology Device - Google Patents

Abstract

The present invention uses a small probe equipped with an exploration device that can be controlled by a remote control to detect the state of the bottom of a dam, river, reservoir, sea, etc. Sonar) relates to an underfloor ultrasonic irradiation apparatus which calculates quasi-setting beams and three-dimensional topographical maps by accurately measuring depth, location information, and bottom image by radiating ultrasonic signals into water and receiving them. More specifically, the present invention is a small unmanned probe that can be remotely controlled remotely by a control signal transmitted from a land base station using a GPS tracking system, a CCD camera for checking the perimeter of the probe, an engine control transceiver, depth and bottom data acquisition. It is equipped with a micro process and memory for processing and storing the data received from the ultrasonic transmitter and receiver, and a transmitter for transmitting the position information and the surrounding image of the unmanned probe to the land base station. , While checking the safety and surrounding conditions of remotely controlled unmanned probes by floating on the sea, it measures the depth information of the underwater and the shape of the bottom of the submarine quickly and accurately. By comparing the height or volume of the deposited soil The depth and volume to be dredged by allowing you to decide which is characterized in providing information that can be accurately calculated.

Description

Remotely Operated Acoustic Seabed Topology Device

The present invention uses a small probe that is equipped with an exploration equipment that can be controlled by remote control at a land base station, and uses the GPS to determine the state of the bottom of the dam, river, reservoir, sea, etc. The present invention relates to an underfloor ultrasonic irradiation apparatus which calculates quasi-setting beams and three-dimensional topographical maps by precisely measuring depth, position information, and bottom image by radiating ultrasonic signals through an ultrasonic transceiver and receiving the same.

Conventionally, in order to investigate the sedimentation status or shape of the underwater bottom to obtain dredging information such as dams, rivers, reservoirs, and the sea, the exploration boat carrying divers moves to a place where measurement is required, and the divers enter the water directly. Since it is necessary to survey the bottom or photograph with equipment, water pollution and environmental pollution cannot be avoided, and it is difficult to accurately and systematically acquire data on the underwater depth of the place where measurement is needed and the overall shape of the bottom. There is a problem that it is difficult to accurately obtain three-dimensional information of the bottom surface based on the data.

In addition, in the related art, large exploration boats equipped with exploration equipment and exploration personnel should be moved to dams, rivers, reservoirs, seas, etc., so that the investigation period becomes long, and economic losses and environmental pollution caused by increased equipment operation and labor costs, In addition, there is a problem in that safety accidents such as overturning of probes or injury to workers may occur during underwater work.

The technical problem to be achieved by the present invention was conceived by recognizing the problems of the prior art as described above, floating a small unmanned probe that can be controlled wirelessly from the land base station in a place that needs information about the bottom, mounted on the probe GPS cameras to check the location of unmanned probes, which can simultaneously check the safety and surroundings of remotely controlled unmanned probes by GPS, and ultrasonic transmitters (Sonar). Based on the information about the underwater bottom surface obtained by radiating the ultrasonic wave, receiving the ultrasonic wave reflected from the bottom of the bottom surface, amplifying the received analog signal and converting it into a digital signal, the required exploration area such as dam, river, reservoir, sea, etc. It shows three-dimensionally the state of the bottom of the water or the shape of the bottom in three dimensions. Another aspect of the present invention is to implement an underwater underfloor ultrasonic irradiation apparatus capable of providing more accurate and faster quasi-setting beams to be newly performed in comparison with the semi-setting beams previously performed.

Another object of the present invention is to land a small unmanned probe that can be controlled wirelessly from a land base station in a place where measurement is needed, and acquire position information, depth information, and shape information of the bottom surface to obtain quasi-preparation report quickly or accurately. As it can be read out, it can shorten the investigation period and greatly reduce labor costs, prevent workers 'casualties by unmanned work, and greatly reduce environmental pollution caused by operation of relatively large probes and workers' work. have.

Another object of the present invention is to launch a small unmanned probe that can be controlled wirelessly from a land base station in a place where measurement is needed, and acquire location information, depth information, and bottom surface information to obtain quasi-preparation report quickly and accurately. Analyze, process and record the data in the database in memory so that the necessary information is available. Cost savings due to the prevention of double search and storage can be used to predict and plan dredging time in the long term by using the accumulated information of exploration year. To provide information.

1 is a block diagram of the entire ultrasonic irradiation apparatus according to the present invention

Figure 2 is an exploration schematic diagram of the ultrasonic irradiation apparatus according to the present invention

<Brief description of symbols for the main parts of the drawings>

One ; Ultrasonic Transceiver (for bottom scan)

2 ; Ultrasonic Transceiver (for Depth Measurement)

3, 4; Signal amplifier 5; A / D Converter

6; Data processing systems 7, 9, 13; antenna

8 ; Position information acquisition system 10; engine

11; Power supply 12; System control system of land base station 14; CCD camera

21; Land base stations 22, 30; antenna

23; Unmanned probe 24; Ultrasonic Transceiver (for Depth Measurement)

25; Ultrasonic Transceiver (for bottom scan)

26; Engine 27; Power supply

28; Data processing system 29; Position information acquisition system 30; Antenna 31; CCD camera

The present invention uses a small probe equipped with exploration equipment that can be controlled by a remote control at a land base station, and uses the GPS to determine the state of the bottom of dams, rivers, reservoirs, seas, etc. The present invention relates to an underfloor ultrasonic irradiation apparatus capable of accurately measuring the shape of the bottom of the water by radiating and receiving ultrasonic signals in water through depth information and an ultrasonic transceiver (Sonar). Conventionally, in order to investigate the sedimentation status or shape of the bottom of the water to obtain dredging information such as dams, rivers, reservoirs, and the sea, a probe carrying divers moves to a place requiring measurement, and the divers enter the water directly. Water pollution and environmental pollution cannot be avoided because the bottom surface must be surveyed or photographed using the equipment, and it is difficult to accurately and systematically acquire data on the depth of the underwater area and the overall shape of the bottom surface where information on the bottom surface is needed. There is a problem that it is difficult to accurately obtain three-dimensional information of the bottom surface based on the data acquired by workers, and in the related art, a large exploration boat equipped with exploration equipment and exploration personnel has to move to dams, rivers, reservoirs, seas, etc. Economic loss caused by longer, increased equipment operation and labor costs, As well as the occurrence of environmental pollution, there is a problem that can not prevent safety accidents, such as accidental overturning of the probe or human injury that may occur during underwater work. Looking at the configuration means of the present invention for solving this problem in more detail, the land base station is provided with a radio transceiver for controlling the unmanned probe wirelessly, an antenna for transmission and reception and a system control device 12 for system control. . The unmanned probe 23 according to the present invention receives a signal transmitted through the antennas 13 and 22 from the system control apparatus 12 of the land base station 21 to control the operation and operation of the unmanned probes. The exploration is started by the attached data processing system 6, the power supply unit 11 for supplying power to various equipment, the radio transmitting and receiving antenna 7 used to exchange signals with the land base station, and the signal transmitted from the land base station. It is equipped with an exploration equipment. In the unmanned probe according to the present invention, a CCD camera 14 for checking the periphery of the unmanned probe, which can be remotely controlled and can simultaneously check the safety and the surrounding situation of the unmanned probe, is installed at the front of the unmanned probe. When the camera is rotated up, down, left and right, a rotation control motor is attached to the bottom of the camera fixing stand so that the camera fixing stand can be rotated by a remote control so that the desired position can be easily observed. In the exploration equipment interrogated by the unmanned probe, the position information acquisition system 8 for measuring the position of the radio probe using a commercial GPS used for acquiring the location information and the depth measurement for measuring the depth of the place where the unmanned probe is located Ultrasound transceiver (Side Scan Sonar) that scans the sedimentation state and shape of the underwater bottom surface with the device and relatively precisely amplifies the position information, depth information, and underwater bottom data signal received from the ultrasonic transceiver with an A / D It is equipped with a data processing system with a built-in microprocessor and memory unit for processing and storing after converting the digital signal into a converter. The data processing system mounted on the unmanned probe has a location or terrain information received from the GPS, depth information received from an ultrasonic transmitter for depth measurement, and a sediment state or topography of a dam, river, reservoir, sea, etc. scanned by an ultrasonic transceiver. Means for recording and storing information about the shape of the water (terrestrial terrestrial topographic map) in a memory, and means for transmitting each data to a land base station through a wireless transmitter and receiver. After processing three-dimensionally the condition of the bottom surface of the river, reservoir, sea, etc., the processed data may be transmitted to the land base station through the radio transceiver. In the case of land such as reservoirs, dams and rivers, the location information may be used by acquiring more accurate location information by interlocking location information using GPS and location information using a communication base station. The location information of the unmanned probe obtained using the GPS or the GPS and the communication base station is recorded and stored in the memory of the unmanned probe and transmitted to the land base station. The depth of the place where the unmanned probe is located can be measured more accurately and quickly by using a commercially available ultrasonic transceiver capable of measuring the depth by radiating ultrasonic waves into the water at one point. Ultrasonic transceivers that scan data on the bottom surface of dams, rivers, reservoirs, and the sea to obtain data on the bottom surface are commercially available products such as scanning a wide range at the same time and scanning a narrow range at the same time. Among the various commercially available ultrasonic transceivers, one that is suitable for exploration may be selected in consideration of price, accuracy, and data processing speed. The system control apparatus installed in the land base station includes a microprocessor and a memory means, means for transmitting signals to the unmanned probe and means for recording and storing various data received from the unmanned probe and calculating and analyzing and processing the received data. Means for displaying on the screen or transmitting to another server. For example, means for transmitting signals for operation, speed, stop and direction of the unmanned probe, means for receiving and recording data transmitted from the unmanned probe, and calculating and analyzing the data transmitted from the probe. Means for converting into two-dimensional or three-dimensional data to display on the monitor, and means for transmitting the data to the required server. The various means are performed by the software included in the system control device installed on the land base station and the data processing system mounted on the unmanned probe, and the user may use a keyboard, a mouse or a button installed on the system control device installed on the land base station. By operating the various means described above and the user can perform the desired processing.

The present invention floats an ultra-small unmanned probe that can be controlled wirelessly from a land base station in a place where it needs to be measured, and acquires the location information by using the GPS probed on the unmanned probe, and scans and reads the underwater bottom information. By obtaining the depth information according to the transceiver and each location, the semi-preparation report can be obtained quickly and accurately, which greatly reduces the survey period and labor costs, prevents the casualties of workers by unmanned work, and relatively large probes. And it has the effect of reducing the environmental pollution that can be caused by the work of workers.

Another effect of the present invention is to launch a small unmanned probe that can be controlled wirelessly from a land base station in a place where measurement is needed, and acquire position information, depth information, and bottom information to obtain quasi-preparation report quickly and accurately. Analyze, process and record the data in the database in memory so that the necessary information is available. Cost savings due to the prevention of double search and storage can be used to predict and plan dredging time in the long term by using the accumulated information of exploration year. It has the effect of providing information.

Claims (7)

In the ultrasonic irradiation apparatus for the bottom surface exploration of dams, rivers, reservoirs, sea, etc. using a small unmanned probe that can be adjusted by remote control and equipped with a survey equipment such as a location information acquisition system and an ultrasonic transceiver, A land base station equipped with a radio transceiver, a system controller, and an antenna for transmitting and receiving and wirelessly controlling an unmanned probe; Means for acquiring positional information of the unmanned probe, means for acquiring data on the bottom surface of the water and equipped with an ultrasonic transmitter and receiver, means for processing the acquired data, and means for transmitting the necessary data to the land base station. Ultrasonic irradiation apparatus for underwater bottom exploration consisting of a small unmanned probe equipped with. The method according to claim 1, And a means for acquiring the position information of the unmanned probe, the means for acquiring the position information using the GPS or the position information using the GPS and the communication base station at the same time. The method according to claim 1, The small unmanned probe has an ultrasonic irradiation apparatus for bottom sensing, each having an ultrasonic transceiver for scanning depth and a bottom measuring in order to more accurately acquire data on the bottom of the water. The method according to claim 1, Ultrasonic irradiation apparatus for bottom-side exploration further comprising a CCD camera for checking the periphery of the unmanned probe that can confirm the safety and the surrounding situation of the unmanned probe at the same time. The method according to any one of claims 1 to 4, The system control apparatus of the land base station includes means for transmitting signals for operation, speed, stop, and direction change of the unmanned probe, means for receiving and storing data transmitted from the unmanned probe, and receiving data transmitted from the probe. And a means for converting into two-dimensional or three-dimensional data after arithmetic processing and displaying it on a monitor, and a means for transmitting data to a required server. The method according to any one of claims 1 to 4, The means for controlling the unmanned probe at the land base station is an ultrasonic irradiation apparatus for underwater bottom exploration made by a control means such as a keyboard, a mouse or a button installed in the system control device of the land base station. The method according to any one of claims 1 to 4, The data processing apparatus mounted on the unmanned probe has a microprocessor and a memory means, and has a underwater load including a position data, a depth data, and a means for recording and storing data of the underwater bottom surface received from the ultrasonic transceiver and arithmetic processing of the data. Ultrasound probe for bottom exploration.