KR20170043035A - Water/underwater complex inspection system - Google Patents

Abstract

The present invention relates to a complex inspection system in water, under the water, and on the water. The complex inspection system in the water, under the water, and on the water includes: an unmanned surface vehicle including a first area for loading an unmanned aircraft on an upper deck and a second area for docking of at least an unmanned submarine in the lower part, wherein the unmanned aircraft moistures the position of the unmanned submarine inspecting the inside of the water in real time and receiving surrounding image information filmed by the unmanned aircraft; the at least one or more unmanned submarines docked in the second area and performing underwater inspection along a designated route by being separated from the second area by control of the unmanned water surface vehicle, wherein the at least one or more unmanned submarines provide underwater inspection information to the unmanned surface vehicle; and the unmanned aircraft loaded in the first area and filming surrounding images by taking off from the first area by the control of the unmanned surface vehicle.

Description

UNDERWATER COMPLEX INSPECTION SYSTEM <br> <br> <br> Patents - stay tuned to the technology WATER / UNDERWATER COMPLEX INSPECTION SYSTEM

The present invention relates to a combined underwater, water surface and water inspection system, and more particularly, to a first area for mounting an unmanned aerial vehicle on an upper deck, a second area for docking at least one unmanned submersible in the lower part, Water, and aquaduct composite inspection system that monitors the position of an unmanned submersible for inspecting underwater and accurately performs an underwater inspection according to a designated route.

Inspection is carried out using an AUV (Autonomous Unmmanded Vehicle) for inspection and inspection of the underwater structures such as submarine pipelines and offshore plants. After the AUV dives on the designated route and obtains the required information, when the AUV is completed, the AUV is raised and the GPS signal is transmitted, and the corresponding AUV is collected to obtain necessary information.

However, the method using the AUV has a problem in that an underwater test environment must be performed due to an environment in which the GPS information can not be acquired due to an environment in which the actual test is performed and an error that the designated path does not coincide with each other.

In addition, if the AUV propulsion does not operate due to water or floating in water, or if the AUV system fails to recover due to the AUV system malfunction due to entering the underwater terrain such as a cave or underwater, it is not easy to acquire underwater inspection information , There is a great possibility that expensive AUV recovery becomes impossible.

In addition, a manned vessel for AUV operation is needed, and a LARS crane for launching and recovering AUV is required for the manned vessel.

Also, due to the AUV characteristics, many AUVs can not be recovered due to various submarine environments because they perform their mission in water.

Prior Art 1: Korean Patent No. 9,384,794 (Published on January 25, 2010)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an underwater, water surface and water surface composite inspection system capable of simultaneously inspecting underwater, water surface, and water surface in a complex manner.

Another object of the present invention is to provide an underwater, water surface, and aquamarine composite inspection system capable of operating unmanned submersibles and unmanned aerial vehicles in an area where an underwater inspection is required, in an unattended or remote place, without manned vessels for operation of the unmanned submersible.

Another object of the present invention is to provide an underwater, water surface, and water composite inspection system that enables a user to follow a designated path when an unmanned submersible is underwater.

It is still another object of the present invention to provide a method and apparatus for self-charging that can perform self-charging even when a long-term mission is performed at a remote location, charge a charged electric energy in a wireless manner with an unmanned aerial vehicle and an unmanned submersible, And to provide a complex water and water surface inspection system.

Another object of the present invention is to provide an underwater, water surface and water surface composite inspection system which can detect a situation ahead of an unmanned submersible and unmanned water system,

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

According to an aspect of the present invention for solving the above-mentioned problems, there is provided a docking deck having a first area for mounting an unmanned aerial vehicle, and a second area for docking at least one unmanned submersible vehicle, A method of controlling an unmanned underwater vehicle, comprising the steps of: monitoring a position of an unmanned submersible in water in real time; receiving an image of a surrounding image captured by an unmanned aircraft; docking in the second area; At least one unmanned submersible which is detached from the area and performs underwater inspection along a designated path and provides the underwater inspection information to the unmanned water estimation, A water, water, and water composite inspection system including an unmanned airplane that takes off from the area and captures a surrounding image is provided.

The deck of the unmanned aerial photographing unit is equipped with a solar cell to charge the unmanned aerial vehicle docked in the second area or the unmanned airplane mounted in the first area in a noncontact wireless manner.

Wherein the unmanned submersible vehicle is provided with a sonar sensor for measuring the position of the unmanned submersible, and the position of the unmanned submersible is monitored in real time through the sonar sensor to reset the path following the specified route when departing from the specified route To the unmanned submersible.

In addition, the unmanned aircraft can analyze the surrounding image information received from the unmanned airplane to determine the situation ahead and the presence of an obstacle.

According to another aspect of the present invention, there is provided a navigation system including a wireless communication unit for communicating with an unmanned aerial vehicle or an unmanned submersible, a GPS receiving unit for measuring the position of an aqueduct, a sonar sensor for measuring the position of the unmanned submersible, At least one second charger for charging the docked unmanned submersible, and an upper deck for converting solar energy into electric energy to be supplied to the first charger or the second charger, A controller for controlling the unmanned air vehicle or the unmanned submersible vehicle through the wireless communication unit, monitoring the position of the unmanned submersible in real time through the sonar sensor, and displaying the peripheral image information captured by the unmanned airplane through the wireless communication unit An unmanned reception device is provided.

The controller monitors the position of the unmanned submersible in real time through the sonar sensor and grasps the position of the unmoved submersible underwater based on the GPS position information acquired through the GPS receiver when the specified route is deviated, It is possible to reset the route following the designated route from the location to provide the unmanned submersible.

In addition, the controller analyzes the surrounding image information received from the unmanned airplane to determine the situation ahead and the presence of an obstacle.

The control unit may match the underwater inspection information transmitted from the unmanned submersible and the peripheral image information transmitted from the unmanned air vehicle based on the position measured by the GPS receiver.

According to the present invention, it is possible to provide a total solution capable of simultaneous inspection of underwater, water surface, and water surface.

In addition, since it is possible to monitor the overhead and underwater around the unmanned water service on the water surface, it is possible to crosscheck the obstacles on the route, thereby preventing the unrecyclable situation of the unmanned submersible.

In addition, since a plurality of unmanned submersibles are installed in the lower part of the unmanned watercraft, there is no need for a manned vessel for the operation of an unmanned submersible vehicle, and a crane system for unmanned submersible launching and retrieval is unnecessary.

In addition, when the unmanned submersible is underwater, it is possible to monitor the position of the unmoved submersible in real time and reestablish the path so as to follow the designated path, thereby performing the underwater inspection of the designated path accurately.

In addition, since the solar cell is provided on the upper deck of the unmanned water, it is possible to charge wirelessly for operation of the unmanned submersible and unmanned airplane as well as the power of the unmanned air conditioner, There is a possible effect.

The effects of the present invention are not limited to the above-mentioned effects, and various effects can be included within the scope of what is well known to a person skilled in the art from the following description.

FIG. 1 is a conceptual diagram for explaining a submerged, water, and water composite inspection method according to an embodiment of the present invention.
FIG. 2 is a view illustrating an underwater, water surface, and water surface composite inspection system according to an embodiment of the present invention.
FIG. 3 is a block diagram schematically illustrating the configuration of an unmanned aerial vehicle according to an embodiment of the present invention.

The foregoing and other objects, features, and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings. The embodiments are provided so that those skilled in the art can easily understand the technical spirit of the present invention, and thus the present invention is not limited thereto. In addition, the matters described in the attached drawings may be different from those actually implemented by the schematic drawings to easily describe the embodiments of the present invention.

In the meantime, each constituent unit described below is only an example for implementing the present invention. Thus, in other implementations of the present invention, other components may be used without departing from the spirit and scope of the present invention. In addition, each component may be implemented solely by hardware or software configuration, but may be implemented by a combination of various hardware and software configurations performing the same function. Also, two or more components may be implemented together by one hardware or software.

Also, the expression &quot; comprising &quot; is intended to merely denote that such elements are present as an expression of &quot; open &quot;, and should not be understood to exclude additional elements.

FIG. 1 is a conceptual diagram for explaining an underwater, water surface, and water composite test according to an embodiment of the present invention.

Referring to FIG. 1, the present invention is an inspection system capable of acquiring complex related information in all spaces in the conventional concept of inspection (inspection) which is performed independently in each of the air, water, and water. 100), a UAV (Unmanned Aerial Vehicle), which is a UAV (Unmanned Aerial Vehicle) 200, and an AUV (Autonomous Unmmanded Vehicle), which is an unmanned submersible 300, .

The USV 100 is responsible for the central control of the UAV 200 and the AUV 300. The AUV 300 monitors the location and state of the AUV 300 when the AUV 300 is performing its defined mission, The AUV 300 recognizes the real-time underwater position of the AUV 300 based on the GPS information, and provides the related information so as to follow the defined path. At this time, the USV 100 transmits a control signal for capturing a surrounding image to the UAV 200 mounted on the upper part. The UAV 200 takes off according to a control signal, To the USV 100. Then, the USV 100 matches the surrounding image information with the underwater inspection information transmitted from the AUV 300 based on the GPS position.

In addition, the UAV 200 scans the traveling directions of the USV 100 and the AUV 300, and enables the user to grasp the situation ahead and obstacles in advance.

Generally, in order for the AUV 300 to conduct an underwater inspection, an additional towing device for launching and recovering the AUV 300 and the manned vessel for operating the AUV 300 is required. In the present invention, the AUV 300 300 and the USV 100 equipped with the UAV 200 can be deployed on a coastal or offshore structure and can be operated in an unattended or remote place in an area requiring underwater inspection.

FIG. 2 is a view illustrating an underwater, water surface, and water surface composite inspection system according to an embodiment of the present invention.

Referring to FIG. 2, the underwater and water surface composite inspection system includes at least one unmanned submersible 300 for inspecting underwater, an unmanned airplane 200 for capturing an aerial image, an unmanned aerial vehicle 100 for controlling an unmanned submersible and unmanned airplane ), And the unmanned submersible 300, the unmanned airplane 200, and the unmanned aerial vehicle 100 perform wireless communication.

The unmanned underwater reception system 100 includes a first area 160 for mounting an unmanned air vehicle on an upper deck and a second area 170 for docking at least one unmanned submersible beneath the first area 160, And controls the unmanned submersible 300 and the unmanned airplane 200 through the control unit 300. Here, the first area 160 for loading the unmanned airplane may be a first charging unit for wirelessly charging the UAV 200, and the second area 170 for docking the UAV may be a wireless unit of the UAV 300, And may be a second charging unit for charging.

The waterless assumption 100 provides path information so that the unmanned submersible 300 can perform underwater inspection, monitors the location of the unmanned submersible 300 in real time, And provides it to the unmanned submersible (300). That is, the sonar sensor 130 is provided under the unmanned watercraft and the unmanned underwater system 100 monitors the position of the unmanned submersible 300 in real time through the sonar sensor 130, Check the path. As a result, when the unmanned submersible 300 leaves the designated route, the unmanned water dispenser 100 grasps the underwater position of the unmanned submersible 300 based on the GPS position information acquired through the provided GPS receiver, The submersible 300 is provided with a path resetting function so as to follow the designated path.

The upper deck of the unmanned water receiving system 100 is provided with a solar cell 150 to supply power to the unmanned underwater vehicle 300 and the unmanned airplane 200, . That is, a first charging unit 160 for charging the UAV 200 is provided at an upper portion of the UAV 100, and a second charging unit 160 for charging at least one or more unmanned submersible 300 2 charging unit 170 is provided. When the installation of the UAV 200 is detected in the first charging unit 160, the UAV 100 receives power from the solar cell 150 to charge the UAV 200 wirelessly. In addition, when the docking of the unmanned submersible is detected in the second charging unit 170, the unmanned water dispenser 100 wirelessly charges the unmanned submersible 300 by receiving power from the solar cell 150.

Since the solar cell 150 is provided on the upper deck of the unmanned water table, the self-charging can be performed even if a remote mission is performed for a long time, and the charged electric energy is transmitted to the unmanned airplane 200, And the unmanned submersible 300 are charged in a wireless manner, thereby enabling long-term outdoor mission performance at a remote site.

The unmanned aerobatic control system 100 transmits a control signal for shooting a surrounding image to the unmanned airplane 200 mounted on the upper side and receives peripheral image information photographed from the unmanned airplane 200. That is, since the unmanned airplane 200 is mounted on the unmanned upper deck, if necessary, the unmanned airplane 200 takes off the image and receives the image information taken by the unmanned airplane 200, Information can be provided.

In addition, the unmanned aerial photographing system 100 can analyze the surrounding image information received from the UAV 200, determine the forward situation and existence of an obstacle, and change the predetermined route based on the result of the analysis.

In addition, the unmanned aerial photographing system 100 matches the underwater inspection information transmitted from the unmanned submersible 300 with the surrounding image information transmitted from the UAV 200 based on the location.

In addition, the unmanned water reception system 100 serves as a repeater for communicating with a remote location manager so that the manager can monitor and control the state of the unmanned airplane 200 and the unmanned submarine 300, . The unmanned water reception system 100 receives a control command from a remote manager through wireless communication, and provides result information according to a control command to the manager.

These underwater, sleeping and aquamarine composite inspection systems solve the problem of performing underwater inspection due to the fact that there is a large error with the actual path to the designated path by performing the underwater inspection depending on the existing algorithm of the unmanned submersible. In other words, the sonar sensor 130 provided in the waterless water dispenser 100 provides accurate path information while following the position of the unmanned submersible 300 in real time, enabling accurate underwater inspection, Allows immediate response to loss of submersible condition, malfunction or surrounding environment. In addition, by receiving the charging power from the unmanned submarine (about 10 hours) and unmanned airplane (about 20 minutes), which is a disadvantage of sustained use operation time, the long distance mission can be performed in the space of sea do.

On the other hand, although the unmanned water receiving system 100 is shown in the form of a ship such as a cruise ship, a boat, or a passenger ship, the shape thereof can be freely changed.

The configuration of the unmanned water control 100 will be described with reference to FIG.

The unmanned submersible 300 is docked in the second area 170 provided in the unmanned water treatment system 200 and is detached and designated in the second area 170 by control of the unmanned water immersion system 100. [ Performs underwater inspection along the path, and provides the underwater inspection information to the unmanned water preserver 100. [

The unmanned submersible 300 is an autonomous underwater vehicle (AUV) capable of autonomous navigation in water, and can be operated in the ocean to acquire underwater inspection information.

In addition, the unmanned submersible 300 can be docked to the unmanned water tank 100 for charging the internal battery.

The unmanned submersible 300 is mounted in the second area 170 of the unmanned water tank 100 to charge the battery using the wireless charging method when the battery remaining amount is exhausted during the underwater test, Perform the inspection. At this time, the unmanned submersible 300 can automatically charge the battery by docking in the second area 170 of the unattended water dispenser 100 when the remaining battery capacity is less than a predetermined amount. The unmanned submersible 300 stores information on a section (position) where the underwater test is stopped for charging the battery. When the battery charging is completed, the unmanned submersible 300 can move to that section and perform an underwater test. In addition, the unmanned submersible 300 provides information on a section (position) where the underwater test is stopped for charging the battery to the unmanned water presupposition 100, and when the battery charging is completed, And a path from the start of the test to the underwater inspection path and the inspection section, and moves to the beginning of the inspection to perform the underwater inspection again.

The unmanned submersible 300 performs an underwater inspection in accordance with a control signal from the unmanned water preserver 100, transmits the in-water inspection information to the unmanned water presupposition 100, I will follow along.

The unmanned airplane 200 is mounted on a first region 160 provided in the unmanned aerial platform 100 and takes off from the first region 160 under the control of the unmanned aerial platform 100 to capture a surrounding image.

The unmanned airplane (200) is a small airplane body that flew under the control of the outside without a passenger. The unmanned airplane (200) has advantages in that it can fire and recover in a small space and has a lower management cost than a manned aircraft.

The unmanned airplane 200 captures a surrounding image by flying under the control of the unmanned water control 100, and transmits the captured peripheral image information to the unmanned water control 100. At this time, the unmanned airplane 200 is equipped with a plurality of surveillance devices, and the surveillance equipment may be a grand surveillance radar, an electronic optical camera, an infrared ray detection device, or the like.

The UAV 200 scans the traveling direction of the UAV 100 and the UAV 300, and allows the UAV to recognize the situation ahead and obstacles in advance.

FIG. 3 is a block diagram schematically illustrating the configuration of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 3, the unmanned water treatment system 100 includes a wireless communication unit 110, a GPS receiving unit 120, a sonar sensor 130, a controller 140, a solar cell 150, a first charging unit 160, 2 charging unit 170. [ Here, the wireless communication unit 110, the GPS receiving unit 120, and the control unit 140 are mounted on the hull, the sonar sensor 130 is mounted on the lower part of the hull, the first charging unit 160 and the solar battery 150 are mounted on the hull, And the second charging part 170 is mounted on the lower part of the hull.

The wireless communication unit 110 performs wireless communication with an unmanned airplane, an unmanned submersible vehicle, and a manager.

The GPS receiving unit 120 measures the position in the aquarium and provides the measured position to the control unit 140.

The sonar sensor 130 measures the position of the unmanned submersible in real time.

The control unit 140 controls the operation of the unmanned aerial vehicle or the unmanned submersible vehicle through the wireless communication unit 110.

The control unit 140 monitors the position of the unmanned submersible in real time through the sonar sensor 130 and provides a path to the unmanned submersible so as to follow the designated route when leaving the predetermined route. That is, the controller 140 monitors the position of the unmanned submersible in real time through the sonar sensor 130, thereby confirming the operation route of the unmanned submersible. As a result, when the unmanned submersible deviates from the designated route, the control unit 140 grasps the underwater position of the unmanned submersible on the basis of the GPS position information acquired through the GPS reception unit 120, The path is reset so that it can follow, and it is provided to the unmanned submersible.

In addition, the control unit 140 transmits a control signal for photographing the surrounding image to the unmanned airplane mounted on the upper side through the wireless communication unit 110. When the surrounding image information photographed from the unmanned airplane is received, To determine the situation ahead and the presence of obstacles. At this time, the controller 140 may compare the image information at the same position with the currently received image information to detect a change in the status. The control unit 140 may include an image recognition algorithm for detecting and recognizing image information provided in real time such as PCA (Principal Component Analysis), LDA (Latent Dirichlet Allocation), RDA (recursive division algorithm), GSVD Decomposition, and the like, and based on the analysis results, it is possible to determine the situation ahead and the presence of an obstacle.

The control unit 140 analyzes the surrounding image information received from the unmanned airplane, and determines a situation ahead and existence of an obstacle, and changes a predetermined route based on the result of the analysis.

The control unit 140 can transmit the underwater inspection information inspected by the unmanned submersible, peripheral image information photographed by the unmanned airplane, the location and route of the unmanned submersible to the manager through the wireless communication unit 110. [ Therefore, the administrator can confirm whether or not the unmanned submersible vehicle is in the normal running or the track departure, and the degree of movement and the moving time between the positions in real time.

When a control command is received from a remote manager through the wireless communication unit 110, the control unit 140 controls the unmanned submersible or unmanned aerial vehicle according to the control command and provides the control result to the administrator through the wireless communication unit 110 do.

The solar cell 150 supplies power to the unmanned underwater vehicle 100 as well as to the unmanned underwater vehicle and the unmanned aerial vehicle. The sunlight incident through the panel during the daytime is converted into electric energy through the solar cell 150 and charged into the battery through the power conversion module and the capacitor, and at the same time, the solar cell 150 is driven by the non- .

The first charger 160 is located above the hull to charge the unmanned airplane. That is, when the mounting of the unmanned airplane is detected, the first charging unit 160 receives electricity from the solar battery 150 to charge the unmanned airplane.

When the docking of the unmanned submersible is detected, the second charging unit 170 receives electricity from the solar cell 150 to charge the unmanned submersible. Here, only one second charging unit 170 is shown, but it may be more than one.

Although not shown in the drawing, the unmanned water control 100 may include various sensors such as a steering unit, a braking unit, a driving unit such as a motor, and a water level measuring sensor.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Unattended water assumption 110: Wireless communication
120: GPS receiver 130: Sonar sensor
140: control unit 150: solar cell
160: first charging unit 170: second charging unit
200: Unmanned aerial vehicle 300: Unmanned submersible

Claims (8)

A first area for mounting an unmanned aerial vehicle on the upper deck and a second area for docking at least one unmanned submersible in the lower part are provided and the position of the unmanned submersible for inspecting the underwater is monitored in real time, Unmanned aerial photographing to receive peripheral image information taken from an aircraft;
At least one or more docked in the second area and performing underwater inspection along the designated path removed from the second area by the unmanned aerial image definition control, Unmanned submersible; And
An unmanned airplane mounted on the first area and taking an image of a surrounding area by taking off from the first area by the unmanned aerial photographing control;
Water, water, and aquatic complex inspection system.
The method according to claim 1,
The deck of the unmanned water well is equipped with a solar cell and the unmanned water docked in the second area or the unmanned airplane mounted in the first area is charged in a non- Underwater, sleep and water composite inspection system.
The method according to claim 1,
Wherein the unmanned submersible vehicle is provided with a sonar sensor for measuring the position of the unmanned submersible, and the position of the unmanned submersible is monitored in real time through the sonar sensor to reset the path following the specified route when departing from the specified route Wherein the system is provided to the unmanned submersible.
The method according to claim 1,
Wherein the unmanned air conditioner analyzes the surrounding image information received from the unmanned airplane to determine the situation ahead and the presence of an obstacle.
A wireless communication unit for communicating with the unmanned aerial vehicle or the unmanned submersible;
A GPS receiving unit for measuring a position in an aquarium;
A sonar sensor for measuring a position of the unmanned submersible;
A first charging unit for charging the unmanned aerial vehicle mounted on the upper portion of the ship;
At least one second charging unit located below the hull to charge the docked unmanned submersible;
A solar cell provided in the upper deck for converting solar energy into electric energy and providing the solar cell to the first charging unit or the second charging unit; And
A controller for controlling an unmanned air vehicle or an unmanned submersible vehicle through the wireless communication unit, monitoring the position of the unmanned submersible in real time through the sonar sensor, and receiving peripheral image information photographed by the unmanned airplane through the wireless communication unit;
The unmanned water presupposition including.
6. The method of claim 5,
The controller monitors the position of the unmanned submersible in real time through the sonar sensor and grasps the position of the unmoved submersible underwater based on the GPS position information acquired through the GPS receiver when the specified route is deviated, And a path for following the designated path is reset to provide the unmanned underwater vehicle with the unmanned underwater vehicle.
6. The method of claim 5,
Wherein the control unit analyzes the surrounding image information received from the unmanned airplane to determine whether the vehicle is ahead or whether an obstacle exists.
The method according to claim 6,
Wherein the control unit matches the underwater inspection information transmitted from the unmanned submersible and the peripheral image information transmitted from the unmanned air vehicle based on the position measured by the GPS receiver.

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