KR20170097988A - Apparatus and method for obtaining sea-bottom image - Google Patents

Abstract

The present invention relates to an apparatus for filming a sea-bottom image and a filming method using the same. By using the present invention, a sea-bottom environment where microwaves are not able to pass through, and a sea-bottom map can be drawn by mosaicking the image according to location information by simultaneously receiving the image via a GPS device positioned on a sea water surface of a perpendicular direction with the apparatus for filming, and matching the image with the location information received from a satellite. By obtaining an actual sea-bottom environment image and precise location information matching with the environment image, the sea-bottom map capable of investigating an actual condition of a whitening event more specifically can be drawn and a base reference can be provided to analyze causes of the whitening event and prepare countermeasures.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a submarine topography photographing apparatus and a photographing method using the apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an undersea topography photographing apparatus capable of photographing an undersea topography and a photographing method for creating an undersea topography map using the apparatus, In the vertical direction, the GPS device is located and the captured image is photographed by the GPS device. At the same time, when it is transmitted, the position information received from the satellite is matched with the image, and the image is mapped according to the position information. A terrain photographing apparatus, and a photographing method using the apparatus.

The 'sea forest' refers to the formation of forests in which the algae reproduce vastly in the sea, similar to the formation of tropical forests. The composition of the sea forest is largely due to the large biomass of brown algae that explodes in the unique marine environment where the nutrients are supplied unlimitedly, occupying a part of the sea area, and various other kinds of algae are naturally grown.

 The first of the functions that can be obtained through the composition of the sea forest is the increase of the seaweed supply. Seaweeds are used in health food containing vitamins and minerals as useful ingredients or as useful functional materials such as fucoidan, cinnamic acid, alginic acid and sunscreen, or as a clean bio energy source. The supply of such seaweeds can lead to the development of the field. It also has the effect of feeding breeding, spawning, nursery, and growing fields as a food for aquatic organisms, and reducing greenhouse gases by absorbing carbon dioxide in the water and the atmosphere.

Recently, however, the seaweeds that have grown in the coastal rock area have disappeared and have been replaced by algae lime, and the rocky areas have become whitened, causing the seaweeds to be devastated. Thickness was first discovered at the end of the 1970s, and its frequency has increased since then. Although the exact cause has not been clarified, it is estimated that the temperature rise due to global warming, acidification of the ocean, and inflow of pollutants into the land.

The process of consonantation is caused by the rise of water temperature, the environment of the sea environment changes, and the growth of red algae with calcium carbonate such as coral is diffused. These calcareous algae are caused by the pollution discharge of the land containing phosphoric acid, and the lime in the seawater concentrates and precipitates, making it more prosperous and spreading in the sea and dying and making the rocky area white.

In addition to reducing seaweed supply, it also reduces abalone, sea cucumber, and fish due to the decrease of seaweeds, and the marine ecosystem is threatened by deterioration of midwater ability of seawater. It is necessary to prepare for.

In the step of constructing the sea forest, a certain range of the ocean is selected as the survey area, and the submarine map is completed through the exploration system that can survey the seabed of the survey area, It is most important to acquire image data on the seafloor of the surveyed area and to refer to it as a monitoring step.

In general, the acquisition of seabed image data is carried out by placing a hull on the sea surface and acquiring only a submarine and an unmanned submersible or an explorer as a submarine. An underwater imaging camera capable of collecting image data of the seabed is connected to the hull A device capable of transmitting data outside the sea surface or transmitting / receiving ultrasonic waves is installed to obtain position information of the image.

However, since the waves that can pass through the seawater are located on the basis of the information according to the height of the seabed topography with the ultrasonic waves, the transmitted seabed image data and the location information do not exactly coincide with each other, There is a difficult problem to match.

In Korean Patent No. 10-0607548, unlike an unmanned submersible (ROV) and a deep sea submersible (AUV), a system for wireless communication centered on a submarine exploration body, includes a video data transmitting / receiving unit and a control transmitting / A system for photographing a narrow range continuously and a bidirectional sonar as an ultrasonic broad-range illuminating apparatus are provided at the same time by eliminating the possibility of disconnection, high cost and complication as the ship and the probe on the bottom surface are connected using only the tension holding wire And an undersea exploration system using an underwater wireless communication method that enables identification of a subsea object in a wider area. Korean Registered Patent No. 10-0913162 discloses a deep sea retractable imaging platform capable of measuring underwater images and depths measured by a digital video and still camera at the depths of thousands of meters and deep sea terrain information using ultrasonic waves at the same time, And an image capturing apparatus. Korean Registered Patent No. 10-1404038 includes a bus bar; A wire connected to the bus bar; A submarine CO2 photographing means connected to the wire and positioned in the seabed according to the movement of the bus, for capturing a continuous moving picture of the seabed at the bottom of the seabed for monitoring the outflow and movement of carbon dioxide generated in the seam bottom; And a method for capturing a moving picture for monitoring the outflow of carbon dioxide generated in the deep sea floor by using the moving picture capturing system for monitoring the outflow of carbon dioxide generated in the seabed. Korean Patent No. 10-0936504 discloses a method for acquiring coordinate information and topographic information and depth information providing a submarine information management system that is high in data communication rate and is not disconnected due to an obstacle in the seabed, And an undersea topographic information management system. However, the above-mentioned prior art document discloses a propulsion device that moves along an area set in a submerged area of the upper surface of the present invention; The propulsion device is provided with a monitoring device capable of capturing an underwater object; A vertical water surface of the propulsion device is connected and fixed to the propulsion device through a coupling device so that a GPS device can be positioned; A configuration including a storage structure in which an image including positional information transmitted from the GPS device is received is not disclosed and shows a difference.

The present invention is to solve the above-mentioned problem that it is difficult to acquire accurate position information matching with an image although the seawater is unable to pass the radio wave and can photograph the undersea environment. The seawater environment is photographed, A submarine topography photographing device capable of mapping an image received from a satellite to a GPS device located at the same time and mosaicking the image according to the position information so that a submarine map can be created; and a photographing method using the device .

As a means for solving the above-mentioned problems, the present invention provides a propulsion device comprising: a propulsion device that is submerged in a seabed to move along an established area; The propulsion device is provided with a monitoring device capable of capturing an underwater object; A vertical water surface of the propulsion device is connected and fixed to the propulsion device through a coupling device so that a GPS device can be positioned; And a storage structure in which an image including positional information transmitted from the GPS device is received.

The submarine topography photographing apparatus according to the present invention and the photographing method using the apparatus are used to acquire an actual image of the sea floor environment and accurate position information coinciding with the image, It is possible to provide the basic data for analyzing the causes of white-spot whitening phenomenon and preparing countermeasures.

1 shows a schematic diagram of a photographing method using the undersea topography photographing apparatus of the present invention.
2 is a side view of the undersea topography photographing apparatus of the present invention.
3 is a perspective view of the GPS device of the undersea topography photographing apparatus of the present invention.
4 shows a side view of a connecting device of an undersea topography photographing apparatus according to the present invention.
5 shows a perspective view of an undersea topography photographing apparatus and a monitoring apparatus of the present invention.
FIG. 6 shows a submarine map image mosaicking step of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to specific configurations related to an undersea topography photographing apparatus and a photographing method using the apparatus.

1 shows a schematic diagram of a photographing method using the undersea topography photographing apparatus of the present invention. A method of photographing using an undersea topography photographing apparatus according to the present invention comprises the steps of: selecting an object to form an undersea topography map; Capturing an image of a target using a submarine topographical photographing apparatus according to the selected target section; And creating a submarine map of the image data received through the photographing.

The step of selecting the target site is to set the area to create the underwater map, to divide the survey area into survey units according to the size of the area, to calculate the area of the surveyed area, and then to analyze the appropriateness of the survey area .

It is necessary to estimate the area of the target area when the target area is selected for the purpose of making the underwater map. As an example of the area estimating method of the present invention, the line transect method was applied and it was possible to analyze the appropriateness of the target site at the same time as calculating the target area.

It is more appropriate to analyze the damage level by conducting a site adequacy analysis in advance of the map preparation because it is necessary to conduct a more extensive and continuous on-site investigation in order to grasp the actual condition of damage of the whitewashed whiteness phenomenon, Do. Therefore, when the area of the target area is calculated, it is possible to analyze the target area appropriately.

In the analysis of appropriateness, the target area to be surveyed is selected, and the standard index is searched by setting the items and lists to be tested. As an embodiment of the present invention, the appropriateness analysis is carried out by acquiring biological analysis and information using sample diving, photographed image, and square area for the target area, Analysis of change, analysis of natural rock mass, and comparison of analysis results.

The step of photographing a target land is a step of photographing a sea area partitioned by the target land selection step by using the undersea topography photographing apparatus of the present invention. 2 is a side view of the undersea topography photographing apparatus of the present invention.

The apparatus for photographing an undersea topography of the present invention comprises a propulsion device (10) which is submerged in the seabed and moves along an established area; The propulsion device is provided with a monitoring device (50) capable of taking an underwater object; The vertical surface of the propulsion device may be connected to and fixed to the propulsion device via a connection device 80 so that the GPS device 90 may be positioned.

The data acquired through the undersea topography photographing apparatus of the present invention can be stored in the storage structure 1. The storage structure is a structure capable of transmitting and receiving data from the GPS device while maintaining a certain distance from the photographing target site, and can be formed in the form of a ship capable of drifting on the sea surface in general.

In the storage structure, data including images and positional information shot by the undersea topography photographing apparatus can be received, input, stored, and output, and can be performed until the submarine map creation step with the data. In addition, if the structure is constructed such that it can drift and move on the sea surface like a ship, it can be a means for moving the seabed topography photographing apparatus to the target site where the photographing is performed.

3 is a perspective view of the GPS device of the undersea topography photographing apparatus of the present invention. The GPS device 90 of the present invention includes a GPS antenna 91 for receiving a current position by using a satellite and transmitting the same at the same position information, an antenna for receiving the information of the antenna, A buoy 93 provided on the body frame to provide buoyancy, and a connection part 94 formed on the lowermost side of the body frame and connected and fixed to the connection device.

The GPS antenna 91 receives accurate information on the latitude, longitude, altitude, time and speed using the image from the satellite when the image photographed by the image device is transmitted through the wire, and matches the image data with the information on the current location Provide information to the storage structure.

The GPS antenna is installed on the upper side of the body frame so as not to come in contact with the sea surface, and the transparent frame is formed so as to surround the antenna so that seawater floods by the GPS antenna and prevents interference with the radio wave, Blockage is possible.

It is appropriate that the body frame 92 is formed of a material having a mass that is free of corrosion in seawater, has excellent durability and can float on sea surface by buoyancy. A general body frame is formed in the form of polygonal horns, and rounded corners are formed to receive a more precise position because the structure is not shaken even if a wave is hit.

At the upper part of the body frame, a GPS antenna and a GPS terminal are installed, and the image data transmitted through the wire is received in the storage structure by matching with the position. Further, a frame such as a bib structure may be installed on the upper side edge of the upper part of the body frame so that the upper side of the body frame may be rolled over by waves or seawater may not flood.

The lower part of the body frame is connected to the connection frame, so that the image data transmitted by the connection frame can be received through the GPS antenna, and the connection part can be installed and fixed and separated from the connection device. The ring structure is shown.

Buoy shall be installed so that the body frame floats on the surface of the sea in a balanced manner and it shall be capable of giving buoyancy to such an extent that not more than 1/3 of the body frame is immersed.

4 shows a side view of a connecting device of an undersea topography photographing apparatus according to the present invention. The connecting device 80 connects the GPS device floating on the sea surface and the propulsion device 10 located on the seabed to serve as an intermediary for data transmission and allows the GPS device to be positioned at the vertical sea level of the propulsion device .

The monitoring device receives the image data by the GPS device every time the photographing is performed, and the GPS device transmits the data to the storage structure after matching the photographed image with the position information received from the satellite.

Therefore, if the GPS device is located on the vertical sea surface of the propulsion device, it is possible to acquire the position information that matches the captured image image because the position where the submarine image is photographed by the monitoring device and the GPS device Do.

The reason for separating the submarine image capturing operation and the location information matching operation is that the radio wave can not pass through the water surface, and the location information on the image taken on the sea floor can not be known on the sea floor.

In the connecting device of the present invention, a wire 81 in which a data transmission cable is embedded and an automatic winding device 82 in which a wire is automatically wound and a predetermined force is applied are installed in the middle of the wire, And a portion 83 is installed.

Generally, a wire is made of a cable through which an image taken by a monitoring device can be transmitted, and a rubber material is wrapped around the cable so that the cable is not exposed to seawater. Therefore, the wire is excellent in elasticity and can be maintained in a vertical form in the sea with little fluctuation in the current flow.

A wire of a certain length is wound inside the automatic winding device and the wire can be automatically kept in a continuous state under a certain force so that the wire connected between the propulsion device and the GPS device can be continuously tensioned Can occur. The tension of the wire is to move the GPS device at the same time as the propulsion device moves, so as to match the exact position according to the image of the taken place.

When a constant force is applied when the wire is unwound from the automatic winder, the constant force may refer to the force between the propulsion device and the GPS device with buoyant movement energy that penetrates deep into the seabed.

By means of the automatic winding device, the wire can be held perpendicular to the sea level, so that even if the propulsion device moves, the GPS device can be positioned in the vertical direction with the propulsion device.

5 shows a perspective view of an undersea topography photographing apparatus and a monitoring apparatus of the present invention. The propulsion device 10 of the present invention can be generally constructed of an underwater scooter and can be moved in the sea by driving the propeller by driving the battery in water and obtaining propulsion. A handle is formed on the left and right side portions of the underwater scooter so that the diver can adjust the direction in which the underwater scooter is started and a connecting portion for fixing the wires of the connecting device can be formed on the upper side.

The propulsion device may be provided with a monitoring device 50 at an angle that facilitates capturing the undersea feature. The monitoring device can be installed in any direction of the front, rear, side, or bottom surface of the propulsion device. However, when mounted on the front surface, it is difficult to obtain clean image information due to the occurrence of a swell due to wave height. It is difficult to obtain a clear image by the vortex formation due to the progress of the ship and it is generally appropriate to be installed on the lower surface or the side surface.

The monitoring device 50 may be constructed such that the imaging device 52 is housed inside a waterproof box 51 made of a material including a waterproof function and capable of protecting the interior contents from the external environment.

The waterproof box includes waterproof function, prevents corrosion by seawater, and is made of durable material with external impact. The side part where the shooting part of the imaging device is located is formed with a transparent bottom, and the imaging device is accommodated in the waterproofing to capture the undersea environment. Also, the waterproof sealing treatment is applied to each joint so that the seawater is waterproof. .

Inside the waterproof box, a battery that supplies power to a power device including a video device, and a temperature information and salinity information can be transmitted to the video device so that the temperature of the recording point can be recorded together with the recording of image information by the video device A digital thermometer / salinity meter can be installed.

In addition, between the devices installed in the waterproof housing, fillers are inserted to fix the devices in the waterproof housing and to withstand water pressure. The filler may be a foamed resin, a sponge, or a styrofoam.

The imaging device may be generally a digital camera for imaging an image, and a transmission device may be installed in the imaging device. The transmission device is connected to the wire end of the connection device inserted into the waterproof box, and can transmit the temperature and salinity data recorded in the image and the image captured by the digital camera to the GPS device.

The photographing by the digital camera is continuously performed, so that the image data is transmitted to the GPS device every time the photographing is performed, the position information is matched, and then the image data is transmitted to the storage structure. Therefore, it is possible to create a submarine map by storing more accurate position and image even in the seabed where radio wave does not pass.

FIG. 6 shows a submarine map image mosaicking step of the present invention. The generation step of the present invention includes the steps of storing the submarine image and the record information transmitted from the GPS device as data in a storage structure, and performing a mosaicking operation on the target area partitioned by using the stored data.

The data storage step includes storing information by receiving, processing, outputting, and storing data from a GPS device using a window-based exclusive program. The mosaicking combines several non-repeating small images into one large image. In the mosaicking step, the information data stored in the storing step is mapped by using a post-processing program at the position of the target site, .

In order to precisely understand the actual condition of the darkness whitening phenomenon which is recently reported as a severe phenomenon of sea depletion, the present invention creates a map capable of monitoring the seabed using the mosaicking method by matching the image of the undersea environment with the accurate position information Based on this information, it is possible to provide basic information for finding the cause of the whitish whitening phenomenon and finding a solution, so that it can be used in industry.

1: Storage structure
10: Propulsion unit
50: monitoring device 51: waterproofing 52: imaging device
90: GPS device 91: GPS antenna 92: Body frame 93: Buoy
80: connecting device 81: wire 82: winding device 83:

Claims (5)

A propulsion device that is submerged on the seabed and moves along the set area;
The propulsion device is provided with a monitoring device capable of capturing an underwater object;
A vertical water surface of the propulsion device is connected and fixed to the propulsion device through a coupling device so that a GPS device can be positioned;
And a storage structure in which an image including positional information transmitted from the GPS device is received.
[2] The GPS receiver of claim 1, wherein the GPS device comprises: a GPS antenna that receives a current position using an artificial satellite and transmits the same by matching the captured image with the position information; a body frame installed with the antenna, A buoy which is installed in the body frame and imparts buoyancy, and a connecting portion formed at the lowermost side of the body frame and connected and fixed to the connecting device.
[2] The apparatus according to claim 1, wherein the connecting device comprises: a wire formed with a data transmission cable and coated with rubber; a wire having a predetermined length is accommodated in an intermediate portion of the wire; the wire is automatically wound; Characterized in that a fixing portion is provided at both end portions of the automatic winding device and the wire,
The monitoring device according to claim 1, wherein the monitoring device includes a waterproofing function that includes a waterproof function and protects the inside water from an external environment, and an image device capable of capturing an underwater object is accommodated in the waterproofing chamber. Photographing device
Selecting a target site for forming a submarine topographic map;
Capturing an image of a target using a submarine topographical photographing apparatus according to the selected target section;
And a step of creating a submarine map by mosaicking the image data and the location information received through the photographing, wherein the submarine topography photographing method using the undersea topography photographing apparatus

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