KR20190089647A - Mission execution system capable of detachment between drones in underwater - Google Patents

Abstract

Disclosed is a mission executing system for allowing drones to be detached from each other under water. According to an embodiment of the present invention, the mission executing system comprises: a water drone drifted on water, and having a docking device; and an underwater drone for performing a mission under water by being separated from the water drone, and coupled to the docking device of the water drone through the docking. According to the present invention, a space for mission execution is not limited through indoor and outdoor location tracking, and main equipment can be replaced in accordance with the mission execution, thereby having various uses.

Description

[0001] The present invention relates to a mission execution system capable of detonating between drones in water,

The present invention relates to drone technology.

Unmanned vehicles are classified as unmanned vehicles on land, unmanned vehicles in the sky, and unmanned vessels on the sea, and they are attracting attention as new growth engines in the future, changing the paradigm of existing industries (ICT, materials industry, etc.) and real life. Unmanned vessels and submersibles for underwater unmanned operations are classified as underwater drones, and remote operated vehicles (ROV) and unmanned autonomous submersibles (ROVs) AUV, Autonomous Underwater Vehicles).

Underwater drone technology, like UAV, is composed of ① submersible construction such as structure and power source, manufacturing technology related to performance efficiency, ② operational technology such as wired / wireless communication, navigation, detection / avoidance, control and software, and ③ implementation of mission and service And the application technology that needs to be used.

The drones are divided into Sensing & Perception, Connectivity, Power & Manipulation, Autonomy, HMI (Human Machine Interface), and System Integration technology. Underwater GPS Are under way.

According to one embodiment, a drones-based mission execution system capable of precisely and efficiently performing a mission using the combination and separation of drones without using a plurality of workers in the ocean is proposed.

A drones based mission fulfillment system according to an embodiment includes an aquatic drones drifting on the aquaplanes and having a docking device and an aquatic drones separated from the aquaplanes to perform their mission in water and to be coupled to the docking devices of the aquaplanes via docking do.

Each of the drones can perform at least one of a foreign matter inspection into a cooling circulation system of a power plant using seawater as cooling water, a monitoring of a surrounding environment of the power plant, and a predetermined special mission.

The water drones include a body, a docking device mounted on the body for coupling the water drones to the water drones, a propulsion motor connected to the body for drifting and moving the water drones, and mounted on the body for measuring the indoor position of the water drones An indoor positioning anchor for transmitting and receiving information to and from the indoor positioning node mounted on the body for measuring the indoor position of the waterborne drones and an indoor positioning anchor for measuring the indoor position of the waterborne drones, A GPS for acquiring outdoor location information of the aqueduct drones by receiving data received from the GPS satellites, an ultrasonic receiving unit for receiving the ultrasonic signals from the underwater drone, A drift control unit for controlling the drift and posture of the water drones, and a drift control unit for performing the duties of the water drones, A water drones control unit for measuring the positions of the water drones and the water drones, and a power control unit for supplying power to the water drones.

The water drones control unit can measure the relative position of the water drones with respect to the water drones using the transmission speed of the ultrasonic signals received from the water drones and the depth information of the water drones.

The underwater drone includes a pressure sensor for measuring the depth of submergence of the underwater drone, a camera for photographing the surroundings and the front of the underwater drone, an ultrasonic transmitter for transmitting the ultrasonic signal to the water drone, A submergence control unit for controlling the submergence of the submerged drones, an underwater drone control unit for performing the mission according to the control command received from the aquadrons, and a power source control unit for controlling the power supplied from the aqua drones.

The drones-based mission execution system may further include a power and communication line for wired connection between the drones, providing power of the augmentor drones to the underwater drone, and transmitting and receiving communication signals between the drone.

The drones-based mission performing system further includes a bracket provided in the docking device of the water drones and a mounting mechanism provided in the underwater drones so as to be mounted on the brackets of the water drones, Lt; RTI ID = 0.0 > position. ≪ / RTI >

The drones-based mission execution system can determine the position measured at each dron, or use the information received from each dron to measure the position of each dron and control each dron's mission based on the position of each dron that is confirmed or measured And a monitoring system for monitoring.

The control system includes a wireless transceiver for wirelessly communicating with the augmentor dron to receive underwater drone data from the auger dron and transmitting control data for performing the mission of the auger drones and data for controlling the underwater drone to the underwater drone, An image storage unit for storing an image photographed through a network camera; a control server for monitoring the performance of each dron while measuring or confirming the position of each dron; And a second output unit for displaying data including an image stored in the image storage unit.

The control server can measure the indoor position of the water drones using the image marker tracking information obtained from the network camera. The control server can measure the indoor position of the water drones using the strength of signals and signals transmitted and received between the indoor positioning node and the indoor positioning anchor of the augmented drones.

The control server creates and displays a real-time map based on the two-dimensional or three-dimensional distance data of the indoor space received from the auger drones, performs the indoor position tracking and the obstacle avoidance function of the auroral drones using the real- .

According to one embodiment, the missions can be performed precisely and efficiently by using a removable drone capable of joining and separating drones without using workers in the ocean. Particularly, it can be used to inspect the foreign matter flowing into the cooling circulation system of the power plant using seawater as cooling water, and it can monitor the environment of the power plant and perform special tasks. It is free to join and separate between drones, and major equipment can be changed according to the mission, so that it has various utilization destinations.

In addition, it is possible to track the indoor and outdoor position of the water drones for mission execution, to confirm the position of the underwater drones in the water, and to confirm the relative position of the water drones with respect to the water drones. By tracking and confirming indoor and outdoor locations, it is possible to perform the given tasks smoothly, based on the location where tracking and confirmation are performed, without being limited by space constraints.

1 is a conceptual diagram of a drones-based mission performance system according to an embodiment of the present invention;
FIG. 2 is a reference view showing a state where an underwater dron according to an embodiment of the present invention is coupled to an aqueous drones;
FIG. 3 is a configuration diagram of a water drones according to an embodiment of the present invention,
4 is a configuration diagram of a control system according to an embodiment of the present invention;
5 is a configuration diagram of an underwater drones according to an embodiment of the present invention;
FIG. 6 is a reference view showing a work environment for explaining an indoor positioning method of a water drones according to an embodiment of the present invention;
FIG. 7 is a reference view showing a state in which a water dron and an underwater dron coalesce according to an embodiment of the present invention,
FIG. 8 is a reference view showing a work environment for explaining a method for measuring the outdoor position of the water drones according to an embodiment of the present invention and confirming the position of the drones in the water,
FIG. 9 is a structural view showing a structure for incorporating an aquatic drones and a water dron according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. , Which may vary depending on the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

Each block of the accompanying block diagrams and combinations of steps of the flowcharts may be performed by computer program instructions (execution engines), which may be stored in a general-purpose computer, special purpose computer, or other processor of a programmable data processing apparatus The instructions that are executed through the processor of the computer or other programmable data processing equipment will generate means for performing the functions described in each block or flowchart of the block diagram.

These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory It is also possible for the instructions stored in the block diagram to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of the flowchart.

And computer program instructions may be loaded onto a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible that the instructions that perform the data processing equipment provide the steps for executing the functions described in each block of the block diagram and at each step of the flowchart.

Also, each block or step may represent a portion of a module, segment, or code that includes one or more executable instructions for executing the specified logical functions, and in some alternative embodiments, It should be noted that functions may occur out of order. For example, two successive blocks or steps may actually be performed substantially concurrently, and it is also possible that the blocks or steps are performed in the reverse order of the function as needed.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the following embodiments of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to enable those skilled in the art to more fully understand the present invention.

1 is a conceptual diagram of a drones-based mission performance system according to an embodiment of the present invention.

Referring to FIG. 1, the drones-based mission performance system includes an aquatic drones 10 and an underwater drones 30, and may further include a control system 80.

The water drones 10 control the underwater drone 30 while drifting on the water, and the underwater drone 30 performs the task in water. The water drones 10 and the water drones 30 are combinable and separable. For example, the underwater drones 30 are separated from the aquatic drones 10 to perform their duties in water, and are incorporated into the aquatic drones 10 for the purpose of returning after the mission or for moving to another place for mission performance. The water drones 30 are separated from the water drones 10 and are supplied with electric power through the electric power and communication lines 50a to perform their duties. When the duttons 30 are completed, the drones 30 can be returned to the water drones 10, The drones 10 can be referred to as a base drones, and the underwater drones 30 can be referred to as mission drones, respectively.

The drones-based mission-based system performs its mission at a power station that uses seawater as a coolant, at which point the mission may be to check the cooling circuit system of the plant. The power plant can be, for example, a nuclear power plant, a thermal power plant, or the like. However, this is only one example for helping understanding of the present invention, and it can be applied to other fields as long as it is a structure that can be coupled and separated between the drone holes 10 and 30.

The water drones 10 can grasp the position of the water dron 30 and the position of the water dron 30 while controlling the water dron 30. At this time, the indoor and outdoor positions of the water drones 10 can be grasped. The indoor position measurement of the water drones 10 is carried out through the network camera of the control system 80 in an indoor facility such as a water intake tank (or an intake port) of a power plant or a reloading water tank of a power plant, And the indoor position of the water drones 10 is measured. As another example, the indoor location information of the water drones 10 is measured using the intensity of signals transmitted and received between the indoor positioning anchors mounted on the upper part of the water drones 10 and the indoor positioning nodes installed in the indoor structures do. The two methods can be used separately or in parallel. The waterborne drones 10 can drift in an open section area such as a coastal waterway, and the outdoor position of the waterborne drones 10 can be measured using a GPS (Global Positioning System).

The water drones (10) The relative position of the water drones 30 with respect to the water drones 10 can be measured by receiving the ultrasonic signals 70 transmitted from the water drones 30. The underwater drone (30) inspects foreign matter such as jellyfish, ito, etc. that are introduced into the water intake channel located on the waterfront. The underwater drones 30 can transmit the ultrasonic signals 70 to the water drones 10 to measure the relative position of the water drones 30 with respect to the water drones 10. The frequency of the ultrasonic signal may be 1 to 30 mHz. The relative position calculation process using the ultrasonic signal 70 will be described later with reference to Fig.

The control system 80 determines the position measured at each of the drills 10 and 30 or the position of each of the drone 10 and 30 using information received from each of the drone 10 and 30. And controls and monitors the duties of each of the drones 10 and 30 based on the position of each of the drones 10 and 30 that have been confirmed or measured. For example, the control system 80 can measure the indoor position of the water drones 10 and track the measured position on a nautical chart by tracking the image marker of the water drones 10. The control system 80 can confirm the position of the drones 30 measured in accordance with the ultrasonic transmission and reception of the drones 10 and 30 and display the confirmed position on the chart.

The docking drones 10 are installed in the lower portion of the body of the docking drones 10 and supply power to the docking drones 30 through the power and communication lines 50a, And performs communication for data transmission and reception. The power and communication line 50a may be a cable. The waterborne drones 10 may communicate data received from the underwater drone 30 to the control system 80. At this time, the communication method can be wire / wireless communication. In the case of wireless communication, a wireless LAN (Wi-Fi, WiFi), a mobile communication network (LTE), or the like can be used. The water drones 10 receive control data and the like necessary for the control of the underwater drones 30 from the control system 80 and can transmit them to the underwater drone 30.

FIG. 2 is a reference view showing a state where an underwater dron according to an embodiment of the present invention is coupled to an aqueous drones. FIG.

Referring to FIG. 2, the water drones 10 can be moved after the docking apparatus 60 is assembled with the drones 30 mounted thereon.

3 is a configuration diagram of a water drones according to an embodiment of the present invention.

Referring to FIG. 3, each of the peripheral devices of the water drones 10 is connected to a floating control unit 12 and an aquadron control unit 11, respectively. Although the drift control unit 12 is shown separately from the aquadron control unit 11, the drift control unit 12 may share some functions with the aquadron control unit 11 and may be included in the aquadron control unit 11 as necessary.

The drift control section (12) controls the drift and posture of the water drones (10). For this purpose, the drift control unit 12 may include an inertial measurement unit (IMU). A plurality of propulsion motors 13a and 13b for moving and moving the water drones 10 are mounted on the body of the water drones 10. The propulsion motors 13a and 13b may be constituted by four for only simple drift according to the movement of the water drones 10 and may be constituted by six or more for drifting and forward and backward. The drift control unit 12 may be further connected to a buzzer 14 for informing the operation status of the water drones 10 to the outside and an LED illumination 15 for illuminating forward or downward (underwater).

The water drones control unit 11 performs the task of the water drones 10 and controls the performance of the drones 30 and measures the positions of the water drones 10 and the water drones 30. A peripheral device includes a power control unit 16, a data converting unit 17, a wireless transmitting / receiving unit 18, a PoE (Power over Ethernet) hub 19, A distance measuring unit 22, a video encoder 23, a front camera 24, an indoor positioning anchor 25 and an ultrasonic wave receiving unit 27. The video marker 20, the GPS 21, the distance measuring unit 22,

The wireless transceiver 18 wirelessly communicates data with the control system 80. A front camera 24 for photographing the front of the mission area can be connected to the aquadron control unit 11 via the video encoder 23 and the PoE hub 19. [ The front camera 24 may be a fisheye camera. The image photographed through the front camera 24 can be wirelessly transmitted to the control system 80 through the wireless transceiver 18. [

The water drones 10 provide indoor and outdoor positioning functions. The indoor or outdoor distinction can be determined depending on whether the water drones 10 are located in the indoor structure of the power plant or outside the indoor structure. The water drones 10 according to one embodiment use at least one of the image marker 20 and the indoor positioning anchor 25 for indoor positioning.

According to the indoor positioning method using the video marker 20, the network camera 84 of the control system 80 tracks the video markers 20 of the water drones 10, . The image marker 20 may be attached to the upper portion of the body of the water drones 10, but the position is not limited thereto.

The indoor positioning method using the indoor positioning anchor 25 is a method of calculating the indoor position of the water drones 10 based on an ultra-wideband (UWB) method. For example, indoor positioning of the water drones 10 is calculated as a plurality of indoor positioning nodes 26 installed in the indoor structure transmit and receive position data wirelessly with the indoor positioning anchor 25. The indoor positioning of the waterborne drones 10 can be calculated using the strengths of the signals and signals transmitted and received between the indoor positioning nodes 26 that know the location and the indoor positioning anchor 25 that does not know the location. The indoor positioning anchor 25 may be attached to the upper portion of the body of the water drones 10.

When the water drones 10 are located outdoors, the water drones 10 can use GPS for outdoor positioning. For example, the GPS 21 connected to the augmentor drones controller 11 measures the outdoor position of the augmentor drones 10 using data received from the GPS satellites.

The distance measuring unit 22 acquires two-dimensional or three-dimensional distance data of the indoor space for preventing collision with an obstacle and performing an auxiliary positioning when the water drones 10 perform mission in the indoor structure. For example, the distance measuring unit 22 calculates the distance to the indoor structure and transmits the calculated distance to the water drones control unit 11. The water drones control unit 11 calculates the distance from the indoor structure to the water drones 10) can be measured. The distance measurement unit 22 may be a light detector and a ranging (LiDAR). The distance measuring unit 22 may be a two-dimensional or three-dimensional distance measuring sensor. The drones control unit 11 determines the risk of collision with the indoor structure by using the distance measurement result of the distance measuring unit 22 and generates an alarm signal if there is a collision and alerts the outside to the outside through the buzzer 14. [ Or may be transmitted to the control system 80 via the wireless transceiver 18.

The ultrasonic receiving unit 27 receives the ultrasonic signal 70 transmitted from the underwater drone 30. The water drones control unit 11 measures the relative position of the water drones 30 with respect to the water drones 10 by using the ultrasonic signals received through the ultrasonic wave receiving unit 27. The distance between the drones 10 and 30 is measured by using the transmission time of the ultrasonic signal transmitted from the ultrasonic transmitting unit 30 of the underwater drone 30 to the ultrasonic receiving unit 27 of the water drones 10, The depth information of the underwater drone 30 is collected in the measured distance information, and the relative position of the underwater drone 30 with respect to the waterborne drones 10 is measured. The position information may be relative position coordinates. To measure the transmission speed of the ultrasonic signal between the drones 10 and 30, the drones 10 and 30 can perform time synchronization. The water drones 10 may be equipped with at least four ultrasonic receivers 27 including a central position and can accurately measure distances using the ultrasonic signals received through the respective ultrasonic receivers 27. If necessary, the distance between the drone 10 and 30 can be predicted through a machine learning method for the position information database with respect to the transfer time acquired through the pre-test.

The power control unit 16 includes a power source for the water drones 10 itself, a power distribution circuit for supplying DC power to the underwater drone 30, and a large capacity battery pack for charging. The water drones 10 may have their own battery power according to their short or long mission execution time, or may be operated by supplying external DC power. The data converting unit 17 converts data transmitted and received in a differential manner to the underwater drone 30 and transmits the converted data to the auroral drones control unit 11 through the PoE hub 17. The application of the differential method is to reduce the weight of the power and communication line 50a that affects submergence of the underwater drone 30.

4 is a configuration diagram of a control system according to an embodiment of the present invention.

Referring to FIG. 4, the control system 80 is composed of peripheral devices for performing an inspection task around the control server 81. All the data for mission execution is transmitted / received to / from the control server 81 via the switching hub 82.

The peripheral device of the switching hub 82 includes a wireless transmission / reception unit 83, a network (IP) camera 84, and a network video recorder (NVR) 85. The peripheral device includes a power supply unit 89, (91). ≪ / RTI >

The wireless transceiver unit 83 wirelessly transmits and receives data to and from the augmented drones 10 through a wireless network. For example, it is possible to wirelessly communicate with the water drones 10 to receive underwater drone data from the water drones 10, and control data for performing the mission of the water drones 10 and the water drones 10, To the underwater drone (30).

The network (IP) camera 84 tracks the image marker 20 of the water drones 10 and measures the indoor position of the water drones 10. The image storage unit 85 stores images photographed through a network (IP) camera 84 and the like. The power supply unit 89 and the data conversion unit 91 may be selectively configured according to the type of mission of the augmentor drones 10 and may be connected to the aquador drones 10 through a power and communication line 50b. The power supply unit 89 receives the commercial power from the outside and converts it into the DC power.

The control server 81 confirms the positions of the drones 10 and 30 and monitors the performance of the drones 10 and 30 based on the checked positions. The peripheral device of the control server 81 according to one embodiment includes a first output section 86a, a second output section 86b, an underwater drone adjustment section 87 and an aquadron adjustment section 88. [

The control server 81 according to an embodiment creates and displays a real-time map based on the two-dimensional or three-dimensional distance data of the indoor space received from the distance measuring unit 22 of the auroral drones 10, To track the indoor position of the water drones (10), and to allow the water drones (10) to avoid obstacles.

The first output unit 86a displays the main data received when the drones 10 and 30 perform their duties. The second output unit 86b displays data stored in the image storage unit 85 in real time and data for controlling the image storage unit 85. Precise control of each of the drones 10 and 30 is required to perform the task of each of the drones 10 and 30. To this end, the underwater drone adjustment unit 87 performs the same function as the aircraft adjustment during the underwater drone 30, and the water drones control unit 88 controls the drift, forward / backward rotation, and rotation of the water drones 10 .

5 is a configuration diagram of an underwater drones according to an embodiment of the present invention.

Referring to FIG. 5, the underwater drone 30 is connected to peripheral devices around the underwater drone control unit 31 and the submergible control unit 32. Although the submodulation control unit 32 is separately displayed from the underwater drone control unit 31, the submodulation control unit 32 may share some functions with the underwater drone control unit 31 and may be included in the underwater drone control unit 31 as necessary.

The submerging control unit 32 controls submergence of the underwater drones 30 in water. The peripherals of the submodulation control unit 32 according to one embodiment include a propulsion motor 33, a buzzer 34, a pressure sensor 35 and LED lights 37a and 37b. An inertial measurement unit (IMU) may be incorporated in the submergible control unit 32 as in the case of the water drones 10. The number of propulsion motors 33 for moving the underwater drone 30 may be six or eight, but is not limited thereto. The pressure sensor 35 measures the submergence depth of the underwater drone 30. LED lights 37a and 37b illuminating forward and downward are connected to the tester control unit 32 through a pulse width modulation (PWM) interface. The buzzer 34 notifies the outside of the operating state of the underwater drones 30.

The underwater drone control unit 31 performs a mission in accordance with a control command received from the aquadra 10. The peripheral device of the underwater drone control unit 31 according to an embodiment includes a power control unit 36, a data conversion unit 38, a PoE hub 39, an acoustic specification unit 40, a signal conversion unit 41, A video encoder 43, a network camera 44, and an ultrasound transmitting unit 45. [0034]

An acoustic marking unit 40 used for detection or expression of an underwater foreign object such as an iso is connected to the underwater drone control unit 31 via the signal conversion unit 41. [ The network camera 44 is connected to the underwater drones control unit 31 via the PoE hub 39. [ The network camera 44 photographs the surrounding environment of the underwater drones 30. To this end, the network camera 44 supports four channels and is capable of capturing back and forth, left and right, and can support a pan-tilt-zoom (PTZ) function. For example, a zoom in / out function is provided, and an image to be inspected can be enlarged to capture an image. The data conversion unit 38 for converting the data to be transmitted and received with the water drone 10 is also connected to the PoE hub 39. [ The front camera 42 connected to the PoE hub 39 through the video encoder 43 photographs a forward structure or the like according to the mission execution of the underwater drones 30. [

The ultrasonic transmission unit 45 uses ultrasonic waves to confirm the relative position of the water drones 30 with respect to the water drones 10. For example, when the ultrasonic transmission unit 45 transmits ultrasonic waves, the water drones 10 receive the ultrasonic waves, measure the distance between the drones 10 and 30, and measure the distance from the measurement distance to the water drones 10 The relative position can be measured.

The power supply control unit 36 supplies various power sources (+ 5 / + 12 / + 15Vdc, etc.) required by the underwater drone 30 through the DC conversion circuit or the like to the DC power supplied through the power and communication line 50a . The power supply control unit 36 can supply the power supplies used by the propulsion motors 33a and 33b of the underwater drone 30 in an independent circuit for stable operation.

6 is a reference view showing a work environment for explaining an indoor positioning method of a water drones according to an embodiment of the present invention.

First, the working environment of the water drones 10 and the water drones 30 will be described. The power plant installed on the coast requires various system water necessary for the operation of the power generation facility, and seawater is used as the system water. For example, a nuclear power plant uses steam generated by the heat generated when nuclear fission occurs in uranium, and then steam is used to generate electricity by rotating the turbine. The heat generated by rotation of the turbine, The water used as a means for cooling the heat generated in the process of fission of the water is usually installed around the waterfront so as to be supplied more stably and continuously.

The seawater supplied to the power plant flows through the intake port at several hundred tones per second. At this time, the seawater flowing into the power plant is stopped by the seawater, diary, etc. due to various marine organisms such as seaweed, jellyfish, It causes various troubles. Particularly, in the underwater facilities such as the intake port of the power plant, the water intake channel, and the cooling water circulation system related thereto, the foreign substances are accumulated together with the water and piled up. Therefore, it is periodically removed by using a regular inspection period.

Referring to FIG. 6, a foreign substance removing apparatus 100 is installed to remove foreign substances contained in a submerged facility, and the foreign substance removing apparatus 100 includes a screen 102 inside the housing, A foreign matter removing unit and a cleaning unit may be further provided. The housing is a passage for introducing seawater into the power plant, and can remove foreign matter contained in seawater. The screen 102 may be in the form of a bar as shown in FIG.

It is important to grasp the position of each of the drones 10 and 30 in real time in order to check foreign matters in such underwater facilities. One of the methods for measuring the indoor position of the water drones 10 is to use the image marker 20. The indoor camera position of the water drones 10 can be calculated by a method in which the network camera 84 connected to the control system 80 tracks the image marker 20 of the water drones 10. [ The image marker 20 may be attached to the upper portion of the body of the water drones 10, but the position is not limited thereto.

Another method for measuring the indoor position of the water drones 10 is to use the indoor positioning anchor 25. This is a method of calculating the indoor position of the water drones 10 on the basis of an ultra-wideband (UWB) system, in which a plurality of indoor positioning nodes 26 installed in the indoor structure are installed in the indoor positioning anchor The indoor positioning of the water drones 10 can be calculated by transmitting and receiving the position data via the wireless communication with the satellite 25. The indoor positioning of the waterborne drones 10 can be calculated using the strengths of the signals and signals transmitted and received between the indoor positioning nodes 26 that know the location and the indoor positioning anchor 25 that does not know the location. The indoor positioning anchor 25 may be attached to the upper portion of the body of the water drones 10.

In FIG. 6, the positions of the video marker 20, the distance measuring unit 22, and the indoor positioning anchor 25 are displayed at the center, but this is only an example for facilitating understanding of the present invention. Changed or added.

FIG. 7 is a reference view showing a state in which an aquatic dron and an underwater dron coalesce according to an embodiment of the present invention.

Referring to FIG. 7, the water drones 30 are incorporated in the water drones 10 and are movable. When the water drones 10 are located outdoors, the water drones 10 can use GPS for outdoor positioning. For example, the water drones 10 measure the outdoor position of the water drones 10 using data received from GPS satellites. The water drones 10 wirelessly transmit / receive data to the control server 81.

FIG. 8 is a reference view showing a work environment for explaining a method of measuring the outdoor position of the water drones and confirming the position of the drones in the water according to the embodiment of the present invention.

Referring to FIG. 8, the underwater drones 30 are separated from the water drones 10 and are movable, and each of the drones 10 and 30 measures their position and performs their respective tasks based on the measured positions . When the water drones 10 are located outdoors, the water drones 10 can use GPS for outdoor positioning. For example, the water drones 10 measure the outdoor position of the water drones 10 using data received from GPS satellites.

The positioning of the underwater drones 30 in accordance with one embodiment utilizes an ultrasound signal 70. For example, when the water drones 10 receive the ultrasonic signals 70 transmitted from the water drones 30, the transfer times of the ultrasonic signals transmitted from the water drones 30 to the water drones 10 are used to calculate the drones The relative position of the water drones 30 with respect to the water drones 10 is measured by measuring the distance between the drones 10 and 30 and taking the depth information of the water drones 30 into the measured distance information. The position information may be relative position coordinates. To measure the transmission speed of the ultrasonic signal between the drones 10 and 30, the drones 10 and 30 can perform time synchronization. If necessary, the distance between the drone 10 and 30 can be predicted through a machine learning method for the position information database with respect to the transfer time acquired through the pre-test.

The underwater drones 30 transmit positional information of the underwater drones 30 to the water drones 10 via the electric power and communication lines 50a and the water drones 10 wirelessly transmit them to the control server 81, The control server 81 can display the position of the delivered drones 30 on the chart.

FIG. 9 is a structural view showing a structure for incorporating an aquatic drones and a water dron according to an embodiment of the present invention.

9, the underwater drones 30 are provided with mounting mechanisms 62a and 62b for incorporation with the water drones 10 and brackets 61a and 61b are provided in the docking apparatus 60 of the water drones 10. [ Are provided on the right and left sides. (1) After the underwater drone 30 is moved upward and the positions of the lanes 10 and 30 are confirmed, (2) the underwater drone 30 is rotated clockwise or counterclockwise The mounting mechanisms 62a and 62b of the underwater drone 30 are mounted on the brackets 61a and 61b of the water drones 10, respectively. 9 shows an example in which the mounting mechanisms 62a and 62b of the underwater drone 30 are rotated in the clockwise direction. The drones (10, 30) are for returning after the mission of the underwater drones (30), or for convenient movement to another location for performing mission.

The embodiments of the present invention have been described above. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (12)

An aquedron docked with a docking device; And
An underwater dron which is separated from the water drones and performs duties in water and is coupled to the docking device of the water drones via docking;
Based mission execution system. The method according to claim 1,
Wherein each of the drones performs at least one of a foreign object inspection into a cooling circulation system facility of a power plant using seawater as cooling water, a monitoring of a surrounding environment of the power plant, and a predetermined special mission. The water drones according to claim 1,
Body;
A docking device mounted on the body for coupling the water drones to the water drones;
A propulsion motor connected to the body for drifting and moving the water drones;
A video marker mounted on the body for tracking an aquador dron for an indoor position of the aquador drones;
An indoor positioning anchor mounted on the body for measuring the indoor position of the water dron and transmitting and receiving information to and from the indoor positioning node;
A distance measuring unit mounted on the body for measuring the indoor position of the water drones and acquiring two-dimensional or three-dimensional distance data about the indoor space;
A GPS for receiving data received from GPS satellites and obtaining outdoor location information of the aquatic drones;
An ultrasonic receiver for receiving an ultrasonic signal from the underwater drone;
A drift control unit for controlling drift and posture of the water drones;
A water drones controller for performing the duties of the water drones, controlling the performance of the water drones and measuring the positions of the water drones and the water drones; And
A power control unit for supplying power to the underwater drones;
Wherein the drones are coupled to the drones. 4. The apparatus of claim 3, wherein the water drones control unit
Wherein the relative position of the water drones with respect to the water drones is measured using the transmission speed of the ultrasonic signal received from the water drones and the depth information of the water drones. 2. The method of claim 1, wherein the underwater drones
A pressure sensor for measuring the submergence depth of the underwater drone;
A camera for photographing the surroundings and the front of the underwater drones;
An ultrasonic transmitter for transmitting the ultrasonic signal to the water drones;
Acoustic markers for detection or expression of foreign objects in water;
A submergence control unit for controlling submergence of the underwater drones;
An underwater drone control unit for performing a mission in accordance with a control command received from an aquador drones; And
A power control unit for controlling power supplied from the water drones;
Based mission fulfillment system. The system of claim 1, wherein the drones-based mission performance system
A power and communication line for connecting the drones to each other by wired connection to provide power of the augmentor drones to the underwater drones and transmitting and receiving communication signals between the drones;
Further comprising a drones-based mission execution system. The system of claim 1, wherein the drones-based mission performance system
A bracket provided in the docking device of the water drones; And
A mounting mechanism provided in the underwater drone to be mounted on the bracket of the water drones; Further comprising:
Wherein the mounting mechanism of the underwater drones is mounted through rotation at a corresponding position of the bracket of the augmentor drones. The system of claim 1, wherein the drones-based mission performance system
A control system for checking the position measured at each dronion, measuring the position of each dron using information received from each dron, and controlling and monitoring each dron's mission based on the position of each dron checked or measured;
Further comprising a drones-based mission execution system. The system of claim 8, wherein the control system
A wireless transceiver for wirelessly communicating with an augmentor dron to receive underwater drone data from an auger dron and transmitting control data for performing the mission of the auger dron and data for controlling the underwater drone to the underwater drone;
A network camera for tracking and shooting the image marker of the water drones in real time;
An image storage unit for storing an image captured through a network camera;
A control server monitoring the performance of each dron while measuring or confirming the position of each dron;
A first output unit for displaying data obtained at the time of performing each of the drones; And
A second output unit for displaying data including an image stored in the image storage unit;
Wherein the drones are coupled to the drones. 10. The system according to claim 9, wherein the control server
Wherein the indoor location of the water drones is measured using the image marker tracking information obtained from the network camera. 10. The system according to claim 9, wherein the control server
Wherein the indoor position of the water drones is measured using the strength of signals and signals transmitted and received between the indoor positioning node and the indoor positioning anchor of the water drones. 10. The system according to claim 9, wherein the control server
A real-time map is created and displayed on the basis of the two-dimensional or three-dimensional distance data of the indoor space received from the water drones, and the indoor position tracking and the obstacle avoiding function of the water drones are performed using the real- Drones based mission execution system.

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