KR20190143719A - Unmanned dynamic buoy system for measuring precise marine location, Method thereof, and Computer readable storage medium - Google Patents

Abstract

The present invention provides an unmanned autonomy buoy system for measuring a precise marine position (100) and a method thereof. The unmanned autonomy buoy system (100) includes: a hull (110); a sensor box (120) installed on one side of the hull (110) and generating position information and ocean current information of the hull (110); a control box (130) installed in the hull (110), determining the presence or absence of the hull (110) within a predetermined distance from a predetermined standard point position by using the position information and the ocean current information, and implementing compensating moving control following the standard point position when deviating from the predetermined distance in accordance with a determined result; and a driving box (140) driven by the compensating moving control and implementing direction conversion or drive of the hull (110).

Description

Unmanned dynamic buoy system for measuring precise marine location, method approx, and computer readable storage medium}

The present invention relates to an unmanned autonomous buoy system, and more particularly, to a ship-type buoy equipped with a plurality of propellers, a position sensor for checking position, and a controller for correcting position, to maintain precise position at sea. Buoy system and method thereof.

At present, awareness of climate change is increasing globally, and as part of the country's important policies, water pollution prevention and preservation of clean water quality due to environmental changes should be carried out at the forefront. To this end, there is a need for improvement and maintenance for the purification of water quality by measuring and detecting continuous water quality of oceans, rivers, rivers and lakes.

To this end, a buoy device equipped with an observation sensor is used as a method for observing water quality in the ocean and rivers. The water quality measurement buoy device is not only continuously measuring the water quality in the ocean, river, river, etc., but also widely used as academic data such as environmental science, biology, and resource engineering by using the data obtained through this.

The fixed type of buoy system is mainly used. This type of fixed type requires the installation of various water quality sensors in each dam or estuary upstream and downstream, and the measurement of the water quality. There are many things to prepare for attaching each water quality sensor to a tower. In addition, when the number of vertical measurement work is increased in this way, the overall water quality measurement work is very difficult, and a lot of budget is required accordingly.

In particular, the buoyancy measurement buoy for conventional sea measurement is installed by dropping a fixed type invasion on the seabed, and fixed by installing a string between the invasion and buoys.

Buoys and mooring buoys used as maritime coordinates are generally installed to drift in the range of 1/2 of the depth of the area where they are installed in consideration of safety against tidal currents, wind and waves.

If the buoy of the conventional method is installed at a deep depth, the distance between the acupuncture and the buoy becomes longer, and the error range is increased because the mooring range of the buoy increases. In the process of installation, the invasion is carried in the form of heavy material, and in the process of installing the weight and adjusting the length of the weight, the invasion is carried in the form of heavy material, and the divers work in the process of installing the weight and adjusting the length of the weight. Should be done. At this time, safety problems of workers are raised in water and on board. It is necessary to develop buoys that can improve the causes of such errors and improve the risks that may occur in the process.

In addition, in places where the water level is severe, such as the ocean, observation using such a buoy requires a very difficult mooring technique. In other words, in the environment of water flow or water level change, it has minimum resistance to water flow or water level change, and it adapts itself to the surrounding environment and keeps the body part perpendicular to the water flow to measure and transmit necessary water quality elements. The structure and function to do this is required.

1. Korean Patent Publication No. 10-2012-0066168 2. Korean Registered Patent No. 10-0660563 (Registration Date: 2006.12.15) 3. Korean Registered Patent No. 10-1167685 (Registration Date: 2012.07.16) 4. Korean Registered Patent No. 10-0876297 (Registration Date: 2008.12.22)

The present invention has been proposed to solve the problems according to the above background, overcoming the disadvantages of the accurate position maintenance of the invasive marine measuring buoy, to provide an unmanned autonomous buoy system and method thereof that maintains the precise position at sea There is this.

In addition, the present invention improves the safety of the operation as well as to improve the accuracy of the sea measurement by improving the position error caused by the depth and installation process of the existing invasion buoys, and in advance to remove the risk factors generated during the operation process Another object is to provide an unmanned autonomous buoy system and its method.

The present invention provides an unmanned autonomous buoy system that accurately maintains position at sea, overcoming the precise positioning disadvantages of the invasive marine measurement buoy, in order to achieve the problem presented above.

The unmanned autonomous buoy system,

hull;

A sensor box installed at one side of the hull and generating position information and current flow information of the hull;

It is installed inside the hull and determines whether the hull is within a predetermined distance from a predetermined reference point position by using the position information and the current information, and if the deviation is out of the predetermined distance as a result of the correction movement to follow the reference point position A control box for executing control; And

And a drive box for driving according to the correction movement control to change the direction of the hull or to drive the ship.

At this time, the drive box, the direction change propeller for changing the direction of the hull; And a traveling underwater propeller for running the hull.

In addition, the traveling underwater propeller is characterized in that it is installed at a predetermined interval on the lower rear of the hull.

In addition, the direction change propeller is installed in the lower bow portion or the central portion of the hull, characterized in that the vertical structure with the traveling underwater propeller.

In addition, the driving is characterized in that the clockwise or counterclockwise switching of forward driving or reverse driving.

In addition, the sensor box, a plurality of GPS (Global Positioning System) module for generating the position information; And

In addition, the IMU (Inertial Measurement Unit) module for generating the current information; characterized in that it comprises a.

The control box may further include a remote switch circuit for remote reset.

In addition, the correction movement control is characterized in that for moving the hull to the reference point position after the heading to change the direction of the hull.

In addition, the determination is characterized by using the coordinate information of the reference point position and the current coordinate information of the hull.

In addition, the communication between the control box and the sensor box is characterized in that the SCI (Science Citation Index) communication.

On the other hand, another embodiment of the present invention, (a) the sensor box is installed on one side of the hull generating the position information and the current information of the hull; (b) a control box is installed inside the hull, and determining whether the hull is within a predetermined distance from a preset reference point position using the position information and the current information; (c) if the control box is out of the predetermined distance, executing the control movement control to follow the reference point position by the control box; And (d) driving the drive box according to the corrected movement control to change the direction of the hull or to drive the ship, and to provide an unmanned autonomous buoy method for precise position resolution measurement.

On the other hand, another embodiment of the present invention provides a computer readable storage medium storing program code for executing the unmanned autonomous buoy method for precise position resolution measurement described above.

According to the present invention, by using the submersible propeller instead of invasion, it is possible to increase the position accuracy significantly compared to the existing mooring buoys, through which the unmanned autonomous buoy can be used for the marine measurement requiring precise positioning.

In addition, another effect of the present invention, there is no need to install the invasion, it can be installed and operated regardless of the depth, it is possible to reduce the time required for the installation and recovery of the reduction in the cost of installation.

1 is a structural diagram of an unmanned autonomous buoy system 100 for precision position resolution measurement according to an embodiment of the present invention.
FIG. 2 is a rear perspective view of the unmanned autonomous buoy system 100 shown in FIG. 1.
3 is a circuit block diagram according to an embodiment of the present invention.
4 is a block diagram of the control box 130 shown in FIG.
FIG. 5 is a block diagram illustrating the sensor box 160 shown in FIG. 3.
6 is a conceptual diagram of an algorithm for implementing optimal position followability in the arrangement of an underwater propeller according to an embodiment of the present invention.
7 is a flowchart illustrating a position maintenance process according to an embodiment of the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

In describing each drawing, like reference numerals are used for like elements. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related items or any item of a plurality of related items.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Should not.

Hereinafter, an unmanned autonomous buoy system and a method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a structural diagram of an unmanned autonomous buoy system 100 for precision position resolution measurement according to an embodiment of the present invention. Referring to FIG. 1, the unmanned autonomous buoy system 100 includes a hull 110, a sensor box 120 installed at one side of the hull 110 and generating position information and current flow information of the hull 110. It is installed inside the hull 110, by using the position information and the current information determines whether the hull 110 is within a predetermined distance from a reference point position that is set in advance to execute the correction movement control to follow the reference point position The control box 130, the drive box 140 for driving in accordance with the correction movement control to change the direction and / or the running of the hull 110 may be configured to include.

As the material of the hull 110, FRP (fiberglass reinforced plastic), ABS (acrylonitrile butadiene styrene copolymer) may be used.

The sensor box 120 is installed at the top of the stern of the hull 110, and generates current position information, current current information, and the like of the hull 110.

The control box 130 exchanges control signals, information, and the like through communication with other components of the hull 110. In other words, by using the position information, the sea current information, etc. generated through the sensor box 120 to monitor whether the hull 110 is out of a predetermined range from the reference point position of the initial fixed position. If out of a certain range according to the result of this monitoring, it performs a function of performing correction movement control for returning to the reference point position.

Of course, the control box 130 transmits the measurement data continuously measured in the ocean through a measurement sensor (not shown) to an external communication device (not shown) through the data transmission and reception antenna 150, or control from an external communication device. Receive data and the like. The external communication device may be a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), or the like.

Of course, the external communication device may be connected to the control box 130 through a wireless communication network. Wireless communication networks include Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Wireless Broadband (WiBro), Wireless Fidelity (WiFi), High Speed Downlink Packet Access (HSDPA), and Bluetooth. Can be.

The battery box 160 performs a function of providing power to the other components 120, 130, and 140.

The drive box 140 is driven according to the corrected movement control of the control box 130 to perform a direction change and / or travel of the hull 110.

In Figure 1, the hull 110 is shown as a boat, but is not limited to this, other types of ships are possible.

FIG. 2 is a rear perspective view of the unmanned autonomous buoy system 100 shown in FIG. 1. Referring to FIG. 2, the drive box 140 may include a direction change propeller 220 for changing the direction of the hull 110 and a traveling underwater propeller 210-1 and 210-2 for driving the hull 110. ) And the like.

The traveling underwater propellers 210-1 and 210-2 are configured of a first traveling underwater propeller 210-1 and a second traveling underwater propeller 210-2. The first traveling underwater propeller 210-1 and the second traveling underwater propeller 210-2 are installed at regular intervals on the lower rear of the hull 110. The first traveling underwater propeller 210-1 and the second traveling underwater propeller 210-2 may include a screw propeller (not shown), a motor (not shown), and the like. That is, the screw propeller has a hub (not shown) connected to a rotating shaft (not shown), a blade radially fixed to the hub, and the rotating shaft is connected to the rotating shaft of the motor. The rotating shaft and the rotating shaft of the motor may be indirectly connected or directly connected through a bevel gear or the like.

Direction change propeller 220 is installed in the lower bow portion or the central portion of the hull 110, and has a vertical structure with the traveling underwater propellers (210-1, 210-2). Directional propeller 220 is similarly comprised of screw propellers, motors, and the like. Of course, for turning, a rotary gear box (not shown) and an auxiliary motor (not shown) for rotating such a rotary gear box are further configured. That is, while rotating the screw propeller through the motor, the direction of the screw propeller is switched through the auxiliary motor.

Since the structures for the traveling underwater propellers 210-1 and 210-2 and the diverter propeller 220 are well known, further description thereof will be omitted.

In general, the existing three-axis underwater propellers are arranged at intervals of 120 ㅀ, the omnidirectional underwater propeller can maintain the position only when the forward underwater propeller is stronger than the force of the current to maintain the position, the efficiency is low. Therefore, in one embodiment of the present invention, in order to take advantage of the characteristics of the current flowing in a specific direction, the traveling underwater propeller Y _T and the direction change propeller X _T are mounted. This ensures position maintenance for currents by two forces.

The general thrust is expressed by the following equation.

In contrast, the thrust according to an embodiment of the present invention is represented as follows.

Where X _T : X axis thrust, Y _T : Y axis thrust, F _T1 : Thrust of direction change propeller, F _T2 : Thrust of first forward underwater propeller, F _T3 : Second underwater underwater propeller, X _Tmax : X axis Max thrust, Y _Tmax : Max thrust of Y axis, F _T : Thrust of thruster

3 is a circuit block diagram according to an embodiment of the present invention. Referring to FIG. 3, the drive box 140 receives power from the battery box 160 to generate rotational force, and transmits the rotational force to the traveling underwater propellers 210-1 and 210-2 and the direction change propeller 220. . To this end, the drive box 140 is configured with the first to third drive motors (141, 142, 143). Of course, the first to third driving motors (141, 142, 143) is a concept that includes a control circuit.

In addition, the main battery 310 is configured in the battery box 160. The main battery 310 is composed of battery cells (not shown) in series and / or parallel, and the battery cells are used for secondary batteries such as nickel metal battery cells, lithium ion battery cells, lithium polymer battery cells, and all-solid battery cells. It can be a battery cell. The main battery 310 has a large capacity and can be operated without being charged for 20 hours or more. Of course, in FIG. 3, power (approximately 14.8 V) is supplied from the main battery 310 to the drive box 140, but DC-DC (Direct Current-) is supplied to the main battery 310 or the drive box 140. Direct Current) converter (not shown) circuit can be configured. That is, the high voltage power of the main battery 310 may be converted into a low voltage power and supplied. Of course, it is also possible to configure the main battery 310 as a low voltage battery.

4 is a block diagram of the control box 130 shown in FIG. Referring to FIG. 4, the control box 130 may include a first signal processor 410 for controlling the driving box 140, a second signal processor 420 for receiving and processing data from the sensor box 120, and an external device. A transceiver 430 connected to a communication device (not shown) to transmit and receive data, a power converter 440 converting and supplying power from the battery box 160, a remote switch circuit 450 for remote reset, and the like. It may be configured to include.

The first and second signal processors 410 and 420 may include a processor, a memory, and the like. The processor may include a digital signal processor (DSP), and the memory may include a flash memory type, a hard disk type, a multimedia card micro type, and a card type memory ( For example, SD or XD memory), RAM (Random Access Memory, RAM), Static Random Access Memory (SRAM), ReadOnly Memory (ROM), Electrically Erasable Programmable ReadOnly Memory (EEPROM), Programmable ReadOnly Memory (PROM) At least one type of storage medium may include a magnetic memory, a magnetic disk, and an optical disk. In addition, it may operate in connection with a web storage and a cloud server performing a storage function on the Internet. Of course, the memory may also be integrated into the processor.

Communication between the first and second signal processors 410 and 420, the transceivers 430, the first and second signal processors 410 and 420, and the sensor box 120 may be SCI (Science Citation Index) communication. Communication between the 410 and the second signal processor 420 may be Serial Peripheral Interface (SPI) communication.

In addition, the first signal processor 410 communicates with the drive box 140 through a digital to analog convert (DAC) port.

The connection switch circuit 450 performs a remote reset through remote control when an abnormality occurs. In other words, when an error occurs, when the remote command is received by the transceiver 430 through the external communication device, the remote switch circuit 450 resets the signal processors 410 and 420, the sensor box 120, and the like. The detection of the abnormal signal means that the controller state is initialized when it is out of the designated range in the concentric circle of the designated position range, when the driver operation is not smooth, or when the self-check determines that the attitude control is not smooth.

The power converter 440 converts power from the battery box 160 (such as stepping down and boosting up), and supplies power to the components 410, 420, 430, 450, and 120. To this end, the power converter 440 may be configured as a DC-DC converter.

FIG. 5 is a block diagram illustrating the sensor box 160 shown in FIG. 3. Referring to FIG. 5, the configuration includes a plurality of Global Positioning System (GPS) modules 510 and 530-1 to 530-3 for generating position information, an Inertial Measurement Unit (IMU) module 520, etc. for generating current information. Can be. GPS information is generated by receiving a plurality of GPS signals through the main GPS module 510 and the first to third auxiliary GPS modules 530-1 to 530-3.

The main GPS, GPS v.1-v.3 receives each GPS signal and displays their values, removes the noise error using the moving average filter, and then uses the Kalman filter to determine the position estimates and The location information is generated using the method of obtaining the error covariance.

GPS position changes caused by algae at sea are very limited, so using a Kalman filter with an appropriate filtering technique, such as a moving average filter, can improve position accuracy even further.

The IMU module 520 measures the speed, direction, gravity, and acceleration of the hull 110 and is a sensor-based method. IMU-based position estimation is a method of recognizing the movement of the hull 110, which is a moving object, using an accelerometer, an tachometer, a geomagnetic machine and an altimeter.

GPS signals generated by the plurality of GPS and IMU sensor signals generated by the IMU module 520 are transmitted to the second signal processor 420, which is aware of the current location and Can be converted to coordinate information. The GPS information is provided with coordinate information of the WGS (World Geodetic System) 84 standard, and the IMU sensor value is used as auxiliary information to perform position control.

6 is a conceptual diagram of an algorithm for implementing optimal position followability in the arrangement of an underwater propeller according to an embodiment of the present invention. Referring to FIG. 6, the position of the hull 110 is shifted due to the disturbance of currents (algae, swells, etc.) (610). In this case, the controller 620 monitors whether the target radius deviates from the target radius within a predetermined distance from the reference point 601 which is the designated coordinate (620). If it is out of the target radius, the heading hull 110 is headed by driving the direction change propeller (220 in FIG. 2) in the target direction (630). In FIG. 6, it is shown as switching in the counterclockwise direction, but it is also possible to switch in the clockwise direction. Thereafter, the driving underwater propellers 210-1 and 210-2 of FIG. 2 are moved to move the hull 110 in the target direction to be positioned at the reference point 601 which is the target point (640, 650). In other words, the direction of the hull is determined by using the IMU information, and the difference between the preset position value and the value measured by the GPS and the deviation position (direction and moving distance) are determined by using the IMU direction information, and the setting is made. Control to go to position.

7 is a flowchart illustrating a position maintenance process according to an embodiment of the present invention. Referring to FIG. 7, the control box 130 senses the position information and the current information by real-time monitoring the position and the current of the hull 110 through the sensor box 120 (steps S710 and S720).

Subsequently, the control box 130 determines whether the hull 110 exists within a predetermined distance from a preset reference point position by using the position information and the current information, and calculates a position error when the control box 130 is out of the predetermined distance. Step S730).

When the position error is calculated, the control box 130 performs a correction movement control to move the distance corresponding to the position error and return to the reference point position (step S740).

In addition, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in a program instruction form that can be executed by various computer means and recorded in a computer-readable medium. The computer readable medium may include program (instruction) code, data file, data structure, etc. alone or in combination.

The program (command) code recorded on the medium may be those specially designed and configured for the present invention, or may be known and available to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, Blu-rays, etc., and ROMs and RAMs. Semiconductor memory devices specifically configured to store and execute program (command) code, such as RAM), flash memory, and the like.

Here, examples of program (instruction) code include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

100: unmanned autonomous buoy system
110: hull
120: sensor box
130: control box
140: drive box
150: antenna for transmitting and receiving data
160: battery box
220: divert propeller
210-1,210-2: First and second traveling underwater propellers

Claims (14)

Hull 110;
A sensor box installed at one side of the hull 110 and generating position information and current flow information of the hull 110;
It is installed inside the hull 110, and determines whether the hull 110 is within a predetermined distance from a predetermined reference point position by using the position information and the current information, if the deviation is out of the predetermined distance, the reference point A control box 130 that executes a correction movement control that follows the position; And
A drive box 140 for driving according to the correction movement control to change the direction of the hull 110 or to drive;
Unmanned autonomous buoy system for precision position maritime measurement, characterized in that it comprises a.
The method of claim 1,
The drive box 140, the direction change propeller 220 to perform the direction change of the hull 110; And
Unmanned autonomous buoy system for precision position maritime measurement, comprising ;; driving underwater propulsion (210-1,210-2) for running the hull (110).
The method of claim 2,
The traveling underwater propellers (210-1, 210-2) is an unmanned autonomous buoy system for precise position maritime measurement, characterized in that installed at a predetermined interval on the lower rear of the hull (110).
The method of claim 3, wherein
The direction change propeller 220 is installed in the lower bow portion or the central portion of the hull 110, unmanned autonomous buoy system, characterized in that the vertical structure with the traveling underwater propellers (210-1,210-2).
The method of claim 1,
The traveling is an unmanned autonomous buoy system for precise position resolution measurement, characterized in that the clockwise or counterclockwise switching of forward driving or reverse driving.
The method of claim 1,
The sensor box 120 may include a plurality of Global Positioning System (GPS) modules 510, 530-1 to 530-3 for generating the position information; And
And an IMU (Inertial Measurement Unit) module (520) for generating the sea current information.
The method of claim 1,
The control box 130, the remote switch circuit for remote reset; Unattended autonomous buoy system for precision position resolution further comprises a.
The method of claim 1,
The correction movement control is an unmanned autonomous buoy system for precision position resolution, characterized in that for moving the hull (110) to the reference point position after the heading to change the direction of the hull (110).
The method of claim 1,
The determination is performed using the coordinate information of the reference point position and the current coordinate information of the hull 110, unmanned autonomous buoy system for precise position resolution measurement.
The method of claim 1,
The communication between the control box 130 and the sensor box 120 is SCI (Science Citation Index) communication unmanned autonomous buoy system for precise position resolution, characterized in that the communication.
(a) the sensor box 120 is installed on one side of the hull 110 to generate position information and current information of the hull 110;
(b) a control box (130) installed inside the hull (110), and determining whether the hull (110) exists within a predetermined distance from a preset reference point position using the position information and the current information;
(c) the control box 130 executing the correction movement control following the reference point position when the determination result is out of the predetermined distance; And
(d) driving the drive box 140 according to the correction movement control to change the direction of the hull 110 or to drive;
Unmanned autonomous buoy method for precision position resolution measurement comprising a.
The method of claim 11,
The correction movement control is an unmanned autonomous buoy for precision position resolution, characterized in that for moving the hull (110) to the reference point position after the heading to change the direction of the hull (110).
The method of claim 11,
The determination is performed using the coordinate information of the reference point position and the current coordinate information of the hull (110) unmanned autonomous buoy method for precise position resolution measurement.
A computer-readable storage medium storing program code for executing an unmanned autonomous buoy method for precision position resolution measurement according to any one of claims 11 to 13.

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