KR20210104250A - Position Recognition System of Underwater Moving Object and Its Operation Method - Google Patents

Abstract

The present invention relates to a system for recognizing the position of an underwater moving object located in water, which detects the position of the underwater moving object by triangulation. According to the present invention, the system comprises: a surface gateway capable of underwater acoustic communications and water RF communications and relaying communications; an underwater position recognition device installed on an underwater moving object and periodically transmitting an underwater acoustic signal or RF signal; a plurality of underwater posts installed in the water to receive and transmit the sound signal; a plurality of water surface posts installed on water surface to receive and transmit the RF signal; and an integrated management and operation system using the surface gateway as a reference position, setting position information of each post, and recognizing the position of the underwater moving object by triangulation on the basis of the acoustic signal or RF signal received from the underwater post or surface post integrated management through the water surface gateway.

Description

Position Recognition System of Underwater Moving Object and Its Operation Method

The present invention relates to a system for recognizing the position of an underwater moving object and a method therefor, and more specifically, to a system for recognizing the position of an underwater robot by interoperating acoustic communication under the water and RF communication above the water. It relates to a location recognition system and an operating method thereof.

In general, the method for recognizing the location of a ground object is to confirm the location of the ground object by triangulation using three or more artificial satellites.

However, as shown in (A) of FIG. 1, in the case of an underwater moving object in the water, such as an underwater robot, radio waves of satellites are reflected from the water surface and attenuated in the underwater medium, making it impossible to transmit information underwater. Since radio waves generated from underwater objects are also scattered and destroyed by water, it is impossible to recognize the position of underwater objects using radio waves with conventional satellites.

In particular, as shown in FIG. 1(B), when an object is located in water in an indoor water tank, most of the signal propagation from the satellite is absorbed or reflected by the outer wall of the building and is blocked or transmitted, although it is small and not continuous. However, since the transmitted radio waves are either reflected from the water surface or attenuated at the water surface, it cannot be further utilized as a method for recognizing the location of objects located in the water inside the indoor water tank.

On the other hand, as a method for recognizing the position of a moving object in the water, a directional marker is installed on the bottom of the water tank and scanned using an image sensor to recognize the position of the underwater fish rorobot using an image processing technique, Korean Patent Laid-Open Patent No. 10- No. 2012-0108256 Robot fish position recognition system is known. However, it is possible to recognize the approximate position and direction in the tank with a narrow activity area, but it is difficult to communicate with the underwater robot in the water and it is difficult to recognize the accurate 3D coordinates even in the tank. Therefore, it was difficult to set a tracking route to swim autonomously or to implement group dance swimming in a group unit.

Many indoor and outdoor aquariums are being operated worldwide, and many indoor and outdoor canals are being operated in theme parks and resorts. In these underwater facilities, various services can be provided by using moving objects (fish robots, drones, etc.) in the water. Since the location of the underwater object, which is the starting point, is not recognized, this service is impossible.

Korean Patent Application Laid-Open No. 10-2012-0108256 Robot fish position recognition system and robot fish position recognition method (published on October 5, 2012)

In order to solve the above problems, the present invention uses radio waves and ultrasonic waves to determine the position of an underwater object (underwater robot) located in the water, and provides a system and method for recognizing the position of an underwater moving object through underwater 3D coordinate modeling it is to do

A system for recognizing the position of an underwater moving object for achieving the object of the present invention,

In the system for recognizing the position of an underwater moving object located in the water, an RF communication module is provided in the water portion located on the water surface, and an acoustic communication module is provided in the underwater portion located in the water, the reference of the underwater moving object activity area a sleep gateway installed at the location to set the reference position coordinates and relay the transmission/reception signal of RF communication or sound communication;

Installed on the underwater moving object, including an acoustic communication module and a depth sensor module capable of acoustic communication with the surface gateway, periodically transmitting an acoustic communication signal for position detection, and transmitting the water depth sensor signal to the surface gateway an underwater position detection device of an underwater moving object;

A plurality of underwater posts that are provided with an acoustic communication module, are distributed and installed in the water of the underwater moving object activity area, receive the acoustic communication signal of the underwater moving object underwater position recognition device, and transmit the received signal to the surface gateway; ;

Communication is connected with the surface gateway, and setting the position information of each of the underwater posts based on the reference position coordinates of the water surface gateway, and receiving sound signals and the underwater position of each underwater post relayed through the surface gateway It may be configured to include an integrated management and operating system for recognizing the position of the underwater moving object based on the depth signal of the detection device.

The sleep gateway may further include a GPS communication module in the receiving unit, and manually set the reference position coordinates, or set the GPS coordinates detected through the GPS communication module as the reference position coordinates.

The underwater location recognition device of the underwater moving object may further include an RF communication module that is exposed to the surface of the water surface when the underwater mobile object rises to the surface and can communicate RF with the surface gateway.

In addition, the present invention is provided with an RF communication module and is distributed and installed on the water surface of the underwater moving object activity area, and receives the RF signal periodically transmitted for position recognition from the underwater moving object underwater position recognition device. Further comprising a plurality of sleep posts for transmitting to the sleep gateway, the integrated management and operating system, the RF signal of the sleep post relayed through the sleep gateway, and the depth signal of the underwater moving object underwater position recognition device It is possible to recognize the position of the underwater moving object based on the.

The integrated management and operating system (MS) is a method of recognizing the underwater position of an underwater object based on the acoustic signal of the communication module (Po) of the underwater moving object received from the underwater post, with three or more underwater posts , it is possible to reduce the position error of the underwater object located in the water by calculating the position by various combinations, and taking the average position.

In addition, the integrated management and operating system (MS) is a method of recognizing a position when an underwater object rises above the water surface based on the Po RF signal received from the surface post, by placing three or more surface posts and various combinations By calculating the position and taking the average position, it is possible to reduce the error of the underwater object located on the water surface.

In addition, the integrated management and operation system (MS) calculates the underwater XY and surface XY coordinates based on the signals received from the underwater post and the surface post, and reflects the water depth data received from Po to calculate the position XYZ of the underwater object By doing so, it is possible to extract location information through 3D modeling.

In addition, in order to prevent cumulative errors that occur as the operating time flows, MS, PS, PO, all Puws, and all Psws can be synchronized with the system start time and regular synchronization.

In addition, the sleeping gateway Ps can check the position directly from the GPS satellite to know its position, and can also specify the position through manual input, and the position of the sleeping gateway Ps can be a reference position.

Therefore, the sleep gateway Ps can be configured by mounting a GPS communication module that can communicate with GPS satellites and a manual location input module that can manually input location information.

In addition, the surface gateway Ps is an acoustic communication transmitter that can communicate with underwater robots (fish robots, underwater drones, etc.) and underwater posts, underwater bots on the water surface (fish robots, underwater drones, etc.) RF communication transceiver, it may be configured by mounting a wired communication transceiver capable of communicating with the MS.

In addition, the sleep gateway Ps is configured such that the GPS transceiver and RF communication transceiver are always located above the water surface, and the acoustic communication transceiver is always located below the water surface.

The underwater Post Puw selects its own position based on the position of the surface gateway Ps as a reference position, and the underwater Post Puw receives the sound signal transmitted from the underwater object Po, and integrates management and operation system (MS) through wire or sound communication. It can be configured to be transmitted to

The underwater Post Puw is equipped with an acoustic communication transmission/reception module, a rechargeable battery and a weightless weight are mounted below, and the acoustic communication transmission/reception unit is configured to always face upward.

The underwater Post Puw is equipped with a battery module to recognize the amount of residual battery, to charge itself, and to recognize the temperature and error occurrence situation by itself and can be configured by mounting an error module to notify the MS.

The surface Post Psw selects its own position based on the position of the surface gateway Ps as a reference position, and the surface Post Psw receives an RF signal from the underwater object Po that rises to the surface of the water and transmits it to the MS through wired communication or RF communication. can be

The sleeping Post Psw is equipped with an RF communication transmission/reception module, and may be configured to be equipped with a rechargeable battery.

The sleep Post Psw recognizes the remaining battery amount and is equipped with a battery module to charge itself, and can be configured with an error module to recognize the temperature and error occurrence situation by itself and notify the MS.

The underwater object Po has a sound signal transmitter for a position signal in the water, and when it rises above the water surface, an RF signal communicator for a position signal may be provided.

The underwater object Po has an acoustic communication transceiver capable of communicating with the surface gateway Ps in the water, and may be provided with an RF communication transceiver capable of communicating with the Ps when rising above the water surface.

The underwater object Po is equipped with a water depth sensor to know the depth of the water itself, is equipped with an earth magnetic field sensor to make its own direction, and can be configured to self-control by using the gyro sensor.

The MS has underwater spatial shape 3D modeling data, has 3D coordinate modeling based on Ps, and can control autonomous swimming by recognizing the position of the underwater object Po.

The MS can select a location in three-dimensional coordinates, set each object or group of underwater objects to be recognized as an object, and sequentially designate the location of each object.

The MS specifies the location of each object, moves each object through a start command, and when each object sequentially arrives at the designated location, the MS checks the location of the object to find an error with the set location to determine the exact location and directs you to that location.

When the MS reaches the sequentially set position of each entity, it issues a move command to the next position, sequentially checks the next position arrival information, commands position correction, and commands movement to the next position. position tracking can be implemented.

The MS can sequentially set and manage different types of tracking programs to different locations at different times, and the MS can set and manage underwater post error information, surface post error information, surface gateway Ps error information, underwater fish Po error information. It is configured to collect information, etc., and to operate and manage the cause and treatment.

The present invention is provided with a surface gateway capable of acoustic communication and communication relay, and is configured to enable acoustic communication and depth measurement on an underwater moving object to periodically transmit an acoustic signal and transmit a received signal, and a plurality of underwater posts to receive the sound signal and transmit it through the surface gateway, and the integrated management and operation system receives the sound signal and the depth signal received from a plurality of underwater posts through the surface gateway and moves underwater by triangulation The position of an object can be detected. In addition, by installing a sleeping post and enabling RF communication on the water surface, position recognition on the surface of the water is also possible. In addition, the present invention sets the water surface gateway as a reference post, sets a plurality of underwater posts and surface post positions corresponding to the reference positions to 3D model the water tank space and the underwater space, and sets the tracking path of the underwater moving object for tracking Tracking control according to location recognition becomes possible through a movement command for each location and a process of location correction and synchronization, and there is an effect of enabling control by object or group of objects. Accordingly, there is an effect that various performance services can be provided by controlling the underwater moving object through various tracking paths.

1 is an exemplary view for explaining a phenomenon of reflection and attenuation of a GPS signal for detecting the position of a general underwater moving object.
Figure 2 is a block diagram of a system for recognizing the position of an underwater moving object according to the present invention.
3A and 3B are conceptual diagrams of a sleep gateway according to an embodiment of the present invention.
4 is a schematic configuration diagram of an underwater position recognition device 30 (Po) of an underwater moving object according to an embodiment of the present invention.
5 (a) and (b) is a schematic configuration diagram of an underwater post according to an embodiment of the present invention.
6 (A) and (B) are schematic configuration diagrams of a sleeping post according to an embodiment of the present invention.
7 is an exemplary diagram of a system for recognizing an underwater position of an underwater moving object for information transfer through wired communication with underwater and surface posts according to an embodiment of the present invention.
8 is an exemplary diagram of a system for recognizing an underwater position of an underwater moving object for information transfer through wireless communication with underwater and surface posts according to another embodiment of the present invention.
9 is an exemplary diagram of an underwater position recognition system for information transfer underwater moving objects using wireless communication with underwater and surface posts in an outdoor water tank according to an embodiment of the present invention.
10 is a flowchart for explaining an operating method of a system for recognizing a position of an underwater moving object according to an embodiment of the present invention.
11 is an exemplary diagram of 3D modeling of the shape of the underwater space and the coordinates of the underwater space according to the present invention.
12A and 12B are diagrams illustrating the tracking control flow of an underwater moving object according to an embodiment of the present invention.
13 is an explanatory diagram for explaining the tracking control flow by detecting the position of an underwater moving object according to the present invention, and FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a block diagram of a system for recognizing the position of an underwater moving object according to the present invention.

As shown in FIG. 2, in the system for recognizing the position of an underwater moving object located in the water, an RF communication module is provided in the water-receiving unit located on the water surface, and an acoustic communication module is provided in the underwater unit located in the water, a surface gateway (20; Ps) which is installed in the reference position of the underwater moving object activity area to set the reference position coordinates and relays the transmission/reception signal of RF communication or sound communication;

It is installed on the underwater moving object, and includes an acoustic communication module and a depth sensor module capable of acoustic communication with the surface gateway 20; Ps, and periodically transmits an acoustic communication signal for position detection, and transmits the depth sensor signal And the underwater position detection device (30; Po) of the underwater moving object to transmit to the surface gateway (20; Ps);

A plurality of acoustic communication modules are provided to be distributed and installed in the water of the underwater moving object activity area, receive the acoustic communication signal of the underwater moving object underwater position recognition device and transmit the received signal to the water surface gateway 20 Underwater post (40; Puw1 ~ Puw4) and;

Communication is connected with the water surface gateway 20, and setting the position information of each of the underwater posts by setting the water surface gateway 20 as a reference position coordinates, and each underwater relayed through the water surface gateway 20 It is configured to include an integrated management and operation system (60; MS) for recognizing the position of the underwater moving object based on the received sound signal of the posts 40 and the depth signal of the underwater position detection device 30.

In addition, the present invention may further include a GPS transceiver 10 for transmitting a GPS signal to the outside of the building outer wall and transmitting the GPS signal to the water surface gateway 20 when the underwater moving object is active in an indoor water tank.

If this is an underwater moving object operated in an indoor water tank, such as a fish robot, the GPS wave may be blocked or reduced by the exterior wall of the building because it is located indoors. In order to solve this problem, the GPS transceiver 10 is installed as a repeater on the outside of the building wall, and a communication connection can be made so that the GPS signal can be transmitted to the water surface gateway 20 .

The underwater post 40, the underwater post (40; Puw1 - Puw4) is installed on the bottom surface of the tank at the boundary portion that can determine the activity area of the underwater moving object. The underwater post 40 is configured to enable acoustic communication, and is configured to enable underwater communication by acoustic communication with the surface gateway 20 and the underwater position recognition device 30 of the underwater moving object. Each fixed position is determined with respect to the reference position of the surface gateway 20, and this fixed position information is transmitted to the underwater position recognition device 30 to recognize the position of the underwater moving object according to the distance measurement with the underwater post. have.

In addition, the present invention is installed in a plurality of fixed positions based on the water level boundary area of the active area in which the underwater moving object is active, the reference position of the water surface gateway 20 as a reference point, The underwater location recognition device 30 and the sleep gateway 20 may be configured to further include a plurality of sleep posts 50 (Psw1 to Psw5) capable of RF communication.

When the sleeping post 50 is installed as described above, RF communication becomes possible when an underwater moving object rises to the surface, and communicates with the sleeping gateway 20 and a plurality of sleeping posts 40 by RF communication to the reference position And, it is possible to measure the position on the water surface by using the distance measurement information with each sleep post (50).

3A and 3B are conceptual diagrams of a sleep gateway according to an embodiment of the present invention.

Figure 3 (a) is an exemplary diagram showing a configuration for communicating by RF communication on the ground and acoustic communication in the water without a wired communication module, (b) of Figure 3, further including a wired communication module 24 It can be configured to enable wired communication with the surface post (Psw), the underwater post (Puw) and the integrated management and operating system (MS), respectively.

As shown in (a) of FIG. 3, the sleep gateway 20 (Ps) serving as a position reference serves as a reference post. RF communication module 23 for communicating when the water level post (50; Psw5, Psw6, Psw7) and the underwater position recognition device (30; Po) of the underwater moving object (fish robot, underwater drone, etc.) rises above the water level And, the GPS communication module 22 for receiving the reference position from the GPS, and the position input management unit 25 and the control module 21 and the error detection module 26 for manually inputting the reference position. Included is the water-receiving part (the part located on the water surface) is configured. In addition, as shown in FIG. 3 (B), a wired communication module 24 may be further included.

The underwater part is configured by being physically connected to the water part. In the underwater part, an underwater post (40; Puw1, Puw2, Puw3, Puw4) and an underwater position recognition device (30; Po) of an underwater moving object (fish robot, underwater drone, etc.) and an acoustic communication module 27 for communicating with and , a rechargeable battery is built-in and is configured to include a battery module 28 for charging the battery, and a weight 29 for positioning the underwater part in the water.

The control module 21 receives a GPS signal by controlling the GPS communication module 22, the RF communication module 23, and the sound communication module 27, and converts the GPS coordinate information into the reference position information as the reference position management module 25 Reference position information set in , or manually input by the user may be set in the reference position management module 25 . Through the battery module 28, it is possible to detect the remaining battery level and perform charge management, and through the error detection module 26, the normal operation and temperature of the sleep gateway 20 are measured and monitored, and the monitoring information is integrated It is transmitted to the management and operating system (60; MS)

In addition, when the control module 21 is configured as in FIG. 3 (A) without the wired communication module 24, the underwater moving object and the underwater post (Puw) are through acoustic communication in the water and RF communication on the water surface. ), and communicates with the sleep post (Psw), and can exchange information with the integrated management and operating system 60 through RF communication, as shown in (B) of FIG. 3 equipped with a wired communication module 24 In this case, information may be exchanged with the integrated management and operating system 60 through the wired communication module. The wired communication module 24 may be connected to each underwater post and surface post, and may be connected only to an integrated management and operating system, and each connection cable may be composed of a power supply and a communication cable.

4 is a schematic configuration diagram of an underwater position recognition device 30 (Po) of an underwater moving object according to an embodiment of the present invention.

As shown in FIG. 4 , a position detection control module 31 , an RF communication module 32 , an error detection module 33 , a sensor module 34 , an acoustic communication module 35 , and a water depth It is configured to include a sensor module (36).

The position detection control module 31 controls communication with the sleeping post and the sleeping gateway 20 through the RF communication module 32 on the water surface, and the underwater post 40 and the underwater post 40 through the acoustic communication module 35 in the water. Control to communicate with the sleep gateway (20).

The position detection control module 31 communicates with the receiving gateway 20 and the underwater post or surface post to obtain distance information with each post for the reference position, and direction information detected through the geomagnetic sensor and the water depth sensor and The location information is detected by the depth information. In addition, through the error detection module 33, whether or not the finishing operation and temperature, etc. are measured and monitored, and the monitoring information is transmitted to the water surface gateway 20 to be transmitted to the integrated management and operation system 60 .

5 (a) and (b) is a schematic configuration diagram of an underwater post according to an embodiment of the present invention. Figure 5 (A) is a configuration that can transmit information through an acoustic communication module without a wired communication module, and Figure 5 (B) is a sleep gateway through a distribution communication module by further including a wired communication module It is configured to exchange information with the integrated management and operating system.

As shown in FIG. 5A , it is configured to include a control module 41 , an error detection module 42 , a sound communication module 43 , a battery module 45 , and a weight 46 . FIG. 5(B) is an exemplary diagram configured by further including a wired communication module 44 in the configuration of FIG. 5(A).

The underwater post (40; Puw1, Puw2, Puw3, Puw4) is provided with a sound communication module 43 for underwater communication with the underwater position recognition device 30 and the surface gateway of the underwater moving object. The power supply is provided with a battery module 45 including a rechargeable battery, and may be configured to include a weight 46 to be positioned in water. The acoustic communication module 43 is preferably arranged to be positioned above the underwater post 40 so as to transmit and receive acoustic signals in the underwater direction to minimize interference with the floor. The sound communication is performed under the control of the control module 41 , and information monitored through the battery module and the error detection module is transmitted to the integrated management and operation system 60 . In the configuration without the wired communication module 43, it is transmitted to the sleeping gateway 20 through acoustic communication, and the sleeping gateway 20 is transmitted to the integrated management and operation system 60 through RF communication to exchange information. can make you lose In addition, when the wired communication module 43 is provided, it is connected through the wired communication module to enable mutual information exchange.

6 (A) and (B) are schematic configuration diagrams of a sleeping post according to an embodiment of the present invention. (A) of FIG. 6 is a configuration that transmits information through RF communication without a wired communication module, and (B) of FIG. 6 is a configuration that can transmit information through wired communication by further including a wired communication module all.

It is configured to include a control module 51 , an error detection module 52 , an RF communication module 53 , and a battery module 55 as shown in FIG. 6A . In addition, as shown in (B) of FIG. 6 , a wired communication module 54 may be further included.

life post (50); Psw5 ~ Psw7) is installed on the water surface and is installed in a fixed position where location information can be known based on the reference position of the water surface gateway 20, and the underwater position recognition of the water surface gateway 20 and the underwater moving object through RF communication In communication with the device 30, the underwater position recognition device 30 can detect the current position compared to the reference position by using distance information with a plurality of surface posts and distance information with a surface gate. The reason for having the weight 56 is so that the RF communication module is always positioned above the water surface when installed on the water surface.

As such, the present invention provides a water surface gateway 20, an underwater position recognition device 30 installed on an underwater moving object, a plurality of underwater posts 40 that are disposed and installed in water, a plurality of surface posts that are disposed and installed on the water surface (50), including an integrated management and operation system 60 for integrated management and operation control by communicating with the underwater moving object through the water surface gateway 20, and when in an indoor location, a GPS transmitter and receiver outside the building exterior wall (10) is further installed to transmit the GPS signal to the sleep gateway (20).

7 is an exemplary diagram of a system for recognizing an underwater position of an underwater moving object for information transfer through wired communication with underwater and surface posts according to an embodiment of the present invention.

It is a conceptual diagram for recognizing the position of an underwater moving object that is active in an indoor water tank installed inside the outer wall of the building.

Since the GPS signal is blocked and reflected by the outer wall of the building, a GPS transceiver (10; S1) is installed outside the outer wall of the building. The GPS signal received by the GPS transceiver 10 is transmitted to the sleep gateway 20 .

A water surface gateway 20 is installed at an arbitrary fixed position of the water tank. The surface gateway 20 is composed of a receiving unit and an underwater unit, the receiving unit is configured to include a GPS communication module, an RF communication module, and a wired communication module, and the underwater unit is configured to include an acoustic communication module.

On the bottom surface of the water tank, an underwater post (40; Puw1 ~ Puw4) is installed at each corner of the water tank. Similarly, on the water surface of the water tank, the water post 50 (Psw5 ~ Psw7) is installed. The sleep gateway 20 serves as a position reference point for the weekday post 40 and the sleep post 50 .

The reference location information set in the sleep gateway 20 may receive GPS information, and the reference location information is manually input and stored and managed in the reference location management module 25 .

The underwater post (40; Puw1 ~ Puw4) is provided with an acoustic communication module and can communicate with the surface gateway 20 and the underwater position recognition device 30; The integrated management and operation system (60; MS) and the integrated management and operating system (60; MS) through wired communication when provided with a wired communication module, and when there is no wired communication module, through the sleep gateway 20 through sound communication. It may communicate with a management and operating system 60 .

In addition, the water surface gateway (50; Psw5 ~ Psw7) is provided with an RF communication module to communicate with the water surface gateway 20 and the underwater position recognizing device 30 (Po) of the underwater moving object, located in a fixed place on the surface of the water The integrated management and operation system (60; MS) and the integrated management and operating system (60; MS) through wired communication when provided with a wired communication module, and when there is no wired communication module, through the sleep gateway 20 through sound communication. It may communicate with a management and operating system 60 .

The underwater position recognition device 30 (Po) of the underwater moving object is built in the underwater moving object (fish robot), and in the water, it communicates with the underwater post 40 and the surface gateway 20 through an acoustic communication module. and communicates with the sleep post 50 (Psw5 ~ Psw7) and the sleep gateway 20 through the RF communication module when it rises above the water surface. In addition, a water depth sensor and a geomagnetic sensor that recognizes the direction in the water are built-in, respectively.

An underwater moving object (fish robot) periodically transmits an acoustic signal (ultrasonic signal) in the water, recognizing the depth with a depth sensor, and recognizing a direction with a geomagnetic sensor to the surface gateway (20; Ps) through acoustic communication. send information In addition, various control signals are received from the sleep gateway 20 (Ps) using sound communication and the received commands are performed.

The integrated management and operating system 60, the underwater post (40; Puw1, Puw2, Puw3, Puw4), and the surface post (50; Psw5, Psw6, Psw7) and the surface gateway (20; Ps) obtained from various By using the information, it will be integrated management and operation to comprehensively control the location recognition and location tracking of underwater objects (fish robots, underwater drones, etc.) underwater and on the surface. In FIG. 7, since the underwater post 40 and the surface post 50 and the surface gateway 20 are configured to enable wired communication with the integrated management and operation system 60, information from the integrated management and operation system through wired communication can acquire and transmit management information. However, the underwater moving object is configured to communicate with the integrated management and operating system 60 via the surface gateway 20 through the acoustic communication or RF communication of the underwater location recognition device 30 .

8 is an exemplary diagram of a system for recognizing an underwater position of an underwater moving object that transmits information through wireless communication with underwater and surface posts according to another embodiment of the present invention.

The configuration of FIG. 8 is a configuration in which the underwater post 40 and the surface post 50 are not provided with a wired communication module, respectively, in comparison with FIG. 7, and the underwater post 40 is a surface gateway 20 through sound communication. ) to deliver information to the integrated management and operation system 60, and the sleep post 50 communicates with the sleep gateway 20 through RF communication to deliver information to the integrated management and operation system 60. have.

9 is an exemplary diagram of a system for recognizing an underwater position of an underwater moving object for information transfer using a wireless communication with underwater and surface posts in an outdoor water tank according to an embodiment of the present invention.

As shown in FIG. 9, the sleep gateway 20 may directly receive and process a GPS signal from a GPS satellite. In addition, as the underwater post 40 and the surface post 50 are each not provided with a wired communication module, the underwater post 40 communicates with the surface gateway 20 through sound communication to an integrated management and operation system 60 to transmit information, and the sleep post 50 communicates with the sleep gateway 20 through RF communication to deliver information to the integrated management and operation system 60 .

10 is a flowchart for explaining an operating method of a system for recognizing a position of an underwater moving object according to an embodiment of the present invention.

As shown in FIG. 10, as a method of recognizing the underwater position of an underwater moving object in the integrated management and operation system 60,

3D modeling the shape of an underwater space in which an underwater moving object is active (S10);

Using the surface gateway as a reference post, determining the positions of the underwater post and the surface post, and setting the reference position table of the reference post to 3D model the underwater space coordinates (S20);

After setting the position coordinates of the underwater post and the surface post, performing synchronization with the reference position coordinates (S30) and;

When the underwater moving object is underwater, the underwater post receives the sound signal intensity information and the water depth information of the underwater moving object, and the underwater moving object is the surface of the water. In this case, receiving the RF signal intensity information received by the surface post receiving the RF signal periodically transmitted from the underwater moving object, and determining the position of the underwater object (S40).

This embodiment is to recognize the position of the underwater moving object in the integrated management and operating system 60 to control the swimming, such as the tracking path.

11 is an exemplary diagram of 3D modeling of the shape of the underwater space and the coordinates of the underwater space according to the present invention. To this end, in the present invention, 3D modeling (S10) of the shape of the underwater space in which the underwater moving object is active is performed. For the shape modeling of the underwater space, the underwater structure drawing and the underwater structure drawing are obtained, the underwater space is determined, and the shape of the underwater space is 3D modeled using this information.

Then, the reference post, the water gateway 20, the plurality of underwater posts 40, and the plurality of water posts (50) to determine and install, manually input the reference coordinates, or by entering the GPS location information Set the reference position coordinates, which are the position coordinates of the reference post. When the reference position coordinates are set, as shown in FIG. 11 , the underwater space coordinates are 3D modeled by applying the X-axis, Y-axis, and Z-axis based on the reference position coordinates that are the position of the water surface gateway Ps (S20).

The position coordinates of each underwater post 40 are set in correspondence with the reference coordinates of the sleep gateway 20, which is the reference post, and similarly, the position coordinates of the surface posts 50 are set. When the positional coordinates of each underwater post and the positional coordinates of the surface post are set with respect to the reference positional coordinates, the synchronization is executed (S30).

sleep gateway20; Set the three-dimensional coordinates in the water using the position of Ps) as the reference coordinates, and set the position coordinates of the underwater posts Puw1, Puw2, Puw3, Puw4 and the surface posts Psw5, Psw6, Psw7.

In the water, the underwater ultrasonic signal transmitted from the underwater position recognition device 30; Po) of the underwater moving object is received from the underwater post 40 Puw1, Puw2, Puw3, Puw4 and transmitted to the integrated management and operation system 60; MS. .

When the water depth data is transmitted from the underwater location recognition device 30; Po of the underwater moving object to the surface gateway 20; Ps by acoustic communication, it is received by the surface gateway 20; Ps, and the integrated management and operation system 60; MS ) is sent to

The integrated management and operating system (60; MS) measures the distance based on the signal strength received from the underwater post 40 Puw1, Puw2, Puw3, Puw4, and triangulates the XY coordinates of the underwater moving object Po By recognizing the Z coordinate with the depth data received from the underwater moving body Po, all XYZ coordinates are recognized.

At this time, each position is calculated as Combination 1 (Puw1, Puw2, Puw3), Combination 2 (Puw1, Puw2, Puw4), Combination 3 (Puw2, Puw3, Puw4), Combination 4 (Puw1, Puw2, Puw3, Puw4), By taking the average position, the xy coordinate error is reduced. That is, by calculating the average position Y-mean of Xuw _{combination 1,} Xuw _{combination 2,} Xuw _{combination 3,} Xuw average position of the _{combined 4} Xuw-mean, Yuw _{combination 1,} Yuw _{combination 2,} Yuw _{combination 3,} Yuw _{combination 4,} in water Minimize the XY position error.

In the water surface, the surface post 50 Psw5, Psw6, Psw7 and the surface gateway 20; Ps receive the RF signal transmitted from the underwater positioning device 30; Po of the underwater moving object, and the surface gateway 20; Ps ) is transmitted to the integrated management and operation system 60 (MS).

The integrated management and operating system (60; MS) measures each distance information by the signal strength received from the sleep post 50 Psw5, Psw6, Psw7 and the sleep gateway 20 Ps, and based on each distance information As a triangulation method, the XY coordinates of the underwater moving object Po are recognized, and since it is located on the water surface, the Z coordinates are recognized as 0, so that all XYZ coordinates are recognized.

At this time, each position is calculated as Combination 1 (Psw5, Psw6, Psw7), Combination 2 (Psw5, Psw6, Ps), Combination 3 (Psw6, Psw7, Ps), and Combination 4 (Psw5, Psw6, Psw7, Ps). By taking the average position, the error of xy coordinates is reduced. That is, by obtaining a Xsw _{combination 1,} Xsw _{combination 2,} Xsw _{combination 3,} Xsw _{combination 4} average position X-mean, average position Ysw-mean of Ysw _{combination 1,} Ysw _{combination 2,} Ysw _{combination 3,} Ysw _{combining four} of the, water surface Minimize the error of the upper XY position.

12A and 12B are diagrams illustrating the tracking control flow of an underwater moving object according to an embodiment of the present invention.

Setting a plurality of tracking paths based on the 3D shape and 3D coordinate modeling for the active area of the underwater moving object (S110);

After selecting an object for the underwater moving object and selecting a tracking path, the step of synchronizing (S120) and;

Step (S130) of starting tracking the object position and sequentially commanding movement for each position on the set tracking path until the position of the underwater moving object coincides with the last position coordinate on the path (S130);

Upon arrival at the last position coordinates of the set tracking position, repeating the same path or selecting a path following the set tracking and returning to the synchronization step (S140).

13 is an explanatory diagram for explaining the tracking control flow by detecting the position of an underwater moving object according to the present invention, and FIG. 14 is an exemplary view of individual coordinates for each individual set by FIG.

First, the position in the tank can be expressed as coordinates by performing 3D modeling of the shape and coordinates of the tank with reference to the shape of the tank, the actual measurement, and the underwater and surface post coordinates. As described above, in the modeling information expressed in 3D coordinates for the position in the tank, position information for each tracking path that the underwater moving object will move is set. That is, as shown in FIG. 13 , the positions of the moving paths that require direction change among the entire tracking paths are set to have an order.

14, by specifying the starting point, L1, L2, ... . By setting the movement position of the back and X, Y, Z coordinates for each position, it is possible to control the underwater robot (fish robot, underwater drone, etc.) to move according to the coordinates.

At this time, in the case of a plurality of underwater robots, the position coordinates for each object of each robot may be specified, and a plurality of underwater robots may be specified as one group to make one object, and the coordinates of the group object may be set to set the coordinates of the plurality of underwater robots. You can also make group objects move along coordinates together.

When a specific location is reached, the arrival location information is transmitted to the integrated management and operation system (60; MS), and the integrated management and operation system (60; MS), when the set location coordinates and the arrival location coordinates do not match, the object is moved to the set location coordinates, and if the set location coordinates and the arrival coordinates are the same, the objects will swim along the sequentially mapped tracking path by moving to the next set coordinates.

There may be one mapped tracking path, a plurality of paths may be set and a specific path may be set and operated, or a plurality of set paths may be sequentially designated and operated.

10, S1: GPS transceiver
20, Ps: Sleep Gateway
30, Po: underwater position recognition device
40, Puw1 ~ Puw4 : Underwater Post
50, Psw5~Psw7: Sleep Post
60, MS: Integrated management and operation system

Claims (11)

In the position recognition system of an underwater moving object located in the water,
An RF communication module is provided in the water receiving unit located on the water surface, and an acoustic communication module is provided in the underwater unit located in the water. a sleep gateway for relaying transmission/reception signals of acoustic communication;
Installed on the underwater moving object, including an acoustic communication module and a depth sensor module capable of acoustic communication with the surface gateway, periodically transmitting an acoustic communication signal for position detection, and transmitting the water depth sensor signal to the surface gateway an underwater position detection device of an underwater moving object;
A plurality of underwater posts that are provided with an acoustic communication module, are distributed and installed in the water of the underwater moving object activity area, receive the acoustic communication signal of the underwater moving object underwater position recognition device, and transmit the received signal to the surface gateway; ;
Communication is connected with the surface gateway, and setting the position information of each of the underwater posts based on the reference position coordinates of the water surface gateway, and receiving sound signals and the underwater position of each underwater post relayed through the surface gateway Constructed including an integrated management and operating system for recognizing the position of the underwater moving object based on the depth signal of the detection device
Position recognition system for underwater moving objects. According to claim 1,
The sleep gateway,
A GPS communication module is further included in the receiving unit,
Manually setting the reference position coordinates or setting the GPS coordinates detected through the GPS communication module as the reference position coordinates.
Position recognition system for underwater moving objects. According to claim 1,
The underwater position recognition device of the underwater moving body,
When the underwater moving object rises to the surface, it is exposed above the water surface and further comprises an RF communication module capable of RF communication with the surface gateway
Position recognition system for underwater moving objects. 4. The method of claim 3,
An RF communication module is provided to be distributed and installed on the water surface of the underwater moving object activity area, and receives an RF signal periodically transmitted for position recognition from the underwater moving object underwater position recognition device and transmits the received signal to the surface gateway Further comprising a plurality of sleep posts to transmit,
The integrated management and operating system recognizes the position of the underwater moving object based on the RF signal of the sleep post relayed through the surface gateway and the depth signal of the underwater moving object underwater position recognition device
Position recognition system for underwater moving objects. According to claim 1,
The underwater posts further include a wired communication module, and directly transmits a received sound signal to the integrated management and operating system through the wired communication module.
Position recognition system for underwater moving objects. 5. The method of claim 4,
The sleep posts further include a wired communication module, and directly transmits the received RF signal to the integrated management and operating system through the wired communication module.
Position recognition system for underwater moving objects. According to claim 1,
The sleep gateway,
Consists of a water part that is always installed to be positioned on the water surface, and an underwater part that is always installed to be positioned in the water,
In the award section,
a GPS communication module for receiving a GPS signal and detecting GPS coordinates;
an RF communication module for RF communication;
a reference location management module for setting and managing manually set reference location coordinates or the GPS coordinates as reference location coordinates;
A control module for controlling the reference position coordinate setting of the sleeping gateway and communication relay processing is included and configured,
In the underwater
an acoustic communication module for acoustic communication in the water;
a battery module for supplying power to the sleep gateway;
Consisting of a weight that weights the underwater part to be located in the water
Position recognition system for underwater moving objects. According to claim 1,
The position recognition device of the underwater moving object,
An RF communication module for RF communication when it rises above the water surface;
an acoustic communication module for underwater communication;
a magnetic field sensor module for detecting a free swimming direction;
a depth sensor for measuring the depth;
A sound signal or RF signal for position detection is periodically transmitted through the sound communication module or the RF communication module, and the depth signal measured by the depth sensor module is transmitted to the water surface gateway and relayed through the water surface gateway. and a control module that receives the control information of the integrated management and operation system and provides it as control information of an underwater moving object.
Position recognition system for underwater moving objects. According to claim 1,
an acoustic communication module for receiving the acoustic communication signal of the underwater location recognition device installed on the underwater moving object;
a battery module for supplying power;
a weight for providing weight to the underwater post;
a wired communication module connected to the integrated management and operating system through wired communication to transmit the sound signal received from the acoustic communication module to the integrated management and operating system;
Controlling the acoustic communication module and the wired communication module to receive the acoustic signal of the underwater location recognition device and control it to be transmitted to the integrated management and operation system, and also monitor the battery module to transfer charging information to the integrated management and operation system including a control module that transmits
Position recognition system for underwater moving objects.
In the operating method of the position recognition system of the underwater moving object,
3D modeling the shape of an underwater space in which an underwater moving object is active (S10);
Using the surface gateway as a reference post, determining the position of the underwater post and the surface post, and setting the reference position table of the reference post to 3D model the underwater space coordinates (S20);
After setting the position coordinates of the underwater post and the surface post, performing synchronization with the reference position coordinates (S30) and;
When the underwater moving object is underwater, it is periodically transmitted from the underwater moving object to receive the sound signal intensity information received by the underwater posts and the water depth information of the underwater moving object, and when the underwater moving object is on the water surface, Including the step (S40) of receiving the RF signal strength information received by the water post periodically transmitted from the underwater moving object to determine the position of the underwater object (S40)
The operation method of the position recognition system of the underwater moving object. 11. The method of claim 10,
In the sleep gateway,
A GPS communication module is further installed,
The reference position coordinates are to set the manually input reference position coordinates or the GPS coordinates detected by the GPS communication module as the reference position coordinates
The operation method of the position recognition system of the underwater moving object.

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