KR20220097606A - water resources investigation system of unmanned aircraft carrier shape - Google Patents

Abstract

The present invention relates to an unmanned aircraft carrier type water resource investigation system provided with an unmanned aircraft carrier, wherein the unmanned aircraft carrier comprises: a carrier equipped with a drone, a waterproof camera, and an army cable reel drum, including a precision navigation system, to conduct water resource investigations such as crackdown on illegal fishing activities, water quality checks, and underwater condition investigations; and a boat equipped with various cameras and echo sounders, including a power generation system. As the unmanned aircraft carrier type water resource investigation system is equipped with the unmanned aircraft carrier, it efficiently conducts water resource investigations such as crackdown on illegal fishing activities, water quality, and underwater investigation in areas such as large dam basins, river basins, or large reservoirs.

Description

Water resources investigation system of unmanned aircraft carrier shape

The present invention relates to an unmanned aerial vehicle carrier-type water resource survey system, and more particularly, a precision navigation system and drone, etc. so that water resource surveys such as crackdown on illegal fishing practices, understanding water quality, and underwater condition survey can be efficiently and conveniently performed. It is about an unmanned aerial vehicle carrier-type water resource survey system consisting of a boat equipped with various cameras and echo sounders that conduct water resource surveys by approaching points inaccessible to drones along with this mounted carrier.

Current water resource surveys have been mainly carried out in a way that a person directly conducts a visual survey using a boat or surveys the topographical characteristics of a certain section using an access road. It is not done by

Recently, an unmanned aerial vehicle (drone) is used to fly around the dam basin, and high-resolution images are acquired and used for monitoring the dam basin. The reality is that flying itself is impossible under the weather conditions.

In particular, in order to take drone photography of a river basin or large reservoir with a large area of the dam basin, there is an inconvenience in that the pilot must move to the relevant point to fly, and then move to the next survey point.

In addition, separate equipment and manpower are required for crackdown on other illegal fishing practices, water quality, and underwater investigation. Also, since the anchor line was lowered to the bottom to measure the depth in order to measure the water depth as a conventional method, the measurement method was also very cumbersome and inconvenient.

Patent Document 001: Application Patent No. 10-2011-0140802 (Registration No. 10-1462127)

The present invention for solving the above problems is an unmanned aerial vehicle that can conveniently perform water resource investigations such as crackdown on illegal fishing practices, water quality, and underwater investigations in places such as dam basins, river basins, or large reservoirs with a large area It aims to provide a carrier-type water resource survey system.

The present invention for achieving the above objects is composed of a structure including a boat in which a precision navigation system is installed and a boat in which a power generation system is installed in order to conduct a water resource survey such as crackdown on illegal fishing practices, understanding water quality, and surveying underwater conditions An unmanned aircraft carrier-type water resource research system, characterized in that an unmanned aircraft carrier is provided, has a characteristic of one example.

The carrier is a drone mounted on the carrier that flies from the shore to a point requiring water resource survey at a low altitude, a waterproof camera mounted on the lower part of the drone to photograph the underwater state at a point requiring water resource survey, and installed on the carrier The unmanned aerial vehicle carrier-type water resource research system further comprising a water tank connected by a cable to the waterproof camera has a feature of one example.

An example of the feature of the unmanned aerial vehicle carrier-type water resource survey system in which the room box further includes a distance sensor including a wireless communication device that detects the distance at which the cable is unwound and controls the drone to fly only as much as the critical distance value of the cable. There is this.

The boat can reach a point where it is difficult or impossible to fly a drone, but it is possible to reach a point where it is necessary to investigate water resources, but an underwater survey camera installed in any one of the boats to photograph the underwater state of the point, installed in any one of the boats An unmanned aerial vehicle comprising a multi-directional camera to photograph the underwater state of the point in various directions, and a zoom camera installed in any one of the boats to control the underwater state of the point to a short distance or a distance and take a photograph The carrier-type water resource survey system has a characteristic as an example.

An echo sounder installed in any one of the boats to measure the depth of the water by emitting sound waves to the bottom of the water and measuring the time of the reflected waves to return, installed in any one of the boats to emit a laser pulse A lidar that receives the reflected light and measures the distance to an object around the water, and is installed in any one of the boats from the underwater irradiation camera, the multi-directional camera, the zoom camera, the echo sounder, and the lidar The unmanned aerial vehicle carrier-type water resource research system further comprising communication equipment for transmitting the acquired information to the precision navigation system of the unmanned aerial vehicle carrier has a feature of one example.

An unmanned aerial vehicle installed in any one of the boats and further equipped with a power generation system for providing power to the underwater survey camera, the multi-directional camera, the zoom camera, the echo sounder, the lidar, the speaker, and the communication equipment The carrier-type water resource survey system has a characteristic as an example.

As described above, according to the present invention according to the above, access is not possible in conducting water resource investigations such as crackdown on illegal fishing practices, water quality, and underwater investigations in places such as dam basins, river basins, or large reservoirs with a large area. It has the effect of enabling detailed and accurate water resource surveys even in places.

1 is a diagram illustrating the configuration of a water resource research system of an unmanned aerial vehicle carrier according to an embodiment of the present invention in a simple blocky concept.
FIG. 2 is a block diagram illustrating the configuration of the carrier of the unmanned aerial vehicle carrier shown in FIG. 1 in a block manner.
FIG. 3 is a block diagram illustrating the configuration of the boat of the unmanned aerial vehicle carrier shown in FIG. 1 in a block manner.

The present invention should be interpreted in a way that includes the scope of rights that reach the technical idea through various modified embodiments, only these embodiments make the publication of the present invention complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims.

In addition, in the following process of the present invention, the terms 'user', 'person', and 'manipulator' may be interpreted as the same meaning, and the drawings attached to the present invention help understanding of the description of the present invention to the end. In relation to the accompanying drawings, the technical spirit of the present invention should not be construed as being limited by the accompanying drawings.

An unmanned aerial vehicle carrier type water resource survey system according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

In the present invention, for example, the unmanned aerial vehicle carrier 100 may be composed of a carrier 200 and a boat 300 as shown in FIG. It can be used for the purpose of conducting water resource investigations such as crackdown on illegal fishing practices, water quality, and underwater investigations in river basins or large reservoirs.

The carrier 200 may be composed of, for example, a precision navigation system 210, a drone 220, a waterproof camera 221, and a car box 230, as shown in FIG. 2, and such a precision navigation system ( The carrier 200 may be operated through 210).

The drone 220 is mounted on the carrier 200 and has a waterproof structure, and the waterproof camera 221 can be mounted on the lower end, and the shield 230 is installed on the carrier 200 and the waterproof camera 221 and may be connected with a cable.

The drone 220 is composed of a waterproof drone aircraft capable of flying even in rain, a waterproof camera 221 and a motor, and is capable of autonomous route flight. By taking off 220, it is possible to transmit an aerial image around the carrier 200 and the boat 300 in real time, and after performing the mission, it is charged by landing in the carrier 200 and can stand by for the next mission.

The drone 220 may be connected to the waterproof camera 221 by a cable through the vehicle canister 230 installed in the carrier 200 according to the mounting of the waterproof camera 221 .

For example, the waterproof camera 221 mounted on the carrier 200 and connected by a cable to the 50 m cable carbox 230 can be remotely controlled and descended into the lower part of the carrier 200 to capture an underwater image in real time. And, this photographed information may be transmitted to the control room through the precision navigation system 210 .

Since the room box 230 may further include a distance sensor including a wireless communication device that detects the distance at which the cable is loosened and controls the drone 200 to fly only as much as the critical distance value of the cable, and may be installed, the drone (200) stable flight can be achieved.

Of course, not only a water quality sensor but also a water collecting device may be mounted around the waterproof camera 221, and the water quality measuring sensor may perform a water quality measurement task, and the water collecting device may perform a water collecting task. have.

The drone 220 is normally mounted on the carrier 200, and can fly to a desired destination at a low altitude above the waterfront when a water resource survey is performed, and the waterproof camera 221 mounted on the lower part of the drone 220 ) is a method of recording images in the water or near the waterside near the destination, so that water resource investigations such as crackdown on illegal fishing practices, understanding water quality, and underwater condition investigations can be performed.

The boat 300 includes, for example, a multi-directional camera 310n, an underwater irradiation camera 310, a zoom camera 320, an echo sounder 330, a lidar 340, a speaker 350, and a communication as shown in FIG. It has a configuration including the equipment 360 , and the power generation system 370 .

The above-mentioned boat 300 can be designed in such a way that a driving device is installed on the boat wing to enable smooth sailing in a water surface area with a lot of aquatic vegetation, and a solar power generation system 370 is installed on the boat deck for long-time sailing. Alternatively, it can be operated in a way that it is installed on the top of the battery auxiliary boat and moved simultaneously with the carrier 200 .

The boat 300 may arrive at a point inaccessible or difficult to the drone 220, and according to the arrival of the boat 300, the multi-directional camera 310n monitors and records all conditions around the waterside. And, the underwater irradiation camera 310 can monitor a specific direction in the water, and the zoom camera 320 can take close-up pictures of the surrounding water or underwater conditions in more detail.

The multi-directional camera 310 mounted on the upper part of the boat 300 searches for 360 ° RGB and IR information around the carrier 200, and can automatically recognize an abnormal object with a moving object or a heat source, , the zoom camera 320 may precisely search for an object in response to the automatic object recognition of the multi-directional camera 310n.

Of course, the zoom camera 320 that responds to automatic recognition of the multi-directional camera 310 may be operated based on signals sensed from automatic recognition sensors. The collected information may be shared in the control room through the precision navigation system 210 .

In particular, the echo sounder 330 is also called an 'Echo Sounder', and as a type of sonar, it is possible to measure the depth to the bottom of the water by analyzing the time it takes from the reflected wave that returns according to the sound wave emission from the water. have. In the case of underwater, electromagnetic waves have a short traveling distance, so it is more useful and preferable to use sound waves to detect underwater conditions.

The sound wave in the water may be, for example, a pressure wave traveling at a speed of about 1,500 m/s, and the depth of the bottom may be determined according to the measurement of time for a reflected wave that is emitted and returned in a pulse form up to the depth to the bottom.

In particular, the echo sounder 330 can use a frequency of about 200 kHz sound wave and about 24 kHz sound wave at the same time, and uses the sound speed as a reference value on average, but in order to obtain an accurate sound speed value, the water temperature, pressure, and density are measured. The speed of sound value in the corrected state can be used. A simple expression representing the depth of the bottom can be D = 1/2vt, where v is the speed of sound in water, t is the time it takes for the sound wave to be reflected back, and D is the depth from the sound wave's originator to the bottom.

Since D of the above varies depending on the location of the sound wave transmitter, the depth from the water surface to the floor can be obtained by correcting the depth value from the water surface to the sound wave transmitter. Compared to the method of measuring the length of the depth by lowering the anchor line to the floor in the conventional water depth survey, the sounder 330 can measure the depth of the water simply and easily.

In addition, if the frequency is significantly different, the interference of the two signals can be avoided, and when sound waves of different frequencies are used at the same time, it is easy to determine whether plants are growing on the floor or whether the floor is covered with a thin layer of mud on a hard rock. and, depending on the frequency of the sound wave, the degree of reflection from the object may be different.

The sounder 330 is widely used, for example, in fishing, and the change in the height of the bottom can be known by measuring the depth of the water, so it is possible to infer a point where a lot of fish live therefrom. In the case of searching for the topography of the seabed, 100 powerful sound waves are emitted using a multi-beam echo sounder, and a wide range of topographic data can be read at once and a 3D stereoscopic image can be created through a computer program.

In addition, a sound wave with a frequency of 200 kHz can be used up to a depth of about 100 m, but if it is deeper than that, a sound wave with a lower frequency is required. This is because the higher the frequency, the faster the sound wave dissipates as it travels, so it cannot travel far.

Although the underwater terrain is searched using the echo sounder 330, the underwater terrain can be detected by measuring the return time by projecting a pulse-shaped sound wave as a multi-beam. Such an echo sounder 330 is a transceiver recording device, a transmitter (送波機), a water wave device (floor spoon), an underwater sound projector [underwater sound projector, underwater transmitter (水中送波器), to emit sound waves in the water converter for].

The echo sounder 330, which can be mounted on the lower part of the boat 300, can measure and record location information and water depth by emitting sound waves at regular distance intervals, and automatically analyze the grid depth DB accumulated for a certain period of time. Thus, it can be converted into, for example, semi-regular information of the reservoir, and this DB can be shared with related parties in the control room.

The lidar 340 can accurately draw a situation around the water by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object.

In addition, the lidar 340 may be used not only for the distance to the target object, but also for the moving speed and direction, temperature, and analysis and concentration of surrounding atmospheric substances. It can detect non-metallic rocks, clouds, raindrops, aerosols, etc. using ultraviolet, visible, and near-infrared rays, so it can be used for weather observation and can accurately draw underwater terrain.

The lidar 340 may include, for example, a laser, a scanner, a receiver, and a positioning system, and the laser may have a different wavelength depending on the purpose, and generally use light of a wavelength of 600 to 1000 nm. However, longer wavelength light may be used to reduce damage to the human eye.

Various types of mirrors can be applied to the scanner to quickly scan its surroundings to obtain information. The receiver is a part that detects the returning light, and the sensitivity of the receiver to the light is a major factor influencing the performance of the lidar. Essentially, the receiver detects photons and amplifies them. The positioning system functions to confirm the position coordinates and direction where the receiver is placed in order to realize a 3D image.

In particular, in the receiver, the sensitivity to light can influence the performance of the lidar. For example, some harmonics of the digital circuit known as clock spur and the reference color signal for the AD converter inhibit the sensitivity at the time of reception, thereby lowering the performance of the lidar. can do it

Therefore, a clock generator may be further provided to solve such an impeding factor, and the clock generator restores the sensitivity of the receiver by suppressing the interference spur generated in the clock signal in a manner of delaying the clock. By doing so, the performance of LiDAR can be improved.

The power generation system 370 generates electricity to the multi-directional camera 310n, the underwater irradiation camera 310, the zoom camera 320, the echo sounder 330, the lidar 340, and the speaker 350. , it is possible to supply power to the communication device 360 , and the communication device 360 may include all devices capable of transmitting wired/wireless data.

According to the grasp of the collected information transmitted to the control room, the operator may broadcast to the intruder using the speaker 350 mounted on the boat 300 .

Accordingly, the communication equipment 360 is collected from the multi-directional camera 310n, the underwater survey camera 310, the zoom camera 320, the echo sounder 330, the lidar 340, and the speaker 350. information can be transmitted to the precision navigation system 210 installed in the carrier 200, and the information collected from the waterproof camera 221 of the drone 220 installed in the carrier 200 is also the precision navigation system 210. Because it can be shared in , users can collect or utilize information necessary for water resource research through the precision navigation system 210 .

Unmanned Aircraft Carrier (100)
Carrier (200) Precision Navigation System (210) Drone (220)
Waterproof Camera(221) Vehicle Box(230)
Boat 300, underwater irradiation camera 310, multi-directional camera 310n
Zoom Camera 320 Echo Sounder 330 Lidar 330
Speaker(340) Communication Equipment(350)
Power Generation System (360)

Claims (6)

An unmanned aerial vehicle carrier comprising a carrier equipped with a precision navigation system and a boat equipped with a power generation system to conduct water resource investigations such as crackdown on illegal fishing practices, identification of water quality, and underwater condition investigation. Aircraft carrier type water resource survey system. According to claim 1,
The carrier is
a drone mounted on the carrier that flies from the shore to a point requiring water resource investigation at a low altitude;
a waterproof camera mounted on the lower part of the drone to photograph the waterside or underwater state at a point where water resource investigation is required; and
a car box installed in the carrier and connected to the waterproof camera by a cable;
An unmanned aerial vehicle carrier-type water resource research system, characterized in that it further comprises a configuration. 3. The method of claim 2,
An unmanned aerial vehicle carrier-type water resource research system, characterized in that the room box further includes a distance sensor including a wireless communication device that detects the distance at which the cable is loosened and controls the drone to fly only as much as the critical distance value of the cable. According to claim 1,
The boat can reach a point where it is difficult or impossible to fly a drone, but it is necessary to investigate water resources,
an underwater survey camera installed in any one of the boats to photograph the underwater state of the point;
a multi-directional camera installed in any one of the boats to photograph the vicinity of the shore or the underwater state of the point in various directions; and
a zoom camera that is installed in any one of the boats and responds according to the automatic recognition of the multi-directional camera, adjusts the object to a short distance or a long distance, and shoots precisely;
An unmanned aerial vehicle carrier-type water resource research system, characterized in that it further comprises a configuration. 5. The method of claim 4,
an echo sounder installed in any one of the boats to measure the depth of the water by emitting a sound wave to the bottom of the water and measuring the time of the reflected wave returning;
Lidar installed in any one of the boats to emit a laser pulse and receive the reflected light returned to measure the distance to the object around the water; and
Communication equipment installed in any one of the boat to transmit the information obtained from the underwater survey camera, the multi-directional camera, the zoom camera, the echo sounder, and the lidar to the precision navigation system of the unmanned aerial vehicle carrier;
Unmanned aerial vehicle carrier-type water resource research system, characterized in that it further comprises. 6. The method of claim 5,
and a power generation system installed in any one of the boats to provide power to the underwater survey camera, the multi-directional camera, the zoom camera, the echo sounder, the lidar, the speaker, and the communication equipment. An unmanned aerial vehicle carrier-type water resource survey system.

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