WO2022092395A1 - Acoustic sensor device airdropped from drone - Google Patents

Acoustic sensor device airdropped from drone Download PDF

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Publication number
WO2022092395A1
WO2022092395A1 PCT/KR2020/016289 KR2020016289W WO2022092395A1 WO 2022092395 A1 WO2022092395 A1 WO 2022092395A1 KR 2020016289 W KR2020016289 W KR 2020016289W WO 2022092395 A1 WO2022092395 A1 WO 2022092395A1
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WO
WIPO (PCT)
Prior art keywords
parachute
acoustic sensor
device body
binding
housing
Prior art date
Application number
PCT/KR2020/016289
Other languages
French (fr)
Korean (ko)
Inventor
송민환
이상신
권영민
이승우
김성섭
Original Assignee
한국전자기술연구원
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Application filed by 한국전자기술연구원 filed Critical 한국전자기술연구원
Publication of WO2022092395A1 publication Critical patent/WO2022092395A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/22—Load suspension
    • B64D17/38—Releasable fastening devices between parachute and load or pack
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G01D11/245—Housings for sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/02—Measuring force or stress, in general by hydraulic or pneumatic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes

Definitions

  • the present invention relates to an acoustic sensor device, and more particularly, to an acoustic sensor device that, when dropped from a drone, lands on the ground, collects and transmits an acoustic event in order to confirm the location of a survivor.
  • acoustic sensor devices that are dropped from drones and perform roles such as checking the location of survivors on the ground, if dropped from a high altitude, may break the device or injure people on the ground, so use a parachute.
  • the acoustic sensor device when using a parachute, if the parachute is not separated at an appropriate time, after landing on the ground, the parachute covers the device or the device is dragged by the wind. There may be problems that cannot be performed.
  • the acoustic sensor device when the acoustic sensor device is dropped from a drone, the device is dropped with the parachute bound to the device in order to reduce the fall speed, and after landing on the ground, the parachute is released, and at the same time, it does not fall down even if it is tilted upon landing. It is required to find a way to collect sound information in an upright state without it.
  • the present invention has been devised to solve the above problems, and an object of the present invention is to prevent a bounce upon landing, and to provide an acoustic sensor device capable of collecting acoustic information in an upright state without falling down even if inclined. is in providing.
  • Another object of the present invention is to provide an acoustic sensor device that allows the parachute to be accommodated and dropped in the drone in a bound state, but to release the binding of the parachute after landing on the ground.
  • an acoustic sensor device when dropped from a drone, does not fall even if tilted, but in an upright state, the device body for collecting acoustic information; and a parachute binding release device connected to the device body, which is in a binding state or a binding release state with the parachute depending on whether the weight of the device body is applied.
  • the device body the housing; a battery mounted inside the housing to supply power; a main board mounted inside the housing to collect sound information; and an antenna attached to the upper side of the housing.
  • the lower end of the housing may be formed in a hemispherical shape, and the battery may be mounted in the inner center of the lower end of the housing, so that the device body maintains the center of gravity.
  • a shock-absorbing pad formed to a predetermined thickness may be attached to the outside of the lower end formed in a hemispherical shape.
  • the main board but collecting sound information, in order to recognize the direction in which the sound information is generated, a plurality of sound sensors arranged toward different directions; and a processor that determines whether an acoustic event has occurred based on the acoustic information collected from each acoustic sensor, and recognizes a direction in which the acoustic event occurs when the acoustic event occurs.
  • the motherboard may further include an Inertial Measurement Unit (IMU) sensor including a 3-axis gyroscope, a 3-axis accelerometer, and a barometer to recognize the direction of the device body landed on the ground.
  • IMU Inertial Measurement Unit
  • the parachute binding release device the upper side of the first member is connected to the parachute; a second member having a diagonal surface in contact with the first member on one side and having the other side connected to the device body; an elastic member mounted on an oblique surface of the first member; a binding maintenance cover which is formed to cover the first member and the second member bound to each other from the outside, so that the binding state between the first member and the second member is maintained; And it is connected to one side of the binding maintenance cover, when a physical force is applied and pulled, a strap for separating the cover so that the connected binding maintenance cover is peeled off.
  • the second member in a state bound to the first member, is covered by the binding maintenance cover, and after the binding maintenance cover is peeled off, the weight of the device body does not act and is pushed upward by the elastic member. By being separated from the first member, the binding state with the first member may be released.
  • the strap for separating the cover is connected to one side of the binding maintenance cover, and the other side is connected to one side of the binding maintenance cover so that, as the parachute is pulled upward in the process of unfolding, the binding maintenance cover is peeled off.
  • the overall length may be formed shorter than the distance from one side of the binding maintenance cover to the top point of the parachute.
  • the acoustic sensor device drop system when dropped, lands in an upright state on the ground, and is connected to the device body and the device body for collecting acoustic information, whether the weight of the device body works
  • Acoustic sensor device having a parachute binding release device that is in a state or unbound state with the parachute according to the; and a drone equipped with one or more acoustic sensor devices to drop the mounted acoustic sensor device when it reaches a preset flight area.
  • the acoustic sensor device when landing on the ground, so that the lower end is formed in a hemispherical shape so that it is possible to stand upright without falling even if tilted; a battery mounted on the inner center of the lower end of the housing to supply power, but to maintain the center of gravity of the device body; a main board mounted inside the housing to collect sound information; and an antenna attached to the upper side of the housing.
  • the acoustic sensor device dropping system is a housing in which the lower end is formed in a hemispherical shape so that it can stand upright without falling down even if it is tilted when it lands on the ground, it is mounted on the inner center of the lower end of the housing ,
  • An acoustic sensor device having a battery for supplying power, but maintaining the center of gravity of the device body, a main board mounted inside the housing to collect acoustic information, and an antenna attached to the upper side of the housing; and a drone equipped with one or more acoustic sensor devices to drop the mounted acoustic sensor device when it reaches a preset flight area.
  • the parachute is stored and dropped in the drone in a bound state, but after landing on the ground, the binding of the parachute is released so that when the device is dropped from a high altitude, the device is It can prevent breaking or injuring people on the ground, and after landing, a parachute may cover the device or the device may be dragged by the wind, causing the device to stop functioning normally. problems can be avoided.
  • FIG. 1 is a view provided for the description of an acoustic sensor device according to an embodiment of the present invention
  • FIG. 2 is a view provided for the description of a device body according to an embodiment of the present invention.
  • FIG. 3 is a view showing a view from above of the upper end of the housing of the device body according to an embodiment of the present invention
  • FIG. 4 is a view illustrating a lower end of a housing of a device body according to an embodiment of the present invention
  • FIG. 5 is a view provided for explaining the distribution process of the acoustic sensor device according to an embodiment of the present invention.
  • FIG. 7 is a view provided for the description of the strap for removing the cover according to an embodiment of the present invention.
  • FIG. 1 is a view provided for explanation of an acoustic sensor device according to an embodiment of the present invention.
  • the acoustic sensor device when the device body 110 is dropped from a high altitude by a drone (not shown) flying in a state in which one or more acoustic sensor devices are mounted, parachute binding release device It is bound with the parachute 120 using 130 to prevent the device body 110 from breaking or injuring a person located on the ground, and preventing the device body 110 from bouncing when landing on the ground And, it is provided to collect sound information in an upright state without falling down even if it is tilted.
  • the present acoustic sensor device may be composed of a device body 110 , a parachute 120 , and a parachute binding release device 130 .
  • the device body 110 has a hemispherical lower end like Ottogi, and when it is dropped from a drone, it does not fall over even if it is tilted, but it can collect sound information while standing upright.
  • the parachute 120 may be used when the device body 110 lands, and the parachute binding release device 130 is connected to the device body 110, and depending on whether the weight of the device body 110 works, the parachute 120 ) and the binding state or the unbound state.
  • parachute binding release device 130 A more detailed description of the parachute binding release device 130 will be described later with reference to FIGS. 5 to 7 .
  • the acoustic sensor device is equipped with one or more acoustic sensor devices, and when reaching a preset flight area, the acoustic sensor device dropping system together with a drone (not shown) that drops the mounted acoustic sensor device can be composed of
  • FIG. 2 is a view provided for the description of the device body 110 according to an embodiment of the present invention
  • FIG. 3 is a view directly from above of the upper end of the housing 111 of the device body according to an embodiment of the present invention.
  • 4 is a diagram illustrating the lower end of the housing 111 of the device body according to an embodiment of the present invention.
  • FIG. 4A is a view illustrating a battery mounting groove 111a provided at the lower end of the housing 111 of the device body
  • FIG. 4B is a diagram illustrating a state in which the battery 112 is mounted in the battery mounting groove 111a.
  • FIG. 4c is a view illustrating a state in which a shock mitigating pad 111b is attached to the outside of the lower end of the housing 111 .
  • the device body 110 may include a housing 111 , a battery 112 , a main board (not shown), and an antenna 114 .
  • the housing 111 may have a lower end formed in a hemispherical shape, and a battery mounting groove 111a may be provided inside the lower end.
  • the battery mounting groove 111a may be formed to correspond to the shape of the battery 112 at the inner center of the lower end of the housing 111 .
  • the battery 112 may be formed in a cylindrical shape, and is mounted on the inner center of the lower end of the housing 111 to sufficiently secure a period of use for supplying power, and the device body 110 maintains the center of gravity. In order to do so, a battery 112 having a significant weight (more than 10 times the weight of other components) and size is mounted.
  • the housing 111 may have a shock absorbing pad 111b formed to a predetermined thickness on the outer side of the lower portion formed in a hemispherical shape to prevent bounce from the ground upon landing.
  • a shock mitigating pad 111b is attached to the lower end of the housing 111 to suppress the occurrence of bounce, and to alleviate the shock upon landing, thereby preventing the device body 110 from breaking.
  • the upper end of the housing 111, the acoustic sensor provided inside the housing 111 is formed in order to collect the acoustic information, a groove (111c) for passing the sound, the parachute binding release device 130 and a string or string.
  • the connected parachute fixing groove 111d and the antenna mounting groove 111e for mounting the antenna 114 for transmitting the collected sound information to the outside may be formed.
  • the main board (not shown) may collect sound information and transmit it to the outside through the antenna 114 .
  • the main board collects sound information, but in order to recognize the direction in which the sound information is generated, a plurality of sound sensors (not shown) arranged in different directions, each of which is collected from In order to determine whether an acoustic event has occurred based on the acoustic information, and to recognize the direction of the processor (not shown) that recognizes the direction in which the acoustic event is generated and the direction of the device body 110 landed on the ground when the acoustic event occurs , an Inertial Measurement Unit (IMU) sensor (not shown) including a 3-axis gyroscope, a 3-axis accelerometer, and a barometer.
  • IMU Inertial Measurement Unit
  • the processor may recognize the absolute direction of the direction in which the acoustic event is generated by using the plurality of acoustic sensors and the IMU sensor, and transmit it to the outside using the antenna 114 .
  • the processor analyzes the acoustic size of each acoustic information according to each direction, and the acoustic information is The absolute direction can be recognized by recognizing the generated point (the position of the survivor) and correcting it according to the position information and direction information of the device body 110 obtained through the IMU sensor.
  • FIG. 5 is a diagram provided for a description of the distribution process of the acoustic sensor device according to an embodiment of the present invention
  • FIG. 6 is a diagram provided for a detailed description of the parachute binding release device 130 according to an embodiment of the present invention .
  • the acoustic sensor device when the device body 110 is dropped from a high altitude, it is bound with the parachute 120 using the parachute debonding device 130, , it is possible to prevent the device body 110 from being broken or injuring a person located on the ground.
  • the parachute binding release device 130 is stored in the drone in a state in which the parachute 120 provided for the landing of the device body 110 to be dropped on the drone and the parachute 120 are bound to the device body 110 . And to be dropped, but after the device body 110 lands on the ground, the binding of the parachute 120 may be released.
  • the parachute binding release device 130 When the parachute binding release device 130 is accommodated in a drone, the parachute 120 is bound on the upper side, and the device body 110 is bound on the lower side, so that it can be accommodated in the drone.
  • the parachute 120 When the device body 110 is dropped, the parachute 120 first goes through a partial deployment process in which a part of the parachute 120 is unfolded to become a fully deployed state in which the parachute 120 is fully unfolded, and land on the ground.
  • the parachute binding release device 130 when the parachute 120 is in a partially deployed state, maintains a state in which the weight of the device body 110 does not act, but the parachute 120 is completely When the deployed state, the weight of the device body 110 is in a state that acts.
  • the parachute binding release device 130 may recognize that the device body 110 will land on the ground by using the action of the weight of the device body 110 , and at this time, the binding with the parachute 120 is By releasing it, it is possible to prevent a situation in which the parachute 120 landing on the ground covers the device body 110 or the device body 110 is dragged by the wind from occurring.
  • the parachute binding release device 130 may include a first member 131 , a second member 132 , an elastic member 133 , a binding maintenance cover 134 , and a strap 135 for separating the cover. there is.
  • the first member 131 is formed so that the upper side is connected to the parachute 120, and the second member 132 is formed so as to be able to bind the first member 131, the device body 110 dropped by the drone ), may be formed to be in a binding state or a binding release state depending on whether the weight of the device body 110 is applied.
  • the device body 110 is bound to the parachute 120 or in the unbonded state according to whether the first member 131 and the second member 132 are in a binding state or a disconnected state.
  • the second member 132 has one upper end protruding, the upper and lower surfaces of the protruding upper end portion are formed in an oblique plane, and the first member 131 is a protruding second member 132 .
  • An inlet groove in which the upper surface and the lower surface are formed in an oblique plane is provided in the middle part of one side so that the upper part of one side is drawn in along any one of the upper surface (upper oblique face) and the lower face (lower oblique face) formed as an oblique plane, the device body ( When the weight of 110 does not act, the second member 132 may be separated from the first member 131 along the upper surface of the inlet groove formed as an oblique surface.
  • the weight of the device body 110 does not act on the second member 132 , the downward physical force does not act, and the second member 132 is disposed on the lower side of the first member 131 . ) may be separated from the first member 131 along the oblique plane, thereby becoming a binding release state.
  • the elastic member 133 is mounted on the lower oblique surface of the first member 131 and, when the weight of the device body 110 does not act, pushes the second member 132 upward to push the second member 132 upward. ) may be induced to be separated from the first member 131 .
  • the binding maintenance cover 134 is formed to cover the first member 131 and the second member 132 bound to each other from the outside, so that the binding state between the first member 131 and the second member 132 is maintained. can be maintained.
  • the cover separation string 135 is connected to one side of the binding maintenance cover 134, and when a physical force is applied and pulled, the connected binding maintenance cover 134 may be peeled off.
  • the second member 132 is bound to the first member 131 , covered by the binding maintenance cover 134 , and in a state of mutual binding between the first member 131 and the second member 132 . , the binding state is maintained by the weight of the device body 110 .
  • the elastic force of the elastic member 133 should be weaker than the force applied by the weight of the device body 110 .
  • FIG. 7 is a view provided for the description of the strap 135 for removing the cover according to an embodiment of the present invention.
  • the parachute binding release device 130 from the state stored in the drone, is dropped, and the parachute 120 and the binding state must be maintained until the parachute 120 is partially deployed. , it is necessary for the binding maintenance cover 134 to maintain the binding state between the first member 131 and the second member 132 .
  • the binding maintenance cover 134 when the device body 110 lands on the ground after the parachute 120 is in a fully deployed state, the binding maintenance cover 134 is removed, and the first member 131 ) and the second member 132 to be in a state of release of the binding, the binding maintenance cover 134 needs to be removed before the device body 110 is landed on the ground.
  • the parachute binding release device 130 may use the string 135 for separating the cover so that the binding maintenance cover 134 is removed in the process of the parachute 120 being unfolded.
  • the parachute 120 top end is as illustrated in FIG. 4 .
  • the binding maintenance cover 134 may be peeled off and removed.
  • the state is maintained with the parachute 120 from the state stored in the drone, dropped, and the parachute 120 is in a partially deployed state, and the fully deployed state is maintained in the process of the parachute 120 being unfolded.
  • the binding maintenance cover 134 is removed, and when the device body 110 lands on the ground, it can be unlocked with the parachute 120, and the device body 110.
  • the device body 110 is dropped from a high altitude, it is possible to prevent the device body 110 from breaking or injuring a person located on the ground, and after landing on the ground, the parachute 120 covers the device body 110 A situation in which the device body 110 is thrown away or is dragged by the wind may occur, thereby preventing a problem in which the device body 110 cannot function normally.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Burglar Alarm Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Provided is an acoustic sensor device which, for confirming the location of a missing person, is airdropped from a drone, lands on the ground and collects and transmits a sound event. The acoustic sensor device according to an embodiment of the present invention comprises: a device body which stands upright without toppling over even when tilted after being airdropped from a drone, and collects sound information; and a parachute coupling releasing apparatus connected to the device body and coupled to or released from a parachute in accordance with whether or not the weight of the device body is applied. Therefore, the present invention is prevented from bouncing upon landing and can collect sound information while standing upright without toppling over even when tilted, thereby contributing to a work for confirming the location of a missing person.

Description

드론에서 투하하는 음향센서 디바이스Acoustic sensor device dropped from drone
본 발명은 음향센서 디바이스에 관한 것으로, 더욱 상세하게는 조난자 위치 확인을 위하여, 드론에서 투하되면, 지상으로 착지하여 음향 이벤트를 수집하여 전송하는 음향센서 디바이스에 관한 것이다.The present invention relates to an acoustic sensor device, and more particularly, to an acoustic sensor device that, when dropped from a drone, lands on the ground, collects and transmits an acoustic event in order to confirm the location of a survivor.
일반적으로 드론에서 투하되어, 지상에서 조난자 위치 확인 등 역할을 수행하는 음향센서 디바이스는, 높은 고도에서 투하될 경우, 디바이스가 부서지거나, 지상에 위치하는 사람에게 부상을 입힐 염려가 있어, 낙하산을 활용할 수 있다. In general, acoustic sensor devices that are dropped from drones and perform roles such as checking the location of survivors on the ground, if dropped from a high altitude, may break the device or injure people on the ground, so use a parachute. can
그러나, 음향센서 디바이스는, 낙하산 활용 시, 적절한 시점에서 낙하산이 분리되지 않으면, 지상에 착지한 이후, 낙하산이 디바이스를 덮어버리거나 또는 바람에 의해 디바이스가 끌려가는 상황이 발생하여, 디바이스가 정상적으로 역할을 수행하지 못하는 문제가 발생할 수 있다. However, the acoustic sensor device, when using a parachute, if the parachute is not separated at an appropriate time, after landing on the ground, the parachute covers the device or the device is dragged by the wind. There may be problems that cannot be performed.
더불어, 음향센서 디바이스는, 지상에 착지 시, 바운스가 발생하거나, 무게 중심을 유지하지 못해 직립하지 못하는 경우, 정상적으로 조난자 위치 확인을 위한 음향 이벤트 수집을 정상적으로 수행하지 못하는 문제가 발생할 수 있다. In addition, when the acoustic sensor device lands on the ground, when a bounce occurs or it cannot stand upright due to failure to maintain the center of gravity, there may be a problem that the acoustic event collection for the location of the survivor is not normally performed.
따라서, 음향센서 디바이스가 드론에서 투하될 경우, 낙하 속도 감속을 위해, 디바이스에 낙하산이 결속된 상태로 투하되도록 하고, 지상에 착지된 이후, 낙하산의 결속이 해제되도록 하는 동시에 착지 시 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집할 수 있는 방안의 모색이 요구된다.Therefore, when the acoustic sensor device is dropped from a drone, the device is dropped with the parachute bound to the device in order to reduce the fall speed, and after landing on the ground, the parachute is released, and at the same time, it does not fall down even if it is tilted upon landing. It is required to find a way to collect sound information in an upright state without it.
본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 본 발명의 목적은, 착지 시 바운스되는 것을 방지하고, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집할 수 있는 음향센서 디바이스를 제공함에 있다.The present invention has been devised to solve the above problems, and an object of the present invention is to prevent a bounce upon landing, and to provide an acoustic sensor device capable of collecting acoustic information in an upright state without falling down even if inclined. is in providing.
더불어, 본 발명의 다른 목적은, 낙하산이 결속된 상태로 드론에 수납 및 투하되도록 하되, 지상에 착지된 이후에는 낙하산의 결속이 해제되도록 하는 음향센서 디바이스를 제공함에 있다.In addition, another object of the present invention is to provide an acoustic sensor device that allows the parachute to be accommodated and dropped in the drone in a bound state, but to release the binding of the parachute after landing on the ground.
상기 목적을 달성하기 위한 본 발명의 일 실시예에 따른, 음향센서 디바이스는, 드론에서 투하되면, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집하는 디바이스 본체; 및 디바이스 본체에 연결되되, 디바이스 본체 무게의 작용 여부에 따라 낙하산과 결속 상태 또는 결속 해제 상태가 되는 낙하산 결속 해제 장치;를 포함한다.According to an embodiment of the present invention for achieving the above object, an acoustic sensor device, when dropped from a drone, does not fall even if tilted, but in an upright state, the device body for collecting acoustic information; and a parachute binding release device connected to the device body, which is in a binding state or a binding release state with the parachute depending on whether the weight of the device body is applied.
그리고 디바이스 본체는, 하우징; 하우징의 내부에 장착되어, 전원을 공급하는 배터리; 하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드; 및 하우징의 상측에 부착되는 안테나;를 포함할 수 있다. And the device body, the housing; a battery mounted inside the housing to supply power; a main board mounted inside the housing to collect sound information; and an antenna attached to the upper side of the housing.
또한, 하우징은, 하단부가 반구형상으로 형성되고, 배터리는, 하우징의 하단부 내측 중앙에 장착되어, 디바이스 본체부가 무게중심을 유지하도록 할 수 있다. In addition, the lower end of the housing may be formed in a hemispherical shape, and the battery may be mounted in the inner center of the lower end of the housing, so that the device body maintains the center of gravity.
그리고 하우징은, 착지시, 지상에서 바운스되는 것을 방지하기 위해, 반구형상으로 형성된 하단부 외측에 소정의 두께로 형성되는 충격완화 패드가 부착될 수 있다. And, in order to prevent the housing from being bounced off the ground when landing, a shock-absorbing pad formed to a predetermined thickness may be attached to the outside of the lower end formed in a hemispherical shape.
또한, 메인보드는, 음향 정보를 수집하되, 음향 정보가 발생한 방향을 인식하기 위해, 서로 다른 방향을 향해 배치되는 복수의 음향센서; 및 각각의 음향센서로부터 수집되는 음향 정보를 기반으로, 음향 이벤트의 발생 여부를 판단하고, 음향 이벤트 발생 시, 음향 이벤트가 발생된 방향을 인식하는 프로세서;를 포함할 수 있다. In addition, the main board, but collecting sound information, in order to recognize the direction in which the sound information is generated, a plurality of sound sensors arranged toward different directions; and a processor that determines whether an acoustic event has occurred based on the acoustic information collected from each acoustic sensor, and recognizes a direction in which the acoustic event occurs when the acoustic event occurs.
그리고 메인보드는, 지상에 착지된 디바이스 본체의 방향을 인식하기 위해, 3축 자이로스코프, 3축 가속도계 및 기압계를 포함하는 IMU(Inertial Measurement Unit) 센서;를 더 포함할 수 있다. In addition, the motherboard may further include an Inertial Measurement Unit (IMU) sensor including a 3-axis gyroscope, a 3-axis accelerometer, and a barometer to recognize the direction of the device body landed on the ground.
또한, 낙하산 결속 해제 장치는, 상측이 낙하산과 연결되는 제1 부재; 일측에 제1 부재와 맞닿는 사선면이 형성되고, 타측이 디바이스 본체에 연결되는 제2 부재; 제1 부재의 사선면에 장착되는 탄성부재; 상호 간에 결속된 제1 부재와 제2 부재를 외측에서 덮어주도록 형성되어, 제1 부재와 제2 부재 간 결속 상태가 유지되도록 하는 결속유지 커버; 및 결속유지 커버의 일측에 연결되어, 물리력이 가해져 당겨지면, 연결된 결속유지 커버가 벗겨지도록 하는 커버 분리용 끈;을 포함할 수 있다. In addition, the parachute binding release device, the upper side of the first member is connected to the parachute; a second member having a diagonal surface in contact with the first member on one side and having the other side connected to the device body; an elastic member mounted on an oblique surface of the first member; a binding maintenance cover which is formed to cover the first member and the second member bound to each other from the outside, so that the binding state between the first member and the second member is maintained; And it is connected to one side of the binding maintenance cover, when a physical force is applied and pulled, a strap for separating the cover so that the connected binding maintenance cover is peeled off.
그리고 제2 부재는, 제1 부재와 결속된 상태로, 결속유지 커버에 의해 덮어지며, 결속유지 커버가 벗겨진 이후, 디바이스 본체 무게가 작용하지 않아 탄성부재에 의해 상측으로 밀리면, 사선면을 따라 제1 부재로부터 이탈되어, 제1 부재와의 결속 상태가 해제될 수 있다. And the second member, in a state bound to the first member, is covered by the binding maintenance cover, and after the binding maintenance cover is peeled off, the weight of the device body does not act and is pushed upward by the elastic member. By being separated from the first member, the binding state with the first member may be released.
또한, 커버 분리용 끈은, 낙하산이 펼쳐지는 과정에서 상측으로 당겨짐에 따라, 결속유지 커버가 벗겨지도록, 일측이 결속유지 커버의 일측에 연결되고, 타측이 낙하산이 완전히 펼쳐지는 경우, 낙하산 최상단이 되는 지점에 연결되되, 전체 길이가 결속유지 커버의 일측으로부터 낙하산 최상단이 되는 지점까지의 거리보다 짧게 형성될 수 있다. In addition, the strap for separating the cover is connected to one side of the binding maintenance cover, and the other side is connected to one side of the binding maintenance cover so that, as the parachute is pulled upward in the process of unfolding, the binding maintenance cover is peeled off. Doedoe connected to the point that is, the overall length may be formed shorter than the distance from one side of the binding maintenance cover to the top point of the parachute.
한편, 본 발명의 다른 실시예에 따른, 음향센서 디바이스 투하 시스템은, 투하되면, 지상에 직립 가능한 상태로 착지하여, 음향 정보를 수집하는 디바이스 본체와 디바이스 본체에 연결되되, 디바이스 본체 무게의 작용 여부에 따라 낙하산과 결속 상태 또는 결속 해제 상태가 되는 낙하산 결속 해제 장치를 구비하는 음향센서 디바이스; 및 하나 이상의 음향센서 디바이스가 장착되어, 기설정된 비행 영역에 도달하면, 장착된 음향센서 디바이스를 투하하는 드론;을 포함할 수 있다. On the other hand, the acoustic sensor device drop system according to another embodiment of the present invention, when dropped, lands in an upright state on the ground, and is connected to the device body and the device body for collecting acoustic information, whether the weight of the device body works Acoustic sensor device having a parachute binding release device that is in a state or unbound state with the parachute according to the; and a drone equipped with one or more acoustic sensor devices to drop the mounted acoustic sensor device when it reaches a preset flight area.
그리고 본 발명의 다른 실시예에 따른, 음향센서 디바이스는, 지상에 착지 시, 기울어지더라도 쓰러지지 않고 직립이 가능하도록, 하단부가 반구형상으로 형성되는 하우징; 하우징의 하단부 내측 중앙에 장착되어, 전원을 공급하되, 디바이스 본체부가 무게중심을 유지하도록 하는 배터리; 하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드; 및 하우징의 상측에 부착되는 안테나;를 포함한다.And according to another embodiment of the present invention, the acoustic sensor device, when landing on the ground, so that the lower end is formed in a hemispherical shape so that it is possible to stand upright without falling even if tilted; a battery mounted on the inner center of the lower end of the housing to supply power, but to maintain the center of gravity of the device body; a main board mounted inside the housing to collect sound information; and an antenna attached to the upper side of the housing.
또한, 본 발명의 다른 실시예에 따른, 음향센서 디바이스 투하 시스템은, 지상에 착지 시, 기울어지더라도 쓰러지지 않고 직립이 가능하도록, 하단부가 반구형상으로 형성되는 하우징, 하우징의 하단부 내측 중앙에 장착되어, 전원을 공급하되, 디바이스 본체부가 무게중심을 유지하도록 하는 배터리, 하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드 그리고 하우징의 상측에 부착되는 안테나를 구비하는 음향센서 디바이스; 및 하나 이상의 음향센서 디바이스가 장착되어, 기설정된 비행 영역에 도달하면, 장착된 음향센서 디바이스를 투하하는 드론;을 포함한다.In addition, according to another embodiment of the present invention, the acoustic sensor device dropping system is a housing in which the lower end is formed in a hemispherical shape so that it can stand upright without falling down even if it is tilted when it lands on the ground, it is mounted on the inner center of the lower end of the housing , An acoustic sensor device having a battery for supplying power, but maintaining the center of gravity of the device body, a main board mounted inside the housing to collect acoustic information, and an antenna attached to the upper side of the housing; and a drone equipped with one or more acoustic sensor devices to drop the mounted acoustic sensor device when it reaches a preset flight area.
이상 설명한 바와 같이, 본 발명의 실시예들에 따르면, 착지 시 바운스되는 것을 방지하고, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집할 수 있어, 조난자 위치 확인 작업에 기여할 수 있다. As described above, according to the embodiments of the present invention, it is possible to prevent bounce upon landing, and to collect sound information in an upright state without falling down even if it is tilted, thereby contributing to the task of determining the location of a survivor.
또한, 본 발명의 실시예들에 따르면, 낙하산이 결속된 상태로 드론에 수납 및 투하되도록 하되, 지상에 착지된 이후에는 낙하산의 결속이 해제되도록 하여, 디바이스가 높은 고도에서 투하될 경우, 디바이스가 부서지거나, 지상에 위치하는 사람에게 부상을 입히는 것을 방지할 수 있으며, 지상에 착지한 이후, 낙하산이 디바이스를 덮어버리거나 또는 바람에 의해 디바이스가 끌려가는 상황이 발생하여, 디바이스가 정상적으로 역할을 수행하지 못하는 문제를 방지할 수 있다. In addition, according to embodiments of the present invention, the parachute is stored and dropped in the drone in a bound state, but after landing on the ground, the binding of the parachute is released so that when the device is dropped from a high altitude, the device is It can prevent breaking or injuring people on the ground, and after landing, a parachute may cover the device or the device may be dragged by the wind, causing the device to stop functioning normally. problems can be avoided.
도 1은, 본 발명의 일 실시예에 따른 음향센서 디바이스의 설명에 제공된 도면, 1 is a view provided for the description of an acoustic sensor device according to an embodiment of the present invention;
도 2는, 본 발명의 일 실시예에 따른 디바이스 본체의 설명에 제공된 도면, 2 is a view provided for the description of a device body according to an embodiment of the present invention;
도 3은, 본 발명의 일 실시예에 따른 디바이스 본체의 하우징 상단부를 위에서 바로본 모습이 예시된 도면, 3 is a view showing a view from above of the upper end of the housing of the device body according to an embodiment of the present invention;
도 4는, 본 발명의 일 실시예에 따른 디바이스 본체의 하우징 하단부가 예시된 도면, 4 is a view illustrating a lower end of a housing of a device body according to an embodiment of the present invention;
도 5는, 본 발명의 일 실시예에 따른 음향센서 디바이스의 배포 과정 설명에 제공된 도면, 5 is a view provided for explaining the distribution process of the acoustic sensor device according to an embodiment of the present invention;
도 6은, 본 발명의 일 실시예에 따른 낙하산 결속 해제 장치의 상세한 설명에 제공된 도면, 그리고6 is a view provided in the detailed description of the parachute debonding device according to an embodiment of the present invention, and
도 7은, 본 발명의 일 실시예에 따른 커버 분리용 끈의 설명에 제공된 도면이다. 7 is a view provided for the description of the strap for removing the cover according to an embodiment of the present invention.
이하에서는 도면을 참조하여 본 발명을 보다 상세하게 설명한다.Hereinafter, the present invention will be described in more detail with reference to the drawings.
도 1은, 본 발명의 일 실시예에 따른 음향센서 디바이스의 설명에 제공된 도면이다. 1 is a view provided for explanation of an acoustic sensor device according to an embodiment of the present invention.
본 발명의 일 실시예에 따른 음향센서 디바이스는, 하나 이상의 음향센서 디바이스를 장착한 상태로 비행하는 드론(미도시)에 의해, 디바이스 본체(110)가 높은 고도에서 투하될 경우, 낙하산 결속 해제 장치(130)를 이용하여 낙하산(120)과 결속되어, 디바이스 본체(110)가 부서지거나, 지상에 위치하는 사람에게 부상을 입히는 것을 방지하고, 디바이스 본체(110)가 지상에 착지 시 바운스되는 것을 방지하고, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집하기 위해 마련된다. The acoustic sensor device according to an embodiment of the present invention, when the device body 110 is dropped from a high altitude by a drone (not shown) flying in a state in which one or more acoustic sensor devices are mounted, parachute binding release device It is bound with the parachute 120 using 130 to prevent the device body 110 from breaking or injuring a person located on the ground, and preventing the device body 110 from bouncing when landing on the ground And, it is provided to collect sound information in an upright state without falling down even if it is tilted.
이를 위해, 본 음향센서 디바이스는, 디바이스 본체(110), 낙하산(120) 및 낙하산 결속 해제 장치(130)로 구성될 수 있다. To this end, the present acoustic sensor device may be composed of a device body 110 , a parachute 120 , and a parachute binding release device 130 .
디바이스 본체(110)는, 오뚜기와 같이 하단부가 반구형상으로 형성되어, 드론에서 투하되면, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집할 수 있다. The device body 110 has a hemispherical lower end like Ottogi, and when it is dropped from a drone, it does not fall over even if it is tilted, but it can collect sound information while standing upright.
이 밖에 디바이스 본체(110)에 대한 더욱 상세한 설명은, 도 2 내지 도 4를 참조하여 후술하기로 한다. In addition, a more detailed description of the device body 110 will be described later with reference to FIGS. 2 to 4 .
낙하산(120)은 디바이스 본체(110) 착지 시, 이용될 수 있으며, 낙하산 결속 해제 장치(130)는, 디바이스 본체(110)에 연결되되, 디바이스 본체(110) 무게의 작용 여부에 따라 낙하산(120)과 결속 상태 또는 결속 해제 상태가 되도록 할 수 있다. The parachute 120 may be used when the device body 110 lands, and the parachute binding release device 130 is connected to the device body 110, and depending on whether the weight of the device body 110 works, the parachute 120 ) and the binding state or the unbound state.
낙하산 결속 해제 장치(130)에 대한 더욱 상세한 설명은, 도 5 내지 도 7을 참조하여 후술하기로 한다. A more detailed description of the parachute binding release device 130 will be described later with reference to FIGS. 5 to 7 .
첨언하면, 본 실시예에 따른 음향센서 디바이스는, 하나 이상의 음향센서 디바이스가 장착되어, 기설정된 비행 영역에 도달하면, 장착된 음향센서 디바이스를 투하하는 드론(미도시)과 함께 음향센서 디바이스 투하 시스템으로 구성될 수 있다. Incidentally, the acoustic sensor device according to this embodiment is equipped with one or more acoustic sensor devices, and when reaching a preset flight area, the acoustic sensor device dropping system together with a drone (not shown) that drops the mounted acoustic sensor device can be composed of
도 2는, 본 발명의 일 실시예에 따른 디바이스 본체(110)의 설명에 제공된 도면이며, 도 3은, 본 발명의 일 실시예에 따른 디바이스 본체의 하우징(111) 상단부를 위에서 바로본 모습이 예시된 도면이고, 도 4는, 본 발명의 일 실시예에 따른 디바이스 본체의 하우징(111) 하단부가 예시된 도면이다. 구체적으로, 도 4a는 디바이스 본체의 하우징(111) 하단부에 마련된 배터리 장착홈(111a)이 예시된 도면이고, 도 4b는 배터리 장착홈(111a)에 배터리(112)가 장착된 모습이 예시된 도면이며, 도 4c는 하우징(111) 하단부의 외측에 충격완화 패드(111b)가 부착된 모습이 예시된 도면이다. 2 is a view provided for the description of the device body 110 according to an embodiment of the present invention, and FIG. 3 is a view directly from above of the upper end of the housing 111 of the device body according to an embodiment of the present invention. 4 is a diagram illustrating the lower end of the housing 111 of the device body according to an embodiment of the present invention. Specifically, FIG. 4A is a view illustrating a battery mounting groove 111a provided at the lower end of the housing 111 of the device body, and FIG. 4B is a diagram illustrating a state in which the battery 112 is mounted in the battery mounting groove 111a. , and FIG. 4c is a view illustrating a state in which a shock mitigating pad 111b is attached to the outside of the lower end of the housing 111 .
본 실시예에 따른 디바이스 본체(110)는, 하우징(111), 배터리(112), 메인보드(미도시), 그리고 안테나(114)를 포함할 수 있다.The device body 110 according to the present embodiment may include a housing 111 , a battery 112 , a main board (not shown), and an antenna 114 .
하우징(111)은, 하단부가 반구형상으로 형성되고, 하단부의 내측에는 배터리 장착홈(111a)이 마련될 수 있다. The housing 111 may have a lower end formed in a hemispherical shape, and a battery mounting groove 111a may be provided inside the lower end.
배터리 장착홈(111a)은, 하우징(111)의 하단부 내측 중앙에 배터리(112) 형상에 대응되도록 형성될 수 있다. The battery mounting groove 111a may be formed to correspond to the shape of the battery 112 at the inner center of the lower end of the housing 111 .
이때, 배터리(112)는 원통형상으로 형성될 수 있으며, 하우징(111)의 하단부 내측 중앙에 장착되어, 전원을 공급할 수 있는 사용 기간을 충분하게 확보하고, 디바이스 본체(110)가 무게중심을 유지하도록 하기 위해, 상당한 무게(다른 부품의 무게에 비해 10배 이상의 월등한 무게)와 크기를 갖는 배터리(112)가 장착된다. At this time, the battery 112 may be formed in a cylindrical shape, and is mounted on the inner center of the lower end of the housing 111 to sufficiently secure a period of use for supplying power, and the device body 110 maintains the center of gravity. In order to do so, a battery 112 having a significant weight (more than 10 times the weight of other components) and size is mounted.
그리고 하우징(111)은, 착지 시, 지상에서 바운스되는 것을 방지하기 위해, 반구형상으로 형성된 하부 외측에 소정의 두께로 형성되는 충격완화 패드(111b)가 부착될 수 있다. In addition, the housing 111 may have a shock absorbing pad 111b formed to a predetermined thickness on the outer side of the lower portion formed in a hemispherical shape to prevent bounce from the ground upon landing.
디바이스 본체(110)는, 지상에 착지 시, 바운스가 발생하여 쓰러지면, 정상적으로 동작하지 못하는 문제가 발생할 수 있어, 하우징(111)의 하단부가 반구형으로 형성되어, 쓰러지지 않고 직립하기 쉬운 구조로 형성될 뿐만 아니라, 하우징(111)의 하단부에 충격완화 패드(111b)가 부착되어, 바운스 발생을 억제하고, 착지 시 충격을 완화시켜, 디바이스 본체(110)가 부서지는 것을 방지할 수 있다. When the device body 110 lands on the ground, when a bounce occurs and falls, a problem of not operating normally may occur. In addition, a shock mitigating pad 111b is attached to the lower end of the housing 111 to suppress the occurrence of bounce, and to alleviate the shock upon landing, thereby preventing the device body 110 from breaking.
또한, 하우징(111)의 상단부는, 하우징(111) 내부에 마련되는 음향센서가 음향 정보를 수집하기 위해, 형성되는 음향 통과용 홈(111c), 낙하산 결속 해제 장치(130)와 줄이나 끈으로 연결되는 낙하산 고정용 홈(111d) 그리고, 수집된 음향 정보를 외부로 전송하기 위한 안테나(114)를 장착하기 위한 안테나 장착홈(111e)이 형성될 수 있다. In addition, the upper end of the housing 111, the acoustic sensor provided inside the housing 111 is formed in order to collect the acoustic information, a groove (111c) for passing the sound, the parachute binding release device 130 and a string or string. The connected parachute fixing groove 111d and the antenna mounting groove 111e for mounting the antenna 114 for transmitting the collected sound information to the outside may be formed.
메인보드(미도시)는, 음향 정보를 수집하여, 안테나(114)를 통해 외부로 전송할 수 있다.The main board (not shown) may collect sound information and transmit it to the outside through the antenna 114 .
이를 위해, 메인보드(미도시)는, 음향 정보를 수집하되, 음향 정보가 발생한 방향을 인식하기 위해, 서로 다른 방향을 향해 배치되는 복수의 음향센서(미도시), 각각의 음향센서로부터 수집되는 음향 정보를 기반으로, 음향 이벤트의 발생 여부를 판단하고, 음향 이벤트 발생 시, 음향 이벤트가 발생된 방향을 인식하는 프로세서(미도시) 및 지상에 착지된 디바이스 본체(110)의 방향을 인식하기 위해, 3축 자이로스코프, 3축 가속도계 및 기압계를 포함하는 IMU(Inertial Measurement Unit) 센서(미도시)를 포함할 수 있다. To this end, the main board (not shown) collects sound information, but in order to recognize the direction in which the sound information is generated, a plurality of sound sensors (not shown) arranged in different directions, each of which is collected from In order to determine whether an acoustic event has occurred based on the acoustic information, and to recognize the direction of the processor (not shown) that recognizes the direction in which the acoustic event is generated and the direction of the device body 110 landed on the ground when the acoustic event occurs , an Inertial Measurement Unit (IMU) sensor (not shown) including a 3-axis gyroscope, a 3-axis accelerometer, and a barometer.
프로세서는, 복수의 음향센서 및 IMU 센서를 이용하여, 음향 이벤트가 발생된 방향의 절대방향을 인식하고, 안테나(114)를 이용하여, 외부로 전송할 수 있다. The processor may recognize the absolute direction of the direction in which the acoustic event is generated by using the plurality of acoustic sensors and the IMU sensor, and transmit it to the outside using the antenna 114 .
구체적으로, 프로세서는, 조난자의 조난 요청 음성과 같은 음향 정보가 서로 다른 방향으로 배치되는 복수의 음향센서를 통해 수집되면, 각각의 음향 정보의 음향 크기를 각각의 방향에 따라 분석하여, 음향 정보가 발생된 지점(조난자 위치)를 인식하고, 이를 IMU 센서를 통해 획득하는 디바이스 본체(110)의 위치정보 및 방향정보에 따라 보정하여, 절대방향을 인식할 수 있다. Specifically, when acoustic information, such as a distress request voice of a person in distress, is collected through a plurality of acoustic sensors arranged in different directions, the processor analyzes the acoustic size of each acoustic information according to each direction, and the acoustic information is The absolute direction can be recognized by recognizing the generated point (the position of the survivor) and correcting it according to the position information and direction information of the device body 110 obtained through the IMU sensor.
도 5는, 본 발명의 일 실시예에 따른 음향센서 디바이스의 배포 과정 설명에 제공된 도면이며, 도 6은, 본 발명의 일 실시예에 따른 낙하산 결속 해제 장치(130)의 상세한 설명에 제공된 도면이다. 5 is a diagram provided for a description of the distribution process of the acoustic sensor device according to an embodiment of the present invention, and FIG. 6 is a diagram provided for a detailed description of the parachute binding release device 130 according to an embodiment of the present invention .
도 5를 참조하면, 본 실시예에 따른 음향센서 디바이스는, 전술한 바와 같이 디바이스 본체(110)가 높은 고도에서 투하될 경우, 낙하산 결속 해제 장치(130)를 이용하여 낙하산(120)과 결속되어, 디바이스 본체(110)가 부서지거나, 지상에 위치하는 사람에게 부상을 입히는 것을 방지할 수 있다. Referring to Figure 5, the acoustic sensor device according to the present embodiment, as described above, when the device body 110 is dropped from a high altitude, it is bound with the parachute 120 using the parachute debonding device 130, , it is possible to prevent the device body 110 from being broken or injuring a person located on the ground.
이를 위해, 낙하산 결속 해제 장치(130)는, 드론에 투하되는 디바이스 본체(110)의 착지를 위해 마련되는 낙하산(120)과 디바이스 본체(110)에 낙하산(120)이 결속된 상태로 드론에 수납 및 투하되도록 하되, 디바이스 본체(110)가 지상에 착지된 이후에는 낙하산(120)의 결속이 해제되도록 할 수 있다.To this end, the parachute binding release device 130 is stored in the drone in a state in which the parachute 120 provided for the landing of the device body 110 to be dropped on the drone and the parachute 120 are bound to the device body 110 . And to be dropped, but after the device body 110 lands on the ground, the binding of the parachute 120 may be released.
낙하산 결속 해제 장치(130)는, 드론에 수납되는 경우, 상측에 낙하산(120)이 결속되고, 하측에 디바이스 본체(110)가 결속되어, 드론에 수납될 수 있다. When the parachute binding release device 130 is accommodated in a drone, the parachute 120 is bound on the upper side, and the device body 110 is bound on the lower side, so that it can be accommodated in the drone.
그리고 드론이 디바이스 본체(110)를 투하하게 되면, 디바이스 본체(110)에 결속된 낙하산 결속 해제 장치(130)와 낙하산 결속 해제 장치(130)에 결속된 낙하산(120)이 함께 낙하하게 된다.And when the drone drops the device main body 110, the parachute binding device 130 bound to the device body 110 and the parachute 120 bound to the parachute binding releasing device 130 fall together.
낙하산(120)은 디바이스 본체(110)가 투하되면, 우선 낙하산(120)의 일부분이 펼쳐지는 부분 전개 과정을 거쳐 낙하산(120)이 완전히 펼쳐지는 완전 전개 상태가 되어, 지상에 착지하게 된다.When the device body 110 is dropped, the parachute 120 first goes through a partial deployment process in which a part of the parachute 120 is unfolded to become a fully deployed state in which the parachute 120 is fully unfolded, and land on the ground.
그리고 낙하산 결속 해제 장치(130)는, 도 5에 예시된 바와 같이 낙하산(120)이 부분 전개 상태인 경우, 디바이스 본체(110)의 무게가 작용하지 않는 상태를 유지하되, 낙하산(120)이 완전 전개 상태가 되면, 디바이스 본체(110)의 무게가 작용하는 상태가 된다. And the parachute binding release device 130, as illustrated in FIG. 5, when the parachute 120 is in a partially deployed state, maintains a state in which the weight of the device body 110 does not act, but the parachute 120 is completely When the deployed state, the weight of the device body 110 is in a state that acts.
그리고 낙하산 결속 해제 장치(130)는, 디바이스 본체(110)가 지상에 착지하게 되면, 다시 디바이스 본체(110)의 무게가 작용하지 않는 상태가 된다.And in the parachute binding release device 130 , when the device body 110 lands on the ground, the weight of the device body 110 again becomes in a state in which it does not act.
따라서, 낙하산 결속 해제 장치(130)는, 디바이스 본체(110) 무게의 작용 여부를 이용하여, 디바이스 본체(110)가 지상에 착지하게 됨을 인식할 수 있으며, 이때, 낙하산(120)과의 결속이 해제되도록 함으로써, 지상에 착지한 낙하산(120)이 디바이스 본체(110)를 덮어버리거나 또는 바람에 의해 디바이스 본체(110)가 끌려가는 상황이 발생하는 것을 방지할 수 있다. Accordingly, the parachute binding release device 130 may recognize that the device body 110 will land on the ground by using the action of the weight of the device body 110 , and at this time, the binding with the parachute 120 is By releasing it, it is possible to prevent a situation in which the parachute 120 landing on the ground covers the device body 110 or the device body 110 is dragged by the wind from occurring.
이를 위하여, 낙하산 결속 해제 장치(130)는, 제1 부재(131), 제2 부재(132), 탄성부재(133), 결속유지 커버(134) 및 커버 분리용 끈(135)을 포함할 수 있다.To this end, the parachute binding release device 130 may include a first member 131 , a second member 132 , an elastic member 133 , a binding maintenance cover 134 , and a strap 135 for separating the cover. there is.
제1 부재(131)는, 상측이 낙하산(120)과 연결되도록 형성되며, 제2 부재(132)는, 제1 부재(131)와 결속 가능하도록 형성되되, 드론에 의해 투하되는 디바이스 본체(110)에 연결되어, 디바이스 본체(110) 무게의 작용 여부에 따라 결속 상태 또는 결속 해제 상태가 되도록 형성될 수 있다. The first member 131 is formed so that the upper side is connected to the parachute 120, and the second member 132 is formed so as to be able to bind the first member 131, the device body 110 dropped by the drone ), may be formed to be in a binding state or a binding release state depending on whether the weight of the device body 110 is applied.
즉, 제1 부재(131) 및 제2 부재(132)가 결속 상태이냐 아니면 결속 해제 상태이냐에 따라 디바이스 본체(110)가 낙하산(120)과 결속 상태이냐, 결속 해제 상태이냐가 결정되는 것이다. That is, it is determined whether the device body 110 is bound to the parachute 120 or in the unbonded state according to whether the first member 131 and the second member 132 are in a binding state or a disconnected state.
구체적으로, 제2 부재(132)는, 일측 상단이 돌출형성되고, 돌출형성된 일측 상단 부분의 상면과 하면이 사선면으로 형성되고, 제1 부재(131)는, 돌출형성된 제2 부재(132)의 일측 상단 부분이 사선면으로 형성된 상면(상측 사선면)과 하면(하측 사선면) 중 어느 하나를 따라 인입되도록, 일측 중단에 상면과 하면이 사선면으로 형성되는 인입홈이 마련되어, 디바이스 본체(110)의 무게가 작용하지 않는 경우, 제2 부재(132)가, 사선면으로 형성된 인입홈의 상면을 따라 제1 부재(131)로부터 이탈될 수 있다. Specifically, the second member 132 has one upper end protruding, the upper and lower surfaces of the protruding upper end portion are formed in an oblique plane, and the first member 131 is a protruding second member 132 . An inlet groove in which the upper surface and the lower surface are formed in an oblique plane is provided in the middle part of one side so that the upper part of one side is drawn in along any one of the upper surface (upper oblique face) and the lower face (lower oblique face) formed as an oblique plane, the device body ( When the weight of 110 does not act, the second member 132 may be separated from the first member 131 along the upper surface of the inlet groove formed as an oblique surface.
이를 통해, 제2 부재(132)는, 디바이스 본체(110)의 무게가 작용하는 경우, 디바이스 본체(110)의 무게에 따른 물리력이 제2 부재(132)에 작용하여, 제2 부재(132)가 아래 방향으로 당겨지게 되어, 하측에 배치되는 제1 부재(131)의 사선면이 상측에 배치되는 제2 부재(132)의 사선면과 밀착한 상태를 유지하여, 제2 부재(132)와 제1 부재(131)의 결속 상태가 유지된다. Through this, when the weight of the device body 110 acts on the second member 132 , a physical force according to the weight of the device body 110 acts on the second member 132 , so that the second member 132 is is pulled in the downward direction, so that the oblique surface of the first member 131 disposed on the lower side maintains a state in close contact with the diagonal surface of the second member 132 disposed on the upper side, and the second member 132 and The binding state of the first member 131 is maintained.
그리고 제2 부재(132)는, 디바이스 본체(110)의 무게가 작용하지 않는 경우, 아래 방향으로 당겨지는 물리력이 작용하지 않게 되어, 제2 부재(132)가 하측에 배치되는 제1 부재(131)의 사선면을 따라 제1 부재(131)로부터 이탈되어, 결속 해제 상태가 될 수 있다. In addition, when the weight of the device body 110 does not act on the second member 132 , the downward physical force does not act, and the second member 132 is disposed on the lower side of the first member 131 . ) may be separated from the first member 131 along the oblique plane, thereby becoming a binding release state.
탄성부재(133)는, 제1 부재(131)의 하측 사선면에 장착되어, 디바이스 본체(110)의 무게가 작용하지 않는 경우, 제2 부재(132)를 상측으로 밀어, 제2 부재(132)가 제1 부재(131)로부터 이탈되도록 유도할 수 있다.The elastic member 133 is mounted on the lower oblique surface of the first member 131 and, when the weight of the device body 110 does not act, pushes the second member 132 upward to push the second member 132 upward. ) may be induced to be separated from the first member 131 .
결속유지 커버(134)는, 상호 간에 결속된 제1 부재(131)와 제2 부재(132)를 외측에서 덮어주도록 형성되어, 제1 부재(131)와 제2 부재(132) 간 결속 상태가 유지되도록 할 수 있다.The binding maintenance cover 134 is formed to cover the first member 131 and the second member 132 bound to each other from the outside, so that the binding state between the first member 131 and the second member 132 is maintained. can be maintained.
커버 분리용 끈(135)은, 결속유지 커버(134)의 일측에 연결되어, 물리력이 가해져 당겨지면, 연결된 결속유지 커버(134)가 벗겨지도록 할 수 있다.The cover separation string 135 is connected to one side of the binding maintenance cover 134, and when a physical force is applied and pulled, the connected binding maintenance cover 134 may be peeled off.
즉, 제2 부재(132)는, 제1 부재(131)와 결속된 상태로, 결속유지 커버(134)에 의해 덮어지며, 제1 부재(131)와 제2 부재(132) 간의 상호 결속 상태는, 디바이스 본체(110)의 무게에 의해 결속 상태가 유지된다. That is, the second member 132 is bound to the first member 131 , covered by the binding maintenance cover 134 , and in a state of mutual binding between the first member 131 and the second member 132 . , the binding state is maintained by the weight of the device body 110 .
그리고 제2 부재(132)는, 결속유지 커버(134)가, 커버 분리용 끈(135)에 의해 벗겨진 이후, 디바이스 본체(110)의 무게가 작용하지 않아 탄성부재(133)에 의해 상측으로 밀리면, 사선면을 따라 제1 부재(131)로부터 이탈되는 것이다. And when the second member 132 is pushed upward by the elastic member 133 because the weight of the device body 110 does not act after the binding maintenance cover 134 is peeled off by the cover separation string 135 , , is to be separated from the first member 131 along the oblique plane.
이때, 탄성부재(133)의 탄성력은 디바이스 본체(110) 무게에 의해 작용하는 힘보다 더 약해야 한다.At this time, the elastic force of the elastic member 133 should be weaker than the force applied by the weight of the device body 110 .
도 7는, 본 발명의 일 실시예에 따른 커버 분리용 끈(135)의 설명에 제공된 도면이다. 7 is a view provided for the description of the strap 135 for removing the cover according to an embodiment of the present invention.
도 7을 참조하면, 낙하산 결속 해제 장치(130)는, 드론에 수납된 상태부터, 투하되어, 낙하산(120)이 부분 전개 상태가 될 때까지, 낙하산(120)과 결속 상태가 유지되어야 하기 때문에, 결속유지 커버(134)가, 제1 부재(131)와 제2 부재(132) 간 결속 상태가 유지되도록 할 필요가 있다. Referring to FIG. 7 , the parachute binding release device 130, from the state stored in the drone, is dropped, and the parachute 120 and the binding state must be maintained until the parachute 120 is partially deployed. , it is necessary for the binding maintenance cover 134 to maintain the binding state between the first member 131 and the second member 132 .
그리고 낙하산 결속 해제 장치(130)는, 낙하산(120)이 완전 전개 상태가 된 이후, 디바이스 본체(110)가 지상에 착지하게 되는 경우, 결속유지 커버(134)가 제거되어, 제1 부재(131)와 제2 부재(132) 간 결속 해제 상태가 되어야 하기 때문에, 결속유지 커버(134)는, 디바이스 본체(110)가 지상에 착지되기 이전에 제거될 필요가 있다. And in the parachute binding release device 130, when the device body 110 lands on the ground after the parachute 120 is in a fully deployed state, the binding maintenance cover 134 is removed, and the first member 131 ) and the second member 132 to be in a state of release of the binding, the binding maintenance cover 134 needs to be removed before the device body 110 is landed on the ground.
이를 위해, 낙하산 결속 해제 장치(130)는, 커버 분리용 끈(135)을 이용하여, 낙하산(120)이 펼쳐지는 과정에서 결속유지 커버(134)가 제거되도록 할 수 있다. To this end, the parachute binding release device 130 may use the string 135 for separating the cover so that the binding maintenance cover 134 is removed in the process of the parachute 120 being unfolded.
구체적으로, 커버 분리용 끈(135)은 일측이 결속유지 커버(134)의 일측에 연결되고, 타측이 낙하산(120)이 완전히 펼쳐지는 경우, 도 4에 예시된 바와 같이 낙하산(120) 최상단이 되는 지점에 연결되되, 전체 길이가 결속유지 커버(134)의 일측으로부터 낙하산(120) 최상단이 되는 지점까지의 거리보다 짧게 형성되어, 낙하산(120)이 펼쳐지는 과정에서 완전 전개 상태가 되거나 또는 완전 전개 상태가 되기 직전에, 커버 분리용 끈(135)이 상측으로 당겨짐에 따라, 결속유지 커버(134)가 벗겨져 제거되도록 할 수 있다. Specifically, when the string 135 for separating the cover is connected to one side of the binding maintenance cover 134 on one side, and the parachute 120 is fully unfolded on the other side, the parachute 120 top end is as illustrated in FIG. 4 . Doedoe connected to the point where the entire length is formed shorter than the distance from one side of the binding maintenance cover 134 to the topmost point of the parachute 120, and the parachute 120 is fully deployed or fully deployed in the course of unfolding. Just before the deployed state, as the cover separation string 135 is pulled upward, the binding maintenance cover 134 may be peeled off and removed.
이를 통해, 드론에 수납된 상태부터, 투하되어, 낙하산(120)이 부분 전개 상태가 될 때까지, 낙하산(120)과 결속 상태가 유지되고, 낙하산(120)이 펼쳐지는 과정에서 완전 전개 상태가 되거나 또는 완전 전개 상태가 되기 직전에, 결속유지 커버(134)가 제거되어, 디바이스 본체(110)가 지상에 착지하게 되면, 낙하산(120)과 체결 결속 해제가 될 수 있어, 디바이스 본체(110)가 높은 고도에서 투하될 경우, 디바이스 본체(110)가 부서지거나, 지상에 위치하는 사람에게 부상을 입히는 것을 방지할 수 있으며, 지상에 착지한 이후, 낙하산(120)이 디바이스 본체(110)를 덮어버리거나 또는 바람에 의해 디바이스 본체(110)가 끌려가는 상황이 발생하여, 디바이스 본체(110)가 정상적으로 역할을 수행하지 못하는 문제를 방지할 수 있다.Through this, the state is maintained with the parachute 120 from the state stored in the drone, dropped, and the parachute 120 is in a partially deployed state, and the fully deployed state is maintained in the process of the parachute 120 being unfolded. Or just before the fully deployed state, the binding maintenance cover 134 is removed, and when the device body 110 lands on the ground, it can be unlocked with the parachute 120, and the device body 110. is dropped from a high altitude, it is possible to prevent the device body 110 from breaking or injuring a person located on the ground, and after landing on the ground, the parachute 120 covers the device body 110 A situation in which the device body 110 is thrown away or is dragged by the wind may occur, thereby preventing a problem in which the device body 110 cannot function normally.
이상에서는 본 발명의 바람직한 실시예에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적 사상이나 전망으로부터 개별적으로 이해되어져서는 안될 것이다.In the above, preferred embodiments of the present invention have been illustrated and described, but the present invention is not limited to the specific embodiments described above, and it is common in the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Various modifications are possible by those having the knowledge of, of course, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (12)

  1. 드론에서 투하되면, 기울어지더라도 쓰러지지 않고 직립한 상태로, 음향 정보를 수집하는 디바이스 본체; 및When dropped from a drone, the device body for collecting sound information in an upright state without falling down even if it is tilted; and
    디바이스 본체에 연결되되, 디바이스 본체 무게의 작용 여부에 따라 낙하산과 결속 상태 또는 결속 해제 상태가 되는 낙하산 결속 해제 장치;를 포함하는 음향센서 디바이스.Doedoe connected to the device body, a parachute binding state or a parachute binding release device that is in a binding state or a binding state with a parachute depending on whether the weight of the device body acts; Acoustic sensor device comprising a.
  2. 청구항 1에 있어서,The method according to claim 1,
    디바이스 본체는,The device body is
    하우징;housing;
    하우징의 내부에 장착되어, 전원을 공급하는 배터리;a battery mounted inside the housing to supply power;
    하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드; 및a main board mounted inside the housing to collect sound information; and
    하우징의 상측에 부착되는 안테나;를 포함하는 것을 특징으로 하는 음향센서 디바이스.Acoustic sensor device comprising a; antenna attached to the upper side of the housing.
  3. 청구항 2에 있어서,3. The method according to claim 2,
    하우징은,the housing,
    하단부가 반구형상으로 형성되고,The lower end is formed in a hemispherical shape,
    배터리는, battery is,
    하우징의 하단부 내측 중앙에 장착되어, 디바이스 본체부가 무게중심을 유지하도록 하는 것을 특징으로 하는 음향센서 디바이스.An acoustic sensor device, characterized in that it is mounted on the inner center of the lower end of the housing so that the device body maintains the center of gravity.
  4. 청구항 3에 있어서,4. The method according to claim 3,
    하우징은,the housing,
    착지시, 지상에서 바운스되는 것을 방지하기 위해, 반구형상으로 형성된 하단부 외측에 소정의 두께로 형성되는 충격완화 패드가 부착되는 것을 특징으로 하는 음향센서 디바이스.An acoustic sensor device, characterized in that a shock-absorbing pad formed to a predetermined thickness is attached to the outside of the lower end formed in a hemispherical shape to prevent bounce from the ground upon landing.
  5. 청구항 2에 있어서,3. The method according to claim 2,
    메인보드는,the motherboard,
    음향 정보를 수집하되, 음향 정보가 발생한 방향을 인식하기 위해, 서로 다른 방향을 향해 배치되는 복수의 음향센서; 및 A plurality of acoustic sensors to collect acoustic information, and to recognize a direction in which the acoustic information is generated, are disposed toward different directions; and
    각각의 음향센서로부터 수집되는 음향 정보를 기반으로, 음향 이벤트의 발생 여부를 판단하고, 음향 이벤트 발생 시, 음향 이벤트가 발생된 방향을 인식하는 프로세서;를 포함하는 것을 특징으로 하는 음향센서 디바이스.An acoustic sensor device comprising: a processor that determines whether an acoustic event has occurred based on acoustic information collected from each acoustic sensor, and recognizes a direction in which the acoustic event is generated when the acoustic event occurs.
  6. 청구항 3에 있어서,4. The method according to claim 3,
    메인보드는,the motherboard,
    지상에 착지된 디바이스 본체의 방향을 인식하기 위해, 3축 자이로스코프, 3축 가속도계 및 기압계를 포함하는 IMU(Inertial Measurement Unit) 센서;를 더 포함하는 것을 특징으로 하는 음향센서 디바이스.In order to recognize the direction of the device body landed on the ground, an IMU (Inertial Measurement Unit) sensor including a 3-axis gyroscope, a 3-axis accelerometer, and a barometer; Acoustic sensor device further comprising a.
  7. 청구항 1에 있어서,The method according to claim 1,
    낙하산 결속 해제 장치는,The parachute decoupling device,
    상측이 낙하산과 연결되는 제1 부재;a first member whose upper side is connected to the parachute;
    일측에 제1 부재와 맞닿는 사선면이 형성되고, 타측이 디바이스 본체에 연결되는 제2 부재;a second member having a diagonal surface in contact with the first member on one side and having the other side connected to the device body;
    제1 부재의 사선면에 장착되는 탄성부재;an elastic member mounted on the diagonal surface of the first member;
    상호 간에 결속된 제1 부재와 제2 부재를 외측에서 덮어주도록 형성되어, 제1 부재와 제2 부재 간 결속 상태가 유지되도록 하는 결속유지 커버; 및a binding maintenance cover which is formed to cover the first member and the second member bound to each other from the outside, so that the binding state between the first member and the second member is maintained; and
    결속유지 커버의 일측에 연결되어, 물리력이 가해져 당겨지면, 연결된 결속유지 커버가 벗겨지도록 하는 커버 분리용 끈;을 포함하는 것을 특징으로 하는 음향센서 디바이스.Connected to one side of the binding maintenance cover, when a physical force is applied and pulled, a string for separating the cover so that the connected binding maintenance cover is peeled off; Acoustic sensor device comprising a.
  8. 청구항 7에 있어서,8. The method of claim 7,
    제2 부재는,The second member is
    제1 부재와 결속된 상태로, 결속유지 커버에 의해 덮어지며, 결속유지 커버가 벗겨진 이후, 디바이스 본체 무게가 작용하지 않아 탄성부재에 의해 상측으로 밀리면, 사선면을 따라 제1 부재로부터 이탈되어, 제1 부재와의 결속 상태가 해제되는 것을 특징으로 하는 음향센서 디바이스.In a state bound to the first member, it is covered by the binding maintenance cover, and after the binding maintenance cover is removed, the weight of the device body does not act and is pushed upward by the elastic member, and is separated from the first member along an oblique plane, The acoustic sensor device, characterized in that the binding state with the first member is released.
  9. 청구항 8에 있어서,9. The method of claim 8,
    커버 분리용 끈은, The strap for removing the cover,
    낙하산이 펼쳐지는 과정에서 상측으로 당겨짐에 따라, 결속유지 커버가 벗겨지도록, 일측이 결속유지 커버의 일측에 연결되고, 타측이 낙하산이 완전히 펼쳐지는 경우, 낙하산 최상단이 되는 지점에 연결되되, 전체 길이가 결속유지 커버의 일측으로부터 낙하산 최상단이 되는 지점까지의 거리보다 짧게 형성되는 것을 특징으로 하는 음향센서 디바이스.As the parachute is pulled upward in the process of unfolding, one side is connected to one side of the binding maintenance cover so that the binding maintenance cover is peeled off, and the other side is connected to the point that becomes the topmost point of the parachute when the parachute is fully unfolded, full length Acoustic sensor device, characterized in that it is formed shorter than the distance from one side of the binding maintenance cover to the top of the parachute.
  10. 투하되면, 지상에 직립 가능한 상태로 착지하여, 음향 정보를 수집하는 디바이스 본체와 디바이스 본체에 연결되되, 디바이스 본체 무게의 작용 여부에 따라 낙하산과 결속 상태 또는 결속 해제 상태가 되는 낙하산 결속 해제 장치를 구비하는 음향센서 디바이스; 및When dropped, it lands on the ground in a state capable of standing upright, and is connected to the device body and the device body that collects sound information, but depending on the action of the weight of the device body, it is equipped with a parachute debonding device that becomes bound or unbound with the parachute an acoustic sensor device; and
    하나 이상의 음향센서 디바이스가 장착되어, 기설정된 비행 영역에 도달하면, 장착된 음향센서 디바이스를 투하하는 드론;을 포함하는 음향센서 디바이스 투하 시스템.Acoustic sensor device delivery system comprising a; drone that is equipped with one or more acoustic sensor devices, and when it reaches a preset flight area, drops the mounted acoustic sensor device.
  11. 지상에 착지 시, 기울어지더라도 쓰러지지 않고 직립이 가능하도록, 하단부가 반구형상으로 형성되는 하우징;When landing on the ground, the lower end of the housing is formed in a hemispherical shape so that it is possible to stand upright without falling down even if it is tilted;
    하우징의 하단부 내측 중앙에 장착되어, 전원을 공급하되, 디바이스 본체부가 무게중심을 유지하도록 하는 배터리;a battery mounted on the inner center of the lower end of the housing to supply power, but to maintain the center of gravity of the device body;
    하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드; 및a main board mounted inside the housing to collect sound information; and
    하우징의 상측에 부착되는 안테나;를 포함하는 음향센서 디바이스.Acoustic sensor device comprising a; antenna attached to the upper side of the housing.
  12. 지상에 착지 시, 기울어지더라도 쓰러지지 않고 직립이 가능하도록, 하단부가 반구형상으로 형성되는 하우징, 하우징의 하단부 내측 중앙에 장착되어, 전원을 공급하되, 디바이스 본체부가 무게중심을 유지하도록 하는 배터리, 하우징의 내부에 장착되어, 음향 정보를 수집하는 메인보드 그리고 하우징의 상측에 부착되는 안테나를 구비하는 음향센서 디바이스; 및When landing on the ground, the lower end of the housing is formed in a hemispherical shape so that it can stand upright without falling down even if it is tilted. an acoustic sensor device mounted inside of a main board for collecting acoustic information, and an antenna attached to the upper side of the housing; and
    하나 이상의 음향센서 디바이스가 장착되어, 기설정된 비행 영역에 도달하면, 장착된 음향센서 디바이스를 투하하는 드론;을 포함하는 음향센서 디바이스 투하 시스템.Acoustic sensor device delivery system comprising a; drone that is equipped with one or more acoustic sensor devices, and when it reaches a preset flight area, drops the mounted acoustic sensor device.
PCT/KR2020/016289 2020-10-30 2020-11-18 Acoustic sensor device airdropped from drone WO2022092395A1 (en)

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KR102598916B1 (en) * 2021-10-29 2023-11-06 (주)에어포인트 The Detection Method of Rescue-requester Based on Sound-data Performed in Detection System Including IoT device, Drone, and Gateway

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