WO2022092395A1 - Dispositif de capteur acoustique largué depuis un drone - Google Patents

Dispositif de capteur acoustique largué depuis un 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
English (en)
Korean (ko)
Inventor
송민환
이상신
권영민
이승우
김성섭
Original Assignee
한국전자기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국전자기술연구원 filed Critical 한국전자기술연구원
Publication of WO2022092395A1 publication Critical patent/WO2022092395A1/fr

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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; ARRANGEMENT 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; ARRANGEMENT 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)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Burglar Alarm Systems (AREA)

Abstract

L'invention concerne un dispositif de capteur acoustique qui, afin de confirmer l'emplacement d'une personne disparue, est largué depuis un drone, atterrit sur le sol et collecte et transmet un événement sonore. Le dispositif de capteur acoustique selon un mode de réalisation de la présente invention comprend : un corps de dispositif qui se dresse verticalement sans basculement même lorsqu'il est incliné après avoir été largué depuis un drone, et collecte des informations sonores ; et un appareil de libération de couplage de parachute relié au corps de dispositif et couplé à un parachute ou libéré par ce dernier selon que le poids du corps de dispositif est appliqué ou non. Ainsi, la présente invention est empêchée de rebondir lors de l'atterrissage et peut collecter des informations sonores en se dressant verticalement sans basculement même lorsqu'elle est inclinée, ce qui contribue à un travail de confirmation d'emplacement d'une personne disparue.
PCT/KR2020/016289 2020-10-30 2020-11-18 Dispositif de capteur acoustique largué depuis un drone WO2022092395A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2020-0143591 2020-10-30
KR1020200143591 2020-10-30

Publications (1)

Publication Number Publication Date
WO2022092395A1 true WO2022092395A1 (fr) 2022-05-05

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WO (1) WO2022092395A1 (fr)

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Publication number Priority date Publication date Assignee Title
KR102598916B1 (ko) * 2021-10-29 2023-11-06 (주)에어포인트 IoT단말, 드론, 게이트웨이를 포함하는 탐지시스템에서 수행되는 음향데이터 기반 구조요청자 탐지방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008033170A2 (fr) * 2006-05-16 2008-03-20 Textron Systems Corporation Système de largage contrôlé de déploiement de composants selon un motif et une orientation désirés
KR20130043013A (ko) * 2011-10-19 2013-04-29 국방과학연구소 무선 센서 네트워크 구축을 위한 복수의 센서노드 살포장치 및 이를 구비하는 무선 센서 네트워크 구축장치
CN105539856A (zh) * 2016-02-25 2016-05-04 北京迈凯飞工程技术有限公司 无人机降落伞自动脱离装置
KR102159302B1 (ko) * 2018-12-03 2020-09-23 도승현 드론용 추락방지 장치
KR102164295B1 (ko) * 2018-06-18 2020-10-12 주식회사 엘지유플러스 드론의 추락 방지 장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008033170A2 (fr) * 2006-05-16 2008-03-20 Textron Systems Corporation Système de largage contrôlé de déploiement de composants selon un motif et une orientation désirés
KR20130043013A (ko) * 2011-10-19 2013-04-29 국방과학연구소 무선 센서 네트워크 구축을 위한 복수의 센서노드 살포장치 및 이를 구비하는 무선 센서 네트워크 구축장치
CN105539856A (zh) * 2016-02-25 2016-05-04 北京迈凯飞工程技术有限公司 无人机降落伞自动脱离装置
KR102164295B1 (ko) * 2018-06-18 2020-10-12 주식회사 엘지유플러스 드론의 추락 방지 장치 및 방법
KR102159302B1 (ko) * 2018-12-03 2020-09-23 도승현 드론용 추락방지 장치

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