WO2019045180A1 - Water drone for relief examination using waterjet board - Google Patents

Water drone for relief examination using waterjet board Download PDF

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Publication number
WO2019045180A1
WO2019045180A1 PCT/KR2017/013116 KR2017013116W WO2019045180A1 WO 2019045180 A1 WO2019045180 A1 WO 2019045180A1 KR 2017013116 W KR2017013116 W KR 2017013116W WO 2019045180 A1 WO2019045180 A1 WO 2019045180A1
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WIPO (PCT)
Prior art keywords
battery
surfboard
propellant
motor
water jet
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PCT/KR2017/013116
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French (fr)
Korean (ko)
Inventor
김문주
김택균
안병길
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김문주
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Publication of WO2019045180A1 publication Critical patent/WO2019045180A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00—Water sports boards; Accessories therefor
    • B63B32/40—Twintip boards; Wakeboards; Surfboards; Windsurfing boards; Paddle boards, e.g. SUP boards; Accessories specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B32/00—Water sports boards; Accessories therefor
    • B63B32/10—Motor-propelled water sports boards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled

Definitions

  • the present invention relates to a relief docking drones using a water jet board, and more particularly, And a technology capable of ocean surveys and easy to move and store.
  • a conventional water-jet pump for surfacing a human-powered surfboard includes a water-jet pump embedded in a foam filler to provide a driving force to a surfboard.
  • a pedal portion coupled to the water jet pump and performing a linear reciprocating motion due to the leg bending and swinging motion of the surfer;
  • a handle portion penetrating in the lateral direction of the surfboard and protruding from both side surfaces of the body;
  • a direction switching unit interlocked with the handle unit and disposed at the rear of the surfboard, and configured to include a direction key for adjusting a propelling direction.
  • this conventional surfboard operation is configured to obtain propulsive force through the power from the water jet pump, but it has a limitation that the surfer has to operate the pedal.
  • the present invention provides a water hammer drowser for use with a water jet board, A surge board that accommodates a CO2 capsule for air pressure filling and controls the operation of the camera, the relief tube and the CO2 capsule through the control unit;
  • a first receiving portion provided on the upper portion of the surfboard is coupled to a protruding portion a of the bottom surface of the surfboard through a slide, and a motor driven by a power source applied from a battery, a trailing propeller driven by the rotational force of the motor,
  • a water jet propellant consisting of a motor control section for controlling the speed and direction through the supply and a second accommodating section for sliding engagement with the battery on one side facing the follower type propeller;
  • a protrusion b provided on one side of the water jet propulsion body is coupled with a receiving portion of the water jet propulsion body through a slide, the inside of which is configured to receive the battery body and is engaged with the water
  • the water drones configured to facilitate the separation / coupling of the board, the water jet propellant, and the battery can be swiftly structured and the ocean can be surveyed, and the movement and storage can be facilitated.
  • the position, speed and direction of the water drones are controlled through the remote control system, and the images photographed through the camera provided in the water drones are monitored in real time, There is an effect that a primary response can be made.
  • FIG. 3A and FIG. 3B are views showing a surfboard of a relief fishing drones using a water jet board according to the present invention
  • FIGS. 4A and 4B are diagrams showing a water jet propulsion body of a relief-type water drones using a water jet board according to the present invention.
  • FIG. 5A and FIG. 5B are diagrams showing a battery of a relief docking drones using a water jet board according to the present invention.
  • FIG. 5A and FIG. 5B are diagrams showing a battery of a relief docking drones using a water jet board according to the present invention.
  • FIG. 6 is a view showing a management server of a relief docking drones using a water jet board according to the present invention.
  • FIG. 7 is a flowchart showing an operation of a relief docking drones using a water jet board according to the present invention.
  • FIG. 8 is a flowchart showing a process after step S60 of the operation of the relief dredging drones using the water jet board according to the present invention.
  • the relief docking drones WD using the water jet board according to the present invention include a surfboard 10, a water jet propellant 20, a battery 30, and a management server 40 .
  • the surfboard 10 photographs a real-time image through a camera 11 provided on the front surface thereof and displays the real time image on the left side, the right side, or the rear side of the rescue tube 12, And a CO2 capsule 13 for pneumatic filling of the tube 12 and is configured to control the operation of the camera 11, the relief tube 12 and the CO2 capsule 13 via the control unit 14.
  • the relief tube 12 and the CO2 capsule 13 are provided in the form of a cartridge and can be dropped to a relief point or a marine survey point by servo control of the control unit 14, ) May be composed of a plurality of, preferably four.
  • control unit 14 of the surfboard 10 monitors the driving control and the distress state based on the real-time image received from the camera 11, acquires position coordinates through the GPS module 14a, Distance communication with the management server 40 located at a remote location via the first and second communication links 14a and 14b.
  • control unit 14 transmits the real-time image photographed by the camera 11 and the position coordinates acquired by the GPS module 14a to the management server 40 via the communication module 14b, The tube 12 and the CO2 capsule 13 so as to match the control signal received from the management server 40.
  • the surfboard 10 transmits data sensed based on the ultrasonic sensor 15, the wind speed sensor 16 and the temperature sensor 17 provided at one side thereof to the control unit 14 for use in relief activities and ocean surveys .
  • the surfboard 10 can maximize mission performance by constructing a solar cell 18 for long-time running in the ocean and for supplying standby power at all times on the upper surface thereof.
  • the surfboard constitutes a protrusion a 19 for sliding engagement with the water jet propellant 20 on its bottom and is bonded to the water jet propellant 20 by a one-touch button 19a provided on the protrusion a 19.
  • the first accommodating portion 21 provided on the water jet propulsion body 20 is coupled to the protruding portion a 19 of the bottom surface of the surfboard 10 through a slide, ,
  • a motor control unit 24 for controlling the motor for controlling the motor.
  • the water jet propellant 20 has a second receiving portion 25 for sliding engagement with the battery 30 on one side facing the trailing propeller 23.
  • the motor 22 accommodated in the water jet propellant 20 constitutes the propellant electrode 26 on one side of the outer surface facing the trailing propeller 23, that is, the receiving portion 25, Lt; / RTI >
  • the motor control unit 24 controls the speed and driving direction of the motor 22 according to an operation signal of the surfboard 10 connected to the information communication network or a control signal received from the management server 40.
  • a protrusion 31 provided at one side of the battery 30 is coupled to the receiving portion 25 of the water jet propellant 20 through a slide, And is coupled to the water jet propellant 20 by a one-touch button 31a provided on the protruding portion 31.
  • the battery body 32 is configured to form the battery electrode 33 on one side of the protrusion 31 to apply the charged power to the motor 22 through the connection with the motor 22 of the water jet propellant 20.
  • the management server monitors the marine situation and the victim state based on the real-time image, the position coordinates, the velocity data, and the directional data received from the surfboard 10, And transmits the control signal inputted through the operation of the administrator to the surfboard 10 for the control of the board 10.
  • control signal received by the management server 40 enables the remote driving control of the surfboard 10 based on the previously installed object recognition algorithm and the data received from the surfboard 10, It is possible to control the remote running of the surfboard 10 so that it matches.
  • the protruding portion a 19 provided on the bottom of the surfboard 10 and the first accommodating portion 21 provided on the upper portion of the water jet propellant 20 are slid and engaged (S10).
  • the protruding portion a 19 of the surfboard 10 and the first accommodating portion 21 of the water jet propellant 20 are engaged with each other through the one-touch button 19a provided on the protruding portion a 19 of the surfboard 10, (S20).
  • the projecting portion 31 of the battery 30 and the second accommodating portion 25 of the water jet propellant 20 are engaged by the one-touch button 31a provided on the protruding portion 31 of the battery 30 (S40) .
  • the propellant electrode 26 is brought into contact with one side of the battery electrode 33 provided on one side of the protrusion 31 of the battery 30 and the receiving portion 25 of the water jet propellant 20 to be energized, To the motor 22 (S50).
  • the motor 22 of the water jet propellant 20 transfers the rotational force to the trailing propeller 23, and the surfboard 10 is operated by the driving force of the trailing propeller 23 (S60).
  • the management server 40 monitors the marine situation and the distressed state based on the real-time image, position coordinates, velocity data, and directional data received from the surfboard 10 (S70).
  • step S80 the management server controls remote driving of the surfboard 10 based on the control signal input through the operation of the manager, the installed object recognition algorithm, and the data received from the surfboard 10.
  • the surfboard 10, the water jet propellant 20, and the battery 30 are each formed of a sliding coupling structure, so that the moving docking drones WD using the water jet board according to the present invention can be moved, And it is easy to carry. Especially, in case of a battery, it is possible to replace the battery with a fully charged battery without waiting time for charging, so that it is easy to reuse and upgrade to another battery.
  • the position, speed, and direction of the water drones are controlled through a remote control system provided in the management server 40, and the images captured through the camera provided in the water drones are monitored in real time to determine the marine condition and the distress condition And it is possible to respond promptly to the first order.
  • control unit 14b communication module
  • protruding portion a 19a one-touch button

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  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

The present invention relates to a water drone for relief examination using a waterjet board, comprising: a surfing board for taking real-time images through a camera provided on a front surface thereof, having, on any one of a left side, a right side, and a rear surface thereof, a relief tube and a CO2 capsule for filling the tube with air pressure, and controlling operations of the camera, the relief tube, and the CO2 capsule through a control unit; a waterjet propellant for allowing a first accommodation part provided on the upper part thereof to be coupled with a protrusion part a of a lower surface of the surfing board through a slide, and including a motor driven by power received from a battery, a slipstream-type propeller propelling by a rotational force of the motor, a motor control unit for controlling speed and direction through power supply to the motor, and a second accommodation unit formed for sliding coupling with the battery on one side facing the slipstream-type propeller; the battery for allowing a protrusion part b provided on one side thereof to be coupled with the accommodation unit of the waterjet propellant through the slide, formed to have a battery body accommodated therein, and bound to the waterjet propellant by a one-touch button provided in the protrusion part b; and a management server for monitoring marine situations and survivor condition on the basis of the real-time images, location coordinates, speed data, and directional data received from the surfing board, and for transmitting a control signal for surfing board control to the surfing board. According to the present invention having the configuration above, a water drone having a board, a waterjet propellant, and a battery, which can be respectively and easily separated/coupled, is provided such that a quick rescue and maritime survey can be conducted and the drone can be easily moved and stored, and since the location, speed, and direction of the water drone are controlled through a remote control system and images taken through a camera provided in the water drone are monitored in real-time, fast first actions can be taken by identifying marine situations and survivor's condition.

Description

워터젯 보드를 이용한 구호 조사용 수상 드론Water drones using water jet boards
본 발명은 워터젯 보드를 이용한 구호 조사용 수상 드론에 관한 것으로 더욱 상세하게는, 보드(웨이크보드 또는 서핑보드), 워터젯 추진체 및 배터리 각각을 분리/결합이 용이하도록 구성한 수상 드론을 제공함으로써, 신속한 구조와 해양 조사가 가능하고, 이동 및 보관이 용이한 기술에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a relief docking drones using a water jet board, and more particularly, And a technology capable of ocean surveys and easy to move and store.
또한, 본 발명은 원격제어 시스템을 통해 수상 드론을 제어함으로써, 수상 구조 및 해양 조사시 항공 드론의 단점을 보완하는데 그 목적이 있다.It is another object of the present invention to compensate for the drawbacks of the airborne drones in the water structure and ocean surveying by controlling the waterborne drones through the remote control system.
일반적으로, 서핑기구들은 대부분 동력을 사용하지 않고 파도나 바람을 이용하여 활주하기 때문에, 윈드서핑을 즐기기 위한 자연조건이 최소화된 상태에서라도 적당한 세기의 바람은 있어야만 한다.In general, surfing gears are mostly powered by waves and winds, so winds of moderate intensity should be available even with minimal natural conditions for windsurfing.
따라서, 바람이 미약하거나 거의 없는 날에는 윈드서핑을 즐길 수가 없으며, 또한 바람이 있더라도 윈드서핑을 즐기기 위해서는 바람의 방향을 조정하기 위한 돛을 이용하는 기술을 습득하여야 하여야만 한다.Therefore, it is impossible to enjoy windsurfing on a day when the wind is weak or scarce. Also, in order to enjoy windsurfing, it is necessary to acquire a technique of using a sail to adjust the wind direction.
근래에는, 이와 같은 종래의 서핑보드에 배터리를 구비하여 자체적으로 동력을 갖는 동력식 서핑보드가 개발되고 있으나, 실질적으로 서핑보드를 이동시키는 추진력이 약해 원활한 서핑보드를 즐길 수 없는 한계가 있다.In recent years, there has been developed a power type surfing board having a battery in the conventional surfing board and having power of itself, but the driving force for moving the surfing board is substantially weak, so that there is a limitation in enjoying a smooth surfing board.
또한, 수상에서 인명구조 활동시 구조자가 직접 서핑보드에 엎드려서 양팔을 저어(Paddling) 목표지점까지 이동한 이후, 구조작업을 수행하기 때문에 체력소모가 심하기 때문에 신속하고 안전한 구조가 어렵다는 단점 있다.Also, in case of rescue work at the aquarium, the rescuer leans directly on the surfboard and moves his arms to the paddling target point, then performs the rescue work, which is disadvantageous in that it is difficult to construct quickly and safely because of the heavy physical power consumption.
전술한 바와 같은 문제점을 개선하기 위해 도입된 장치로 추진체를 구비한 서프보드 등이 출시된 바 있으며, 대한민국 공개특허 제2016-0139598호(2016.12.07.공개), "인력추진 서프보드" 외에 다수의 기술들이 개시된 바 있다.In order to solve the above problems, a surfboard equipped with a propellant has been introduced as an apparatus introduced, and Korean Patent Laid-Open Publication No. 2016-0139598 (published on Dec. 12, 2016), "manpower promotion surfboard" Have been disclosed.
도 1을 참조하여 종래의 인력추진 서프보드에 대해 살피면, 크게 발포충전제에 매립 내장되어 서프보드에 추진력을 제공하는 워터젯펌프; 워터젯펌프에 결합되어 서퍼의 다리 굽힘 및 폄운동으로 직선 왕복운동을 하는 페달부; 서프보드의 가로방향으로 관통되어 몸체의 양쪽 측면에 돌출되는 핸들부; 및 핸들부에 연동되어 서프보드의 후미에 설치되어 추진방향을 조절하는 방향키로 이루어지는 방향 전환부;로 구성된다.Referring to FIG. 1, a conventional water-jet pump for surfacing a human-powered surfboard includes a water-jet pump embedded in a foam filler to provide a driving force to a surfboard. A pedal portion coupled to the water jet pump and performing a linear reciprocating motion due to the leg bending and swinging motion of the surfer; A handle portion penetrating in the lateral direction of the surfboard and protruding from both side surfaces of the body; And a direction switching unit interlocked with the handle unit and disposed at the rear of the surfboard, and configured to include a direction key for adjusting a propelling direction.
그러나 이러한 종래의 서프보드 운용의 경우, 워터젯 펌프로부터의 동력을 통해 추진력을 얻도록 구성되어 있으나, 서퍼가 페달을 조작해야만 하는 한계를 가지고 있다.However, this conventional surfboard operation is configured to obtain propulsive force through the power from the water jet pump, but it has a limitation that the surfer has to operate the pedal.
아울러, 워터젯 펌프 장착으로 인해 서프보드의 부피와 무게가 커져 보관이 어렵고, 육지에서 수상으로 신속히 이동하지 못하며, 보드, 축전지 및 동력 추진부가 일체화되어 있어 유지보수가 어려운 단점이 있다.In addition, due to the installation of the water jet pump, the volume and weight of the surfboard become so large that it is difficult to store, can not move quickly to the water on land, and the maintenance is difficult because the board, battery and power propulsion unit are integrated.
[선행기술문헌][Prior Art Literature]
[특허문헌][Patent Literature]
대한민국 공개특허 제2016-0139598호Korean Patent Publication No. 2016-0139598
본 발명의 목적은, 보드, 워터젯 추진체 및 배터리 각각을 분리/결합이 용이하도록 구성한 수상 드론을 제공함으로써, 신속한 구조와 해양 조사가 가능하고, 이동 및 보관이 용이하도록 하는데 그 목적이 있다.It is an object of the present invention to provide a water drones in which a board, a water jet propellant, and a battery can be easily separated and combined, thereby enabling rapid structure and ocean surveying, and facilitating movement and storage.
또한, 본 발명의 목적은, 원격제어 시스템을 통해 수상 드론의 위치, 속도 및 방향을 제어하고, 수상 드론에 구비된 카메라를 통해 촬영된 영상을 실시간으로 모니터링 함으로써, 해양 상황 및 조난자 상태를 파악하여 신속한 1차 대응이 가능하게 하는데 그 목적이 있다.It is also an object of the present invention to control the position, speed and direction of an augmented drones through a remote control system and to monitor the images captured through a camera provided on the aqueduct drones in real time, So that a quick primary response is possible.
이러한 기술적 과제를 달성하기 위한 본 발명의 워터젯 보드를 이용한 구호 조사용 수상 드론은, 그 전면에 구비된 카메라를 통해 실시간 영상을 촬영하고, 그 좌측, 우측 또는 후면 중 어느 한 곳에 구호용 튜브 및 튜브에 공기압 충진을 위한 CO2 캡슐을 수용하며, 제어부를 통해 카메라, 구호용 튜브 및 CO2 캡슐의 작동을 제어하는 서핑보드; 그 상부에 구비된 제1 수용부가 상기 서핑보드 저면의 돌출부a와 슬라이드를 통해 결합되되, 배터리로부터 인가받은 전원에 의해 구동되는 모터와, 모터의 회전력에 의해 추진하는 후류형 프로펠러 및 모터로의 전원공급을 통해 속도 및 방향을 제어하는 모터 제어부와, 후류형 프로펠러와 대향되는 일측에 배터리와 슬라이딩 결합을 위한 제2 수용부로 구성된 워터젯 추진체; 그 일측에 구비된 돌출부b가 워터젯 추진체의 수용부와 슬라이드를 통해 결합되되, 그 내부는 배터리 몸체를 수용하도록 구성되며, 돌출부b에 구비된 원터치 버튼에 의해 워터젯 추진체와 결착되는 배터리; 및 서핑보드로부터 수신한 실시간 영상, 위치좌표, 속도 데이터 및 방향성 데이터를 토대로 해양 상황 및 조난자 상태를 모니터링하고, 서핑보드 제어를 위한 제어신호를 상기 서핑보드로 전송하는 관리서버;를 포함한다.To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described, the present invention provides a water hammer drowser for use with a water jet board, A surge board that accommodates a CO2 capsule for air pressure filling and controls the operation of the camera, the relief tube and the CO2 capsule through the control unit; A first receiving portion provided on the upper portion of the surfboard is coupled to a protruding portion a of the bottom surface of the surfboard through a slide, and a motor driven by a power source applied from a battery, a trailing propeller driven by the rotational force of the motor, A water jet propellant consisting of a motor control section for controlling the speed and direction through the supply and a second accommodating section for sliding engagement with the battery on one side facing the follower type propeller; A protrusion b provided on one side of the water jet propulsion body is coupled with a receiving portion of the water jet propulsion body through a slide, the inside of which is configured to receive the battery body and is engaged with the water jet propellant by a one-touch button provided on the protrusion b; And a management server for monitoring a marine situation and a distressed state based on the real time image, position coordinates, speed data, and directional data received from the surfboard, and transmitting a control signal for controlling the surfboard to the surfboard.
상기와 같은 본 발명에 따르면, 보드, 워터젯 추진체 및 배터리 각각을 분리/결합이 용이하도록 구성한 수상 드론을 제공함으로써, 신속한 구조와 해양 조사가 가능하고, 이동 및 보관이 용이하도록 하는데 효과가 있다.According to the present invention, the water drones configured to facilitate the separation / coupling of the board, the water jet propellant, and the battery can be swiftly structured and the ocean can be surveyed, and the movement and storage can be facilitated.
또한, 본 발명에 따르면, 원격제어 시스템을 통해 수상 드론의 위치, 속도 및 방향을 제어하고, 수상 드론에 구비된 카메라를 통해 촬영된 영상을 실시간으로 모니터링 함으로써, 해양 상황 및 조난자 상태를 파악하여 신속한 1차 대응이 가능하게 하는 효과가 있다.According to the present invention, the position, speed and direction of the water drones are controlled through the remote control system, and the images photographed through the camera provided in the water drones are monitored in real time, There is an effect that a primary response can be made.
도 1은 종래의 인력추진 서프보드를 도시한 도면.1 shows a conventional human-powered surfboard;
도 2는 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론을 도시한 구성도.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]
도 3a 및 도 3b는 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 서핑보드를 도시한 구성도.FIG. 3A and FIG. 3B are views showing a surfboard of a relief fishing drones using a water jet board according to the present invention;
도 4a 및 도 4b는 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 워터젯 추진체를 도시한 구성도.4A and 4B are diagrams showing a water jet propulsion body of a relief-type water drones using a water jet board according to the present invention.
도 5a 및 도 5b본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 배터리를 도시한 구성도.FIG. 5A and FIG. 5B are diagrams showing a battery of a relief docking drones using a water jet board according to the present invention. FIG.
도 6는 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 관리서버를 도시한 구성도.FIG. 6 is a view showing a management server of a relief docking drones using a water jet board according to the present invention. FIG.
도 7은 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 작동양태를 도시한 순서도.7 is a flowchart showing an operation of a relief docking drones using a water jet board according to the present invention.
도 8은 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론의 작동양태의 제S60 단계 이후 과정을 도시한 순서도.FIG. 8 is a flowchart showing a process after step S60 of the operation of the relief dredging drones using the water jet board according to the present invention. FIG.
본 발명의 구체적인 특징 및 이점들은 첨부도면에 의거한 다음의 상세한 설명으로 더욱 명백해질 것이다. 이에 앞서, 본 명세서 및 청구범위에 사용된 용어나 단어는 발명자가 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야 할 것이다. 또한, 본 발명에 관련된 공지 기능 및 그 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는, 그 구체적인 설명을 생략하였음에 유의해야 할 것이다.Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. Prior to this, terms and words used in the present specification and claims are to be interpreted in accordance with the technical idea of the present invention based on the principle that the inventor can properly define the concept of the term in order to explain his invention in the best way. It should be interpreted in terms of meaning and concept. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.
도 2에 도시된 바와 같이, 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론(WD)은 서핑보드(10), 워터젯 추진체(20), 배터리(30) 및 관리서버(40)를 포함하여 구성된다.2, the relief docking drones WD using the water jet board according to the present invention include a surfboard 10, a water jet propellant 20, a battery 30, and a management server 40 .
구체적으로, 서핑보드(10)는 도 3에 도시된 바와 같이, 그 전면에 구비된 카메라(11)를 통해 실시간 영상을 촬영하고, 그 좌측, 우측 또는 후면 중 어느 한 곳에 구호용 튜브(12) 및 튜브(12)에 공기압 충진을 위한 CO2 캡슐(13)을 수용하며, 제어부(14)를 통해 카메라(11), 구호용 튜브(12) 및 CO2 캡슐(13)의 작동을 제어하도록 구성된다.3, the surfboard 10 photographs a real-time image through a camera 11 provided on the front surface thereof and displays the real time image on the left side, the right side, or the rear side of the rescue tube 12, And a CO2 capsule 13 for pneumatic filling of the tube 12 and is configured to control the operation of the camera 11, the relief tube 12 and the CO2 capsule 13 via the control unit 14. [
이때, 구호용 튜브(12) 및 CO2 캡슐(13)은 카트리지 형태로 구비되어 제어부(14)의 서보제어(Servo Control)에 의해 구호 지점 또는 해양조사 지점으로 투하될 수 있고, 구호용 튜브(12)는 복수개 바람직하게는 4개로 구성될 수 있다.At this time, the relief tube 12 and the CO2 capsule 13 are provided in the form of a cartridge and can be dropped to a relief point or a marine survey point by servo control of the control unit 14, ) May be composed of a plurality of, preferably four.
구체적으로, 서핑보드(10)의 제어부(14)는 카메라(11)로부터 인가받은 실시간 영상을 토대로 주행 제어 및 조난자 상태를 모니터링하되, GPS모듈(14a)을 통해 위치좌표를 취득하고, 통신모듈(14b)을 통해 원격지에 위치한 관리서버(40)와의 실시간 장거리 통신을 제어한다.Specifically, the control unit 14 of the surfboard 10 monitors the driving control and the distress state based on the real-time image received from the camera 11, acquires position coordinates through the GPS module 14a, Distance communication with the management server 40 located at a remote location via the first and second communication links 14a and 14b.
이때, 제어부(14)는 카메라(11)가 촬영한 실시간 영상 및 GPS모듈(14a)이 취득한 위치좌표를 통신모듈(14b)을 통해 관리서버(40)로 전송하고, 사용자로부터 입력받은 조작신호 또는 관리서버(40)로부터 수신한 제어신호와 부합하도록 카메라(11), 튜브(12) 및 CO2 캡슐(13)의 작동을 제어할 수 있다.At this time, the control unit 14 transmits the real-time image photographed by the camera 11 and the position coordinates acquired by the GPS module 14a to the management server 40 via the communication module 14b, The tube 12 and the CO2 capsule 13 so as to match the control signal received from the management server 40. [
아울러, 서핑보드(10)는 그 일측에 구비된 초음파 센서(15), 풍속 센서(16) 및 온도 센서(17)를 토대로 센싱한 데이터를 제어부(14)로 전송하여 구호 활동 및 해양 조사에 활용이 가능하도록 구성된다.The surfboard 10 transmits data sensed based on the ultrasonic sensor 15, the wind speed sensor 16 and the temperature sensor 17 provided at one side thereof to the control unit 14 for use in relief activities and ocean surveys .
또한, 서핑보드(10)는 그 상면에 해양에서 장시간 주행 및 상시 대기전원 공급을 위한 태양전지(18)를 구성하여 임무 수행능력을 극대화할 수 있다.In addition, the surfboard 10 can maximize mission performance by constructing a solar cell 18 for long-time running in the ocean and for supplying standby power at all times on the upper surface thereof.
그리고 서핑보드는 그 저면에 워터젯 추진체(20)와 슬라이드 결합을 위한 돌출부a(19)를 구성하고, 돌출부a(19)에 구비된 원터치 버튼(19a)에 의해 워터젯 추진체(20)와 결착된다.The surfboard constitutes a protrusion a 19 for sliding engagement with the water jet propellant 20 on its bottom and is bonded to the water jet propellant 20 by a one-touch button 19a provided on the protrusion a 19.
한편, 워터젯 추진체(20)는 도 4a 및 도 4b에 도시된 바와 같이, 그 상부에 구비된 제1 수용부(21)가 서핑보드(10) 저면의 돌출부a(19)와 슬라이드를 통해 결합되되, 배터리(30)로부터 인가받은 전원에 의해 구동되는 모터(22)와, 결착된 모터(22)의 회전력에 의해 추진하는 후류형 프로펠러(23) 및 모터(22)로의 전원공급을 통해 속도 및 방향을 제어하는 모터 제어부(24)를 포함하여 구성된다.4A and 4B, the first accommodating portion 21 provided on the water jet propulsion body 20 is coupled to the protruding portion a 19 of the bottom surface of the surfboard 10 through a slide, , A motor 22 driven by a power source supplied from a battery 30 and a propulsive propeller 23 propelled by the rotational force of the motor 22 and a power supply to the motor 22, And a motor control unit 24 for controlling the motor.
또한, 워터젯 추진체(20)는 후류형 프로펠러(23)와 대향되는 일측에 배터리(30)와 슬라이딩 결합을 위한 제2 수용부(25)가 구성된다.The water jet propellant 20 has a second receiving portion 25 for sliding engagement with the battery 30 on one side facing the trailing propeller 23.
이때, 워터젯 추진체(20)에 수용된 모터(22)는 후류형 프로펠러(23)와 대향하는 외기면, 즉 수용부(25) 일면에 추진체 전극(26)을 구성하여 배터리(30)로부터 전원 공급이 가능하도록 구성된다.At this time, the motor 22 accommodated in the water jet propellant 20 constitutes the propellant electrode 26 on one side of the outer surface facing the trailing propeller 23, that is, the receiving portion 25, Lt; / RTI >
또한, 모터 제어부(24)는 정보통신망을 통해 접속된 서핑보드(10)의 조작신호 또는 관리서버(40)로부터 수신한 제어신호에 따라 모터(22)의 속도 및 구동방향을 제어하게 된다.The motor control unit 24 controls the speed and driving direction of the motor 22 according to an operation signal of the surfboard 10 connected to the information communication network or a control signal received from the management server 40.
한편, 배터리(30)는 도 5a 및 도 5b에 도시된 바와 같이, 그 일측에 구비된 돌출부(31)가 워터젯 추진체(20)의 수용부(25)와 슬라이드를 통해 결합되되, 그 내부는 배터리 몸체(32)를 수용하도록 구성되며, 돌출부(31)에 구비된 원터치 버튼(31a)에 의해 워터젯 추진체(20)와 결착된다.5A and 5B, a protrusion 31 provided at one side of the battery 30 is coupled to the receiving portion 25 of the water jet propellant 20 through a slide, And is coupled to the water jet propellant 20 by a one-touch button 31a provided on the protruding portion 31. The water-
이때, 배터리 몸체(32)는 돌출부(31) 일면에 배터리 전극(33)을 구성하여 워터젯 추진체(20)의 모터(22)와의 접속을 통해 충전된 전원을 모터(22)로 인가하도록 구성된다.At this time, the battery body 32 is configured to form the battery electrode 33 on one side of the protrusion 31 to apply the charged power to the motor 22 through the connection with the motor 22 of the water jet propellant 20.
그리고 관리서버는 도 6에 도시된 바와 같이, 서핑보드(10)로부터 수신한 실시간 영상, 위치좌표, 속도 데이터 및 방향성 데이터를 토대로 해양 상황 및 조난자 상태를 모니터링하여 1차 대응이 가능하게 하고, 서핑보드(10) 제어를 위해 관리자의 조작을 통해 입력받은 제어신호를 서핑보드(10)로 전송한다.As shown in FIG. 6, the management server monitors the marine situation and the victim state based on the real-time image, the position coordinates, the velocity data, and the directional data received from the surfboard 10, And transmits the control signal inputted through the operation of the administrator to the surfboard 10 for the control of the board 10.
이때, 관리서버(40)가 입력받은 제어신호는 기설치된 사물인식 알고리즘과 서핑보드(10)로부터 수신한 데이터들을 토대로 서핑보드(10)의 원격 주행 제어를 가능하게 하고, 조이스틱을 이용한 수동조작과 부합하도록 서핑보드(10)의 원격 주행을 제어할 수 있다.At this time, the control signal received by the management server 40 enables the remote driving control of the surfboard 10 based on the previously installed object recognition algorithm and the data received from the surfboard 10, It is possible to control the remote running of the surfboard 10 so that it matches.
이하, 도 7을 참조하여 본 발명에 따른 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론 작동 양태에 대해 살피면 아래와 같다.Hereinafter, referring to FIG. 7, the operation of the water hammer drown drones using the water jet board according to the present invention will be described below.
먼저, 서핑보드(10)의 저면에 구비된 돌출부a(19)와 워터젯 추진체(20)의 상부에 구비된 제1 수용부(21)를 슬라이딩시켜 결합한다(S10).First, the protruding portion a 19 provided on the bottom of the surfboard 10 and the first accommodating portion 21 provided on the upper portion of the water jet propellant 20 are slid and engaged (S10).
이어서, 서핑보드(10)의 돌출부a(19)에 구비된 원터치 버튼(19a)을 통해 서핑보드(10)의 돌출부a(19)와 워터젯 추진체(20)의 제1 수용부(21)를 결착한다(S20).The protruding portion a 19 of the surfboard 10 and the first accommodating portion 21 of the water jet propellant 20 are engaged with each other through the one-touch button 19a provided on the protruding portion a 19 of the surfboard 10, (S20).
뒤이어, 워터젯 추진체(20)의 제2 수용부(25)와 배터리(30)의 돌출부(31)를 슬라이딩시켜 결합한다(S30).Next, the second accommodating portion 25 of the water jet propellant 20 and the protruding portion 31 of the battery 30 are slid and engaged (S30).
이어서, 배터리(30)의 돌출부(31)에 구비된 원터치 버튼(31a)에 의해 배터리(30)의 돌출부(31)와 워터젯 추진체(20)의 제2 수용부(25)를 결착한다(S40).The projecting portion 31 of the battery 30 and the second accommodating portion 25 of the water jet propellant 20 are engaged by the one-touch button 31a provided on the protruding portion 31 of the battery 30 (S40) .
뒤이어, 배터리(30)의 돌출부(31) 일면에 구비된 배터리 전극(33)과 워터젯 추진체(20)의 수용부(25) 일면에 추진체 전극(26)이 맞닿아 통전되고, 배터리 몸체(32)에 충전된 전원을 모터(22)로 인가한다(S50).The propellant electrode 26 is brought into contact with one side of the battery electrode 33 provided on one side of the protrusion 31 of the battery 30 and the receiving portion 25 of the water jet propellant 20 to be energized, To the motor 22 (S50).
그리고 워터젯 추진체(20)의 모터(22)가 회전력을 후류형 프로펠러(23)로 전가하고, 후류형 프로펠러(23)가 구동됨에 따른 추진력으로 서핑보드(10)를 운용한다(S60).Then, the motor 22 of the water jet propellant 20 transfers the rotational force to the trailing propeller 23, and the surfboard 10 is operated by the driving force of the trailing propeller 23 (S60).
이하, 도 8을 참조하여 본 발명에 따른 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론 작동 양태의 제S60단계 이후과정에 대해 살피면 아래와 같다.Hereinafter, the operation after the step S60 of the operation of the relief dredging dredron using the water jet board according to the present invention according to the present invention will be described below with reference to FIG.
제S60단계 이후, 관리서버(40)가 서핑보드(10)로부터 수신한 실시간 영상, 위치좌표, 속도 데이터 및 방향성 데이터를 토대로 해양 상황 및 조난자 상태를 모니터링 한다(S70).After step S60, the management server 40 monitors the marine situation and the distressed state based on the real-time image, position coordinates, velocity data, and directional data received from the surfboard 10 (S70).
그리고 관리서버가 관리자의 조작을 통해 입력받은 제어신호, 기 설치된 사물인식 알고리즘, 및 서핑보드(10)로부터 수신한 데이터들을 토대로 서핑보드(10)의 원격 주행을 제어한다(S80).In step S80, the management server controls remote driving of the surfboard 10 based on the control signal input through the operation of the manager, the installed object recognition algorithm, and the data received from the surfboard 10.
정리하면, 본 발명에 따른 워터젯 보드를 이용한 구호 조사용 수상 드론(WD)은, 서핑보드(10), 워터젯 추진체(20) 및 배터리(30) 각각이 슬라이딩 결합구조로 구성됨에 따라, 이동, 보관 및 휴대가 용이하고, 특히, 배터리의 경우 충전을 위한 대기시간 없이 완충된 배터리로 교체할 수 있어 빠른 재사용과 타 배터리로의 업그레이드가 용이하다.The surfboard 10, the water jet propellant 20, and the battery 30 are each formed of a sliding coupling structure, so that the moving docking drones WD using the water jet board according to the present invention can be moved, And it is easy to carry. Especially, in case of a battery, it is possible to replace the battery with a fully charged battery without waiting time for charging, so that it is easy to reuse and upgrade to another battery.
아울러, 관리서버(40)에 구비된 원격제어 시스템을 통해 수상 드론의 위치, 속도 및 방향을 제어하고, 수상 드론에 구비된 카메라를 통해 촬영된 영상을 실시간으로 모니터링을 통해 해양 상황 및 조난자 상태를 파악하여 신속한 1차 대응이 가능하다.In addition, the position, speed, and direction of the water drones are controlled through a remote control system provided in the management server 40, and the images captured through the camera provided in the water drones are monitored in real time to determine the marine condition and the distress condition And it is possible to respond promptly to the first order.
이상으로 본 발명의 기술적 사상을 예시하기 위한 바람직한 실시예와 관련하여 설명하고 도시하였지만, 본 발명은 이와 같이 도시되고 설명된 그대로의 구성 및 작용에만 국한되는 것이 아니며, 기술적 사상의 범주를 일탈함이 없이 본 발명에 대해 다수의 변경 및 수정이 가능함을 당업자들은 잘 이해할 수 있을 것이다. 따라서 그러한 모든 적절한 변경 및 수정과 균등물들도 본 발명의 범위에 속하는 것으로 간주되어야 할 것이다.While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. And all such modifications and changes as fall within the scope of the present invention are therefore to be regarded as being within the scope of the present invention.
[부호의 설명][Description of Symbols]
WD: 워터젯 보드를 이용한 구호 조사용 수상 드론WD: Aid drones using a waterjet board
10: 서핑보드 11: 카메라10: Surfboard 11: Camera
12: 구호용 튜브 13: CO2 캡슐12: relief tube 13: CO2 capsule
14: 제어부 14b: 통신모듈14: control unit 14b: communication module
15: 초음파 센서 16: 풍속 센서15: ultrasonic sensor 16: wind speed sensor
17: 온도 센서 18: 태양전지17: Temperature sensor 18: Solar cell
19: 돌출부a 19a: 원터치 버튼19: protruding portion a 19a: one-touch button
20: 워터젯 추진체 21: 제1 수용부20: water jet propellant 21: first accommodation portion
22: 모터 23: 후류형 프로펠러22: motor 23: running type propeller
24: 모터 제어부 25: 제2 수용부24: motor control unit 25:
26: 추진체 전극26: propellant electrode
30: 배터리 31: 돌출부b30: Battery 31: Projection b
31a: 원터치 버튼 32: 배터리 몸체31a: One-touch button 32: Battery body
33: 배터리 전극33: Battery electrode
40: 관리서버40: management server

Claims (7)

  1. 동력을 이용한 수상 보드에 있어서,In a powered board,
    그 전면에 구비된 카메라를 통해 실시간 영상을 촬영하고, 그 좌측, 우측 또는 후면 중 어느 한 곳에 구호용 튜브 및 상기 튜브에 공기압을 충진하기 위한 에어 캡슐을 수용하며, 제어부를 통해 상기 카메라, 구호용 튜브 및 에어 캡슐의 작동을 제어하는 서핑보드;A real-time image is captured through a camera provided on the front side thereof, and a relief tube is housed in one of the left, right, and rear sides thereof, and an air capsule is filled in the tube to fill the air pressure. A surfboard to control the operation of the tube and air capsule;
    그 상부에 구비된 제1 수용부가 상기 서핑보드 저면의 돌출부a와 슬라이드를 통해 결합되되, 배터리로부터 인가받은 전원에 의해 구동되는 모터와, 상기 모터의 회전력에 의해 추진하는 후류형 프로펠러 및 상기 모터로의 전원공급을 통해 속도 및 방향을 제어하는 모터 제어부와, 상기 후류형 프로펠러와 대향되는 일측에 배터리와 슬라이딩 결합을 위한 제2 수용부로 구성된 워터젯 추진체;A first receiving portion provided on the upper portion of the surfboard is coupled to a protruding portion a of the bottom of the surfboard through a slide, and is driven by a power source supplied from a battery, a trailing propeller propelled by the rotational force of the motor, A water jet propellant consisting of a motor control section for controlling a speed and a direction through a power supply of the propeller, and a second accommodating section for sliding engagement with the battery on one side facing the propeller propeller;
    그 일측에 구비된 돌출부b가 상기 워터젯 추진체의 수용부와 슬라이드를 통해 결합되되, 그 내부는 배터리 몸체를 수용하도록 구성되며, 돌출부b에 구비된 원터치 버튼에 의해 상기 워터젯 추진체와 결착되는 배터리; 및A protruding portion b provided on one side of the water jet propulsion body is coupled with a receiving portion of the water jet propulsion body through a slide, the inside of which is configured to receive the battery body and is engaged with the water jet propellant by a one-touch button provided on the protruding portion b; And
    상기 서핑보드로부터 수신한 실시간 영상, 위치좌표, 속도 데이터 및 방향성 데이터를 토대로 해양 상황 및 조난자 상태를 모니터링하고, 상기 서핑보드 제어를 위한 제어신호를 상기 서핑보드로 전송하는 관리서버;를 포함하는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.And a management server for monitoring a marine situation and a distressed state based on the real time image, position coordinates, speed data and directional data received from the surfboard, and transmitting a control signal for controlling the surfboard to the surfboard A water drones relief aid using a waterjet board.
  2. 제1항에 있어서,The method according to claim 1,
    상기 구호용 튜브 및 CO2 캡슐은,The relief tube and the CO2 capsule may contain,
    카트리지 형태로 구비되어 제어부의 서보제어(Servo Control)에 의해 구호 지점 또는 해양조사 지점으로 투하되되,And is sent to a relief point or a marine survey point by servo control of a control unit,
    상기 구호용 튜브는 복수개로 구비되는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.Wherein the relief tube is provided in a plurality of relief tubes.
  3. 제1항에 있어서,The method according to claim 1,
    상기 제어부는,Wherein,
    상기 카메라로부터 인가받은 실시간 영상을 토대로 주행 제어 및 조난자 상태를 모니터링하되,Monitoring the driving control and the state of the victim on the basis of the real-time image received from the camera,
    GPS모듈을 통해 위치좌표를 취득하고, 통신모듈을 통해 원격지에 위치한 관리서버와의 실시간 장거리 통신을 제어하는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.Acquiring position coordinates through a GPS module, and controlling real-time long distance communication with a management server located at a remote place through a communication module.
  4. 제1항에 있어서,The method according to claim 1,
    상기 모터 제어부는,The motor control unit includes:
    정보통신망을 통해 접속된 상기 관리서버로부터 수신한 제어신호에 따라 삭이 모터의 속도 및 구동방향을 제어하는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.Wherein the rope controls the speed and the driving direction of the motor according to a control signal received from the management server connected through the information communication network.
  5. 제1항에 있어서,The method according to claim 1,
    상기 서핑보드는,The surfboard,
    그 저면에 상기 워터젯 추진체와 슬라이드 결합을 위한 돌출부a를 구성하고, 상기 돌출부a에 구비된 원터치 버튼에 의해 상기 워터젯 추진체와 결착되는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.And a protrusion a for sliding engagement with the water jet propellant is formed on the bottom surface of the protrusion a, and the protrusion a is engaged with the water jet propellant by a one-touch button provided on the protrusion a.
  6. 제1항에 있어서,The method according to claim 1,
    상기 워터젯 추진체는,The waterjet propellant comprises:
    상기 후류형 프로펠러와 대향하는 제2 수용부 일면에 추진체 전극을 구성하여 상기 배터리로부터 전원 공급을 상기 모터로 인가하도록 구성되고,And a propellant electrode is formed on one surface of the second accommodating portion facing the next-type propeller so as to apply a power supply from the battery to the motor,
    상기 배터리는,The battery includes:
    상기 돌출부b 일면에 배터리 전극을 구성하여 상기 배터리 몸체에 충전된 전원을 상기 모터로 인가하도록 구성되는 것을 특징으로 하는 워터젯 보드를 이용한 구호 조사용 수상 드론.And a battery electrode is formed on one surface of the protruding portion b so that the power charged in the battery body is applied to the motor by the motor.
  7. 제1항에 있어서,The method according to claim 1,
    상기 에어 캡슐은 CO2 캡슐인 것을 특징으로 하는 구호 조사용 수상 드론.Wherein the air capsule is a CO2 capsule.
PCT/KR2017/013116 2017-08-31 2017-11-17 Water drone for relief examination using waterjet board WO2019045180A1 (en)

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