WO2019103209A1 - Ocean monitoring drone - Google Patents

Abstract

The present invention provides an ocean monitoring drone. The ocean monitoring drone according to the present invention can monitor the occurrence of various kinds of coastal accidents/disasters such as oil-spills/appearance of red tides/appearance of cold pools/appearance of low sodium/ship accidents and conveniently and smoothly diagnose defects of ships/sea structures even by an unmanned aerial small drone, and to this end, provides a motor tilting-based horizontal thrust generation structure so as to extend an activity region for checking various kinds of sea environments and promote the improvement of sea environment flight adaptability since horizontal movement at sea level after landing on the sea is possible, and presents actuator forms of various structures for vertical movement control of a water sampler and a CTD recorder so as to enable seawater collection/seawater state information measurement to be smoothly and easily performed while stably maintaining the flight operation (flight, take-off/landing, posture control) of the drone. The ocean monitoring drone according to the present invention comprises: a body frame (10) for performing unmanned aerial flight over the sea, take-off/landing, and horizontal movement after landing on the sea; a plurality of driving motors (20), which are arranged to be spaced apart from each other at set intervals along the circumferential part of an edge of the body frame (10) and perform tilting operations within a set angle range; a plurality of rotors (30) connected to the respective driving motors (20) and rotating; a battery (40), which is fixed to the body frame (10) so as to be connected to the plurality of driving motors (20), and supplies power to each driving motor (20); a floating body (50) provided on a lower side of the body frame (10) such that the body frame (10) is positioned on the water without sinking into the water; a sea environment detection module (60) provided to the body frame (10) so as to detect sea environment state information; and a controller (70) for controlling aerial flight, take-off/landing, and horizontal movement of the body frame (10) after landing on the sea through rotational operation control and tilting operation control of the driving motors (20).

Description

Drones for marine monitoring

The present invention relates to a drones for marine monitoring, and more particularly,

Oil spill / red tide appearance / cold water field appearance / low salinity appearance / ship accident etc.

Monitoring of accidents / disasters and diagnosis of defects in ships / offshore structures

So that it can be carried out simply and smoothly through a small dron,

A horizontal thrust generating structure based on a motor tilting is provided for a landing

Horizontal movement at sea level is possible.

And to improve the adaptability of navigation to the marine environment.

By proposing actuator structures with various structures for up-and-down motion control of a machine

While the drones' flight (takeoff, takeoff and landing, posture control) remained stable,

Marine to make collection / seawater status information measurement smooth and easy

Monitoring drone.

The drone is an unmanned aerial vehicle that does not require a pilot,

Developed for military purposes to reconnaissance and destroy enemy forces in international disputed areas

Recently, however, the convenience and convenience of transportation and storage

The scope of its use is gradually expanding.

That is, since the drone is relatively light and easy to operate,

In addition to being widely used, wildlife is observed in a wide area

It is used to monitor poaching. We also fly in disaster and disaster areas

We are widening its scope of use to the task of scouting the situation there,

Appearance of red tide / emergence of cold water / low salt appearance / various marine accidents such as ship accident / disaster foot

So as to monitor the life or to diagnose faults in ships or offshore structures.

It is also necessary to broaden its utilization.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems,

A CT / CTD measuring device / thermal imaging camera, and a Wi-Fi communication antenna

/ LoRaWAN (Long Range Wide-Area Network) communication antenna / GPS communication antenna

Oil spill / red tide appearance / cold water table appearance / low salinity appearance /

Monitoring of various types of maritime accidents / disasters such as high altitudes and monitoring of marine / offshore structures

Defect diagnosis can be carried out simply and smoothly through the small drones flying unmanned

For the purpose of providing a new type of marine monitoring drone

do.

In particular, according to the present invention, a vertical driving motor is inclined and tilted,

And the horizontal structure at sea level after sea landing

It is possible to move and expand the area of activity for various marine environment check and marine environmental fortune

A new type of marine monitoring drone that can improve anti-adaptability

The purpose is to serve.

The present invention is for controlling the up and down movement of the water sampler and the CTD measuring device.

By proposing an actuator structure with a simple structure, the drones' flight (flying, takeoff and landing,

And posture control) is stable, the measurement of seawater / seawater status information is smooth

Provides a new type of marine monitoring drone that can be easily

.

According to an aspect of the present invention for achieving the above-mentioned object,

Unmanned aerial flight at sea and horizontal movement after landing or landing

(10); And is set along the periphery of the body frame 10

A plurality of driving motors which are spaced apart from each other at an interval,

A motor 20; Each drive

A plurality of rotor rotating bodies (30) connected to the motor (20) and rotated;

Is fixed to the body frame (10) and connected to a plurality of drive motors (20)

A battery 40 for supplying power to the driving motor 20; On the lower side of the body frame 10

So that the body frame 10 is placed on the water surface without being immersed in water

A float 50; And is installed in the body frame 10 to detect the marine environment status information

A marine environment detection module 60 for detecting the marine environment; The rotation operation control and tilting operation of the drive motor 20

Control of the body frame 10 such as airborne flight, horizontal landing after landing or landing,

And a controller (70) for controlling the movement of the marine mammal

Provides a droning for cutting.

The dron for marine monitoring according to the present invention includes a body frame 10,

A tilting actuator 21 fixed to a set point of a peripheral edge portion of the tilting actuator 21,

Wow; Is integrally coupled to the tilting actuator 21 and is rotated by a set angle,

(22) to which the drive motor (20) is fixed, and the drive motor (20)

The vertically arranged motor shaft is arranged inclined outwardly by the tilting operation

It may be that the horizontal thrust is generated.

In the dron for marine monitoring according to the present invention,

Are formed by a pair of drive motors (20) facing each other at 180 [deg.] Apart angles

The horizontal movement after the landing of the body frame 10 is controlled by the flat thrust force,

It is possible to control the posture of the body frame 10 by the merge drive motor 20

have.

In the dron for marine monitoring according to the present invention,

A pair of float floats (51), which have a streamlined upper front part, are separated from the left and right sides

It is made up of a deployed structure that, when horizontally moved after landing,

It is possible to prevent the lame 10 from falling forward.

In the dron for marine monitoring according to the present invention,

The module 60 receives the set point of the seawater,

(61); Water temperature information,

In the CTD meter 62 for measuring the seawater state information including the salinity information

It can be any one selected.

In the dron for marine monitoring according to the present invention,

A sea water storage tube 611 for collecting and storing the seawater introduced at the time of acquisition; Sea water storage

A pair of plugs 612 disposed at both ends of the tubular body 611 to be opened and closed;

Is disposed in the longitudinal direction inside the sea water storage tube body (611), and both ends of the sea water storage tube body

A spring 613 coupled with the plug 612 to apply an elastic force to each plug 612; year

Is fixed to the outside of the water storage tube 611 and connected to a pair of plugs 612,

The both ends of the tube 611 for storing seawater are opened by the pulling operation with respect to the plug 612

Or both ends of the tube 611 for storing seawater by the pulling-out operation for the plug 612,

And a cap opening / closing derivative (614) for sealing the cap

have.

The drones for marine monitoring according to the present invention can be used for folding and spreading

A link frame 641 in which the vertical length is adjusted by operation and a link frame 641 at the lower end of the link frame 641

A scissors lift assembly (not shown) having a table 642 fixed horizontally

A lift (64) made of a trough and disposed under the body frame (10);

The upper and lower ends are fixed to the table 642 of the body frame 10 and the lift 64

A connection line 651, a connection line 651, a movement arranged in a zigzag pattern

The pulley 652, the fixed pulley 653, the pulley for horizontally moving the movable pulley 652,

And an actuator 654, and is configured so as to include a movable /

So that the folding operation and the unfolding operation of the lift 64 are induced

And a lift drive body 65. By the spreading operation by the lift drive body 65,

A water sampler 61 fixed to the lower portion of the table 642 of the descending lift 64 and a CTD

The measurement of the seawater sampling and seawater state information at the target point set through the measuring instrument 62

While the sea level is collected and the sea level information is measured,

The folding operation by the moving body 65 causes the water sampler 61 and the CTD measuring instrument 62 to move toward the sea surface

So that it can rise.

Alternatively, the dron for marine monitoring according to the present invention comprises a body frame 10,

And a pair of winches 66 spaced apart from each other in the longitudinal direction of the winch 66,

The longitudinally opposite ends of the water sampler 61 and the CTD measuring instrument 62 are fixed to the connecting wire 661

So that the water sampler 61 and the CTD measuring instrument 62 may be moved up and down.

Further, the dron for marine monitoring according to the present invention has a body frame 10,

A pair of lead screws 671 spaced apart from each other in the right direction and a pair of lead screws 671,

And a first moving plate 672 fixed to the nut 6711 and moving up and down,

Screw moving body

(67a); The upper screw moving body 67a has a pair of left and right spaced-

The screw 671 is fixed to the moving nut 6711 of the lead screw 671,

The lower screw moving body 67b constituted by the second moving plate 673,

Screw moving body

The water collector 61 and the CTD measuring instrument 62 are fixed to the second moving plate 673 of the second moving plate 67b

The water sampler 61 and the CTD measuring instrument 62 may be raised or lowered.

According to the marine monitoring drone of the present invention, oil spill /

Occurrence of current / cold water base / Low salinity / Various accidents such as ship accident / disaster

One monitoring and defect diagnosis of the ship / marine structure is a small drone

It is anticipated that it will be performed easily and smoothly. Particularly,

For marine monitoring

According to the drone, the horizontal thrust generation structure based on the motor tilting allows the landing after the landing

It is possible to move horizontally at sea level,

Expansion and adaptation of maritime environment navigation are effective. Also,

According to the drones for marine monitoring, the up and down movement control of the water sampler and the CTD measuring instrument

The actuator configuration of various structures for the drones (flight,

Landing, and posture control) is stable, but sea water sampling /

It is anticipated that the effect can be smoothly and easily performed.

1 is a basic block diagram of a dron for marine monitoring according to the present invention;

2 is an external view of a dron for marine monitoring according to an embodiment of the present invention;

FIG. 3 is a block diagram of a driving motor and a rotor of a dron for marine monitoring according to an embodiment of the present invention.

A view showing that the rotating body is tilted;

4 is a perspective view illustrating a driving motor according to an embodiment of the present invention,

Castle block diagram;

5 is a diagram illustrating a state in which the driving motor and the rotor rotator are tilted according to the embodiment of the present invention

try;

FIG. 6 is a graph showing the horizontal thrust of a dron for marine monitoring according to an embodiment of the present invention.

A view for showing a horizontal movement structure;

FIG. 7 is a schematic diagram of a driving motor arrangement of a dron for marine monitoring according to an embodiment of the present invention; and FIG.

Fig.

8 is an illustration of a float configuration of a dron for marine monitoring according to an embodiment of the present invention.

Degree;

FIG. 9 is a schematic view of a sailboat used in a dron for marine monitoring according to an embodiment of the present invention.

Fig.

10 (a) and 10 (b) are graphs showing the relationship between

A diagram showing a configuration in which a marine environment detection module is fixedly disposed in a float;

FIG. 11 is a graph showing the relationship between the marine environment in a dron for marine monitoring according to an embodiment of the present invention

A diagram for showing a configuration in which the exit module is vertically moved by the scissor lift structure

if;

FIG. 12 is a graph showing the relationship between the marine environment in a dron for marine monitoring according to an embodiment of the present invention

A view for showing a configuration in which an outlet module is vertically moved by a winch;

FIG. 13 is a graph showing the relationship between the marine environment in the dron for marine monitoring according to the embodiment of the present invention

A view showing a configuration in which the outlet module is vertically moved by the lead screw;

FIG. 14 is a graph showing the relationship between a battery current in a dron for marine monitoring according to an embodiment of the present invention

FIG. 8 is a diagram for showing the remaining amount monitoring and notification signal generation / transmission configuration.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings 1 to 14

Will be described in detail. On the other hand, in the drawings and the detailed description, general drones, drive motors,

Rotor rotator, battery, float, tilting actuator, drones posture control, drone hover

Ring, water sampler, CTD meter, scissors lift, winch, lead

Screw, FLIR (forward looking infrared) camera, communication antenna, wi-fi

Communication antenna, LoRaWAN (Long Range Wide-Area Network) communication antenna, GPS communication

Antenna and the like can be easily understood by those skilled in the art.

Are omitted or simplified. In particular,

Which is not directly related to the technical features of the present invention in the detailed description.

A detailed description of the specific technical configuration and operation of the cattle,

Only the technical configuration related to the present invention is omitted,

.

The drones (1) for marine monitoring according to the present invention are, as shown in Fig. 1,

A frame 10, a plurality of drive motors 20, a plurality of rotor revolvers 30, a battery 40,

(50), a marine environment detection module (60), and a controller (70).

Loses.

The body frame 10 can be used for unmanned aerial flight,

The horizontal movement of the body frame 10 is performed,

A number of drive motors 20, a plurality of rotor rotators 30, a battery 40, a float 50,

The environment detection module 60, and the controller 70 are mounted and fixed. The body frame 10 is

As shown in FIG. 2, a plurality of

A plurality of motor mounts 11 to which the drive motor 20 is fixed can be radially formed

have.

The plurality of driving motors 20 are arranged along the circumference of the body frame 10

The driving motors according to the embodiment of the present invention,

The tilting operation is performed in the set angle range as shown in FIG. For this purpose

The drones (1) for marine monitoring according to the present invention are, as shown in Fig. 4,

An actuator 21, and a motor fixing body 22, as shown in Fig.

The tilting actuator 21 is disposed on the peripheral edge portion of the body frame 10

Respectively, and the tilting actuator 21 as described above

A tilting motor may be used. The motor fixing body 22 includes a tilting actuator 21

So that the motor fixing body 22 is rotated by a predetermined angle,

5, it is combined with the connecting pin 211 of the tilting actuator 21 to rotate

. The driving motor 20 is fixed to the motor fixing body 22,

The tilting operation is performed according to the driving of the actuator 21. Here, the driving motor 20 is an up-

While the motor shafts arranged in a straight line are inclined outwardly by the tilting operation

As shown in Fig. 6, the horizontal thrust is generated.

The plurality of rotor rotors 30 are connected to the respective drive motors 20,

All.

The battery 40 is fixed to the body frame 10 and includes a plurality of drive motors 20,

So that power is supplied to each of the driving motors 20.

The float (50) is installed on the lower side of the body frame (10) so that the body frame

In the embodiment of the present invention,

As shown in FIGS. 2 and 8, the float 50 has a front upper stream

And a pair of negative type floats 51 are spaced apart from each other. This

When the drone 1 for marine monitoring according to the present invention is horizontally moved after landing

It is possible to prevent the body frame 10 from falling forward due to the fluid resistance

All.

The controller 70 controls the rotation operation and the tilting operation of the drive motor 20

And the horizontal movement of the body frame 10 after landing or landing

Respectively. Here, the controller 70 according to the embodiment of the present invention is shown in FIG. 7

Which are generated by a pair of drive motors 20 facing each other at the same 180 [deg.]

The lateral movement after the sea landing of the body frame 10 is controlled by the horizontal thrust,

And the posture control of the body frame 10 is performed by the remaining drive motors 20. [

On the other hand, a pair of drive motors used for horizontal movement control after landing of the body frame 10

(20) can be used only when hovering after the posture of the body frame (10) is stabilized

have.

The marine environment detection module 60 is installed in the body frame 10,

Information is detected. In such a marine environment detection module 60,

The water sampler 61 and the CTD meter 62 may be included,

The drilling drill 1 for the metering will have both the water sampler 61 and the CTD measuring instrument 62.

The water sampler 61 is to collect the seawater at the set target point, and the CTD measurement

* The unit 62 is a unit for measuring the seawater state information including the water temperature information and the salinity information

will be.

Here, the water collector 61 may have various configurations,

The illustrated sailor 61 includes a seawater storage tube 611, a pair of plugs 612,

A spring 613, and a cap opening / closing derivative 614.

The sea water storage tube body 611 collects seawater flowing into the water collector 61

The pair of plugs 612 are connected to both ends of the tube 611 for storing seawater,

And is opened and closed.

The spring 613 is disposed in the longitudinal direction inside the vessel 611 for storing seawater

Both ends of the spring 613 are engaged with a pair of plugs 612,

Thereby imparting an elastic force.

The closure opening / closing derivative 614 is fixed outside the sea water storage tube 611,

And is connected to the pair of stoppers 612,

It is possible to open both ends of the tubular body 611 or to release the pull-

So that both ends of the sea water storage tube 611 are sealed. For this purpose,

The configuration of the derivative 614 may be variously implemented, but as shown in FIG. 9

A wire fixing table 6142 which is integrally coupled to the rotary shaft 6141 is disposed obliquely,

A wire 6143 connected to each plug 612 is fixed to the wire fixing table 6142

It can also be made up of sex. In this case, according to the rotation of the rotating shaft 6141,

The opening operation of the plug 612 is performed or the pulling of the plug 612

As the force is reduced, the closing action of the cap 612 is canceled by the elastic restoring force of the spring 613

.

The water collector 61 and the CTD measuring instrument 62 constituting the marine environment detection module 60

Measurements of seawater sampling or seawater status information in contact with or

For this purpose, as shown in FIG. 10 (a), left and right sides of the float 50

A water sampler (61) spaced laterally from the lower end portion of the side type float (51) and a CTD

The measuring instrument 62 can be independently arranged and arranged. 10 (a)

Type float 51 constituting the float 50 as shown in Fig.

A water sampler 61 and a CTD measuring instrument 62 are vertically disposed on the lower side of the cross bar 63 on which the water-

You can also fix it.

On the other hand, as shown in Fig. 11, by the lift 64 and the lift actuator 65,

The hand tool 61 or the CTD measuring device 62 may be moved up and down.

The lift (64) is a link that is vertically adjustable by the folding action and the unfolding action.

And a table 642 fixed horizontally at the lower end of the link frame 641

The body frame 10 has a scissors lift structure.

Respectively.

The lift actuator 65 is mounted on the table 642 of the body frame 10 and the lift 64

A connection line 651 and a connection line 651 to which the upper and lower ends are fixed are passed in a zigzag pattern

The movable pulley 652, the fixed pulley 653, and the movable pulley 652 are arranged horizontally

And a pulley actuator 654 for moving the sheave 654. here

A plurality of moving sheaves 652 are vertically spaced on one side, while a plurality

The fixed pulley 653 is vertically spaced on the other side and fixed to the movable pulley 652

The pulleys 653 are alternately arranged in a zigzag pattern.

The lift actuator 65 is driven by a pulley actuator 654,

It is possible to perform the folding operation and the unfolding operation of the lift 64 in accordance with the forward /

. Here, the forward horizontal movement of the moving pulley 652 is transmitted to the fixed pulley 653,

Movement to move away from the fixed pulley 653,

The backward horizontal movement of the pulley 652 increases the separation distance from the fixed pulley 653

It is movement. When the moving pulley 652 is moved horizontally horizontally, the moving sheave 652 and the high-

As the distance between the pads 653 is narrowed, the connection line 651 is elongated

Accordingly, the lower table 642 to which the connection line 651 is fixed is lowered

The unfolding operation of the lift 64 is induced. In the above-described lift actuator 65,

And is fixed to the lower portion of the table 642 of the lift 64,

The seawater sampling at the target point set by the water sampler 61 and the CTD measuring instrument 62,

The measurement of the sea water condition information is performed, and when the sea water collection and the measurement of the sea water condition information are completed

The folding operation by the lift driving body 65 causes the water sampler 61 and the CTD measuring instrument 62 to

It will rise from the surface of the water.

As shown in FIG. 12, the winch 66 is connected to the water sampler 61,

(62) may move up and down.

A pair of winches (66) are fixed to the body frame (10) in the longitudinal direction

And the connecting wire 661 of each winch 66 is connected to the water sampler 61 and the CTD measuring instrument 62

Both ends in the longitudinal direction are fixed and are raised and lowered. Of course, the number of winches (66)

But not limited to, one or more various numbers of winches 66

.

13, by the lead screw 671, the water sampler 61 or the CTD

The meter 62 may be moved up and down. For this purpose,

The monitoring drill 1 has an upper screw moving body 67a and a lower screw moving body 67b,

.

The upper screw moving body 67a is spaced laterally from the body frame 10

A pair of lead screws 671 to be fixed, a moving nut 6711 of the lead screw 671,

And a first moving plate 672 that moves up and down. Move bottom screw

The body 67b has a pair of upper and lower screw moving bodies 67a,

The lead screw 671 is fixed to the moving nut 6711 of the lead screw 671,

And a second moving plate 673 for moving the second moving plate 673. Here, the lead screw 671

When the screw 6712 is rotated by the motor 6713,

And the nut 6711 moves up and down.

The dron 1 for marine monitoring according to the present invention has a lower screw

The water collector 61 and the CTD measuring instrument 62 are fixed to the second moving plate 673 of the moving body 67b

So that the water sampler 61 and the CTD measuring instrument 62 can be moved up and down.

Here, the dron 1 for marine monitoring according to the present invention comprises a lead screw

A ball screw 6712 may be used instead of the ball screw 671,

It is possible to provide a screw moving body having a single-stage structure or a multi-stage structure having three or more stages

There is also.

The drones 1 for marine monitoring according to the present invention are shown in Figs. 2 and 14

A forward looking infrared (FLIR) thermal imager 80

A communication antenna 90 may be provided.

The FLIR thermal imager 80 is fixed to the body frame 10,

Crack detection of ships and marine structures through image shooting and image analysis, distribution of red tide biodiversity

Observation and so on.

The communication antenna 90 is fixed to the body frame 10 and includes a wi-fi communication antenna

Tena 91, a LoRaWAN (Long Range Wide-Area Network) communication antenna 92, a GPS receiver

And one or more antennas selected from the group of the new antennas 93.

Meanwhile, the controller 70 according to the embodiment of the present invention may be configured as shown in FIG. 14,

The present remaining amount information of the battery 40 is detected, and when the present remaining amount of the battery 40 is less than the reference value

, It is possible to generate a notification signal. When the notification signal is generated, the communication antenna 90

And informs the current position information confirmed in real time via the provided GPS communication antenna 93

Signal to the outside. Thus, the battery consumption of the drone 1

Ensure that appropriate action is taken at the Drones Control Center.

The drones for marine monitoring according to the embodiment of the present invention,

(1) includes a water sampler (61), a CTD measuring device (62), and a thermal imaging camera (80)

On the other hand, the wi-fi communication antenna 91, the LoRaWAN communication antenna 92, the GPS communication antenna 93,

Etc., so that oil spill / red tide appearance / cold water table appearance / low salinity appearance / line

Monitoring of maritime accidents / disasters such as night accidents and ship / maritime structures

Defect diagnosis of water can be easily and smoothly through a small dragon flying unmanned

. Particularly, for the monitoring of marine according to the embodiment of the present invention

In the drone 1, the vertically disposed drive motor 20 is inclined and tilted to generate a horizontal thrust

The horizontal movement at sea level after sea landing is

The expansion of the activity area for various marine environment check and adaptation

The improvement can be promoted. In addition, according to the embodiment of the present invention,

The ring drones 1 are for the vertical movement control of the water sampler 61 and the CTD measuring instrument 62

By proposing an actuator structure with a simple structure, the drones' flight (flying, takeoff and landing,

And posture control) is stable, the measurement of seawater / seawater status information is smooth

And can be easily performed.

As described above, the drones for marine monitoring according to the embodiment of the present invention

Have been illustrated in accordance with the above description and drawings,

It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit of the invention

And variations are possible in light of the above teachings.

.

Most of the studies on marine environmental monitoring are mostly about the collection of environmental changes on the surface of marine water. The production cost of monitoring system for these studies is high and the installation site is limited, so marine environmental data collected is very limited. By utilizing Smart Ocean Drone, it is possible to acquire marine environmental data of various places from time to time beyond the limitation of installation site.

Especially in the industry, damage is caused almost every year in the farms in Korea as a red tide. In Korea, however, research on the biological responses of the physiological characteristics and environmental changes of the red tide creatures is mainly performed. There is still a lack of research on various automation methods such as monitoring and prediction of red tide according to domestic marine environment and fisheries environment. Using smart ocean dron for hazardous red tide monitoring can contribute greatly to prevention of fisheries damage

1: Drones for marine monitoring

10: Body frame

11: Motor mount

20: Driving motor

21: Actuator for tilting

211: connecting pin

22: Motor stator

30: Rotor rotor

40: Battery

50: float

51: Float type float

60: Marine environment detection module

61: Sewage

611: Tubes for storing seawater

612: Plug

613: spring

614: Opening / Closing Derivatives

6141:

6142: Wire fixture

6143: Wire

62: CTD meter

63: Crossbar

64: Lift

641: Link frame

642: Table

65: Lift drive body

651: Connection line

652: Movable pulley

653: Fixed pulley

654: Pulley actuator

66: Winch

661: Connecting wire

67a: Upper screw moving body

67b: Lower screw moving body

671: Lead Screw

6711: Moving nut

6712: Screw

6713: Motor

672: first moving plate

673: second moving plate

70: controller

80: FLIR thermal imaging camera

90: Communication antenna

91: wi-fi communication antenna

92: LoRaWAN communication antenna

93: GPS communication antenna

Claims (9)

Unmanned aerial flight at sea and horizontal movement after landing or landing (10); Are spaced apart at a predetermined interval along the periphery of the body frame 10, A plurality of drive motors (20) that are operated in a tilting operation in the full-angle range; A plurality of rotor rotors 30 connected to the respective drive motors 20 and rotated; A plurality of driving motors 20 fixed to the body frame 10, (40) for supplying power to the battery (20); The body frame 10 is installed below the body frame 10, A float (50) to be positioned on the surface; And is provided on the body frame 10 to detect the marine environment condition information An output module 60; The rotation of the body frame 10 is controlled by controlling the rotational motion of the drive motor 20 and the tilting motion of the body frame 10 Controlling horizontal movement after airborne and takeoff and landing And a controller (70). The method according to claim 1, And a tilting member (not shown) which is fixed at a set point on the peripheral edge portion of the body frame 10 An actuator 21; And is integrally coupled to the tilting actuator 21 so as to be rotated by a set angle A motor fixing body 22 is provided on which the driving motor 20 is fixed, The driving motor 20 is configured such that the motor shaft disposed vertically upward is tilted outwardly Characterized in that the horizontal thrust is generated while being inclined Monitoring drone. The method according to claim 1, The controller 70 is driven by a pair of drive motors 20 facing each other at a 180 degree angle The generated horizontal thrust forces the horizontal movement after the landing of the body frame 10 to be controlled  And the posture control of the body frame 10 is performed by the remaining drive motor 20 Wherein the drones are connected to the drones. The method according to claim 1, The float (50) has a pair of float floats (51) And a right-side spaced- During horizontal landing after landing, the body frame (10) Thereby preventing the lag phenomenon. The method according to claim 1, The marine environment detection module (60) A water sampler (61) for sampling seawater at the set target point; Water temperature information, salinity information And the CTD meter 62, which is to measure the seawater state information, A drones for marine monitoring characterized in that 6. The method of claim 5, The water sampler (61) A sea water storage tube 611 for collecting and storing the seawater introduced at the time of acquisition; A pair of stoppers (not shown) disposed at both ends of the sea water storage tube 611 for opening / (612); And is disposed in the longitudinal direction inside the sea water storage tube 611, A spring 613 coupled to the stopper 612 to apply an elastic force to each stopper 612; And is connected to a pair of plugs 612 fixed outside the sea water storage tube 611, The both ends of the sea water storage tube 611 are opened by the pulling operation with respect to the water tank 612 And the both ends of the body 611 for storing seawater by the pulling-out operation for the plug 612 And a closure opening / closing derivative 614 for sealing Marine monitoring drones. 6. The method of claim 5, With a link frame 641 whose upper and lower lengths are adjusted by folding and unfolding operations and a table 642 fixed horizontally at the lower end of the link frame 641. [ a lift 64 disposed under the body frame 10 and having a lift structure; The upper and lower ends of which are fixed to the table 642 of the body frame 10 and the lift 64, (651), a connection line (651) arranged in a zigzag pattern A fixed pulley 653, a fixed pulley 653, and a movable pulley 652, And an actuator 654. The movable sheave 652 is composed of a fixed / A leaf that allows the folding and unfolding operation of the lift 64 to be induced in accordance with the horizontal movement And a driving body 65, The table 642 of the lift 64 descending due to the unfolding operation by the lift driving body 65, The water level of the target point set through the water sampler 61 fixed to the lower portion and the CTD meter 62 And the measurement of seawater status information is performed, while the sea water sampling and seawater Upon completion of the measurement of the state information, the folding operation by the lift actuator 65 causes the water sampler 61 And the CTD meter 62 is raised from the sea surface. Monitoring drone. 6. The method of claim 5, And a pair of winches 66 spaced apart from each other in the longitudinal direction on the body frame 10, The connecting wire 661 of each winch 66 is connected to the water drawer 61 and the CTD measuring device 62 in the longitudinal direction Both ends are fixed and the water collector 61 and the CTD measuring device 62 are raised and lowered Drones for marine monitoring. 6. The method of claim 5, A pair of lead screws 671 spaced apart from each other in the lateral direction on the body frame 10, A first moving plate 672 fixed to the moving nut 6711 of the screw 671 and moving up and down, An upper screw moving body 67a constituted by the upper screw moving body 67a; A pair of lead screws which are fixed to the upper screw moving body 67a in a spaced- A second screw 671 fixed to the moving nut 6711 of the lead screw 671 and moving up and down, And a lower screw moving body 67b composed of a copper plate 673, The second moving plate 673 of the lower screw moving body 67b is provided with the water collector 61 and the CTD measuring instrument 62, And the water sampler 61 and the CTD measuring instrument 62 are raised and lowered Drones for marine monitoring.

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