Underwater drift tracking system based on marine positioning platform

Abstract

An underwater drift tracking system based on a marine positioning platform is disclosed. The underwater drift tracking system based on a marine positioning platform includes a plurality of underwater drifting objects that emit sonic signals including their own water depth information using sonic communication while drifting in the water, and a marine drift tracker that moves on the sea by its own power, receives the sonic signals emitted from the plurality of underwater drifting objects, and calculates absolute position information of the plurality of underwater drifting objects using the received sonic signals to track the real-time underwater positions of the underwater drifting objects.

Description

[Technical field]

[0001] The present invention relates to a marine positioning platform based underwater drift tracking system. [Background technology]

[0002] In recent years, with the development of marine technology, there has been an increase in marine work, such as marine ecosystem surveys, undersea base construction, etc. In addition to the increase in marine work, the continuous increase in marine trade has led to a continuous increase in marine accidents, such as ship sinkings and oil spills.

[0003] When such an accident occurs at sea, it is necessary to take prompt action to save lives and prevent the accident from spreading. A large part of the construction and search carried out to quickly respond to an accident at sea is done manually, and the harsh marine environment makes it very difficult for the workers. In particular, the nature of ocean currents changes due to various factors, and workers must carry out their work while overcoming these ever-changing ocean currents.

[0004] Therefore, accurate information about ocean currents is necessary to make offshore operations safe, fast and efficient. Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention provides an underwater drift tracking system based on a marine positioning platform for tracking the drift of multiple underwater drifting objects in order to simulate the movement and diffusion of underwater pollutants. [Means for solving the problem]

[0006] According to one aspect of the present invention, a marine positioning platform based underwater drift tracking system is disclosed.

[0007] An underwater drift tracking system based on a marine positioning platform according to an embodiment of the present invention includes a plurality of underwater drifting objects that emit sonic signals including their own water depth information using sonic communication while drifting in water, and a marine drift tracking device that moves on the sea by its own power, receives the sonic signals emitted from the plurality of underwater drifting objects, and calculates absolute position information of the plurality of underwater drifting objects using the received sonic signals, thereby tracking real-time underwater positions of the plurality of underwater drifting objects.

[0008] The plurality of underwater drifting objects each include a power supply unit, a depth sensor unit for measuring water depth, and a sound wave emitting unit for emitting a sound wave signal including information relating to the water depth and the voltage of the power supply unit.

[0009] The marine drifting tracking device includes a propulsion unit that generates propulsion force, a launching unit that has a storage unit in which spare underwater drifting objects are stored and launches the spare underwater drifting objects in water, a communication unit that communicates with an external device via a marine communication network, a GPS receiving unit that receives a GPS signal and generates absolute position information of the marine drifting tracking device, a sonic tracking unit that is provided at the bottom of the marine drifting tracking device and receives the transmitted sonic signal, and a control unit that calculates absolute position information of the multiple underwater drifting objects using the absolute position information of the marine drifting tracking device, the sonic signal, and the water depth.

[0010] The control unit checks the voltage information contained in the received sonic signal, and if the voltage of the confirmed underwater drifting object is below a preset minimum voltage value, controls the launch unit to launch the spare underwater drifting object from the storage unit into the water.

[0011] The spare underwater drifting object is equipped with a buoyancy tank for adjusting buoyancy, and the control unit controls the launching unit to inject water into the buoyancy tank so that the spare underwater drifting object has a buoyancy that positions it in a preset water depth range.

[0012] The control unit measures a level of the received sonic signal, and if the measured level is equal to or lower than a preset minimum level, controls the propulsion unit to generate a propulsive force to move the marine drift tracking device to a preset close distance range of the underwater drifting object.

[0013] The control unit calculates absolute position information of the multiple underwater drifting objects using the following formula.

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[0014] The control unit calculates the absolute position coordinates of the multiple underwater drifting objects using the following formula.

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[0015] The underwater drift tracking system based on a marine positioning platform according to an embodiment of the present invention can track the drift of multiple underwater drifting objects to simulate the movement and diffusion of underwater pollutants. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating a schematic configuration of a marine positioning platform-based underwater drift tracking system according to an embodiment of the present invention; [Diagram 2]1 is a diagram illustrating a schematic configuration of an underwater drift object according to an embodiment of the present invention; [Diagram 3] 1 is a diagram illustrating a schematic configuration of a marine drift tracking device according to an embodiment of the present invention; [Figure 4-6] 2 is a diagram for explaining the operation of a marine positioning platform-based underwater drift tracking system according to an embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] As used herein, singular expressions include plural expressions unless otherwise clearly indicated in the context. In this specification, terms such as "comprise" or "include" should not be interpreted as including all of the components or steps described in the specification, but should be interpreted as including some of the components or some of the steps, or including additional components or steps. In addition, terms such as "unit," "module," and the like described in the specification mean a unit that processes at least one function or operation, which may be implemented in hardware or software, or may be implemented in a combination of hardware and software.

[0018] Various embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0019] Fig. 1 is a diagram showing a schematic configuration of an underwater drifting tracking system based on a marine positioning platform according to an embodiment of the present invention, Fig. 2 is a diagram showing a schematic configuration of an underwater drifting object according to an embodiment of the present invention, Fig. 3 is a diagram showing a schematic configuration of a marine drifting tracking device according to an embodiment of the present invention, and Figs. 4 to 6 are diagrams for explaining the operation of the underwater drifting tracking system based on a marine positioning platform according to an embodiment of the present invention. Hereinafter, the underwater drifting tracking system based on a marine positioning platform according to an embodiment of the present invention will be described mainly with reference to Fig. 1, and Figs. 2 to 6 will be referred to.

[0020] Referring to FIG. 1, a marine positioning platform-based underwater drift tracking system according to an embodiment of the present invention can be configured to include a plurality of underwater drifting objects 100, a marine drift tracking device 200, and a management server 300.

[0021] The underwater drifting objects 100 are objects that drift according to the water current while submerged. For example, the underwater drifting objects 100 may have a buoyancy set so as to move according to the ocean current in a preset water depth range. For this purpose, the underwater drifting objects 100 may be provided with a buoyancy tank for adjusting the buoyancy. That is, water may be injected into the buoyancy tank so that the underwater drifting objects 100 have a buoyancy that positions them in a preset water depth range.

[0022] In addition, the underwater drifting objects 100 transmit sonic signals including their own water depth information using sonic communication while drifting in the water.

[0023] That is, referring to FIG. 2, the underwater drift object 100 may be configured to include a power supply unit 110, a water depth sensor unit 120, and a sound wave emitting unit .

[0024] The power supply unit 110 supplies driving power for the underwater drift object 100. For example, the power supply unit 110 can be configured to include a lightweight battery.

[0025] The water depth sensor unit 120 measures the water depth at which the underwater drifting object 100 is located in water. For example, the water depth sensor unit 120 can measure water pressure and convert the measured water pressure into water depth using a preset algorithm.

[0026] The sonic wave transmitter 130 transmits a sonic signal including information preset for sonic communication. That is, the sonic wave transmitter 130 may transmit a sonic signal including water depth information of the underwater drifting object 100 measured by the water depth sensor unit 120. The sonic wave transmitter 130 may also transmit a sonic signal including measured voltage information of the power supply unit 110. To this end, the power supply unit 110 may include a voltage sensor (not shown) for measuring an internal voltage.

[0027] The marine drift tracking aircraft 200 moves on the sea surface under its own power and communicates with a plurality of underwater drifting objects 100 drifting in the water by sonic waves.

[0028] In other words, the marine drifting tracking device 200 receives acoustic signals from multiple underwater drifting objects 100 drifting underwater, and calculates absolute position information of the multiple underwater drifting objects 100 using the received acoustic signals, thereby tracking the real-time underwater position of each underwater drifting object 100.

[0029] That is, referring to FIG. 3, the marine drift tracking device 200 may be configured to include a power supply unit 210, a propulsion unit 220, a launching unit 230, a communication unit 240, a GPS receiving unit 250, an acoustic tracking unit 260, and a control unit 270.

[0030] The power supply unit 210 supplies power for driving the marine drift tracking device 200. For example, the power supply unit 210 can be configured to include a lightweight battery.

[0031] The propulsion unit 220 is installed at the bottom of the marine drift tracking device 200 as a self-power source for the marine drift tracking device 200 to move on the sea, and generates a propulsive force.

[0032] For example, when the level of the acoustic signal emitted by the underwater drifting object 100 in acoustic communication with the marine drifting tracking device 200 falls below a preset minimum level, the propulsion unit 220 can generate a propulsive force so that the marine drifting tracking device 200 moves to a preset proximity distance area of ​​the corresponding underwater drifting object 100 under the control of the control unit 270.

[0033] The launching unit 230 includes a storage unit 231 in which the spare underwater drifting object 100 is stored, as shown in Fig. 4, and serves to launch the spare underwater drifting object 100 stored in the storage unit 231 into water under the control of the control unit 270. The launching unit 230 may also include a water supply module 232 for injecting water into the buoyancy tank 150 of the spare underwater drifting object 100 stored in the storage unit 231. That is, before the spare underwater drifting object 100 is launched into water, water can be injected into the buoyancy tank 150 so that the spare underwater drifting object 100 has a buoyancy that positions it in a preset water depth range. Here, the water supply module 232 may be configured to include a pump (not shown) for drawing up seawater to be supplied to the buoyancy tank 150.

[0034] For example, when the voltage of the underwater drifting object 100 in ultrasonic communication with the marine drift tracking device 200 drops below a preset minimum voltage value, the launching unit 230 can launch the spare underwater drifting object 100 into the water from the storage unit 231 under the control of the control unit 270.

[0035] The communication unit 240 communicates with external devices via a marine communication network such as LTE-Maritime.

[0036] For example, the communication unit 240 can communicate with a management server 300 that manages a plurality of underwater drifting objects 100 and a marine drifting tracking device 200 as shown in Fig. 1. Here, the communication unit 240 can transfer real-time position information of the plurality of underwater drifting objects 100 to the management server 300. The management server 300 can collect the position information of the plurality of underwater drifting objects 100 received from the communication unit 240 in real time, and can simulate the movement and diffusion of underwater pollutants using the collected real-time position information.

[0037] The GPS receiver 250 receives GPS signals from a plurality of GPS satellites and generates absolute position information for the marine drift tracking device 200 .

[0038] The sonic tracking unit 260 is installed at the bottom of the marine drift tracking device 200 and receives sonic signals emitted from a plurality of underwater drifting objects 100. That is, the sonic tracking unit 260 can receive sonic signals including water depth information and voltage information of the underwater drifting object 100 emitted from the sonic emitting unit 130 of the underwater drifting object 100.

[0039] The control unit 270 generally controls the overall operation of the marine drift tracking aircraft 200 .

[0040] That is, the control unit 270 checks the voltage information contained in the sound wave signal received from the underwater drifting object 100, and if the confirmed voltage of the underwater drifting object 100 is below a preset minimum voltage value, the launching unit 230 can control the storage unit 231 to launch the spare underwater drifting object 100 into the water.

[0041] At this time, the control unit 270 can control the launching unit 230 to inject water into the buoyancy tank 150 of the spare underwater drifting object 100 using the water supply module 232 so that the spare underwater drifting object 100 has buoyancy to position it in a preset water depth range, and then launch the spare underwater drifting object 100 into the water from the storage unit 231.

[0042] In addition, the control unit 270 measures the level (e.g., received signal strength) of the sound signal received from the underwater drifting object 100, and if the measured level is below a preset minimum level, it can control the propulsion unit 220 to generate a propulsive force so that the marine drift tracking device 200 moves to a preset close distance area of ​​the corresponding underwater drifting object 100.

[0043] In particular, the control unit 270 calculates absolute position information of the multiple underwater drifting objects 100 using the sound wave signal including the water depth information of the underwater drifting objects 100 .

[0044] That is, the control unit 270 calculates distance information and direction information for the underwater drifting object 100 that transmitted the sound signal by receiving the sound signal, and can calculate absolute position information of the underwater drifting object 100 using the calculated distance information and direction information as well as the water depth information of the underwater drifting object 100 contained in the sound signal.

[0045] A method for calculating the absolute position information of the underwater drifting object 100 will be described below with reference to FIGS.

[0046] As shown in Figures 5 and 6, assuming that the absolute position coordinates of the marine drift tracking device 200 generated by the GPS receiver 250 are (x, y, z) and the absolute position coordinates of the underwater drifting object 100 are (x', y', z'), the absolute position of the underwater drifting object 100 can be expressed by the following formula.

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[0047] The distance information and direction information of the underwater drifting object 100 calculated by receiving the sound wave signal are expressed as a straight-line distance L from the marine drift tracking device 200 to the underwater drifting object 100 as shown in FIG. 5 and FIG. 6, respectively. Z and the direction angle θ of the underwater drifting object 100 based on the position of the marine drift tracking aircraft 200.

[0048] Referring to FIG. 5, the horizontal distance L from the marine drift tracking device 200 to the underwater drifting object 100 H can be calculated using the following mathematical formula:

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[0049] Therefore, referring to FIG. 6, the absolute position of the underwater drifting object 100 can be calculated by the following formula.

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[0050] On the other hand, the components of the above-mentioned embodiment can be easily understood from a process perspective. That is, each component can be understood as a process. Furthermore, the process of the above-mentioned embodiment can be easily understood from the viewpoint of the components of the device.

[0051] Furthermore, the technical contents described above may be embodied in the form of program instructions that can be executed via various computer means and recorded on a computer-readable medium. The computer-readable medium may include, alone or in combination, program instructions, data files, data structures, and the like. The program instructions recorded on the medium may be specially designed and configured for the embodiments, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include hardware devices specially configured to store and execute program instructions, such as magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as optical disks, read only memory (ROM), random access memory (RAM), and flash memory. Examples of program instructions include not only machine language code, such as produced by a compiler, but also high-level language code that can be executed by a computer using an interpreter, or the like. A hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0052] The above-described embodiments of the present invention have been disclosed for illustrative purposes, and those skilled in the art having ordinary skill in the art may make various modifications, changes, and additions within the spirit and scope of the present invention. These modifications and additions should be considered as falling within the scope of the following claims.

Claims

1. In an underwater drift tracking system based on a marine positioning platform, A plurality of underwater drifting objects that transmit sonic signals including their own water depth information by using sonic communication while drifting in the water; and a marine drifting tracker that moves on the sea by its own power, receives the acoustic signals emitted from the plurality of underwater drifting objects, and calculates absolute position information of the plurality of underwater drifting objects using the received acoustic signals, thereby tracking the real-time underwater positions of the plurality of underwater drifting objects.

2. The plurality of underwater drifting objects include A power supply unit; A water depth sensor unit for measuring water depth; 2. The marine positioning platform-based underwater drift tracking system according to claim 1, further comprising: a sonic transmitter for transmitting a sonic signal including information regarding the water depth and the voltage of the power supply unit.

3. The marine drift tracking aircraft includes: A propulsion unit that generates a propulsive force; a storage unit for storing a spare underwater drifting object and a launching unit for launching the spare underwater drifting object in water; A communication unit that communicates with an external device via a marine communication network; A GPS receiver that receives a GPS signal and generates absolute position information of the marine drift tracking device; a sonic tracking unit provided at a lower portion of the marine drift tracking aircraft for receiving the transmitted sonic signal; The marine positioning platform-based underwater drift tracking system according to claim 2, further comprising a control unit that calculates absolute position information of the plurality of underwater drifting objects using absolute position information of the marine drift tracking device, the acoustic signal, and the water depth.

4. The control unit checks voltage information contained in the received sonic signal, and if the voltage of the confirmed underwater drifting object is equal to or lower than a preset minimum voltage value, controls the launching unit to launch the spare underwater drifting object from the storage unit into the water.

5. The spare underwater drifting object is provided with a buoyancy tank for adjusting buoyancy, 5. The marine positioning platform-based underwater drift tracking system of claim 4, wherein the control unit controls the launching unit to inject water into the buoyancy tank so that the auxiliary underwater drifting object has a buoyancy that positions the auxiliary underwater drifting object in a preset water depth range.

6. The control unit measures a level of the received acoustic signal, and when the measured level is equal to or lower than a preset minimum level, controls the propulsion unit to generate a propulsive force to move the marine drift tracking device to a preset close distance range of the underwater drifting object.

7. The marine positioning platform-based underwater drift tracking system according to claim 3 , wherein the control unit calculates absolute position information of the plurality of underwater drifting objects using the following formula: [0010] Here, (x', y', z') are the absolute position coordinates of the underwater drifting object, (x, y, z) are the absolute position coordinates of the marine drifting tracking device, Δx and Δy are the distances between the marine drifting tracking device and the underwater drifting object on the x-axis and y-axis, respectively, and Δz is the water depth of the underwater drifting object.

8. The marine positioning platform-based underwater drift tracking system according to claim 7, wherein the control unit calculates absolute position coordinates of the plurality of underwater drifting objects using the following formula: [0025] Here, L Ｚ is the straight-line distance from the sea drifting tracking aircraft to the underwater drifting object, θ is the direction angle of the underwater drifting object based on the position of the sea drifting tracking aircraft, and L Ｈ is the horizontal distance from the sea drift tracking aircraft to the underwater drifting object.

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