Sonar-equipped underwater exploration helmet and operating method therefor

Abstract

A sonar-equipped underwater exploration helmet and an operating method therefor are disclosed. The present invention comprises: a sonar module using sound waves to detect the surroundings of a user, thereby generating sonar images; a sonar image output module for outputting, in real time, the sonar images generated by the sonar module; a video camera module for generating video data in real time; a GPS module for generating GPS position information in real time; and a GPS signal wireless transmission module for generating, in real time, a GPS wireless signal that includes the GPS position information generated in real time by the GPS module, and transmitting, in real time, the GPS wireless signal generated in real time. According to the described sonar-equipped underwater exploration helmet and operation method therefor, sonar can be equipped in an underwater exploration helmet such that exploration can be performed using sonar images, and thus adjacent obstacles can be accurately detected even in highly turbid water.

Description

Sonar-equipped underwater exploration helmet and its operating method

[0001] The present invention relates to an underwater exploration helmet and an operating method thereof, and more particularly, to an underwater exploration helmet equipped with a sonar and an operating method thereof.

[0002] Divers explore underwater, equipped with air tanks and diving computers. These underwater explorations are often used for various tasks, such as rescue operations, underwater structure inspections, and underwater structure construction.

[0003] These underwater exploration operations must also be carried out in waters with high turbidity.

[0004] However, in water with high turbidity, it is difficult to secure visibility in front of the eyes, making it difficult to conduct high-difficulty exploration work, let alone swim underwater.

[0005] Accordingly, there is a need for a means to secure visibility and enable convenient swimming and underwater exploration even in water with high turbidity and poor visibility.

[0006] Meanwhile, in water with high turbidity, it is difficult to even check the dive computer with the naked eye.

[0007] Accordingly, a means to visually check the dive computer is also required.

[0008] Divers explore underwater, equipped with air tanks and diving computers. These underwater explorations are often used for various tasks, such as rescue operations, underwater structure inspections, and underwater structure construction.

[0009] These underwater exploration operations must also be carried out in waters with high turbidity.

[0010] However, in water with high turbidity, it is difficult to secure visibility in front of the eyes, making it difficult to conduct high-difficulty exploration work, let alone swim underwater.

[0011] Accordingly, there is a need for a means to secure visibility and enable convenient swimming and underwater exploration even in water with high turbidity and poor visibility.

[0012] Meanwhile, in water with high turbidity, it is difficult to even check the dive computer with the naked eye.

[0013] Accordingly, a means to visually check the dive computer is also required.

[0014]

[0015] An object of the present invention is to provide a sonar-equipped underwater exploration helmet.

[0016] Another object of the present invention is to provide a method of operating a sonar-equipped underwater exploration helmet.

[0017] The underwater exploration helmet equipped with a sonar according to the purpose of the present invention described above may be configured to include a sonar module that detects the user's surroundings using sound waves and generates a sonar image; and a sonar image output module that outputs the sonar image generated by the sonar module in real time.

[0018] Here, it can be configured to further include a video camera module that generates video data in real time.

[0019] And it can be configured to further include a GPS module that generates GPS location information in real time.

[0020] And it may be configured to further include a GPS signal wireless transmission module that generates a GPS wireless signal including GPS location information generated in real time by the GPS module in real time and transmits the GPS wireless signal generated in real time.

[0021] The method of operating a sonar-equipped underwater exploration helmet according to another purpose of the present invention described above may be configured to include a step in which a sonar module detects the user's surroundings using sound waves to generate a sonar image; and a step in which a sonar image output module outputs the sonar image generated by the sonar module in real time.

[0022] Here, the GPS module may be configured to further include a step of generating GPS location information in real time; and a step of transmitting a GPS signal wirelessly, in real time, a GPS wireless signal including the GPS location information generated in real time by the GPS module.

[0023] According to the above-described sonar-equipped underwater exploration helmet and its operating method, the underwater exploration helmet is configured to be equipped with a sonar and to enable exploration using sonar images, thereby enabling accurate detection of surrounding obstacles even in water with high turbidity.

[0024] FIG. 1 is a block diagram of a sonar-equipped underwater exploration helmet according to one embodiment of the present invention.

[0025] FIG. 2 is a perspective view of a sonar-equipped underwater exploration helmet according to one embodiment of the present invention.

[0026] FIG. 3 is a left side view / right side view of a sonar-equipped underwater exploration helmet according to one embodiment of the present invention.

[0027] FIG. 4 is a front / back view of an XR display according to one embodiment of the present invention.

[0028] FIG. 5 is a flowchart of an operating method of a sonar-equipped underwater exploration helmet according to one embodiment of the present invention.

[0029] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and detailed descriptions of specific embodiments for carrying out the invention are provided. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Throughout the description of each drawing, similar reference numerals have been used to designate similar components.

[0030] Terms such as first, second, A, and B may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term "and / or" includes a combination of multiple related items described herein or any of multiple related items described herein.

[0031] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0032] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0033] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0034] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

[0035] FIG. 1 is a block diagram of a sonar-equipped underwater exploration helmet according to an embodiment of the present invention. FIG. 2 is a perspective view of a sonar-equipped underwater exploration helmet according to an embodiment of the present invention, FIG. 3 is a left side view / right side view of a sonar-equipped underwater exploration helmet according to an embodiment of the present invention, and FIG. 4 is a front view / back view of an XR display according to an embodiment of the present invention.

[0036] First, referring to FIG. 1, a sonar-equipped underwater exploration helmet (100) according to an embodiment of the present invention includes a sonar module (101), a sonar image output module (102), a 3D sonar map generation module (103), a 3D sonar map storage module (104), a 3D acceleration sensor (105), a gaze angle tracking module (106), a 3D sonar map output module (107), a sonar automatic control module (108), a diving computer data reception module (109), a diving computer data output module (110), a transmitter data reception module (111), a transmitter data output module (112), an XR (extended reality) execution module (113), an XR display (114), a surrounding obstacle detection module (115), a 3D audio stereo mixing module (116), a diving computer data voice output control module (117), a transmitter data voice output control module (118), It may be configured to include an ascent rate calculation module (119), an ascent rate guidance module (120), a bone conduction earphone module (121), a BCD dry suit (buoyancy control device dry suit) automatic blocking module (122), a video camera module (123), a GPS module (124), a GPS signal wireless transmission module (125), a current 3D position estimation module (126), a current position addition module (127), a video storage module (128), a video transmission module (129), and a battery module (130).

[0037] Below, the detailed configuration is explained.

[0038] The sonar module (101) may be configured to detect the user's surroundings using sound waves and generate sonar images. Here, the sonar module (101) may be mounted on the upper front portion of the outer surface of a sonar-equipped underwater exploration helmet (100), as shown in FIGS. 2 and 3. At this time, two sonar modules (101) may be provided.

[0039] In the case of sonar images, they can basically be created as two-dimensional images, but if at least two sonar modules (101) are installed, depth information can be derived from the sonar images to create three-dimensional sonar images.

[0040] The sonar image output module (102) can be configured to output the sonar image generated by the sonar module (101) in real time.

[0041] The 3D sonar map generation module (103) can be configured to generate and update a 3D sonar map of the surroundings in real time using sonar images output in real time from the sonar image output module (102).

[0042] When a 3D sonar image is generated using at least two sonar modules (101), a 3D sonar map can be generated by synthesizing 3D sonar images around the user based on the user's current viewing direction. In addition, the 3D sonar map can be updated by changing based on the current location whenever the user's current underwater location slightly changes.

[0043] The 3D sonar map storage module (104) can be configured to store a 3D sonar map generated and updated in real time by the 3D sonar map generation module (103).

[0044] The 3D acceleration sensor (105) can be configured to detect 3D acceleration in real time. The viewing direction of the sonar-equipped underwater exploration helmet (100) or the user's movement direction can be detected by the 3D acceleration sensor.

[0045] The gaze angle tracking module (106) can be configured to track the user's gaze angle in real time by 3D acceleration detected in real time by the 3D acceleration sensor (105). Even if the user's current position does not change, the gaze angle can change by turning the head or exploring up or down.

[0046] The 3D sonar map output module (107) can be configured to output in real time a 3D sonar map stored in the 3D sonar map storage module (104) according to the gaze angle tracked in real time by the gaze angle tracking module (106). That is, a 3D sonar map centered on the gaze angle and surrounding it can be output in real time according to the gaze angle.

[0047] The sonar automatic control module (108) can control the sonar module (101) to adjust the sonar scanning angle and sonar detection distance in real time so that it can detect an area that is not detected in the 3D sonar map stored in the 3D sonar map storage module (104).

[0048] In general, in the case of a sonar module (10), when the angle of irradiation of the sonar sound wave is wide, the clarity of the sonar image decreases, and when the angle of irradiation of the sonar sound wave is narrow, the clarity of the sonar image increases.

[0049] The sonar automatic control module (108) can be controlled to adjust the sonar scanning angle and sonar detection distance of the sonar module (101) in real time so that a 3D sonar map can be immediately completed for an area where a 3D sonar image is not synthesized in a 3D sonar map synthesized in real time. For example, in order to first detect a wider area, the sonar scanning angle can be widened to create a 3D sonar map for a wider area, and thereafter, the sonar scanning angle can be narrowed to increase the clarity of the sonar image.

[0050] The sonar automatic control module (108) can control the sonar to first widen the sonar scanning angle to quickly generate a 3D sonar map and then narrow the sonar scanning angle to enable detailed exploration when the generation rate of the 3D sonar map is low by referring to the 3D sonar map of the user's current viewing direction.

[0051] The diving computer data receiving module (109) can be configured to receive diving computer data in real time from the diving computer (10).

[0052] A diving computer (10) is usually mounted on a diver's wrist and can be configured to display information such as dive time, water depth, water temperature, and remaining air volume on the display. Divers perform exploration work while visually checking the information on the diving computer (10) underwater.

[0053] The diving computer data receiving module (109) can receive diving computer data via a wire or can receive diving computer data via sound wave communication or ultrasonic communication.

[0054] The diving computer data output module (110) can be configured to output diving computer data received in real time from the diving computer data reception module (109) in real time.

[0055] The transmitter data receiving module (111) may be configured to receive transmitter data from the transmitter (20) in real time. Here, the transmitter (20) is configured to transmit information on the remaining air volume of an air tank for a diver storing oxygen and nitrogen to the diving computer (10). The transmitter data receiving module (111) may be configured to receive such transmitter data from the transmitter (20) via wired, ultrasonic, or acoustic communication.

[0056] The transmitter data output module (112) can be configured to output transmitter data received in real time from the transmitter data reception module (111) in real time.

[0057] The XR execution module (113) can be configured to generate XR data using sonar images output in real time from the sonar image output module (102), 3D sonar maps output in real time from the 3D sonar map output module (107), diving computer data output in real time from the diving computer data output module (110), and transmitter data output in real time from the transmitter data output module (112).

[0058] The XR display (114) can be configured to display XR data generated from the XR execution module (113). Here, the XR display (114) is attached to the front of the sonar-equipped underwater exploration helmet (100) as shown in FIGS. 2 and 3, and can be positioned so that the user can visually check it.

[0059] Referring to FIG. 4, it can be seen that the user can visually check the underwater area through the XR display (114) and simultaneously check sonar images or other diving computer data on the XR display (114).

[0060] Meanwhile, an operation button (100d) is provided for operating the XR display (114).

[0061] Since the user can visually check the sonar image and 3D sonar map using this XR display (114), a clear view is secured even in water with high turbidity, enabling underwater exploration work to be performed at any time and in any environment.

[0062] In addition, since the XR display (114) displays diving computer data or transmitter data displayed on a conventional diving computer (10) right in front of the user's eyes, the user does not need to check the diving computer (10) on his or her wrist during exploration work. This frees up both hands of the user, allowing for convenient complex exploration work, and prevents neutral buoyancy from being lost or mistakes from being made during exploration. In particular, there is an advantage in that diving computer data and transmitter data can be checked with the naked eye even in water with high turbidity.

[0063] The surrounding obstacle detection module (115) can be configured to detect surrounding obstacles in real time according to a three-dimensional sonar map stored in a three-dimensional sonar map storage module (104) based on the gaze angle tracked by the gaze angle tracking module (106). That is, the surrounding obstacle detection module (115) can detect surrounding obstacles by analyzing the three-dimensional sonar map.

[0064] The 3D audio stereo mixing module (116) can be configured to generate 3D audio stereo sound by mixing it in response to 3D direction information of surrounding obstacles detected in real time by the surrounding obstacle detection module (115). That is, the 3D audio stereo mixing module (116) can provide 3D directionality information to the 3D audio stereo sound, and the 3D audio stereo sound can indicate the 3D direction of the surrounding obstacles.

[0065] The diving computer data voice output control module (117) can control the diving computer data received in real time from the diving computer data reception module (109) to be output as voice. The diving computer data voice output control module (117) can increase the efficiency of the user's underwater exploration work by outputting diving computer data deemed important as voice.

[0066] The transmitter data voice output control module (118) can control the transmitter data received in real time from the transmitter data reception module (111) to be output as voice. The transmitter computer data voice output control module (118) can also output transmitter data deemed important as voice, thereby increasing the efficiency of the user's underwater exploration work.

[0067] The ascent speed calculation module (119) can be configured to calculate the user's ascent speed in real time based on diving computer data received in real time from the diving computer data reception module (109). The ascent speed calculation module (119) can calculate the user's ascent speed by tracking the current water depth among the diving computer data in real time.

[0068] When ascending too quickly after a dive, the pressure drop during ascent can cause the nitrogen and oxygen in the blood to boil, creating bubbles. This can cause serious bodily harm and, in severe cases, even death. Therefore, ascending to the surface should be done very slowly, often pausing for a while. However, divers often fail to properly control their ascent speed, and this can be extremely dangerous if the current is too strong or neutral buoyancy is lost, causing rapid resurfacing.

[0069] The ascent speed guidance module (120) can be configured to output a guidance voice in real time regarding the ascent speed calculated in real time by the ascent speed calculation module (119). The user can easily determine whether the ascent speed is appropriate through the guidance voice.

[0070] The bone conduction earphone module (121) can be configured to output 3D audio stereo sound generated by the 3D audio stereo mixing module (116), diving computer data voice output by control of the diving computer data voice output control module (117), transmitter data voice output by control of the transmitter data voice output control module (118), and guidance voice for ascent speed output from the ascent speed guidance module (120).

[0071] Bone conduction audio transmission offers the advantage of allowing users to hear voices and sounds accurately and without noise, even underwater. Meanwhile, divers must be able to easily detect ambient underwater sounds to prevent safety incidents. Bone conduction audio transmission also offers the advantage of being relatively easy to detect underwater sounds without missing them.

[0072] Here, 3D audio stereo sound provides three-dimensional directional information, indicating the direction from which obstacles are located relative to the user. Users can easily determine the direction from which obstacles are located through 3D audio stereo sound.

[0073] And it can output diving computer data or transmitter data that is important or out of a predetermined standard range to alert the user and enable him to take appropriate action.

[0074] Additionally, the ascent speed guidance can be used to adjust the user's ascent speed if it is too fast.

[0075] In addition to the bone conduction earphone module (121), an internal speaker module (not shown) may be additionally provided.

[0076] The internal speaker module (not shown) can be configured to output 3D audio stereo sound generated by the 3D audio stereo mixing module (116), diving computer data voice output by control of the diving computer data voice output control module (117), transmitter data voice output by control of the transmitter data voice output control module (118), and guidance voice for ascent speed output from the ascent speed guidance module (120).

[0077] The BCD dry suit automatic shut-off module (122) may be configured to determine whether the ascent speed calculated in real time from the ascent speed calculation module (119) is greater than or equal to a predetermined standard. If the determination result is greater than or equal to the predetermined standard, the BCD dry suit automatic shut-off module (122) may be configured to automatically remotely block an increase in buoyancy of the BCD dry suit (30). Specifically, the BCD dry suit automatic shut-off module (122) is configured to block the supply route of air supplied from an air tank to the BCD dry suit (30), and may perform a closing operation for an air injection valve that injects air into the BCD dry suit (30) by remote control of the supply valve through wired communication, sonic communication, or ultrasonic communication.

[0078] Typically, when divers ascend from a deep depth, they do so by increasing the buoyancy of their BCD dry suit (30). However, if the ascent speed is too fast, the BCD dry suit automatic shut-off module (122) can automatically and remotely shut off the increase in buoyancy of the BCD dry suit (30) via wired, sonic, or ultrasonic communication, thereby immediately preventing serious bodily harm.

[0079] Meanwhile, if a diver makes a rapid ascent, the air in the BCD dry suit (30) must be quickly discharged again to prevent bodily damage. Accordingly, the BCD dry suit automatic shut-off module (122) performs an opening operation for the air discharge valve that discharges the air in the BCD dry suit (30), thereby allowing the diver to sink further to an appropriate depth, thereby preventing bodily damage.

[0080] Note that the diver's inhalation valve, which supplies air from the air tank to the diver's mask, operates independently of the air inlet valve and air exhaust valve, and the air tank's main valve must be constantly open or partially open and closed. This is because the diver must be continuously supplied with air through the diver inhalation valve, independent of the opening and closing of the air inlet valve and air exhaust valve.

[0081] The video camera module (123) may be configured to generate video data in real time. The video camera module (123) may be a camera that operates underwater, such as a GoPro.

[0082] The video camera module (123) can be mounted on the stand (100c) of FIG. 4.

[0083] The GPS module (124) can be configured to generate GPS location information in real time.

[0084] The GPS module (124) can receive GPS satellite signals only above the water surface. When the user surfaces above the water surface, GPS location information can be generated in real time.

[0085] The GPS signal wireless transmission module (125) can be configured to generate a GPS wireless signal including GPS location information generated in real time by the GPS module (124) in real time and transmit the GPS wireless signal generated in real time in real time.

[0086] This allows users who surface to announce their location.

[0087] Meanwhile, the GPS module (124) can be attached to the back of the sonar-equipped underwater exploration helmet (100). As shown in FIG. 3, it can be installed in the area where the battery (130) is installed. When divers lose consciousness underwater and surface, their backs usually face the surface. Accordingly, when the GPS module (124) is attached to the back of the sonar-equipped underwater exploration helmet (100), even if the user loses consciousness, it can properly receive GPS satellite signals without difficulty and can also transmit GPS wireless signals without difficulty.

[0088] The current 3D position estimation module (126) can be configured to estimate the user's current 3D position in real time by using GPS position information generated by the GPS module (124), diving computer data received in real time from the diving computer data receiving module (111), and 3D acceleration detected in real time by the 3D acceleration sensor (105).

[0089] Specifically, the current 3D position can be estimated in real time using the last generated GPS location information before diving, the depth of the dive computer, and the distance traveled by 3D acceleration.

[0090] The current location addition module (127) can be configured to add the current 3D location estimated in real time by the current 3D location estimation module (126) to the video data generated in real time by the video camera module (123). That is, each frame of the video data can be matched to the corresponding underwater location to a certain degree.

[0091] The video storage module (128) can be configured to store video data with the current 3D position added in real time in the current location addition module (127).

[0092] The video transmission module (129) can be configured to transmit video data stored in the video storage module (128) in real time. The video data can be transmitted over the surface via an ultra-short baseline (USBL) (40).

[0093] The battery module (130) may be configured to supply power. The battery module (130) is mounted on the rear of the sonar-equipped underwater exploration helmet (100) as shown in FIGS. 2 and 3 and may supply power for the operation of other components. Here, most of the electronic processing devices (100a) except for the XR display (114), battery (130), and sonar module (101) may be attached to the upper portion of the sonar-equipped underwater exploration helmet (100).

[0094] Meanwhile, in FIG. 3, the interface module (100b) is configured for wired connection with a diving computer (10), BCD dry suit (30), transmitter (20), BCD dry suit (30), USBL (40), etc.

[0095] FIG. 5 is a flowchart of an operating method of a sonar-equipped underwater exploration helmet according to one embodiment of the present invention.

[0096] Referring to FIG. 5, a sonar module (101) detects the user's surroundings using sound waves and generates a sonar image (S101).

[0097] Next, the sonar image output module (102) outputs the sonar image generated by the sonar module (101) in real time (S102).

[0098] Next, the GPS module (124) generates GPS location information in real time (S103).

[0099] Next, the GPS signal wireless transmission module (125) transmits a GPS wireless signal including GPS location information generated in real time by the GPS module (124) in real time (S104).

[0100] Although the present invention has been described with reference to the above embodiments, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

Claims

1. Sonar module that detects the user's surroundings using sound waves and creates sonar images; A sonar-equipped underwater exploration helmet including a sonar image output module that outputs sonar images generated from the above sonar module in real time.

2. In paragraph 1, A sonar-equipped underwater exploration helmet characterized by further comprising a video camera module for generating video data in real time.

3. In paragraph 2, A sonar-equipped underwater exploration helmet characterized in that it further comprises a GPS module for generating real-time GPS location information.

4. In paragraph 3, A sonar-equipped underwater exploration helmet characterized in that it further includes a GPS signal wireless transmission module that generates a GPS wireless signal including GPS location information generated in real time by the GPS module and transmits the GPS wireless signal generated in real time.

5. A step in which the sonar module detects the user's surroundings using sound waves and generates a sonar image; A method of operating a sonar-equipped underwater exploration helmet, comprising a step of a sonar image output module outputting sonar images generated by the sonar module in real time.

6. In paragraph 5, Step where the GPS module generates GPS location information in real time; A method of operating a sonar-equipped underwater exploration helmet, characterized in that the GPS signal wireless transmission module further comprises a step of transmitting in real time a GPS wireless signal including GPS location information generated in real time by the GPS module.

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