Apparatus and method for measuring water depth

Abstract

The present disclosure relates to a technology for measuring water depth by using a drone, and provides an apparatus and a method for measuring water depth, in which: a drone flies to any one of a plurality of locations in a preset area and hovers above the water surface; a storage unit is mounted on the lower part of the drone and stores measured water depth; a unit for controlling length is mounted on the lower part of the storage unit and connected to the upper part of a water depth measurement sensor to control the length between the storage unit and the water depth measurement sensor; and a signal is emitted into the water via the water depth measurement sensor floating on the water surface, the round-trip time of the signal reflected from the bottom and received is measured, and water depth is measured on the basis of the round-trip time and the moving speed of the signal.

Description

Depth measuring device and method

[0001] The present disclosure relates to a technology for measuring water depth using a drone.

[0002] Lithium, a core material for batteries installed in electric vehicles, can be extracted through evaporative concentration while contained in brine. For evaporative concentration, it is necessary to collect brine containing lithium and evaporate the water to achieve a specific concentration. The concentration of lithium in the brine can be verified by calculating the evaporation rate of the water contained in the brine, and the evaporation rate can be confirmed by observing changes in water depth.

[0003] Conventionally, workers have entered areas containing saltwater directly and measured the water depth using a ruler, but the method of direct measurement by a worker has the problem of slow measurement speed, requires measurement to be performed during periods of low wind speed, and if the area is high-altitude, it is difficult for a worker to go directly to measure due to geographical characteristics.

[0004] In addition, brine containing large amounts of lithium is often located in high-altitude areas and remote regions where communication is poor and human habitation is difficult, creating environments where it is difficult for workers to work. For example, the salt lakes in Argentina, which contain highly concentrated lithium and produce a large amount of lithium, are located at an altitude of 4,000 meters, posing a problem that can have a fatal impact on the health of workers.

[0005] Alternatively, in addition to the method of direct measurement by an operator, a method using a sensor may be considered, but since the proportion of Li, Mg, Ca, Na, and Cl contained in brine is high at over 30%, there is a problem with high resistance to passing through depending on the medium and the measurement accuracy is low with general sensors.

[0006] Furthermore, water depths can be measured differently depending on the topographical characteristics of each location, posing a challenge in effectively managing such data. Accordingly, measures are required to precisely measure water depths and manage the data regarding these measurements.

[0007] The present disclosure aims to provide a technology for measuring water depth using a drone.

[0008] In one aspect, the present embodiments provide a depth measuring device using a drone, comprising: an information storage unit mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface, and stores the depth of the measured location; a depth measuring unit mounted on the lower part of the information storage unit, which emits a signal into the water while floating on the water surface, measures the round-trip time of a signal reflected from the bottom and received, and measures the depth based on the round-trip time and the speed of the signal movement; and a distance control unit mounted on the lower part of the information storage unit and connected to the upper part of the depth measuring unit to control the distance between the information storage unit and the depth measuring unit.

[0009] In another aspect, the present embodiments provide a method for measuring water depth using a drone, comprising: an information storage step of storing the water depth of a measured location in a storage unit mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface; a distance control step of controlling the distance between the storage unit and the water depth sensor through a machine mounted on the lower part of the storage unit and connected to the upper part of the water depth sensor; and a water depth measurement step of transmitting a signal into the water through the water depth sensor floating on the water surface, measuring the round-trip time of the signal reflected from the bottom and received, and measuring the water depth based on the round-trip time and the speed of the signal.

[0010] The present disclosure can provide a technology for measuring water depth using a drone.

[0011] FIG. 1 is a drawing for explaining the configuration of a depth measuring device according to one embodiment.

[0012] Figure 2 is a diagram for schematically explaining a conventional method of measuring water depth by a worker.

[0013] FIG. 3 is a drawing for explaining a method of measuring water depth using a drone according to one embodiment.

[0014] FIG. 4 is a flowchart for explaining the process of measuring water depth using a drone according to one embodiment.

[0015] FIGS. 5A and 5B are drawings illustrating a depth measuring device according to one embodiment mounted on a drone.

[0016] FIG. 6 is a perspective view of a depth measuring device according to one embodiment.

[0017] FIGS. 7a and 7b are exemplary drawings for explaining a depth measuring sensor, which is a component of a depth measuring device according to one embodiment.

[0018] FIGS. 8A and FIGS. 8B are other example drawings for explaining a depth measuring sensor, which is a configuration of a depth measuring device according to one embodiment.

[0019] FIG. 9 is a drawing for explaining an experimental example of measuring water depth using a water depth measuring device according to one embodiment.

[0020] FIGS. 10a and FIGS. 10b are drawings for explaining the accuracy of measurement results through an experiment measuring water depth using a water depth measuring device according to one embodiment.

[0021] FIG. 11 is a flowchart for explaining a method for measuring water depth according to one embodiment.

[0022] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the embodiments, if it is determined that a detailed description of related known components or functions may obscure the essence of the technical concept, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless otherwise specified.

[0023] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.

[0024] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.

[0025] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.

[0026] Meanwhile, where numerical values ​​or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values ​​or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0027] The embodiments are described in detail below with reference to the drawings.

[0028]

[0029] FIG. 1 is a drawing for explaining the configuration of a depth measuring device according to one embodiment.

[0030] Referring to FIG. 1, the depth measuring device (100) of the present disclosure includes an information storage unit (110) that stores a measured depth, a depth measuring unit (120) that measures a depth using a signal, and a distance control unit (130) that controls the distance between the information storage unit (110) and the depth measuring unit (120).

[0031] The depth measuring device (100) of the present disclosure can be used to measure the depth at a specific location of a brine pond for extracting lithium by evaporating and concentrating brine. Since the brine pond is relatively shallow, with a depth of 20 cm to 100 cm, precise depth measurement is required. Given that lithium must be extracted by evaporating the water contained in the brine, the brine pond may be located in a place with high wind speeds favorable for evaporation. However, the aforementioned brine pond is merely one example given to explain that the depth measuring accuracy of the depth measuring device (100) of the present disclosure is high, and the environment in which the depth measuring device (100) of the present disclosure can be used is not limited to a brine pond but can be set in various ways as needed. However, for the convenience of explanation, a brine pond containing lithium is described as an example.

[0032] Specifically, the depth measuring device (100) of the present disclosure is mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface of the location, and includes an information storage unit (110) that stores the measured depth.

[0033] Drones have the advantage of being able to move quickly over a vast area and hover in the air for a certain period of time. The present disclosure proposes a method for measuring water depth by equipping a water depth measuring device (100) on a drone having the aforementioned advantages.

[0034] The depth measuring device (100) of the present disclosure proposes a method for measuring depth by visiting each of a plurality of locations included in a preset area, wherein a depth measuring sensor connected to a machine mounted on a drone is positioned floating on the water surface to measure the depth, and information regarding the measured depth is stored and managed in an information storage unit (110).

[0035] In the present disclosure, the measurement of water depth based on the round-trip time of the aforementioned signal may be referred to as a water depth measuring unit (120) or a water depth measuring sensor, and the information storage unit (110) of the present disclosure may be referred to as a preset storage unit or a preset database.

[0036] The drone described above in the present disclosure can hover above the water surface at a predetermined height according to the characteristics of the drone. The aforementioned hovering means controlling the drone to perform stationary flight in place.

[0037] The aforementioned preset height can be set as a real number exceeding 0, and can vary depending on the characteristics of the drone.

[0038] Wind may be generated by the operation of propellers mounted on a hovering drone, and this generated wind may affect changes in the water surface height. If the water surface height changes, the measured water depth may become inconsistent. In this disclosure, changes in the water surface height caused by wind may be referred to as "water surface rippling." If the drone is raised too high to reduce the influence of wind, the distance between the water surface and the sensor becomes too great, resulting in reduced accuracy of water depth measurement.

[0039] For example, to solve the problem of rippling on the water surface caused by downward wind, the D-RTK350 drone can be set to hover at a height of about 3 to 4 meters or more above the water surface. Alternatively, measurements can be taken multiple times at the same location to calculate the average of the measurements.

[0040] The depth measuring device (100) of the present disclosure includes a depth measuring unit (120) that emits a signal into the water while floating on the water surface, measures the round-trip time of the signal reflected from the bottom and received, and measures the depth based on the round-trip time and the speed of movement of the signal.

[0041] The depth measuring device (100) of the present disclosure can measure the depth based on information about the signal received and reflected from the bottom, by transmitting a signal into the water from a depth measuring unit (120) located on the water surface.

[0042] For example, the signal used for depth measurement may include ultrasound having a frequency band of 20,000 Hz or higher.

[0043] Conventionally, LiDAR (Light Detection And Ranging) has frequently been used as a depth measurement sensor. Additionally, optical waves including infrared radiation have been utilized for depth measurement. However, LiDAR is heavy, weighing several kilograms, making it impractical to mount on drones. Furthermore, light rays containing infrared radiation suffer from the problem of inaccurate measurements due to the influence of substances contained in the water. Therefore, the present disclosure proposes the use of an ultrasonic sensor, which is relatively lightweight and less affected by substances contained in water compared to light rays.

[0044] The speed of travel of ultrasound may vary depending on the medium, but in air it may be 340 m / s or more and 350 m / s or less, and in water it may be 1400 m / s or more and 1500 m / s or less.

[0045] As another example, the depth measuring unit (120) of the present disclosure may include a sensor body, a coupling member mounted on the top of the sensor body and connected to a distance control unit, and a sound wave transceiver mounted on the bottom of the sensor body that emits a signal underwater and receives a signal reflected from the bottom. Additionally, the aforementioned sound wave transceiver may be characterized by being submerged underwater for a predetermined length from the water surface.

[0046] The aforementioned preset length is a real number exceeding 0 and is not a fixed value, but can be set in various ways depending on the depth measurement environment.

[0047] As another example, the depth measuring device (100) of the present disclosure can repeatedly measure the depth at a location and the concentration of a preset substance at preset times, and calculate the change in depth and the change in concentration based on the preset time, the depth at the location, and the concentration of the preset substance.

[0048] As another example, the aforementioned preset area may be an area belonging to a pond containing a liner and an aqueous solution mixed with water and lithium brine.

[0049] As another example, the depth measuring device (100) of the present disclosure can determine whether lithium is leaking based on the calculated change in depth and change in concentration.

[0050] The location where the depth is measured by the depth measuring device (100) of the present disclosure may be a pond with a shallow depth of 20 to 100 cm, and the pond may contain an aqueous solution mixed with water and lithium brine, and a liner may be installed at the bottom of the pond as a barrier to prevent leakage of lithium. Accordingly, the depth measuring device (100) of the present disclosure can determine whether lithium leakage has occurred by calculating the change in depth at a specific location inside the pond and calculating and comparing the change in the concentration of lithium contained in the lithium brine. For example, if the depth changes rapidly but the concentration of lithium does not change significantly, it may be determined that leakage has occurred.

[0051] As another example, the depth measuring device (100) of the present disclosure may repeatedly measure the depth at a location at preset intervals and determine the average value calculated based on the number of depth measurements and the measured depth as the depth at the location.

[0052] The depth measuring device (100) of the present disclosure may determine the depth at a given location as the depth at that location by repeatedly measuring the depth at the same location at preset intervals and calculating the average to increase the accuracy of the depth measurement. Alternatively, depending on the purpose of use, the average of the depth measurements calculated at multiple locations may be determined as the depth of the corresponding area.

[0053] In addition, the depth measuring device (100) of the present disclosure may include at least one water collection container to collect a sample for analyzing components contained in brine in addition to measuring the depth.

[0054] The depth measuring device (100) of the present disclosure includes a length control unit (130) that is mounted on the lower part of an information storage unit (110) and connected to the upper part of a depth measuring unit (120) to control the distance between the information storage unit (110) and the depth measuring unit (120).

[0055] As described above, the drone of the present disclosure can be controlled to hover above the water surface at a preset height according to the characteristics of the drone. Accordingly, the length control unit (130) of the present disclosure can control the distance between the information storage unit (110) and the depth measuring unit (120) so that the depth measuring unit (120) floats on the water surface when the aforementioned drone hovers above the water surface at a preset height.

[0056] For example, the length control unit (130) of the present disclosure may include a winch that controls the distance between the information storage unit (110) and the depth measuring unit (120). One problem that arises when measuring water depth using a drone is that the water surface ripples up and down due to factors such as wind or the propeller of the aircraft, so the water depth is not measured accurately. Accordingly, the present disclosure can solve the problem of inaccurate water depth measurement caused by the rippling of the water surface by controlling the distance between the information storage unit (110) and the depth measuring unit (120) connected to the winch so that the depth measuring unit (120) connected to the winch remains floating on the water surface. The aforementioned floating state refers to a state in which a certain volume of the lower part of the depth measuring unit (120) is submerged below the water surface, and a certain volume of the upper part is floating on the water surface.

[0057] In other words, the present disclosure proposes a method to solve the problem of inaccurate measurement of water depth due to rippling of the water surface caused by wind, a method of positioning a drone at a certain height, a method of setting the water depth measuring unit (120) to float on the water surface by adjusting the distance between the information storage unit (110) and the water depth measuring unit (120) using a length control unit (130) or a winch, and a method of using the average value of the measured water depth.

[0058] In addition, controlling the drone to hover at a preset height above the aforementioned water surface may be set by the user remotely controlling the drone, or the flight of the drone may be controlled through the length control unit (130) of the present disclosure.

[0059]

[0060] The present disclosure has the advantage that the time required to measure water depths at many locations can be shortened by using a drone, and the accuracy of water depth measurement can be increased by using ultrasound, which is relatively less affected by surrounding materials.

[0061]

[0062] Below, the overall process of measuring water depth using a drone is explained in more detail with reference to the diagram.

[0063]

[0064] Figure 2 is a diagram for schematically explaining a conventional method of measuring water depth by a worker.

[0065] Referring to FIG. 2, in the past, to measure the depth of a lithium-containing brine pond (200), a worker (230) would directly enter a specific pond (220) to measure the depth.

[0066] Lithium used in electric vehicle batteries can be extracted through evaporative concentration while contained in brine. To extract lithium, brine is drawn out through a well and then undergoes natural evaporation in a pond (200) for a certain period, and as evaporation proceeds, the concentration of lithium in the brine increases. To check the evaporation rate of the brine contained in the pond (200), the pond (200) can be divided to measure the depth of the brine in sequence.

[0067] Conventionally, the lithium extraction process was performed by a worker (230) entering the pond (220) directly and measuring the depth of each pond (210) using a ruler (240), and then taking the measurement results to an analysis room (250) for analysis.

[0068] However, the measurement method using a worker (230) has the problem that the measurement time is long and the measurement results are inaccurate.

[0069]

[0070] FIG. 3 is a drawing for explaining a method of measuring water depth using a drone according to one embodiment.

[0071] Referring to FIG. 3, the depth measuring device of the present disclosure can measure the depth of a wide range of ponds quickly and economically by mounting a depth measuring sensor on a drone.

[0072] The depth measuring device of the present disclosure can measure the depth by moving a drone to each of the divided ponds (310) in the entire pond (300) containing lithium. A specific pond (320) may contain brine lithium and salt deposits, and a depth measuring sensor (350) mounted on a drone (330) positioned floating on the surface of the pond (320) can measure the depth based on information regarding the signal reflected from the salt deposits by transmitting a signal underwater through a sound wave transceiver submerged below the surface of the water for a preset length.

[0073] Once the depth measurement of the entire divided pond (300) is completed, the drone (330) can be remotely controlled and moved to the analysis room (360) to be used for lithium extraction based on the measurement results.

[0074] More specifically, a winch (340) is mounted on the bottom of the drone (330) and connected to a depth measuring sensor (350). When the drone (330) is positioned above the pond (320), the depth measuring device of the present disclosure can control the length of the reservoir and the depth measuring sensor through the winch (340) so that the depth measuring sensor (350) is floating on the water surface.

[0075] The effect of wind caused by the propeller mounted on the drone can be reduced by controlling the depth measurement sensor (350).

[0076]

[0077] FIG. 4 is a flowchart for explaining the process of measuring water depth using a drone according to one embodiment.

[0078] Referring to FIG. 4, the depth of each location included in a wide area can be measured using the depth measuring device of the present disclosure.

[0079] Specifically, check whether the drone has arrived at a preset depth measurement location (S400).

[0080] When it is confirmed that the drone has arrived at a preset depth measurement location, the drone is moved to a preset height (S410).

[0081] The movement of the aforementioned drone to a depth measurement location or to a preset height may be controlled remotely by a user or through a length control unit configured in the depth measurement device of the present disclosure. Accordingly, the length control unit of the present disclosure may further include a communication unit that transmits a control signal regarding the movement of the drone to the drone.

[0082] The preset height at which the drone moves can be set in various ways depending on the characteristics of the drone.

[0083] When the drone is positioned at a preset height above the water surface, the depth measuring device of the present disclosure uses a winch to move the aforementioned depth measuring sensor so that the depth measuring sensor is floating on the water surface (S420).

[0084] The statement that the depth measuring sensor is moved means that the depth measuring device of the present disclosure is mounted on the lower part of a preset storage unit, and controls the length between the aforementioned preset storage unit and the depth measuring sensor using a winch connected to the upper part of the depth measuring sensor. Accordingly, when a drone is positioned at a preset height above the water surface, the depth measuring device of the present disclosure can control the length between the aforementioned preset storage unit and the depth measuring sensor using the winch, thereby causing the depth measuring sensor to be in a floating state on the water surface.

[0085] The aforementioned depth measuring sensor may be equipped with a sound wave transceiver at the bottom that emits ultrasonic waves into the water while floating.

[0086]

[0087]

[0088] In addition, the aforementioned sound wave transceiver may include a supersonic sensor that is lightweight and suitable for mounting on a drone, while being largely unaffected by substances contained in saltwater.

[0089] When the depth measuring sensor remains floating on the water surface, it measures the depth based on information about the sound waves emitted into the water (S430).

[0090] For example, a depth measuring sensor can measure the depth by emitting ultrasonic waves into the water and measuring the time it takes for the waves to be reflected back from salt deposits on the bottom of the pond, based on the speed of the ultrasonic waves. The aforementioned measurement is not limited to a single time but can be repeated multiple times as needed.

[0091] When the depth is measured, the measurement result is stored in the storage (S440).

[0092] As mentioned above, the storage can be mounted on the underside of the drone.

[0093] Once the depth measurement at the designated location is complete, the depth sensor is raised to the bottom of the drone. This is to ensure flight stability during flight.

[0094] It is checked whether the depth of all set locations has been measured, and if the depth of all set locations has been measured, the drone is moved to the starting point, and if the depth of all set locations has not been measured, the next location is determined and the drone is moved to repeat the aforementioned process (S450). In addition, the depth measurement sensor, for which all depth measurements have been completed, can be reused after being charged through a charging process.

[0095]

[0096] FIGS. 5A and 5B are drawings illustrating a depth measuring device according to one embodiment mounted on a drone.

[0097] Referring to FIGS. 5a and 5b, the depth measuring device of the present disclosure can be mounted on the bottom of a drone and used to measure the depth of saltwater.

[0098] According to FIG. 5a, the depth measuring device of the present disclosure can be mounted on the bottom of a drone. Specifically, an information storage unit, which is a component of the depth measuring device of the present disclosure, can be mounted on the bottom of the drone. As described above, the information storage unit can store information about the depth measured through the depth measuring unit, and can process the stored information as needed.

[0099] A length control unit may be mounted at the bottom of the information storage unit. As described above, the length control unit may include a winch, and the winch can control the lengths of the information storage unit and the depth measuring unit so that the depth measuring sensor floats on the water surface.

[0100] In addition, if the depth measuring unit located at the very bottom is heavy, there is a problem in that the drone's mobility is reduced. Therefore, as mentioned above, it is proposed that the depth measuring unit include a relatively lightweight ultrasonic sensor.

[0101] Fig. 5a is a front view of a depth measuring device mounted on a drone, and Fig. 5b is a rear view of a depth measuring device mounted on a drone.

[0102]

[0103] FIG. 6 is a perspective view of a depth measuring device according to one embodiment.

[0104] Referring to FIG. 6, the depth measuring device of the present disclosure may include a depth measuring body (600) including an information storage unit, a winch, and a control unit, and a depth measuring unit (620) including a depth measuring sensor. In addition, a water collection container (610) used for analyzing components contained in brine in addition to depth measuring may be installed as needed.

[0105] Specifically, the depth measuring body (600) of the depth measuring device of the present disclosure may include an information storage unit for storing measurement results, an information storage unit connected to the depth measuring unit, and a control device for determining the length of the depth measuring unit and adjusting the length of the depth measuring unit so that the depth measuring unit floats on the water surface when the drone is positioned at a preset height above the water surface.

[0106] However, as described above, the information storage unit may be included in a separate device rather than inside the depth measuring body (600) and mounted on the lower part of the drone.

[0107]

[0108] FIGS. 7a and 7b are exemplary drawings for explaining a depth measuring sensor, which is a component of a depth measuring device according to one embodiment.

[0109] Referring to FIG. 7a and FIG. 7b, the depth measuring device of the present disclosure includes a depth measuring sensor corresponding to a depth measuring part.

[0110] According to FIG. 7a, the depth measuring sensor includes a sensor body (700), a switch (710) capable of turning the sensor's power ON / OFF, a coupling member (720) connected via a winch and a wire, and a sound wave transceiver (730) from which ultrasonic waves are emitted.

[0111] The position relative to the water surface can be adjusted vertically by means of a winch connected via a wire to a connecting member (720). By adjusting the length of the reservoir and the depth sensor by means of the winch, the depth sensor can be kept floating at a constant level above the water surface, and the sound wave transceiver mounted on the bottom of the depth sensor can be kept at a constant distance from the water surface below the water surface.

[0112] Figure 7a shows the front view of the depth measuring sensor, and Figure 7b shows the rear view of the depth measuring sensor.

[0113]

[0114] FIGS. 8A and FIGS. 8B are other example drawings for explaining a depth measuring sensor, which is a configuration of a depth measuring device according to one embodiment.

[0115] Referring to FIGS. 8a and FIGS. 8b, FIG. 8a shows the upper surface of the depth measuring sensor shown in FIG. 7a, and FIG. 8b shows the lower surface of the depth measuring sensor shown in FIG. 7a.

[0116]

[0117] FIG. 9 is a drawing for explaining an experimental example of measuring water depth using a water depth measuring device according to one embodiment.

[0118] Referring to FIG. 9, the depth measuring device of the present disclosure can confirm precise depth measurements in an environment similar to an actual pond through the illustrated experimental device.

[0119] Salt corresponding to salt deposits, which creates an environment similar to an actual brine pond, can be sprinkled on the bottom of an acrylic container with a uniform circumference from top to bottom. Salt is sprinkled on the bottom because the degree of reflection varies depending on the material that reflects the ultrasound, causing differences in round-trip times and potentially altering the depth measurement results.

[0120] In addition, to conduct experiments in a real saltwater environment, saltwater from a pond is secured and added, and the depth measuring sensor is set to float above the water surface, while the depth can be measured at preset time intervals while varying the submerged height.

[0121]

[0122] FIGS. 10a and FIGS. 10b are drawings for explaining the accuracy of measurement results through an experiment measuring water depth using a water depth measuring device according to one embodiment.

[0123] Referring to FIG. 10a and FIG. 10b, FIG. 10a is the result of measuring water depth at multiple locations through an experiment or while varying the amount of salt spread on the bottom at one location, where the horizontal axis represents the water depth measured based on the water depth measuring device of the present disclosure and the vertical axis represents the actual water depth.

[0124] Figure 10b compares the actual depth and the measured depth through Figure 10a, where the horizontal axis represents the actual depth and the vertical axis represents the difference between the actual depth and the measured depth.

[0125] According to FIG. 10b, it can be seen that the difference between the depth measured through the experiment and the actual depth is less than 6 mm. Through this, it can be confirmed that the depth measuring device of the present disclosure has the advantage of high measurement precision.

[0126]

[0127] FIG. 11 is a flowchart for explaining a method for measuring water depth according to one embodiment.

[0128] Referring to FIG. 11, the depth measurement method of the present disclosure includes an information storage step for storing a measured depth, a length control step for controlling the length of a storage unit where the information is stored and a depth measurement sensor for measuring the depth, and a depth measurement step for measuring the depth using a signal.

[0129] Specifically, the depth measurement method of the present disclosure includes an information storage step of storing the measured depth in a storage unit mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface (S1100).

[0130] The depth measuring device of the present disclosure proposes a method for measuring water depth by visiting each of a plurality of locations included in a preset area, wherein the length of the storage unit and the depth measuring sensor is controlled through a machine mounted on a drone to position the depth measuring sensor in a floating state on the water surface to measure the water depth, and the information regarding the measured water depth is stored and managed in the aforementioned storage unit.

[0131] The storage where information about the measured depth is stored as described above can be referred to as a pre-configured database.

[0132] The drone described above in the present disclosure can hover above the water surface at a predetermined height according to the characteristics of the drone. The aforementioned hovering means controlling the drone to perform stationary flight in place.

[0133] The aforementioned preset height can be set as a real number exceeding 0, and can vary depending on the characteristics of the drone.

[0134] The operation of the propellers mounted on a hovering drone can generate wind, and this wind can affect changes in the water surface level. If the water surface level changes, depth measurements may become inconsistent. If the drone is raised too high to reduce the influence of wind, the distance between the water surface and the sensor becomes too great, reducing the accuracy of depth measurements.

[0135] For example, to solve the problem of rippling on the water surface caused by downward wind, the D-RTK350 drone can be set to hover at a height of about 3 to 4 meters or more above the water surface. Alternatively, measurements can be taken multiple times at the same location to calculate the average of the measurements.

[0136] The depth measurement method of the present disclosure includes a length control step (S1110) of adjusting the length of the reservoir and the depth measurement sensor through a machine that is mounted on the lower part of the reservoir and connected to the upper part of the depth measurement sensor.

[0137] As described above, the drone of the present disclosure can be controlled to hover above the water surface at a preset height according to the characteristics of the drone. Accordingly, the depth measuring device of the present disclosure can control the distance between the reservoir and the depth measuring sensor so that the depth measuring sensor floats on the water surface when the aforementioned drone hovers at a preset height above the water surface.

[0138] For example, a machine connected to the upper part of the depth measuring sensor of the present disclosure may include a winch that adjusts the distance between the reservoir and the depth measuring sensor. One problem that arises when measuring water depth using a drone is that the water surface ripples up and down due to factors such as wind or the propellers of the aircraft, making it impossible to measure the depth accurately. Accordingly, the present disclosure can solve the problem of inaccurate water depth measurement caused by water surface ripples by controlling the depth measuring sensor connected to the winch to float on the water surface by adjusting the distance between the reservoir connected to the winch and the depth measuring sensor. The aforementioned floating state refers to a state in which a certain volume of the lower part of the depth measuring sensor is submerged below the water surface, and a certain volume of the upper part floats on the water surface.

[0139] In other words, the present disclosure proposes a method to solve the problem of inaccurate water depth measurement caused by rippling of the water surface due to wind influence, a method of positioning a drone at a certain height, a method of setting the water depth sensor to float on the water surface by adjusting the length of the storage and the depth sensor using a winch, and a method of using the average value of the measured water depth.

[0140] In addition, controlling the drone to hover at a preset height above the aforementioned water surface may be set by a user remotely controlling the drone, or the flight of the drone may be controlled through the length control step of the present disclosure.

[0141] The depth measurement method of the present disclosure includes a depth measurement step of transmitting a signal into the water through a depth measurement sensor floating on the water surface, measuring the round-trip time of a signal reflected from the bottom and received, and measuring the depth based on the round-trip time and the speed of movement of the signal (S1120).

[0142] The depth measuring device of the present disclosure can measure the depth based on information regarding the signal received and reflected from the bottom, by transmitting a signal into the water from a depth measuring sensor located on the water surface.

[0143] For example, the signal used for depth measurement may include ultrasound having a frequency band of 20,000 Hz or higher.

[0144] Conventionally, LiDAR (Light Detection And Ranging) has frequently been used as a depth measurement sensor. Additionally, optical waves including infrared radiation have been utilized for depth measurement. However, LiDAR is heavy, weighing several kilograms, making it impractical to mount on drones. Furthermore, light rays containing infrared radiation suffer from the problem of inaccurate measurements due to the influence of substances contained in the water. Therefore, the present disclosure proposes the use of an ultrasonic sensor, which is relatively lightweight and less affected by substances contained in water compared to light rays.

[0145] The speed of travel of ultrasound may vary depending on the medium, but in air it may be 340 m / s or more and 350 m / s or less, and in water it may be 1400 m / s or more and 1500 m / s or less.

[0146] As another example, the depth measuring sensor of the present disclosure may include a sensor body, a coupling member mounted on the top of the sensor body and connected to a height control unit, and a sound wave transceiver mounted on the bottom of the sensor body that emits a signal underwater and receives a signal reflected from the bottom. Additionally, the aforementioned sound wave transceiver may be characterized by being submerged underwater for a predetermined length from the water surface.

[0147] The aforementioned preset length is a real number exceeding 0 and is not a fixed value, but can be set in various ways depending on the depth measurement environment.

[0148] As another example, the depth measuring device of the present disclosure can repeatedly measure the depth at a location and the concentration of a preset substance at preset time intervals, and calculate the amount of change in depth and the amount of change in concentration based on the preset time, the depth at the location, and the concentration of the preset substance.

[0149] As another example, the aforementioned preset area may be an area belonging to a pond containing a liner and an aqueous solution mixed with water and lithium brine.

[0150] As another example, the depth measuring device of the present disclosure can determine whether lithium is leaking based on the calculated change in depth and change in concentration.

[0151] The location where the depth is measured using the depth measuring device of the present disclosure may be a pond with a shallow depth of 20 to 100 cm, the pond may contain an aqueous solution mixed with water and lithium brine, and a liner may be installed at the bottom of the pond as a barrier to prevent leakage of lithium. Accordingly, the depth measuring device of the present disclosure can determine whether lithium leakage has occurred by calculating the change in depth at a specific location inside the pond and calculating and comparing the change in the concentration of lithium contained in the lithium brine. For example, if the depth changes rapidly but the concentration of lithium does not change significantly, it may be determined that leakage has occurred.

[0152] As another example, the depth measuring device of the present disclosure may repeatedly measure the depth at a location at preset intervals and determine the average value calculated based on the number of depth measurements and the measured depth as the depth at the location.

[0153] The depth measuring device of the present disclosure can determine the depth at a given location as the depth by repeatedly measuring the depth at the same location at preset intervals and calculating the average to increase the accuracy of the depth measurement. Alternatively, depending on the purpose of use, the average of depth measurements calculated at multiple locations may be determined as the depth of the corresponding area.

[0154]

[0155] Through the operation of the aforementioned configurations, the depth of a wide area can be measured in a short time, making it economical; furthermore, by maintaining a constant height of the drone and controlling the length of the storage and the depth measurement sensor using a winch, the accuracy of the depth measurement results can be improved.

[0156]

[0157] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the technical concept. Furthermore, since these embodiments are intended to explain, not limit, the scope of the technical concept is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present disclosure.

[0158]

[0159] CROSS-REFERENCE TO RELATED APPLICATION

[0160] This patent application claims priority pursuant to Section 119(a) of the U.S. Patent Act (35 USC § 119(a)) to Korean Patent Application No. 10-2024-0168139 filed on November 22, 2024, all of which are incorporated by reference into this patent application. Furthermore, this patent application claims priority in countries other than the United States for the same reasons as above, all of which are incorporated by reference into this patent application.

Claims

1. An information storage unit mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface, and stores the measured water depth; A depth measuring unit that emits a signal into the water while floating on the water surface, measures the round-trip time of the signal received reflected from the bottom, and measures the depth based on the round-trip time and the speed of movement of the signal; and A depth measuring device comprising a distance control unit mounted on the lower part of the information storage unit and connected to the upper part of the depth measuring unit to control the distance between the information storage unit and the depth measuring unit.

2. In Paragraph 1, The above drone is, A depth measuring device characterized by being controlled to hover at a preset height above the water surface according to the characteristics of the drone.

3. In Paragraph 2, The above distance control unit is, A depth measuring device characterized by controlling the distance between the information storage unit and the depth measuring unit so that the depth measuring unit floats on the water surface when the above-mentioned drone is hovering at the above-mentioned preset height above the water surface.

4. In Paragraph 1, The above distance control unit is, A depth measuring device characterized by including a winch that adjusts the distance between the information storage unit and the depth measuring unit.

5. In Paragraph 1, The above signal is, A depth measuring device characterized by including ultrasound having a frequency band of 20,000 Hz or higher.

6. In Paragraph 1, The above-mentioned depth measuring unit is, Sensor body; A coupling member mounted on the upper part of the sensor body and connected to the distance control unit; and It includes a sound wave transceiver mounted at the bottom of the sensor body, which emits a signal into the water and receives a signal reflected from the bottom. A depth measuring device characterized in that the above-mentioned sound wave transmitting and receiving unit is submerged from the water surface to the underwater surface by a preset length.

7. In Paragraph 1, The above-mentioned depth measuring unit is, Repeatedly measuring the water depth and preset concentration of a substance at the above location at preset time intervals, and A depth measuring device characterized by calculating a change in depth and a change in concentration based on the above-mentioned preset time, the depth at the above-mentioned location, and the above-mentioned preset concentration of a substance.

8. In Paragraph 7, The above preset area is, It is an area belonging to a pond containing a liner and an aqueous solution mixed with water and lithium brine, and The above-mentioned depth measuring unit is, A depth measuring device characterized by determining whether the liner is leaking based on the above-mentioned change in depth and the above-mentioned change in concentration.

9. In Paragraph 1, The above-mentioned depth measuring unit is, Repeatedly measuring the water depth at the above location at preset intervals, and A depth measuring device characterized by determining the average value calculated based on the number of depth measurements and the measured depth as the depth at the above location.

10. An information storage step of storing a measured water depth in a storage unit mounted on the lower part of a drone that flies to one of a plurality of locations within a preset area and hovers above the water surface; A distance control step for controlling the distance between the storage and the depth measuring sensor through a machine mounted on the lower part of the storage and connected to the upper part of the depth measuring sensor; and A depth measurement method comprising a depth measurement step of transmitting a signal into the water through a depth measurement sensor floating on the water surface, measuring the round-trip time of the signal received after being reflected from the bottom, and measuring the depth based on the round-trip time and the speed of movement of the signal.

11. In Paragraph 10, The above drone is, A method for measuring water depth characterized by being controlled to hover at a preset height above the water surface according to the characteristics of the drone.

12. In Paragraph 11, The above distance control step is, A depth measurement method characterized by controlling the distance between the reservoir and the depth measurement sensor so that the depth measurement sensor floats on the water surface when the drone is hovering at a preset height above the water surface.

13. In Paragraph 10, The machine connected to the upper part of the above-mentioned depth measuring sensor is, A depth measurement method characterized by including a winch for adjusting the distance between the above reservoir and the above depth measurement sensor.

14. In Paragraph 10, The above signal is, A method for measuring water depth characterized by including ultrasound having a frequency band of 20,000 Hz or higher.

15. In Paragraph 10, The above-mentioned depth measuring sensor is, Sensor body; A coupling member mounted on the top of the sensor body and connected to the machine; and It includes a sound wave transceiver mounted at the bottom of the sensor body, which emits a signal into the water and receives a signal reflected from the bottom. A method for measuring water depth characterized in that the above-mentioned sound wave transmitting and receiving unit is submerged from the water surface to the underwater surface for a preset length.

16. In Paragraph 10, The above depth measurement step is, Repeatedly measuring the water depth and preset concentration of a substance at the above location at preset time intervals, and A method for measuring water depth characterized by calculating a change in water depth and a change in concentration based on the above-mentioned preset time, the water depth at the above-mentioned location, and the above-mentioned preset concentration of a substance.

17. In Paragraph 16, The above preset area is, It is an area belonging to a pond containing a liner and an aqueous solution mixed with water and lithium brine, and The above depth measurement step is, A method for measuring water depth characterized by determining whether there is leakage in the liner based on the above change in water depth and the above change in concentration.

18. In Paragraph 10, The above depth measurement step is, Repeatedly measuring the water depth at the above location at preset intervals, and A method for measuring water depth characterized by determining the average value calculated based on the number of times water depth is measured and the measured water depth as the water depth at the above location.

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