Patent KR-101863123-B1 (KR)
Inventor: HWANG TAE MUN
IPC: B64D47/08
Filed: 2017-02-15
Granted: 2018-06-01
Abstract: The present invention relates to a system for mapping a river water-bloom map using an autonomous driving unmanned aerial vehicle and a moving-type unmanned floating body with which an image sensor such as a near infrared ray image sensor, a multispectral image sensor or an ultrasonic spectral image sensor is equipped. It is possible to construct an integrated monitoring device capable of profiling the water quality of water bodies such as rivers, lakes, reservoirs, and sea areas in longitudinal and lateral directions as well as by a water depth. Thus, it is possible to analyze the behavior of the occurrence of the water bloom in the river, to establish preventive measures, and to easily observe water quality changes in a river water ecological facility. Also, it is possible to analyze the flow of water quality change in a large river area in a multidimensional manner and quickly even in the case of a river having a fast flow rate. Accordingly, it is possible to easily analyze the influence of a nearby branch on the water quality change in the main stream and to assist in selecting a water source for safe drinking water supply. Further, even in the case of an area with deepened river water bloom, it is possible to measure the water bloom area for operating a water bloom removing device, plan chemical injection step by step for the water bloom area and calculate the operation costs, thereby responding quickly for the removal of water bloom. The system of the present invention comprises: an autonomous driving unmanned aerial vehicle (110) equipped with an automatic navigation device so that autonomous driving is possible wherein autonomous driving unmanned aerial vehicle flies along a predetermined aerial path (230) by inputting a GPS coordinate point for a measurement point of a measurement target stream (210) in advance; an image sensor (120) installed at the lower end of the autonomous driving unmanned aerial vehicle (110) for capturing a spectroscopic image of the measurement target stream (210); a moving-type unmanned floating body (130) for moving along a predetermined unmanned floating body aerial path (230) by inputting a GPS coordinate point for a measurement point of the measurement target stream (210) in advance; a multi-item water quality measurement sensor (140) fixedly installed at a rear end of the moving-type unmanned floating body (130) for measuring a water quality change by a depth of the measurement target stream (210); a ground reference point measuring unit (150) for measuring a ground reference point set for the measurement coordinate accuracy of the measurement target stream (210); a data processing unit (160) for collecting the spectroscopic image captured by the image sensor (120) and performing an image matching process according to the ground reference point for the coordinate accuracy of the measurement target stream (210); a data analysis and map mapping unit (170) for analyzing the data processed by the data processing unit (160) and mapping the processed data to a map; and a river water-bloom map mapping unit (180) for mapping a river water-bloom map expressing the spatial distribution range and a movement phenomenon of the river water bloom on the map so that the water quality of the measurement target stream (210) can be profiled not only in the longitudinal and transverse directions, but also by a water depth.