KR102202743B1 - Method for generating zone map to apprehend the location of unnanned remote control car and control system of unmanned remote control car - Google Patents

Abstract

Disclosed are a zone map generation method capable of confirming the location of a rescue/navigation unmanned remote control vehicle in an environment where GPS is not available, and an unmanned remote control vehicle control system using the same.
How to create a zone map
Speed data and steering data transmission process to transmit speed data and steering data to the controller in the unmanned remote control car,
Recording a location identification mark in the unmanned remote control vehicle and transmitting information related to the recorded location identification mark (hereinafter, referred to as location identification mark information) to a controller, and transmitting location identification mark information,
Speed data and steering data storage process for storing speed data and steering data received from the controller controlling the unmanned remote control vehicle,
Location identification mark information storage process for storing the received location identification mark information,
A zone map generation process of generating a zone map indicating a location of a route and a wireless remote control vehicle based on the stored speed data, steering data, and location identification mark information;
Includes.

Description

Method for generating zone map to apprehend the location of unnanned remote control car and control system of unmanned remote control car}

The present invention relates to an unmanned remote control vehicle, and more particularly, a method for generating a zone map capable of confirming the location of an unmanned remote control vehicle for rescue/navigation in an environment where GPS is not available, and an unmanned vehicle using the same. It relates to a remote control vehicle control system.

As the industry develops, many people are affected by temperature abnormalities, various natural disasters, and international disputes between confronting regions that have not yet disappeared.

However, the current reality is that rescue activities for this need help in many areas due to numerous threats and lack of manpower.

Measures are being devised to rescue survivors, observe the needs and dangers of the site in advance, and prevent dangers by using a moving object equipped with a small camera in a disaster area or a place where secondary damage is concerned, such as a building with a risk of collapse.

An unmanned remote control vehicle equipped with a camera is a small vehicle having a wheel drive device and is suitable for use in search and rescue activities such as buildings and caves.

These unmanned remote control vehicles are equipped with cameras, headlights, wheel drive devices capable of adjusting speed and steering, communication devices, etc., and are used in environments that are difficult for people to enter and navigate, such as buildings where fires occurred and caves where distress occurred do.

However, since GPS radio waves are not detected in buildings, caves, etc., it is difficult to determine the location of an unmanned remote control vehicle, and accordingly, there is a difficulty in having to rely only on cameras and headlights.

Korean Intellectual Property Office registered patent 10-1651005 (2016.08.25.) Korean Intellectual Property Office registered patent 10-1671641 (2016.10.26.)

An object of the present invention is to solve the above problems, and an object thereof is to provide a method for generating a zone map that can assist in determining the location of an unmanned remote control vehicle even in an environment where GPS is not available.

Another object of the present invention is to provide an unmanned remote control vehicle control system to which the above zone map generation method is applied.

Zone map generation method of an unmanned remote control vehicle according to the present invention achieving the above object

Speed data and steering data transmission process in which the driverless remote control car transmits speed data and steering data to the controller,

The process of recording a location identification mark and transmitting location identification mark information in which the unmanned remote control vehicle records a location identification mark and transmits information related to the recorded location identification mark (hereinafter referred to as location identification mark information) to a controller,

The process of storing speed data and steering data in which the controller controlling the unmanned remote control vehicle stores the received speed data and steering data,

The process of storing location identification mark information in which the controller stores the received location identification mark information,

A zone map generating process in which the controller generates a zone map indicating a location of a route and a wireless remote control vehicle based on the stored speed data, steering data, and position identification mark information;

Includes.

Here, the controller receives a camera image from the unmanned remote control vehicle, extracts location identification mark information from the received camera image, and determines the location of the wireless remote control vehicle on a zone map based on the extracted location identification mark information. It characterized in that it further comprises a process of correcting the path.

The unmanned remote control vehicle control system according to the present invention to achieve the above other object

A wireless remote control vehicle control system comprising a wireless remote control vehicle, a communication network, and a controller for controlling the wireless remote control vehicle through the communication network,

The wireless remote control car

A camera for photographing at least a front image;

A streaming transmission unit for transmitting the camera image acquired by the camera to the controller;

A speed and steering angle detection unit that detects a speed and a steering angle and provides the following vehicle communication unit;

A location identification mark recording unit for recording location identification marks on the floor or wall;

The controller transmits the speed data and steering data detected by the speed and steering angle detection unit and position identification mark information provided from the following control unit, or transmits a camera control command, a speed and steering control command, and a position identification mark recording command from the controller. A vehicle communication unit receiving transmission;

The position to control the operation of the camera according to the camera control command received through the vehicle communication unit, control the wheel drive unit according to the speed and steering control command, and record the position identification mark according to the position identification mark recording command Includes; a vehicle control unit that controls the identification mark recording unit and provides location identification mark information corresponding to the location identification mark to the communication unit,

The controller is

A streaming receiver configured to receive a camera image transmitted from the streaming transmitter of the wireless remote control vehicle;

For a controller that receives speed data, steering data, and position identification mark information transmitted from the vehicle communication unit of the wireless remote control vehicle, or receives a camera control command, speed and steering control command, and a position identification mark recording command to the wireless remote control vehicle Communication department;

A speed data and steering data storage unit for storing speed data and steering data transmitted through the controller communication unit;

A location identification mark information storage unit for storing location identification mark information transmitted through the controller communication unit;

A zone map generator configured to generate a zone map indicating a path and a location of the wireless remote control vehicle based on information stored in the speed data and steering data storage unit and the location identification mark information storage unit;

A display unit that displays a camera image received through the streaming receiver and a zone map generated by the zone map generator;

It characterized in that it comprises a.

Here, the controller

A location identification mark detection unit that detects a location identification mark from the camera image received through the streaming receiving unit, analyzes the detected location identification mark, extracts location identification mark information, and provides the zone map generation unit; and

The zone map generator may correct the location and route of the wireless remote control vehicle by referring to the location identification mark information detected by the location identification mark detection unit.

The present invention automatically forms a route according to the driving of an unmanned remote control vehicle, and provides a zone map indicating the route and the location of the unmanned remote control vehicle, thereby enabling an operator controlling an unmanned remote control vehicle to be used in a rescue/navigation site. It has an effect that can help in rescue/exploration activities by making it easy to determine the location of the control vehicle.

1 is a flow chart showing a method of generating a zone map for an unmanned remote control vehicle according to the present invention.
2 shows an example of a numeric Morse code.
3 shows an example of a location identification mark.
4 shows an example of a camera image and a zone map.
5 is a diagram illustrating a correction example of a zone map.
6 is a view of an unmanned remote control vehicle control system to which a zone map generation method of an unmanned remote control device according to the present invention is applied.
7 shows a detailed configuration of the unmanned remote control vehicle and controller shown in FIG. 6.
8 shows the configuration of the remote identification mark recording unit.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and will be described in detail in the detailed content for carrying out the invention. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used as similar elements.

Terms such as first, second, A, and B may be used to describe various elements, but the elements should not be limited by the terms. These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

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 the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, the configuration and operation of the present invention will be described in detail with reference to the accompanying drawings.

1 is a flow chart showing a method of generating a zone map for an unmanned remote control vehicle according to the present invention.

Referring to FIG. 1, the method for generating a zone map of an unmanned remote control vehicle according to the present invention includes a speed data and steering data transmission process (S102) of transmitting speed data and steering data from an unmanned remote control vehicle to a controller, an unmanned remote control vehicle In the process of recording the location identification mark and transmitting information related to the recorded location identification mark (hereinafter referred to as location identification mark information) to the controller (S104), the unmanned remote control vehicle Speed data and steering data storage process (S106) for storing speed data and steering data received from the controlling controller, location identification mark information storage process (S108) for storing received location identification mark information, and stored speed data and steering data And a zone map generation process (S110) of generating a route and a zone map based on the location identification mark information.

In the process of transmitting speed data and steering data (S104), the unmanned remote control vehicle generates speed data indicating a driving speed and steering data indicating a driving direction, and transmits them to the controller.

The speed of an unmanned remote control vehicle can be obtained by counting the rotational speed of the wheels. Meanwhile, the steering data is created whenever there is a change in the steering angle, and the steering angle may be calculated based on the origin (point serving as a reference) or a central axis of the steering device. While the steering angle is maintained at a constant value, the unmanned remote control vehicle is regarded as being continuously steered according to the indicated direction, and thus transmits the changed steering angle at the time when the steering angle fluctuates. The steering data may include a steering angle and a timing of transmission of the steering angle.

In the process of recording the location identification mark and transmitting the location identification mark information (S104), the unmanned remote control vehicle records the location identification mark on the road surface, the floor surface, the wall surface, etc. and transmits the location identification mark related information to the controller. Location identification marks are recorded to determine the location of an unmanned remote control vehicle, and are recorded on the floor of a building, a cave floor, or a wall by a location identification mark recording unit provided in the unmanned remote control vehicle.

The location identification mark is recorded under the control of the control unit, and the control unit transmits the location identification mark information to the controller.

The location identification mark recording unit may include a dye tank and a dye spray nozzle for recording the location identification mark. By controlling the injection timing of the dye injection nozzle by the control unit, a linear mark whose length is adjusted, for example, a Morse code may be recorded.

For simplicity of structure and ease of design, the location identification mark may be recorded in the form of a combination of straight lines having different lengths, for example, in Morse code.

For example, when there is only one dye spray nozzle, the position identification mark is recorded in the form of a single line of Morse code, and when there are two or more dye spray nozzles, the position identification mark is recorded in the form of two lines arranged in parallel. Can be.

The location identification mark may be a record of visual information. Each digit of time information expressed in hours, minutes, and seconds is converted into Morse code and recorded.

That the location identification mark records visual information is necessary to specify the location of the unmanned remote control vehicle on the zone map, as will be described later.

2 shows an example of a numeric Morse code.

Referring to FIG. 2, it can be seen that the numeric Morse code is recorded as a long and short linear code, and this Morse code is suitable for recording a linear code along the driving of an unmanned remote control vehicle.

3 shows an example of a location identification mark.

3 shows an example of expressing the visual information of 01:34:28 using one and two dye spray nozzles.

It is preferable that the location identification mark is recorded on a relatively flat floor surface for easy identification. Accordingly, it is preferable to record by a control command from the controller rather than to record the location identification mark every predetermined time in the unmanned remote control vehicle. The operator can select a location to record the location identification mark by referring to the camera image displayed on the controller.

The location identification mark is read by the camera, and the controller may identify the location identification mark by analyzing the camera image and read visual information included in the location identification mark.

In the process of storing speed data and steering data (S106), the controller stores speed data and steering data received from the unmanned remote control vehicle.

In the process of storing location identification mark information (S108), the controller stores the received location identification mark information.

In the zone map generation process (S108), the controller generates a route and zone map based on the stored speed data, steering data, and position identification mark information.

The controller first reads the speed data and steering data to form a moving trajectory, that is, a path of the unmanned remote control vehicle. The steering data includes the steering angle and the time information at which the steering angle is changed. That is, it can be seen that by applying the speed and steering angle over time, the trajectory that the unmanned remote control vehicle has traveled, that is, the route can be reproduced.

The controller reads the time information included in the location identification mark information and displays the location of the location identification mark on the path.

In addition, the controller creates a zone boundary in the form of a square box containing the generated path.

The result is a zone map that includes the zone boundaries surrounding the route and the current location of the unmanned remote control vehicle.

The zone boundary may be a polygonal shape surrounding a path at regular intervals or a square box shape containing a path, and expand together as the path expands.

The zone map may be displayed on the display unit of the controller (S112). Specifically, the zone map may overlap with a part of the camera image displayed on the display unit or may be provided through a separate screen.

By referring to the zone map, the controller operator can control the unmanned remote control vehicle while visually checking the location of the unmanned remote control vehicle.

4 shows an example of a camera image and a zone map.

Referring to FIG. 4, it is shown that the zone map 44 overlaps the upper right of the camera image 42.

5 is a diagram illustrating a correction example of a zone map.

When the previously recorded location identification mark 52 is searched during driving of the unmanned remote control vehicle, there may be a case where the location of the unmanned remote control vehicle displayed on the zone map is not the location where the corresponding location identification mark is located. These errors can be caused by errors in speed data and steering data. In this case, the location of the unmanned remote control vehicle is corrected to the location of the corresponding location identification mark 52, and the route is also modified to match the location of the corresponding location identification mark 52.

Referring to FIG. 5 (a), it is shown that the location of the vehicle displayed on the generated route and the location identification mark 52 are separated from each other. If the location identification mark 52 is detected by the camera installed on the driving unmanned remote control vehicle, the unmanned remote control vehicle must be displayed at a location with the location identification mark. In other words, it can be seen that an error has occurred.

In this case, the location and route of the unmanned remote control vehicle are corrected by referring to the location of the location identification mark 52. That is, it is modified as in the example shown in FIG. 5(b).

Referring back to FIG. 1, in the location identification display information detection process (S114), a location identification indication is detected from a camera image and location identification indication information is detected therefrom, and in the zone map correction process (S116), the detected location identification indication information With reference to the zone map, that is, the route and the location of the unmanned remote control vehicle are corrected.

In this way, the location identification mark has the effect of making it possible to clearly recognize the current location of the unmanned remote control vehicle.

On the other hand, the location identification mark can also be used for the purpose of allowing a rescue person to know the escape route.

6 is a view of an unmanned remote control vehicle control system to which a zone map generation method of an unmanned remote control device according to the present invention is applied.

Referring to FIG. 6, the unmanned remote control vehicle control system 400 includes an unmanned remote control vehicle 100, a controller 200, and a communication network 300.

The unmanned remote vehicle 100 is controlled by the controller 200, and an operator can operate the unmanned remote vehicle 100 while viewing the camera image and zone map through the controller 200.

The controller 200 is used herein to include any combination of hardware, firmware, and software employed to process data or digital signals. As the controller 200, as well as computers such as desktop computers, laptop computers, and netbooks, various devices such as mobile phones, PDAs, navigation systems, PMPs, MP3 players, etc. may be used.

7 shows a detailed configuration of the unmanned remote control vehicle and controller shown in FIG. 6.

The unmanned remote control vehicle 100 includes a camera 102, a streaming transmission unit 104, a vehicle communication unit 106, a speed and steering angle detection unit 108, a position identification mark recording unit 110, a wheel drive unit 112, and a headlight. 114, an illuminance sensor 116, an ultrasonic measuring unit 118, and a vehicle control unit 120.

The camera 102 is for visual search, and the image acquired by the camera 102 is transmitted to the controller 200 through the streaming transmission unit 104.

The wheel drive unit 112 may be composed of a motor, an axle, a wheel, an accelerator, a brake, a steering device, or the like.

The headlight 114 may be implemented as an LED as for providing lighting. An illuminance sensor 116 is provided for controlling illuminance of the headlamp 114.

The ultrasonic measuring unit 118 is for detecting an obstacle and may be installed at the rear and both sides of the unmanned remote control vehicle 100. The ultrasonic ranging unit 118 may determine a distance to an obstacle using ultrasonic waves, and take a collision prevention measure using the measured distance.

The speed and steering angle detection unit 108 is for detecting the driving speed and steering angle of the unmanned remote control vehicle 100. The running speed of the unmanned remote control vehicle 100 is detected by counting the number of rotations of the wheels. The running speed of the unmanned remote control vehicle 100 is periodically detected, and is also periodically transmitted by the vehicle communication unit 106.

The steering angle is detected when there is a change in the steering angle, and is detected together with the time at which the change in the steering angle occurs. The steering data includes a steering angle and time information at which a change in the steering angle occurs. The steering data is transmitted by the vehicle communication unit at the time when the steering angle occurs, that is, aperiodically.

The vehicle control unit 120 is for controlling the unmanned remote control vehicle 100, and communicates with the controller 200 through the vehicle communication unit 106 according to a speed and steering control command, a camera control command, and a position identification mark recording command. The wheel drive unit 112, the camera 102, and the position identification mark recording unit 110 are respectively controlled, or the position identification mark information is transmitted to the controller 200 through the communication unit 106 for a vehicle.

On the other hand, the controller 200 includes a streaming receiving unit 202, a communication unit for a controller 204, a speed and steering operation unit 206 for speed and steering operation, a camera control unit 208, a user input unit 210, and a display unit 210 ), a zone map generation unit 214, a speed data and steering data storage unit 216, a position identification mark information storage unit 218, a position identification mark detection unit 218, and a controller control unit 220.

The display unit 212 displays a camera image (an image acquired by the camera 102) and a zone map. The zone map may be displayed in an overlapped form on the camera image.

The streaming reception unit 202 is for receiving a camera image transmitted through the streaming transmission unit 104 of the unmanned remote control vehicle 100. The received camera image is provided to the display unit 212.

The controller communication unit 204 transmits a speed and steering control command, a camera control command, a position identification mark recording command, etc. to the unmanned remote control vehicle 100 or speed data and steering data transmitted from the unmanned remote control vehicle 100, It is for receiving location identification information and the like.

The speed and steering operation unit 206 is for generating a speed and steering control command for controlling a driving speed and a driving direction of the unmanned remote control vehicle 100.

The camera control unit 208 is for generating a camera control command that controls the angle of view and the shooting angle of the camera.

The speed data and steering data storage unit 216 stores speed data and steering data transmitted from the unmanned remote control vehicle 100.

The location identification mark information storage unit 218 stores location identification mark information transmitted from the unmanned remote control vehicle 100.

The zone map generator 214 generates a zone map based on the contents stored in the speed data and steering data storage unit 216 and the location identification mark information storage unit 218.

To this end, the zone map generation unit 214 first generates a path on which the unmanned remote control vehicle 100 travels, displays a location identification mark on the path, and forms a zone boundary line surrounding the path. The generated zone map is provided to the display unit 212.

The location identification mark detection unit 220 detects a location identification mark from a camera image, analyzes the detected location identification mark, and outputs location identification mark information including visual information. The detected location identification mark information is provided to the zone map generator 214.

The zone map generator 214 corrects the location and path of the unmanned remote control vehicle 100 on the zone map by referring to the location identification mark information detected by the location identification mark detection unit 220.

8 shows a configuration of a location identification mark recording unit.

Referring to FIG. 8, the position identification mark recording unit 110 includes a dye tank 110a and a dye spray nozzle 110b. Although it is shown in FIG. 8 to have one dye jetting nozzle 110b, it is also possible to have a plurality of dye jetting nozzles. As the number of dye spraying nozzles increases, the size or length of the location identification mark may be shortened, so it is preferable.

The vehicle control unit 120 controls the operation of the dye injection nozzle 110b so that Morse code corresponding to the visual information can be recorded.

It is preferable that the dye is a fluorescent dye.

Although described with reference to the above embodiments, those skilled in the art can understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the following claims. There will be.

100... unmanned remote control car
102...camera 104...streaming transmitter
106...Automotive communication unit 108...Speed and steering angle detection unit
110...Positioning Marking Record 112...Wheel Drive
114... headlight 116... light sensor
118...ultrasonic range detector 120...automobile control unit
200...controller
202...streaming receiver 204...communication section for controller
206...Speed and steering controls 208...Camera controls
210...user input 212...display
214...Zone map generation unit 216..Speed data and steering data storage unit
218...location identification mark information storage unit 220...location identification mark detection unit
222...controller control
300... Ministry of Communications
400... unmanned remote control car control system.

Claims (4)

In the method of creating a zone map that can help in determining the location of an unmanned remote control vehicle even in an environment where GPS is not available,
Speed data and steering data transmission process in which the driverless remote control car transmits speed data and steering data to the controller,
A location identification mark recording and location identification mark information transmission process in which the unmanned remote control vehicle records a location identification mark and transmits information related to the recorded location identification mark (location identification mark information) to the controller,
A process of storing speed data and steering data in which the controller controlling the unmanned remote control vehicle stores received speed data and steering data,
The process of storing location identification mark information in which the controller stores the received location identification mark information,
A zone map generating process in which the controller generates a zone map indicating a location of a route and a wireless remote control vehicle based on the stored speed data, steering data, and position identification mark information;
Zone map generation method for determining the location of the unmanned remote control vehicle including a. The wireless remote control of claim 1, wherein the controller receives a camera image from the unmanned remote control vehicle, extracts location identification mark information from the received camera image, and based on the extracted location identification mark information. The method of generating a zone map, further comprising the step of correcting the location and route of the vehicle. delete delete

Images