KR101653125B1 - Drone system for rescue and method of rescue - Google Patents

Drone system for rescue and method of rescue Download PDF

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Publication number
KR101653125B1
KR101653125B1 KR1020160062870A KR20160062870A KR101653125B1 KR 101653125 B1 KR101653125 B1 KR 101653125B1 KR 1020160062870 A KR1020160062870 A KR 1020160062870A KR 20160062870 A KR20160062870 A KR 20160062870A KR 101653125 B1 KR101653125 B1 KR 101653125B1
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South Korea
Prior art keywords
victim
image
drones
drone
unit
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KR1020160062870A
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Korean (ko)
Inventor
김태욱
전민수
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전민수
김태욱
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00Life-saving in water
    • B63C9/01Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry
    • G01J5/48Radiation pyrometry using wholly visual means
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/262Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/127Unmanned aerial vehicles; Equipment therefor adapted for particular use for photography, or video recording, e.g. by using cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/14Unmanned aerial vehicles; Equipment therefor characterised by flight control
    • B64C2201/146Remote controls
    • B64D2700/62008

Abstract

The present invention provides a drone system for rescuing a survivor and a method for rescuing a survivor. The present invention is to move a drone toward an accurate position of a survivor in short time. The drone system includes: a position tracing device; and the drone. The position tracing device includes: a display unit displaying an image in real time, in which the survivor is photographed by a digital telescope, in order for a monitor to rapidly and accurately rescue the survivor; a distance measuring device for measuring a distance from the survivor; a control unit calculating the position of the survivor from the distance measured using information on height difference and an angle between the monitor and the survivor; a position transmitting unit transmitting the calculated position to the drone; and an image receiving unit receiving the photographed image from the drone. The drone includes: a position receiving unit receiving the position of the rescue from the position tracing device; a power supply unit receiving power; a rescue equipment unit including rescue equipment for rescuing the survivor; a camera unit photographing the state of the survivor in the air in real time by moving to the received position; and an image transmitting unit transmitting the photographed image to the position tracing device.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drone system,

More particularly, the present invention relates to a system and a method for distress rescue using a drones and a drones thereof, and more particularly, Based on the image, it corrects the position of the drone for the precise location of the victim and releases the rescue equipment according to the corrected location.

A docking rescue lifesaving structure that can be swiftly sent to the victims by remote control using power to the buoyant structures that help the survivors rise to the surface of the water without the need for direct rescue in the event of a drowning accident in river or sea. Has been published. Commonly, drowning is caused by difficulty in escaping from the danger itself because the victim is unable to swim at all, or is in a physical condition where he or she can swim but is not able to swim or the surrounding environment.

The structure of the victims can be accomplished by the help of a third party, such as a nearby person or a security officer trained in life-saving. However, even if it is a safety guard, it is not easy to rescue if the discovery moment is late. It was very difficult to approach the victims because they had concerns about being in danger together.

Therefore, in order to exclude the danger of direct structure by a person, conventionally, an air tube or a plate-type lifting plate having a buoyancy and a mechanism such as a rope are thrown so that the victim catches it and floats it on the water surface, Device has been developed.

However, even if a security officer finds a victim in danger by falling into the water, unmanned airships for dropping rescue equipment such as an air tube or life board can not reach the victim quickly, There is a problem that drowning can not be prevented. Even if a motor boat is used, the motor boat can not reach the victim as quickly as possible, and thus has the same problem as the unmanned airship.

These problems are caused by factors such as the fact that even if a security officer finds a victim, he can not accurately and quickly calculate the location of the victim and that the rescue equipment such as an unmanned airship or a motor boat can reach the victim but does not find the victim correctly. As a result, even if a victim is born on the beach, the situation is not easy due to the inability to cope efficiently. In other words, if a drowning accident occurs, the drowning person suffers from dyspnea and seizures within 3 minutes. In the past, when a safety accident such as a drowning accident occurred in aquatic environment, There is not enough means to reach the victim and rescue the victim.

IPC Classification: B64B Domestic registered patent No. 10-0812756 (registered on Mar. 05, 2008) Korean Patent Laid-Open No. 10-2012-0102880 (published on September 19, 2012)

It is an object of the present invention to provide a system and method for automatically transferring a victim's rescue drone to a victim and transferring the location of the victim to the victim and allowing the drone to reach the precise location of the victim If not, the drone should be positioned at the correct location and the rescue equipment should be released quickly and accurately.

It is also an object of the present invention to allow the drones to move to the precise location within a short period of time.

According to an aspect of the present invention, there is provided a drones for constructing a victim. The drones include a receiving unit for receiving the location information of the victim from the monitor, a rescue equipment for the victim structure, a camera unit for photographing the state image of the victim by moving the received position, and a transmitting unit for transmitting the photographed image to the monitor And is adjusted through a separate regulator from the photographed image.

The camera has a zoom-in function for clearly viewing the victim, and the camera is a general camera or a thermal camera.

The position of the drones is finely adjusted based on the photographed image in order to accurately position the dropping position of the rescue equipment.

According to another aspect of the present invention, there is provided a drones system for a victim structure including a position tracking device and a drones.

The drones system for the rescue crew is composed of a display unit for the surveillant to display the image of the victim in real time with the digital telescope, a distance measurer to measure the distress distance of the victim, and an angle and elevation difference information A position tracking device including a control unit for calculating the position of the victim from the distance, a position transmitter for transmitting the calculated position to the drone, and an image receiver for receiving the image photographed from the drones; And a rescue equipment unit including a rescue unit for receiving the location of the victim from the location tracking device, a power unit for receiving power, and rescue equipment for the victim structure, And a dron provided with a camera unit and an image transmitter for transmitting the photographed image to the position tracking device.

The location tracking device includes an adjustment function for adjusting the drones. The display device of the location tracking device simultaneously displays the images taken by the digital telescope and the images received by the drone, Is predicted to be released.

The drone is adjusted by using the adjustment function of the position tracking device on the basis of the drop prediction line in order to precisely drop the structural equipment on the basis of the image received from the drones.

Further, in order to precisely confirm the position of the victim, the dron is moved up and down while hovering on the victim, or zoom-in and / or zoom-out of the camera portion of the dron to accurately position the victim on the drop prediction line .

The camera unit of the drones is a general camera or a thermal image camera.

In addition, when a disaster is found by the location tracking device, the location tracking device sends a ready signal to the drones, and the drones are ready to be moved to a location as soon as the location is calculated.

According to the present invention for solving the above-mentioned problems, it is possible to construct a victim using the following method using a drones.

A method of constructing a victim using a drones includes a step of a surveillant using a telescope to find a victim and shooting an image; Measuring the distance of the victim; Calculating the position of the victim from the measured distance using the angle of the monitor and the distress and the high and low difference information; Providing the calculated location to the drones; Moving the drone to the calculated position and photographing the state of the victim; Providing an image taken by the drones to a monitor; Fine tuning the drones based on the provided images; And dropping the structural equipment to the monitor after fine adjustment.

Wherein the image provided for the fine adjustment step is displayed on one display on the basis of the image photographed by the drones and the image taken by the telescope and displaying a virtual position where the rescue equipment is to be dropped on the display .

Further, the method further includes the step of providing a signal to the drones to prepare and start after finding the victim and photographing the image.

In the present invention, if the position of the victim is confirmed on the monitor side, the accurate information is calculated, and the drones are moved to the victim on the basis of the information, And the images of the victims in the drones can be accurately displayed, while the drones can be precisely calibrated so that the surveillance player can drop the structural equipment correctly.

Through this series of processes, the victims can be rescued quickly.

Fig. 1 Drawings for the drone and regulator
2 is a view schematically showing a process of moving a structural drones equipped with a position-tracking device for a victim of the present invention
3 is a view schematically showing the structure and use state of a life span system having a location tracking device for a victim according to the present invention;
FIG. 4 is a diagram showing a conceptually showing the process of tracking the location of a victim
FIG. 5 is a view showing conceptually a process of measuring the distance to reach the victim using the height and distance information of the monitor
FIG. 6 is a view showing an example in which an image photographed by a drones and an image photographed by a position tracking device are overlaid
FIG. 7 is a view showing an example in which the position of the dron is shifted based on the image of the dron and the image showing the overlay of the image taken by the position tracking device,

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may properly define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the experimental examples and the reference examples described in the present specification are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents and variations Examples should be understood.

FIG. 1 is a drone 100 for constructing a sucker of a victim. The drone 100 is a rotor-based UAV, and the number of rotor blades may be varied depending on a method of operating the rotor, and includes a structural device 110 that is a device for the structure of the submerged person. The drones 100 can receive the GPS position information of the submerged person using the receiving unit 131, and the dron 100 receiving the position information automatically moves to the position of the submultibulum. The moving drones 100 are hovered at about 10 m above the dehydrator. Generally, the GPS signal and the receiver have an error of about 5 to 10 m. This error causes a larger error on the surface due to the height of the hovering drones. In order to solve such a problem, the present invention includes a camera unit 120 capable of capturing a state image of a submerged person. The camera unit 120 photographs the position of the submerged person in real time and sends it to the monitor or the rescuer in real time using the transmitting unit and the monitor uses the image captured in real- And finely adjust the position of the rescue equipment.

In addition, the camera unit has a zoom in / out function to grasp the exact position of the submerged person, and a camera unit or a thermal camera is used for the camera unit.

The reason for using the thermal camera here is that the height of the drones hovering is about 10 meters, and the camera has a wide angle of 150 degrees. That is, the image on which the drone runs is an image having a diameter or a straight line length of about 40 m. In this case, it may be easy to locate the dewater if it is always on the water, but due to the nature of the dewater, it may not be seen well when taken with a normal camera. Therefore, when the thermal imaging camera is used, since the temperature of the water is low, it is possible to accurately determine the submergence.

The drones 100 are operated by a drones control unit 130 including a receiving unit 131, a transmitting unit 132 and a control unit 133 and are also supplied with power through a battery. In addition, the battery can be charged by the drones 100, or can be charged by wired connection.

Structural drones can be operated on their own, but they can be systemized and operated with a location tracking device to confirm the location of the drowning vessel.

The position tracking device includes a GPS module 143 and an attitude sensor 141 for measuring an azimuth angle, a laser distance meter 142 for measuring a distance to a submerger location, A control unit 144 for performing calculations and communication, an adjustment unit for adjusting the drones 100, and a display unit 145 for displaying the drowsies in a telephoto mode. Each component can be integrated and configured separately. However, in order to be separately configured, an interface capable of communicating between the respective components is separately required.

The present invention is directed to a pointing device 140 (which may be a separate location controller) that directs (locates and tracks) the location of the dehydrator (DP) on the monitor side and allows adjustment of the drones, And a posture sensor 141 for measuring a directivity angle between the monitor MT and the dehydrator DP. The laser distance meter 142 measures a distance to reach the dehydrator DP by calculating a coordinate distance, The accurate position of the submerged person can be determined by using the measured values from the distance meter and the attitude sensor, and the height difference information of the monitor (MT) and the submerged person. The method of measuring the accurate position is shown in Figs. 4 and 5. Fig.

The sequence of operation of the system for delivering the rescue equipment to the submersible using the location estimating device and the drone is as follows.

1. When the surveillant finds the submerged person with the location tracking device 140, it directs the location of the submerged person. The laser distance meter, the posture sensor 141, and the elevation difference are used to calculate accurate position information of the submerged person. At this time, when the position of the sucker is oriented, the position tracking device 140 sends a ready signal for quick start of the dron 100, and a series of preparations for allowing the dron 100 to quickly move to the submerger . ≪ / RTI > Preparations include propeller maneuvers, system initialization, and status updates to the drones. This preparation process has the effect of allowing the drones 100 to move faster to the drowning person. The ready signal may be sent to the drones 100 or to the station where the drones 100 are waiting. If sent to the station, the station can prepare and start the drones 100.

In addition, the state of the submerged person is displayed on the display unit 145 of the position tracking device 140. The image displayed on the display unit 145 may be an image measured by a digital telescope or an image viewed by a general telescope.

2. The calculated position information is transmitted to the drone 100, and the drone 100 moves to the drowser DP.

3. The drones 100 reaching the position of the drowning person DP are hovered, and photograph the state of the drowning person by the camera unit 120 in real time. The image photographed in real time is transmitted to the monitor, and the image can be displayed on a separate display or displayed on the display unit 145 of the position tracking device 140. In addition, a photographed image can be displayed together with a far-sighted image of a submerged person viewed through a telescope. The display method includes a format for dividing the display, an overlay format, and a format displayed in a PIP format. Each format can be switched.

4. As mentioned above, GPS generally has an error of 5 ~ 10m. This may or may not occur depending on weather conditions and terrain. However, it is practically impossible for the drone 100 to start at a precise position above the head of the drowning person, and the position of the drowner DP is constantly changed by a bird or the like.

Therefore, a separate correction is necessary, and the correction can precisely adjust the drones 100 by the observer based on the images taken by the drones 100 by the camera unit 120. [ When the height of the drones 100 is about 10 m and it reaches the position of the drowning person, the hovering is performed at a height of about 10 m at first. When the drowner 100 is found, it descends down to accurately identify the drowner And it is possible to make the rescue equipment drop down precisely. When the camera unit 120 photographs at a height of about 10 m, the photographing is performed with a diameter or a straight line length of about 40 m. In this scale, the muck member can not be found quickly so that the drones 100 must lower the hovering altitude If you can not lower altitude due to wind or other terrain, you should use the zoom in / out function of the camera.

In addition, when using a general camera, the camera may not accurately determine the position of the submerged person due to nighttime or waves. In this case, it can be used by using an infrared camera rather than a general camera, and the position can be grasped, and the monitor can switch the image of a general camera and a thermal camera.

5. The image photographed by the drones 100 is transmitted to the monitor. In the photographed image, a virtual location 300 where the rescue equipment is dropped can be displayed in consideration of the environment and the like around the drones. This location marking may be effective in increasing the accuracy of rescue equipment dispatch. It also serves to guide the drill 100 so that it can be accurately moved above the dewatering DP.

The monitor can move the drones 100 using the adjusting unit 146 so as to match the dispenser DP to the dropping position 300. [

Further, when the drop position 300 and the dehydrator DP are different, the drone may be automatically moved to that position. In this case, it is desirable to use an infrared camera, not a general camera, since the exact position of the dewatering DP is necessary.

6. When the drone (100) is moved to the drop position (300), the monitor (MT) drops the rescue equipment. It is desirable that the rescue equipment is injected with air while being dropped.

The specific embodiments of the present invention have been described above. It is to be understood, however, that the scope and spirit of the present invention is not limited to these specific embodiments, and that various modifications and changes may be made without departing from the spirit of the present invention. If you have, you will understand.

Therefore, it should be understood that the above-described embodiments are provided so that those skilled in the art can fully understand the scope of the present invention. Therefore, it should be understood that the embodiments are to be considered in all respects as illustrative and not restrictive, The invention is only defined by the scope of the claims.

100: Drones
110: Rescue equipment
120:
130: Drone control
131: Receiver
132:
133:
140: Regulator (position tracking device)
141: Posture sensor
142: Laser rangefinder
143: GPS module
144:
145:
146:
300: Virtual drop position
DP: The sucker (the victim)
MT: Monitor (Watchtower)

Claims (17)

  1. For the victim rescue drone,
    Rescue equipment for the victim structure;
    A camera unit comprising a general camera or a thermal camera;
    The drone receives the position of the victim and moves to the received position. The camera unit has a zoom-in and zoom-out function for shooting the state image of the victim while hovering in the air and clearly identifying the victim;
    A dron controller having a function of receiving a position information of the victim, a transmitter transmitting the image to the monitor, and a controller controlling the state of the dron;
    A drone including a feature that a virtual drop position is displayed on the photographed image and the position of the dron is finely adjusted by using a separate regulator to accurately position the dropping position of the rescue equipment.
  2. delete
  3. delete
  4. delete
  5. A drones system for a victim structure comprising a position tracking device and a drones,
    A display unit for displaying the image of the victim with the digital telescope in real time, a distance measuring unit for measuring the distance of the victim, a distance from the measured distance using the angle of the monitor and the height of the victim, A position tracking device including a control unit for calculating a position, a position transmitting unit transmitting a position calculated by the drone, and an image receiving unit receiving an image photographed by the drones;
    A position detector for receiving the position of the victim from the position tracking device, a power supply unit for receiving the power, a rescue equipment unit for rescuing the rescue person, a camera for photographing the state of the victim in real time And a video transmitter for transmitting the photographed image to the position tracking device.
    Wherein the location tracking device comprises an adjustment function to adjust the drones based on an image of the condition of the victim for accurate delivery of the rescue equipment.
  6. delete
  7. 6. The method of claim 5,
    Wherein the display unit of the location tracking device simultaneously displays the image photographed by the digital telescope and the image received by the drones.
  8. 8. The method of claim 7,
    Wherein the image received by the drone is viewed with a predicted drop line expected to drop the rescue equipment.
  9. delete
  10. 6. The method of claim 5,
    In order to precisely identify the position of the victim, the drones hover above the victim and move down to ascertain the exact location of the victim.
  11. 11. The method of claim 10,
    Wherein the camera mounted on the drones includes a zoom-in and zoom-out function for precisely checking the position of the victim.
  12. 6. The method of claim 5,
    Wherein the camera unit is a general camera or a thermal camera.
  13. 6. The method of claim 5,
    Wherein the location tracking device sends a ready signal to the drones when the locator is found by the location tracking device and performs a preparation maneuver so that the dron can be moved to a location as soon as the location is calculated. .
  14. A step of the surveillant using the telescope to find the victim and photographing the image;
    Measuring the distance of the victim;
    Calculating the position of the victim from the measured distance using the angle of the monitor and the distress and the high and low difference information;
    Providing the calculated location to the drones;
    Moving the drone to the calculated position and photographing the state of the victim;
    Providing an image taken by the drones to a monitor;
    To grasp the precise location of the victim, the drones hover over the victim and move down to the victim to determine the exact location of the victim;
    Finely adjusting the position of the drones based on the provided image;
    And dropping the rescue equipment to the observer after fine tuning.
  15. 15. The method of claim 14,
    Wherein the image provided for the fine adjustment step is displayed on a single display, the image taken by the drone and the image taken by the telescope.
  16. 16. The method of claim 15,
    Further comprising the step of displaying a virtual location at which the rescue equipment is to be dropped on the display.
  17. 15. The method of claim 14,
    Further comprising the step of providing a signal to the drone to prepare and launch after finding the victim and imaging the image.
KR1020160062870A 2016-05-23 2016-05-23 Drone system for rescue and method of rescue KR101653125B1 (en)

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KR101715210B1 (en) 2016-11-01 2017-03-22 한국건설기술연구원 Apparatus and method for detecting Buried Persons's position using unmanned moving unit
GR1009313B (en) * 2017-03-30 2018-06-19 Τεχνολογικο Εκπαιδευτικο Ιδρυμα Ανατολικης Μακεδονιας Και Θρακης Arrangement for the location and rescue of individuals in danger
WO2018132461A1 (en) * 2017-01-10 2018-07-19 Babak Rezvani Emergency drone guidance device
KR102009638B1 (en) 2018-02-12 2019-08-12 동명대학교산학협력단 Drone for rescuing people
US10402774B1 (en) 2018-07-25 2019-09-03 Capital One Services, LLP Intelligence platform for automated retrieval or protection of a package or a person by an unmanned vehicle (UV)
KR102050674B1 (en) * 2018-08-24 2019-12-02 주식회사 숨비 3s platform system for minimizing rescue golden time
KR20200036242A (en) 2018-09-28 2020-04-07 주식회사 천지드론 Multi-functional drone device
KR20200036243A (en) 2018-09-28 2020-04-07 주식회사 천지드론 Drone device for attaching functional module
KR102101747B1 (en) * 2020-02-13 2020-05-29 주식회사 스마트가이 A board for playing in the water

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