KR102092602B1 - System, method of protecting pedestiran safety using unmanned drone and computer readable medium - Google Patents

System, method of protecting pedestiran safety using unmanned drone and computer readable medium Download PDF

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Publication number
KR102092602B1
KR102092602B1 KR1020190069449A KR20190069449A KR102092602B1 KR 102092602 B1 KR102092602 B1 KR 102092602B1 KR 1020190069449 A KR1020190069449 A KR 1020190069449A KR 20190069449 A KR20190069449 A KR 20190069449A KR 102092602 B1 KR102092602 B1 KR 102092602B1
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KR
South Korea
Prior art keywords
drone
pedestrian
terminal
unmanned
call signal
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KR1020190069449A
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Korean (ko)
Inventor
한성호
장수빈
정동영
정다운
김주환
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포항공과대학교 산학협력단
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Priority to KR1020190069449A priority Critical patent/KR102092602B1/en
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/005Traffic control systems for road vehicles including pedestrian guidance indicator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use

Abstract

In a pedestrian safety protection system using an unmanned drone according to an embodiment of the present invention, an unmanned drone determines whether a drone call signal including location information of a terminal possessed by a pedestrian is received, and as a result, when a drone call signal is received, After moving to the location of the terminal based on the location information of the terminal, flying along the pedestrian while maintaining a certain distance from the terminal using the strength of the signal received from the terminal, outputs lights in front of the pedestrian, or Pedestrian crossings and vehicle stops are projected onto the surface of the road located in front, and the unmanned drone takes a video when patrolling along a certain path, and if a pedestrian is detected in the captured video, broadcasts whether a drone call signal is requested. The terminal that receives the request for requesting a broadcasted drone call signal, It can directly send a drone call signal including the location information of the group to the unmanned drone.

Description

Pedestrian safety protection system, method and computer-readable recording medium using an unmanned drone {SYSTEM, METHOD OF PROTECTING PEDESTIRAN SAFETY USING UNMANNED DRONE AND COMPUTER READABLE MEDIUM}

The present application relates to a pedestrian safety protection system, method and a computer readable recording medium using an unmanned drone.

Pedestrians are exposed to various accident risks in walking situations. In particular, when crossing a place without traffic lights or pedestrian crossings, there is a high risk of collision between pedestrians and vehicles because there is no shared traffic signal system between drivers and pedestrians. In addition, when walking at night, the attention of pedestrians and drivers is weak, and it is difficult to secure the field of view, making it difficult to easily identify the movement of surrounding objects, resulting in about 10% more accidents than during the day. Security incidents are also more frequent at night than during the day.

When crossing a place where there is no traffic light or pedestrian crossing, a method of recognizing surrounding pedestrians in a vehicle is mainly used as a method to prevent a collision between a pedestrian and a vehicle. This method mostly detects pedestrians on a pedestrian crossing using a forward-looking camera, such as a thermal imager or infrared ray, or a laser, and allows the vehicle to control itself or the driver to control the vehicle when the pedestrian and the vehicle are in a collision-prone range. To help.

Other than the method of using a vehicle, a sensor is attached to a road facility to obtain pedestrian and vehicle information to calculate the possibility of collision between the pedestrian and the vehicle and notify the driver of the collision. Sensors installed on road facilities include pressure sensors, human body sensors, temperature sensors, etc., and can identify pedestrian locations and states through pedestrian terminals. As a way to reduce accidents when walking at night, a method has been proposed to increase the illuminance of a pedestrian path by installing LED lights on the pedestrian path.

However, the current accident prevention method lacks a system where pedestrians can ask for help in situations where safety is threatened. In addition, current methods of preventing accidents using vehicles have limitations in that the distance to the vehicle must be close, there is a limit to accurately recognize pedestrians while moving, and an accuracy difference occurs depending on the environment. As a result, there is a risk that the vehicle may not be properly controlled even if the distance between the pedestrian and the vehicle is close. Sensors installed in lighting or road facilities are fixed in a narrow range, so there is a limited area that can help pedestrians, and there is a problem that costs and time are high due to the need to install additional devices in most facilities. .

Korean Registered Patent No. 1690677 (“Lighting Device for the Safety of Pedestrians and Drivers on the Crossroads”, Registration Date: December 22, 2016)

According to an embodiment of the present invention, a pedestrian safety protection system, method and a computer readable recording medium using an unmanned drone capable of safely securing a field of view and walking to a destination at night are provided.

According to an embodiment of the present invention, in a pedestrian safety protection system using an unmanned drone, the unmanned drone determines whether a drone call signal including location information of a terminal carried by a pedestrian is received, and as a result of the determination, calls the drone When a signal is received, it moves to the location of the terminal based on the location information of the terminal and then flies along the pedestrian while maintaining a certain distance from the terminal using the strength of the signal received from the terminal. Output the lights in front or project a pedestrian crossing and a vehicle stop line on the surface of the road located in front of the pedestrian, and the unmanned drone takes an image when it is patrolling along a certain path, and the pedestrian in the captured image When detected, broadcasts whether a drone call signal is requested, and broadcasts Terminal receiving the paging signal if the drone request is configured to drone call signal including the location information of the terminal to be directly transmitted to the unmanned drones, there is provided a pedestrian protection safety system using unmanned drones.

According to one embodiment of the present invention, the unmanned drone includes at least two or more, and the pedestrian safety protection system is based on location information of the terminal and at least two unmanned drones respectively, based on at least two adjacent to the terminal. The server may transmit a drone call signal to an unattended drone closest to the terminal among the unmanned drones.

According to an embodiment of the present invention, the server sets a plurality of geo-fences having a predetermined area, and among the at least two unmanned drones existing in the geo-fence where the terminal is located among the plurality of geo-fences It may be configured to transmit the drone call signal to the unmanned drone closest to the terminal.

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According to an embodiment of the present invention, the unmanned drone takes a road image, and when a vehicle traveling toward the projected crosswalk or vehicle stop line is detected on the photographed road image, a pedestrian is crossing to the driver of the vehicle It can be configured to output a warning to ventilate in an acoustic or visual way.

According to an embodiment of the present invention, the unmanned drone may be configured to monitor the charge amount of the battery unit and automatically return to the charging facility at a preset position when the monitored charge amount of the battery is equal to or less than a preset value.

According to an embodiment of the present invention, the server includes location information of a terminal carried by a pedestrian in another unmanned drone adjacent to the terminal based on the location information of the terminal when the charge amount of the battery of the unmanned drone is equal to or less than a preset value. It can be configured to transmit a drone call signal.

According to an embodiment of the present invention, when the server reaches the boundary of the geo-fence in which the terminal is located based on the location information of the unmanned drone, the server is closest to the terminal among a plurality of unmanned drones existing in the adjacent geo-fence The unmanned drone may be configured to transmit the drone call signal to an unmanned drone having a charge amount equal to or greater than a preset value.

According to an embodiment of the present invention, the unmanned drone further receives a destination from the terminal carried by the pedestrian, and the unmanned drone outputs lighting in front of the pedestrian along a walking path toward the received destination or Alternatively, a pedestrian crossing and a vehicle stop line may be projected onto a surface of a road located in front of the pedestrian.

According to an embodiment of the present invention, the unmanned drone outputs lighting in front of the pedestrian when the ambient light is less than a certain brightness or projects a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian. Can be configured.

According to an embodiment of the present invention, the unmanned drone and the terminal communicate using short-range wireless communication, and the unmanned drone and the server and the terminal and the server are configured to communicate using remote wireless communication. You can.

According to one embodiment of the present invention, the charging facility may be installed in a road facility.

According to another embodiment of the present invention, a pedestrian safety protection method using an unmanned drone, the first step of determining whether a drone call signal including location information of a terminal carried by a pedestrian is received in the unmanned drone; In the unmanned drone receiving the drone call signal, after moving to the location of the terminal based on the location information of the terminal, the pedestrian is maintained while maintaining a certain distance from the terminal using the strength of the signal received from the terminal. A second step of flying along; And a third step of outputting lights in front of the pedestrian or projecting a pedestrian crossing and a vehicle stop line on a surface of a road located in front of the pedestrian in the unmanned drone. The first step includes the unmanned drone Broadcasting a video when a patrol is taken along this constant path, and if a pedestrian is detected in the captured video, broadcasting a request for a drone call signal; And a step in which the terminal receiving the broadcast request for the drone call signal directly transmits a drone call signal including the location information of the terminal to the unmanned drone. .

According to one embodiment of the present invention, there is provided a recording medium readable by a computer on which a program for executing the method is executed on a computer.

According to an embodiment of the present invention, when a drone call signal is received, a pedestrian is flying along a pedestrian while maintaining a certain distance from a terminal carried by the pedestrian, and outputs lights in front of the pedestrian or a road located in front of the pedestrian By projecting a pedestrian crossing and a vehicle stop line on the surface of the pedestrian, there is an advantage that a pedestrian can safely secure a field of vision even at night and walk to a destination.

1 is a configuration diagram of a pedestrian safety protection system using an unmanned drone according to an embodiment of the present invention
Figure 2a is an internal block diagram of an unmanned drone according to an embodiment of the present invention,
2B is an internal block diagram of a terminal according to an embodiment of the present invention,
2C is an internal block diagram of a server according to an embodiment of the present invention.
3 is a view showing a crosswalk and a vehicle stop line projected on the surface of a road according to one embodiment of the present invention.
4 is a view showing lighting output in front of a pedestrian according to an embodiment of the present invention.
5 is a diagram illustrating a plurality of geo-fences and a plurality of drones set according to an embodiment of the present invention.
6 is a flowchart illustrating a method for protecting pedestrian safety using an unmanned drone according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the embodiments of the present invention may be modified in various other forms, and the scope of the present invention is not limited only to the embodiments described below. The shape and size of elements in the drawings may be exaggerated for a more clear description, and elements indicated by the same reference numerals in the drawings are the same elements.

1 is a configuration diagram of a pedestrian safety protection system using an unmanned drone according to an embodiment of the present invention. Meanwhile, FIG. 2A is an internal block diagram of an unmanned drone according to an embodiment of the present invention, FIG. 2B is an internal block diagram of a terminal according to an embodiment of the present invention, and FIG. 2C is according to an embodiment of the present invention It is the internal block diagram of the server.

Meanwhile, FIG. 3 is a diagram showing a crosswalk and a vehicle stop line projected on the surface of a road according to one embodiment of the present invention, and FIG. 4 shows lighting output in front of a pedestrian according to one embodiment of the present invention It is one drawing. And, Figure 5 is a view showing a plurality of geofences and a plurality of drones set according to an embodiment of the present invention.

First, as shown in FIG. 1, the pedestrian safety protection system 100 using an unmanned drone according to an embodiment of the present invention includes an unmanned drone 110, a terminal 120 and a server carried by the pedestrian 1 It may be configured to include 130.

In the present invention, the unmanned drone 110 and the terminal 120 communicate using short-range wireless communication, and the unmanned drone 110 and the server 130 and the terminal 120 and the server 130 use remote wireless communication. Can communicate. Bluetooth, Wi-Fi, etc. may be used for short-range wireless communication, and Cellular, Lora, Sigfox, etc. may be used for long-range wireless communication.

Specifically, the unmanned drone 110 may be an unmanned aerial vehicle flying without a person riding on the aircraft. The unmanned drone 110 determines whether a drone call signal including the location information of the terminal 120 carried by the pedestrian 1 is received, and when a drone call signal is received as a result of determination, it is based on the location information of the terminal 120 By moving to the location of the terminal 120 and then flying along the pedestrian while maintaining a certain distance from the terminal 120 carried by the pedestrian 1, and outputs the light in front of the pedestrian 1 or the pedestrian ( Crosswalks and vehicle stops can be projected onto the surface of the road located in front of 1).

The above-described drone call signal may be received from the server 130 or directly from the terminal 120 carried by the pedestrian 1.

In the former case, the drone call signal (including the location information of the terminal) input to the terminal 120 by the pedestrian 1 may be transmitted to the server 130, in which case the server 130 is a storage unit (described later) Referring to 133), a drone call signal may be transmitted to an unattended drone closest to the terminal among at least two unmanned drones adjacent to the terminal 120 based on the location information of the terminal 120 and the location information of the unmanned drone.

In the latter case, the unmanned drone 110 in flight (patrol) of a certain path may take an image, and when the pedestrian 1 is detected in the captured image, the unmanned drone 110 is a terminal carried by the pedestrian 1 120) can directly receive a drone call signal. To this end, the unmanned drone 110 may broadcast whether a drone call signal is requested when the pedestrian 1 is detected in the captured image, and when the pedestrian 1 wants to call the drone, the terminal 120 may input The drone call signal (including the location information of the terminal) may be transmitted to the unmanned drone 110.

2A is an internal block diagram of an unmanned drone 110 according to an embodiment of the present invention.

2A, the unmanned drone 110 includes a communication unit 111, a battery unit 112, a charge amount detection unit 113, a sensor unit 114, an output unit 115, an image capturing unit 116, and navigation. It may be configured to include a unit 117 and the drone control unit 118.

The communication unit 111 may receive a drone call signal including the location information of the terminal 120 from the terminal 120 and transmit the received drone call signal to the drone control unit 118. Depending on the embodiment, the destination input by the pedestrian 1 from the terminal 120 may be received and the received destination may be delivered to the drone control unit 118.

In addition, the communication unit 111 transmits the location information of the unmanned drone 110 received from the sensor unit 114 and the charge amount of the battery unit 112 monitored by the charge amount sensing unit 113 to the server 130 at regular intervals. You can.

The communication unit 111 may include a short-range wireless communication unit such as Bluetooth or Wi-Fi, or a remote wireless communication unit such as Cellular, Laura, or Sigfox. The short-range wireless communication unit may be used for communication with the terminal 120, and the remote wireless communication unit may be used for communication with the server 130.

The battery unit 112 may supply power to each unit 111, 113 to 118 of the unmanned drone 110, and may include a rechargeable secondary battery.

The charge amount detection unit 113 may calculate and monitor a state of charge (SOC) of the battery unit 112. The charge amount detector 113 calculates a charge amount based on a discharge time using a built-in timer, or measures the charge amount of each battery cell constituting the battery part 112 directly using a built-in LiPo alarm sensor, etc. The charging amount of the battery unit can be monitored using various methods.

Meanwhile, the sensor unit 114 includes a global positioning sensor (GPS) sensor for receiving location information, an illuminance sensor for measuring illuminance, and the like, and the measured illuminance received from the sensor unit 114. It may be delivered to the drone control unit 118.

The output unit 115 may output lights in front of the pedestrian 1 or project a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian 1. A map map embedded in the navigation unit 117 may be referred to whether or not a road exists in front of the pedestrian.

3 is a view showing a crosswalk and a vehicle stop line projected on the surface of a road according to an embodiment of the present invention. As shown in FIG. 3, the output unit 115 of the unmanned drone 110 is a pedestrian A crosswalk 312 and a vehicle stop line 311 may be projected on the surface of the road located in front (D) of (1). The color of the projected crosswalk 312 and the vehicle stop line 311 may be gray, which is the color of the road, and white in contrast with brightness.

On the other hand, if the pedestrian 1 is blind, it may be difficult to walk in a straight line because the front is hard to see. Therefore, the unmanned drone 110 may project a pedestrian crossing and a vehicle stop line in front of the walking direction of a visually impaired person (in this case, the crosswalk and the vehicle stop line may not be perpendicular to the road), and the output unit ( 115) may also output a warning sound (for example, a warning sound indicating that the walking direction is wrong).

On the other hand, Figure 4 is a view showing the light output in front of the pedestrian according to an embodiment of the present invention, as shown in Figure 4, the output unit 115 of the unmanned drone 110, the pedestrian (1 ) It is possible to output the light to the front (D).

In addition, the output unit 115, when the pedestrian 1 is detected as a vehicle traveling toward a projected crosswalk or vehicle stop line while crossing the road, sounds a warning to alert the driver of the vehicle that the pedestrian is crossing Alternatively, it can be output in a visual way.

The above-described output unit 115 may perform an operation only when the ambient illuminance measured by the illuminance sensor of the sensor unit 114 is less than a certain brightness.

The image photographing unit 116 is a module for photographing an image, and may include a far infrared camera, a visible light / near infrared camera, and the like. The captured image may be delivered to the drone controller 118. The above-described image may include a road image taken while flying along a pedestrian, an image taken from the upper direction downward while patrolling a certain path.

The navigation unit 117 includes an inertial measurement unit (IMU), which is a device for measuring the speed, direction, gravity, and acceleration of a moving object, and operates an unmanned drone in conjunction with a GPS sensor of the sensor unit 114 ( 110) to control the moving direction, moving path, moving speed, etc. so that they can fly autonomously.

The navigation unit 117 maintains a certain distance from the terminal 120 carried by the pedestrian 1 after the unmanned drone 110 moves to the location of the terminal 120 based on the location information of the terminal 120 It can be made to fly along a pedestrian in one state. In order to maintain a certain distance from the terminal 120, the navigation unit 117 may use the signal strength received from the communication unit 121 of the terminal 120.

In addition, when the destination is received from the terminal 120, the navigation unit 117 may fly (meaning a road guide) along with a pedestrian along the walking path to the received destination. The walking path may be searched with reference to a map map embedded in the navigation unit 117.

The drone control unit 118 may control the operations of the respective units 111 to 118 of the unmanned drone 110 described above.

Specifically, the drone control unit 118 determines whether a drone call signal including location information of the terminal 120 is received from the terminal 120 through the communication unit 111, and as a result of the determination, when the drone call signal is received, After controlling the navigation unit 117 to move to the location of the terminal 120 based on the location information of the terminal 120, the pedestrian 1 maintains a certain distance from the terminal 120 carried by the pedestrian 1 ).

In addition, the drone control unit 118 may transmit a request for a drone call signal to a terminal of a pedestrian detected through the communication unit 111 when a pedestrian is detected from the image photographed by the image photographing unit 116.

In addition, the drone control unit 118 may detect a vehicle traveling toward the projected crosswalk or vehicle stop line on the road image photographed by the image photographing unit 116, and in this case, the vehicle may be controlled by controlling the output unit 115 A warning or a visual method may be output to alert the driver of the pedestrian that the pedestrian is crossing.

Various image recognition technologies may be used for pedestrian detection or vehicle detection, which is apparent to those skilled in the art and will not be described in detail in the present invention.

In addition, the drone control unit 118 may control the navigation unit 117 to automatically return to the charging facility at a preset position when the charge amount of the battery unit 112 is less than or equal to a preset value.

The unmanned drone 110 described above may be charged by a charging facility, and the charging facility may be installed on road facilities, for example, street lights or street trees.

The terminal 120 is a terminal capable of wireless communication, for example, various types of mobile phones, smart phones, personal digital assistants (PDAs), personal computers (PCs), tablet personal computers (PCs), and notebooks. It can be a terminal.

The terminal 120 may include a communication unit 121, a sensor unit 122, an I / O interface unit 123, a battery unit 125, and a terminal control unit 125.

Specifically, the communication unit 121 may transmit a drone call signal to the unmanned drone 110 under the control of the terminal control unit 120.

The communication unit 121 may include a short-range wireless communication unit such as Bluetooth or Wi-Fi, or a long-range wireless communication unit such as Cellular, Laura, or Sigfox. The short-range wireless communication unit may be used for communication with the unmanned drone 110, and the long-range wireless communication unit may be used for communication with the server 130.

The sensor unit 122 includes a Global Positioning Sensor (GPS) sensor for receiving location information, and the location information received from the sensor unit 114 is transmitted to the server 130 under the control of the terminal control unit 125 Can be sent.

The I / O interface unit 123 may be a module for receiving a drone call signal or a destination from the pedestrian 1.

The battery unit 125 may supply power to each unit 121 to 125 of the terminal 120, and may include a rechargeable secondary battery.

The terminal control unit 125 may control each unit 121 to 124 of the terminal 120.

That is, when a drone call signal or destination is input from the pedestrian 1 through the I / O interface unit 123, the input drone call signal or destination may be transmitted to the unmanned drone 110 through the communication unit 121.

Meanwhile, the server 130 may transmit a drone call signal to an unattended drone closest to the terminal among at least two unmanned drones adjacent to the terminal based on the location information of the terminal and the location information of each of the at least two unmanned drones.

The server 130 may include a communication unit 131, a geo-fence setting unit 132, a storage unit 133, and a server control unit 134.

Specifically, the communication unit 131 may be a module capable of remote communication with the unmanned drone 110 and the terminal 120.

As illustrated in FIG. 5, the geo-fence setting unit 132 may set a plurality of geo-fences 510, 520, 530, and 540 having a preset area. Although the geo-fence shows a quadrangular shape, it should be noted that this is for the purpose of understanding the invention, has a certain radius, and may have circular shapes in which adjacent regions overlap each other.

Only certified unmanned drones 511-512, 513-514, 515-516, and 517-518 can fly in each of the plurality of geo-fences 510, 520, 530, and 540. Therefore, for example, when the unmanned drone 511 leaves the first geo-fence 510 which is a preset area, the server 130 transmits a return signal to the unmanned drone 511 as the first geo-fence 510, , The unmanned drone 511 receiving the return signal may return to the first geo-fence 510.

The storage unit 133 may periodically receive and store location information of at least two unmanned drones, a charge amount, and location information of the terminal 120.

Finally, the server controller 134 is the unattended drone closest to the terminal 120 among at least two unmanned drones adjacent to the terminal 120 based on the location information of the terminal 120 and the location information of each of the at least two unmanned drones. Can send a drone call signal.

In particular, when a plurality of geo-fences are set, the server controller 134 receives a drone call signal from the terminal 120, and among the plurality of geo-fences, the terminal closest to the terminal among at least two unmanned drones existing in the geo-fence where the terminal is located A drone call signal can be transmitted to an unmanned drone.

For example, as shown in FIG. 5, when a drone call signal is received from the terminal 120 carried by the pedestrian 1, the terminal 120 among the plurality of geo-fences 510, 520, 530, and 540 Of the at least two unmanned drones 511 and 512 existing in the located geo-fence 510, a drone call signal may be transmitted to the unmanned drone 511 closest to the terminal 120.

In addition, the server control unit 134 is a pedestrian (1) to the other unmanned drone adjacent to the other based on the location information of the terminal 120 when the charge amount of the battery portion of the unmanned drone 110 flying along the pedestrian 1 is less than a predetermined value By transmitting the drone call signal including the location information of the terminal 120 carried by the other unmanned drone can perform the functions of the present invention described above.

In addition, when the server controller 134 reaches the boundary of the geo-fence where the terminal 120 is located based on the location information of the unmanned drone, the unmanned drone closest to the terminal 120 among the plurality of unmanned drones existing in the adjacent geo-fence By allowing the drone call signal to be transmitted to an unmanned drone having a medium charging amount or more, the other unmanned drone can perform the above-described functions of the present invention.

As described above, according to an embodiment of the present invention, when a drone call signal is received, a passenger flies along a pedestrian while maintaining a certain distance from a terminal possessed by the pedestrian, and outputs a light in front of the pedestrian or a pedestrian By projecting pedestrian crossings and vehicle stops on the surface of the road located in front of the road, there is an advantage that pedestrians can securely view and walk to the destination even at night.

Meanwhile, FIG. 6 is a flowchart illustrating a method for protecting pedestrian safety using an unmanned drone according to an embodiment of the present invention.

Hereinafter, a method for protecting pedestrian safety using an unmanned drone according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6. However, for the sake of simplicity of the invention, the descriptions of the contents previously described in FIGS. 1 to 3 and overlapped descriptions will be omitted.

1 to 6, the pedestrian safety protection method using an unmanned drone according to an embodiment of the present invention,

In the unmanned drone 110, it may be initiated by determining whether a drone call signal including location information of the terminal 120 carried by the pedestrian 1 is received (S601).

The above-described drone call signal may be received from the server 130 or directly from the terminal 120 carried by the pedestrian 1.

That is, in the former case, the drone call signal including the location information of the terminal input to the terminal 120 by the pedestrian 1 may be transmitted to the server 130, in which case the server 130 is a storage unit described later. Based on the location information of the terminal 120 and the location information of the unmanned drone with reference to (133), a drone call signal may be transmitted to an unattended drone closest to the terminal among at least two unmanned drones adjacent to the terminal 120.

In the latter case, the unmanned drone 110 flying (patroling) a certain route photographs an image, and when the pedestrian 1 is detected in the captured image, the unmanned drone 110 is the terminal 120 carried by the pedestrian 1 ), You can directly receive the drone call signal. To this end, the unmanned drone 110 may broadcast whether or not a drone call signal is requested when the pedestrian 1 is detected in the captured image, and when the pedestrian 1 wants to call the drone, the location information of the terminal 120 As described above, the drone call signal may be transmitted to the unmanned drone 110 together.

Next, the unmanned drone 110, which has received the drone call signal, moves to the terminal 120 based on the location information of the terminal, and then maintains a certain distance from the terminal 120 carried by the pedestrian 1 You can fly along (1) (S602).

In order to maintain a certain distance from the terminal 120, it is as described above that the unmanned drone 110 can use the strength of the signal received from the communication unit 121 of the terminal 120.

Finally, the unmanned drone 110 may output lights in front of the pedestrian 1 or project a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian 1 (S603).

In addition, when the unmanned drone 110 detects a vehicle driving toward a projected crosswalk or a vehicle stop line, the unmanned drone 110 may output a warning to a driver of the vehicle that a pedestrian is crossing in an acoustic or visual manner, It is as described above that the operation can be performed only when the ambient illuminance measured by the illuminance sensor is below a certain brightness.

As described above, according to an embodiment of the present invention, when a drone call signal is received, a passenger flies along a pedestrian while maintaining a certain distance from a terminal possessed by the pedestrian, and outputs a light in front of the pedestrian or a pedestrian By projecting pedestrian crossings and vehicle stops on the surface of the road located in front of the road, pedestrians have the advantage of being able to secure their sight and walk to the destination safely even at night.

The above-described method for protecting pedestrian safety using an unmanned drone according to an embodiment of the present invention may be manufactured as a program for execution on a computer and stored in a computer-readable recording medium. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, and optical data storage devices. In addition, the computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the technical field to which the present invention pertains.

In addition, in describing the present invention, '~ unit' refers to various methods, for example, a processor, program instructions executed by a processor, software modules, microcode, computer program products, logic circuits, application-specific integrated circuits, and firmware And the like.

The present invention is not limited by the above-described embodiment and the accompanying drawings. It is intended to limit the scope of rights by the appended claims, and that various forms of substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention as set forth in the claims to those skilled in the art. It will be self-evident.

1: pedestrian
100: pedestrian safety protection system
110: unmanned drone
120: terminal
130: server
311: Vehicle stop line
312: crosswalk
511 to 518: Unmanned drone
510, 520, 530, 540: Geofence

Claims (14)

  1. In the pedestrian safety protection system using an unmanned drone,
    The unmanned drone,
    Determine whether a drone call signal including location information of a terminal carried by a pedestrian is received,
    As a result of the determination, when the drone call signal is received, it moves to the location of the terminal based on the location information of the terminal and then flies along the pedestrian while maintaining a certain distance from the terminal using the strength of the signal received from the terminal. And
    Outputting lights in front of the pedestrian or projecting a pedestrian crossing and vehicle stop on the surface of the road located in front of the pedestrian,
    The unmanned drone,
    When patrolling along a certain path, video is taken. When a pedestrian is detected in the captured video, broadcast a request for a drone call signal,
    The terminal receiving the broadcast request for the drone call signal, the pedestrian safety protection system using an unmanned drone, configured to directly transmit a drone call signal including the location information of the terminal to the unmanned drone.
  2. According to claim 1,
    The unmanned drone includes at least two or more,
    The pedestrian safety protection system,
    A server transmitting the drone call signal to an unattended drone closest to the terminal among at least two unmanned drones adjacent to the terminal based on the location information of the terminal and the location information of each of the at least two unmanned drones;
    Pedestrian safety protection system using an unmanned drone further comprising a.
  3. According to claim 2,
    The server,
    Set a plurality of geo-fence (geofence) having a predetermined area,
    A pedestrian safety protection system using an unmanned drone configured to transmit the drone call signal to an unmanned drone closest to the terminal among at least two unmanned drones existing in the geo-fence in which the terminal is located among a plurality of geo-fences.
  4. delete
  5. According to claim 1,
    The unmanned drone,
    Filming the road,
    When a vehicle traveling toward the projected pedestrian crossing or vehicle stop line is detected in the photographed road image, an unmanned drone using an unmanned drone configured to output a warning to a driver of the vehicle to alert the pedestrian that the pedestrian is crossing Pedestrian safety protection system.
  6. According to claim 1,
    The unmanned drone,
    Monitor the charge level of the battery unit,
    A pedestrian safety protection system using an unmanned drone configured to automatically return to a charging facility at a preset location when the monitored charge amount of the battery unit is less than or equal to a preset value.
  7. According to claim 2,
    The server,
    Pedestrians using an unmanned drone configured to transmit a drone call signal including location information of a terminal owned by a pedestrian to another unattended drone based on location information of the terminal when the charge amount of the battery part of the unmanned drone is equal to or less than a preset value. Safety protection system.
  8. According to claim 3,
    The server,
    When the boundary of the geo-fence where the terminal is located is reached based on the location information of the unmanned drone, an unmanned drone having a charge amount of a preset value or more among the unmanned drones closest to the terminal among a plurality of unmanned drones existing in an adjacent geo-fence Pedestrian safety protection system using an unmanned drone, configured to transmit the drone call signal to.
  9. The method of claim 6,
    The unmanned drone further receives a destination from the terminal carried by the pedestrian,
    The unmanned drone is configured to output lights in front of the pedestrian along a walking path toward a received destination or to project a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian, pedestrian safety using the unmanned drone Protection system.
  10. According to claim 1,
    The unmanned drone is configured to output lights in front of the pedestrian when the ambient light is less than a certain brightness, or to project a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian, protecting pedestrian safety using an unmanned drone system.
  11. According to claim 2,
    The unmanned drone and the terminal communicate using short-range wireless communication,
    The unmanned drone and the server, and the terminal and the server are configured to communicate using long-range wireless communication, a pedestrian safety protection system using an unmanned drone.
  12. The method of claim 6,
    The filling equipment,
    Pedestrian safety protection system using unmanned drone installed on road facilities.
  13. In the pedestrian safety protection method using an unmanned drone,
    A first step of determining whether a drone call signal including location information of a terminal carried by a pedestrian is received in the unmanned drone;
    In the unmanned drone receiving the drone call signal, after moving to the location of the terminal based on the location information of the terminal, the pedestrian is maintained while maintaining a certain distance from the terminal using the strength of the signal received from the terminal. A second step of flying along; And
    In the unmanned drone, a third step of outputting a light in front of the pedestrian or projecting a pedestrian crossing and a vehicle stop line on the surface of a road located in front of the pedestrian.
    The first step is,
    If the unmanned drone is patrolling along a certain path, photographing an image, and when a pedestrian is detected in the photographed image, broadcasting whether a drone call signal is requested; And
    A method for protecting pedestrian safety using an unmanned drone, the method comprising: directly transmitting a drone call signal including location information of a terminal to the unmanned drone at a terminal receiving whether the broadcasted drone call signal is requested.
  14. A computer-readable recording medium recording a program for executing the method of claim 13 on a computer.



KR1020190069449A 2019-06-12 2019-06-12 System, method of protecting pedestiran safety using unmanned drone and computer readable medium KR102092602B1 (en)

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KR101739980B1 (en) * 2015-12-02 2017-05-26 (주)그린아이티코리아 Escort service system and method using drone
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KR20150133536A (en) * 2014-05-20 2015-11-30 주식회사 엘지유플러스 Method and system for providing security service using drone
KR20160131776A (en) * 2015-05-08 2016-11-16 경희대학교 산학협력단 The warning on rear approaching and the method of accident warning using that
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