KR102208152B1 - System and method for response disaster situations in mountain area using UAS - Google Patents

Abstract

The present invention relates to a system and method for disaster response in a mountainous area using an unmanned aerial vehicle, wherein the system for disaster response in a mountainous area using an unmanned aerial vehicle obtains image information from a camera while flying in an arbitrary mountainous area, and By analyzing information to determine whether an event has occurred, an unmanned aerial vehicle that transmits the event occurrence image information and the event location and image information are received from the unmanned aerial vehicle, and weather information is received from an external device, and the received weather information and the above It includes a control server that predicts the direction and extent of disaster damage based on the image information, and provides disaster evacuation information to the unmanned aerial vehicle according to the expected result, and the unmanned aerial vehicle is in the evacuation route included in the disaster evacuation information. Follow guided flight.

Description

System and method for response disaster situations in mountain area using UAS}

The present invention relates to a system and method for disaster response in a mountainous area using an unmanned aerial vehicle, and more particularly, when a disaster occurs, by using an unmanned aerial vehicle that unmanned a preset area to quickly and accurately acquire disaster information It relates to a system and method for disaster response in a mountainous area using an unmanned aerial vehicle that enables it to respond.

Most of Korea's land is mountains, and initial response is important in the event of a disaster caused by forest fires, landslides, and heavy rain.However, real-time disaster information due to inadequate systematic system construction due to limitations in operating power supply, etc. As it is difficult to obtain, it is difficult to quickly judge the situation and respond.

In addition, it is difficult to provide disaster broadcasting and evacuation information to citizens isolated in mountainous areas or located in the shadow areas of disaster broadcasting, making it difficult to secure safety and rescue for citizens.

The present invention is conceived to solve the above-described problems, and predicts the direction of disaster progress, the extent of disaster damage, etc. according to surrounding topography or real-time weather conditions, and provides rapid response to an unmanned aerial vehicle that minimizes damage. Provide disaster response systems and methods.

In order to achieve the above object, as a disaster response system in a mountainous area using an unmanned aerial vehicle according to an embodiment presented herein, while flying in an arbitrary mountainous area, obtaining image information from a camera, and obtained image information An unmanned aerial vehicle that determines whether an event occurs by analyzing the data and transmits the event occurrence image information; And receiving event location and video information from the unmanned aerial vehicle, receiving weather information from an external device, predicting the direction and extent of the disaster damage spread based on the received weather information and the video information, and according to the expected result. It includes a control server that provides disaster evacuation information to the unmanned aerial vehicle, and the event occurrence includes the occurrence of a disaster and the occurrence of a rescuer located in a disaster area, and the unmanned aerial vehicle is based on an evacuation route included in the disaster evacuation information. Guide flight.

The external device includes any one or more of a weather forecasting and warning device, an earthquake disaster prevention management device, and a flood monitoring device, and the weather information includes any one or more of wind direction and wind speed information, rainfall information, and direct setting report.

The control server divides the mountain area into a plurality of areas, sets an urgency level for each area according to the expected result, and provides different disaster warning information according to the urgency level to a response agency and an alarm device.

The response agency includes any one or more of a fire station, an emergency center, and a police station, and the alarm devices are installed to be spaced apart from each other in a mountainous area, and the disaster warning information is output to the outside through a speaker.

For each predicted damage area, the control server searches for and selects the response agency that can arrive at the estimated damage area from the previously stored response agency database, and selects the image information, location information, and emergency damage prediction area to the selected response agency. Provides a gender rating.

The unmanned aerial vehicle outputs evacuation instructions and evacuation routes included in the disaster evacuation information to a rescuer through a directional speaker.

The unmanned aerial vehicle is provided to the rescuer by dropping the mounted rescue equipment at the location of the rescuer.

The rescue equipment includes any one or more of a first aid kit, a gas mask, a life-saving tube, and a simple fire extinguisher.

A method for responding to a disaster response system in a mountainous area using an unmanned aerial vehicle according to an embodiment presented herein includes the steps of acquiring image information from a mounted camera while the unmanned aerial vehicle flies in an arbitrary mountainous area; Determining whether an event occurs by analyzing the image information obtained by the unmanned aerial vehicle; Obtaining, by the unmanned aerial vehicle, location information of an event occurrence area, and transmitting the obtained location information and image information to a control server; Receiving, by the control server, event occurrence location and image information from the unmanned aerial vehicle, and receiving weather information from an external device; Estimating, by the control server, a direction and extent of a disaster damage spread based on the received weather information and the image information; Providing, by the control server, disaster evacuation information to the unmanned aerial vehicle according to an expected result; And guided flight by the unmanned aerial vehicle according to an evacuation route included in the disaster evacuation information, and the occurrence of the event includes the occurrence of a disaster and the occurrence of a rescuer located in a disaster area.

The control server partitioning the mountain region into a plurality of regions and setting an urgency level for each partitioned region according to the expected result; And providing, by the control server, different disaster warning information according to the urgency level to a corresponding agency and an alarm device.

As described above, the emergency response system for a disaster in a mountainous area of the present invention can minimize damage by predicting a disaster progress direction, a disaster damage range, etc. and responding quickly when a disaster occurs in a mountainous area.

1 is a diagram schematically illustrating an alarm broadcasting system in a mountainous area using an unmanned aerial vehicle according to an embodiment of the present invention.
2 is a diagram schematically illustrating a configuration of an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a diagram schematically illustrating a configuration of a control unit of an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a diagram schematically illustrating a configuration of a control server according to an embodiment of the present invention.
5 is a flowchart illustrating a response method of an emergency response system for a disaster in a mountainous area using an unmanned aerial vehicle according to an embodiment of the present invention.
6 is a flowchart illustrating a method of predicting a disaster damage spread direction and a damage range of FIG. 5.

It should be noted that technical terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. In addition, the technical terms used in the present specification should be interpreted as generally understood by those of ordinary skill in the technical field to which the present invention belongs, unless otherwise defined in the present specification, and excessively comprehensive It should not be construed as a human meaning or an excessively reduced meaning. In addition, when a technical term used in the present specification is an incorrect technical term that does not accurately express the spirit of the present invention, it will be replaced with a technical term that can be correctly understood by those skilled in the art to be understood. In addition, general terms used in the present invention should be interpreted as defined in the dictionary or according to the context before and after, and should not be interpreted as an excessively reduced meaning.

In addition, the singular expression used in the present specification includes a plurality of expressions unless the context clearly indicates otherwise. In the present application, terms such as "consist of" or "include" should not be construed as necessarily including all of the various elements or various steps described in the specification, and some of the elements or some steps It may not be included, or it should be interpreted that it may further include additional elements or steps.

In addition, the suffixes "module" and "unit" for the constituent elements used in the present specification are given or used interchangeably in consideration of only the ease of writing the specification, and do not themselves have a distinct meaning or role from each other.

In addition, terms including ordinal numbers such as first and second used in the present specification 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 component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of the reference numerals, and redundant descriptions thereof will be omitted.

In addition, in describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are intended to make the spirit of the present invention easier to understand, and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a diagram schematically illustrating an alarm broadcasting system in a shaded area using an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 1, the alarm broadcasting system in the shaded area using an unmanned aerial vehicle according to an embodiment of the present invention includes an unmanned aerial vehicle 100, a remote control device 200, a control server 300, and an alarm device 400. And a terminal 500 of a corresponding institution.

The unmanned aerial vehicle 100 is formed to be maneuverable by remote operation without a person's boarding. The unmanned aerial vehicle 100 is connected to the remote control device 200 through a communication link for control. The unmanned aerial vehicle 100 has its own address, for example a MAC address, used for communication with the remote control device 200.

The unmanned aerial vehicle 100 acquires image information by mounting a camera, and determines whether a disaster has occurred in the flight area by analyzing the acquired image information.

The remote control device 200 receives the MAC address of the unmanned aerial vehicle 100 to identify an arbitrary unmanned aerial vehicle, and provides a moving path for autonomous driving of the unmanned aerial vehicle 100 through a communication link or unmanned aerial vehicle 100 ) Directly control the driving.

The control server 300 transmits and receives information through a communication network with the unmanned aerial vehicle 100, receives real-time flight information such as location information, attitude information, and altitude information of the unmanned aerial vehicle 100, and, if necessary, the unmanned aerial vehicle 100 ) To transmit the operation command related to the flight control to the unmanned aerial vehicle 100 through a wireless communication network. The operation command related to flight control may include any one or more of setting a broadcast point and changing a flight path.

That is, the control server 300 identifies the unmanned aerial vehicle 100 in flight, and checks the current flight position of the identified unmanned aerial vehicle 100. In addition, the control server 300 detects the movement path of the unmanned aerial vehicle, analyzes the image received from the unmanned aerial vehicle 100, and transmits an operation command related to flight control.

The control server 300 processes image data, audio data, and sensing data, which are collected information received from the unmanned aerial vehicle 100. In addition, the control server 300 may directly transmit real-time alarm broadcasting information to the unmanned aerial vehicle 100. The real-time alarm broadcast information may be transmitted through a mobile communication network such as LTE, but is not limited thereto.

The control server 300 receives disaster information from a central control center that manages disaster information, transmits it to the unmanned aerial vehicle 100, or transmits disaster broadcast information input in real time through a microphone provided in the control server 300. Can be sent to (100). The control server 300 divides the mountain area into a plurality of areas based on a geographic information system (GIS) of the disaster site.

In addition, the control server 300 may integrate and manage one or more alarm devices 400 distributed and installed over a range of a disaster occurrence site. To this end, the control server 300 stores the alarm device identification ID, installed location information, and broadcast transmission range in advance by the alarm device 400.

The control server 300 is interlocked with a weather forecasting and warning system, a flood monitoring system, a dam water level monitoring system and an earthquake disaster prevention management system, and collects external environment information including meteorological information on an hourly basis.

The control server 300 may perform complex disaster information analysis through data mining on various data, images, videos, etc. including collected sensing information and image information. In addition, ontology-based context awareness is performed to closely analyze the disaster situation and regional characteristics of each location to determine the scope of the disaster occurrence site. In addition, by analyzing the image information, the area of the disaster occurrence, the rate of spread, and the direction of the spread are predicted, and the degree of the urgency of the spread of damage by disaster occurrence area, the moving path of the rapid response organization, and the evacuation path are analyzed. For example, it is possible to calculate the route of movement of the response organization and the route of evacuation of rescuers by avoiding the place with severe flames, the place where the collapse occurred, and the place with severe flooding.

The control server 300 provides the calculated moving route of the corresponding organization to the terminal 500 of the corresponding organization, and also provides quick evacuation tips and countermeasures including guidance routes of rescuers, the unmanned aerial vehicle 100 and the alarm device 400. ) Can be broadcast.

The alarm device 400 is provided in one or more places in a mountainous area, receives a disaster alert broadcast from the control server 300 through a VHF communication network, and transmits the disaster alert broadcast to the outside through a broadcast facility. The broadcast facility may be a plurality of alarm siren devices.

The alarm device 400 may be configured as, for example, a box-shaped enclosure, and includes an internal memory and an external memory, and includes a UART (Serial) connection terminal, a USB connection terminal, and a digital I/O. On the front of the box-shaped enclosure, LEDs that display equipment status, transmission path status, operation status, and amplifier output status are provided, operation switches such as microphone transfer switches are provided, and A/S RS-232C port, USB port, A microphone connection terminal, an external memory connection terminal, a microphone volume control terminal, a monitor speaker volume control terminal, and a speaker are provided.

On the back of the box-shaped enclosure, AC power input terminal, On/Off switch, speaker output terminal, remote (REMOTE) VHF antenna, local (LOCAL) VHF antenna, Digital I/O terminal, audio LINE OUT terminal, LAN cable terminal, DC An output terminal or the like is provided.

In addition, the alarm device 400 further includes an amplifier to amplify the audio output of the disaster alert broadcast received from the control server 300 to transmit audio to a predetermined transmission range. The amplifier may be a digital amplifier using a digital chip without an analog circuit. Digital amplifiers are smaller than analog amplifiers and generate less heat.

The terminal 500 of the corresponding organization is a terminal capable of receiving and outputting information from the control server 300 and the unmanned aerial vehicle 100 through a communication network, and receives rescue request information from the control server 300 and the unmanned aerial vehicle 100. Upon receipt, it may be provided to disaster relief personnel such as firefighters, police officers, and paramedics performing rescue, or may be provided in the situation room of each related organization such as a fire station or a police station. For the convenience of description below, it is referred to as a corresponding organization 500.

The control server 300 and the unmanned aerial vehicle 100 have previously stored contact information such as the IP address or mobile communication number of the corresponding organization 500 in order to transmit information to the corresponding organization 500.

The corresponding organization 500 may be, for example, a mobile phone, a smart phone, personal digital assistants (PDA), a personal computer (PC), a tablet personal computer (PC), and a terminal of various types, such as a notebook.

The communication network is TCP/IP, LAN (Local Area Network), WIFI, LTE (Long Term Evolution), WCDMA (Wideband Code Division Multiple Access), other known or future wired communication, wireless communication methods, and other communication methods. It can be implemented using at least some. Although a lot of communication is performed through a network, in the description to be described later, a reference to the network is omitted for brevity.

2 is a diagram schematically illustrating the configuration of an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 3 is a view schematically illustrating the configuration of a control unit of an unmanned aerial vehicle according to an embodiment of the present invention.

The unmanned aerial vehicle 100 includes a wireless transmission/reception unit 110 for transmitting and receiving a wireless signal, a control unit 120 for performing various controls, a position receiving unit 130 for receiving a position signal, an image capturing unit 140 for photographing an image, A message generating unit 150, an alarm output unit 160 for outputting an alarm for a disaster situation, a data storage unit 190, and a power supply unit 180 for supplying power to each unit may be included.

In addition, the unmanned aerial vehicle 100 may further include a grab module unit 170 equipped with a disaster relief device and a fall prevention unit 175 for preventing a fall to the ground.

The wireless transmission/reception unit 110 transmits and receives signals to and from the remote control device 200 or the control server 300.

The wireless transmission/reception unit 110 transmits the captured still image or video data, audio data, and sensing data to the control server 300, and receives an operation command related to the flight control of the unmanned aerial vehicle 100 from the control server 300 Receive. The wireless transmission/reception unit 110 transmits the received information to the control unit 120.

In the unmanned aerial vehicle 100, a transmission/reception module used for communication with the remote control device 200 and a transmission/reception module used for communication with the control server 300 may be different from each other. For example, communication with the remote control device 200 may use a 2.1 GHz frequency, and communication with the control server 300 may use a 108 GHz frequency.

The controller 120 is a module that controls a series of processes related to the transmission/reception of operation commands for receiving control from the control server 100 and processing according to the control when the unmanned aerial vehicle 100 is in flight.

In addition, the controller 120 detects flight postures such as take-off and landing and navigation of the unmanned aerial vehicle 100 and controls the flight information to be transmitted to the central control station 100. The controller 120 may be configured to include an acceleration sensor, a gyro sensor, an altitude sensor, a geomagnetic sensor, and the like for flight control. In this way, the controller 120 is in charge of controlling the execution process when performing a series of functions such as providing altitude, posture, and location information during flight of the unmanned aerial vehicle 100.

The location receiving unit 130 includes a Global Position System (GPS) module and acquires location information of the unmanned aerial vehicle 100. The GPS module calculates information about a distance from three or more satellites and a time at which the distance information is measured, and then applies a trigonometry to the calculated distance information. It is possible to calculate three-dimensional location information according to latitude, longitude, and altitude for a point (object). Further, a method of calculating position and time information using three satellites and correcting an error of the calculated position and time information using another satellite is also used.

The location receiving unit 130 transmits the acquired location information to the control unit 120. The control unit 120 may match the image acquired by the image capturing unit 140 with the location information and store it in the data storage unit 190.

The image capture unit 140 includes a camera for capturing an image, and includes a visible ray camera, a thermal imaging camera, a hyperspectral sensor, a light detection and ranging (LIDAR), and a synthetic aperture radar (SAR). Including, and may further include a microphone (microphone) 142.

Visible light cameras are used for detection of flames and smoke that can be detected in the visible light band, detection of submerged areas, and detection of changes in the surface of the earth. Still images and videos are acquired and stored.

Thermal imaging cameras are devices that track, detect, and display heat using infrared wavelengths (0.9-14㎛). Thermal imaging cameras display relative or absolute temperature values in black and white and output them.

The image capturing unit 140 may collect audio data using only a microphone (microphone) separated from image capturing. The image capturing unit 140 transfers the captured image to the control unit 120, and the control unit 120 performs processing such as image correction, and then stores it in the data storage unit 190.

The image captured by the image capturing unit 140 may be provided together with location information and time information acquired by the position receiving unit 130.

The message generator 150 generates a message including the location information of the helper. The generated message is transmitted to the terminal 500 or the control server 300 registered in advance according to the instruction of the control unit 120.

Along with the message, image information of a rescuer may be transmitted together.

The alarm output unit 160 may output a pre-stored alarm through a siren or a warning lamp, and may receive disaster broadcasting and disaster situation information in real time from a control server and output through a speaker. In an embodiment of the present invention, the speaker is a directional speaker. The directional speaker emits sound by putting sound in an inaudible frequency band, and has better audibility than conventional speakers.

The power supply unit 180 supplies power to each component. The power supply unit 180 may be a hybrid type including a DC power source 182 and a solar module 184 that generates power using sunlight.

The controller 120 monitors the remaining amount of the battery of the power supply unit 180.

The grab module unit 170 is equipped with equipment for life-saving, such as first aid supplies, gas masks, life-saving tubes, and simple fire extinguishers.

The control unit 120 controls the grab module unit 170 to provide mounted rescue equipment to the rescuer.

The fall prevention unit 175 is provided to unfold a balloon such as helium gas, and is implemented to operate when a driving signal is output from the control unit 120.

In addition, the fall prevention unit 175 is opened in the form of a parachute when a fall situation of the unmanned aerial vehicle 100 occurs, so that the impact is minimized when the unmanned aerial vehicle 100 falls and touches the ground.

The power supply unit 180 may be a hybrid type including a DC power source 182 and a solar module 184 that generates power using sunlight.

The data storage unit 190 stores programs and data necessary for an operation of analyzing image information and transmitting a message including location information and/or image information, and may be divided into a program area and a data area. The program area may store a program for controlling the overall operation of the automatic flight, a program for checking the remaining battery level, data necessary for generating and transmitting a message (eg, a contact information of an information receiving terminal) and a program. The data area is an area in which information generated by an operation is stored, and may store information generated by an operation, such as image information generated by photographing and location acquisition information, and the like.

Referring to FIG. 3, the controller 120 may be divided into a flight control module 122, an image processing module 124, a message generating module 126, and an alarm broadcasting module 128. Each module is functionally classified for convenience of explanation, but may be performed as a single module or may be integrated in different ways.

The flight control module 122 detects flight attitudes such as take-off and landing and navigation of the unmanned aerial vehicle 100 and controls the flight information to be transmitted to the control server 300, and for flight control, an acceleration sensor, a gyro sensor, an altitude sensor, It may be configured to include a geomagnetic sensor or the like.

The flight control module 122 may control to reduce the speed or lower the altitude at the rescuer discovery position when a rescuer is found according to the image processing module 124 to be described later.

In addition, the flight control module 122 calculates the distance to the preset return place, calculates the amount of power required to return to the return place, and a value excluding the amount of power required to return from the remaining battery power is a preset first threshold value. If it is below, it switches from normal mode to battery saving mode.

The battery saving mode may include any one or more of stopping camera video recording, stopping video information transmission, and stopping alarm broadcasting. Alternatively, depending on the remaining battery capacity, camera video recording may be stopped, image information transmission may be stopped, and alarm broadcast may be stopped in sequence.

In addition, the flight control module 122 drives the fall prevention unit 180 when the value excluding the amount of energy required for return from the remaining battery capacity is less than or equal to a preset second threshold value, so that the operation of the propeller of the wireless vehicle 100 is Even if stopped, it prevents the unmanned aerial vehicle 100 from falling to the ground due to the buoyancy of the balloon filled with helium gas.

In addition, the flight control module 122 controls the grab module unit 170 to fly to a corresponding position of a rescuer isolated due to a forest fire and provide first aid kits, gas masks, and a simple fire extinguisher, etc. You can fly to that location and provide life-saving tubes.

The image processing module 124 includes a camera and a codec, and may obtain an encoded image by encoding a raw image captured from the camera with a codec such as MJPEC, MPEG, and HEVC, removing noise from the obtained encoded image, and adjusting the scale. A pre-processing process such as performing a correction for distortion and the like is performed.

For example, when the lens of the camera is a wide-angle lens, radiation distortion inevitably caused by the wide-angle is corrected. Temperature correction can be easily performed by multiplying the temperature value of the coordinates by the area ratio of the coordinates based on the area ratio for each coordinate system previously stored in the original image of the thermal image where distortion occurs. Compensating the temperature by applying the area ratio for each coordinate stored in advance in this way is not large, so it can be performed within the drone itself. Image correction can be similarly performed.

The image processing module 124 may detect an image feature point and a region of interest (ROI) from image information on which a pre-processing process has been performed, and then perform analysis such as detection of a person and occurrence of a disaster. Person detection, the image processing module 124 is performed by a method of identifying a person and a fire by comparing the temperature analysis result through the image and image that includes an infrared ray in the captured image with pre-stored reference data. I can.

The determination as to correspond to a disaster situation may analyze the image data by at least one analysis method among machine learning-based analysis, a combination analysis of a plurality of image data, and a linkage analysis with sensing data.

In addition, image data may be analyzed using image data at a location corresponding to the audio data, and whether a disaster has occurred may be determined using the analysis result of the image data.

For example, in image information, a foreground image including an object (eg, flame, smoke, etc.) to be monitored may be separated from a background image excluding the foreground image according to a long-term background modeling method. The object included in the separated foreground image is recognized by referring to previously stored pattern information. When information about a temperature range is set in the pattern information, the temperature of each object is classified based on brightness information according to the temperature included in the thermal image data. Therefore, among the plurality of objects included in the foreground image, it is possible to distinguish an object of smoke from an object of similar image such as cloud or fog. As described above, objects that do not belong to the temperature range included in the pattern information are subjected to background processing, thereby reducing the amount of computation generated by subsequent analysis of continuous thermal image data.

On the other hand, when extracting an object for smoke considering only the temperature range, there may be a case in which the temperature of the cloud or fog rises temporarily or the temperature of the car satisfies the temperature range set in the pattern information. For this purpose, the pattern information may include information on a movement direction or diffusion, which is an inherent property of smoke. That is, smoke generally moves upward or diagonally upwards, and has a characteristic of spreading, so that it can be stored as pattern information to further distinguish it from other objects included in the foreground image. In this case, the movement direction may be determined based on the number of pixels and the movement vector of the pixels constituting the object. In this way, it is possible to track the direction of the disaster damage spread (for example, the direction of movement of the flame) and the direction of movement of the rescuer.

Accordingly, in order to exclude other objects except smoke, an object is tracked based on pattern information, and an object that satisfies a condition set in the pattern information can be detected by checking a change in the number of pixels or a moving direction for each extracted object. Accordingly, it is possible to accurately recognize a desired object from the image information.

The message generation module 126 checks the point at which the rescuer is recognized according to the analysis result of the image processing module 124 and obtains the location information of the rescuer, and stores a message including location information and image information obtained in advance, and It transmits to at least one of the control servers.

The alarm broadcasting module 128 outputs a pre-stored alarm broadcasting according to the result of the image processing module 124.

For example, when it is determined that a disaster such as a forest fire has occurred as a result of analysis by the image processing module 124, a pre-stored alarm broadcast matching the forest fire is output through the alarm output unit 150.

In addition, when a real-time alarm broadcast is received from the control server 300, the alarm broadcasting module 128 preferentially outputs the real-time alarm broadcast through the alarm output unit 150.

In addition, the unmanned aerial vehicle 100 may be equipped with an environmental sensor that collects information on temperature and humidity, wind direction and wind speed, pollution, and the like, and further measure carbon dioxide, carbon monoxide, and the remaining amount of the reservoir by such a sensor. May be.

The unmanned aerial vehicle 100 may store the sensed information in the data storage unit 190 or transmit it to the control server 300.

4 is a diagram schematically illustrating a configuration of a control server according to an embodiment of the present invention.

The control server 300 may include a communication unit 310, a control unit 330, a storage unit 350, a broadcast transmission unit 370, a display unit 380 and an input unit 390.

The communication unit 310 receives information from an external device (not shown) and the unmanned aerial vehicle 100, and transmits the received information to the control unit 330.

The controller 330 controls the overall operation of the control server 300 in order to perform a disaster response method.

The control unit 330 analyzes the disaster situation based on the information received through the communication unit 310 and the previously stored analysis-related database. The controller 330 selects different response messages for the analyzed disaster situation. A plurality of correspondence messages are pre-stored in the storage unit 350, and an arbitrary correspondence message is selected based on the analysis result and location information.

The controller 330 may calculate a guidance route based on pre-stored topographic information of a mountainous area, location information of a rescuer, and a location of a disaster such as a forest fire.

The control unit 330 generates a response message including one or more of an induction route, a disaster warning, and an evacuation method, and transmits it to the unmanned aerial vehicle (100 in FIG. 1) through the communication unit 310.

The storage unit 350 stores data under the control of the controller 330 and transmits the requested data to the controller 330. The storage unit 350 may be implemented as a total of physically separated storage devices. When the storage unit 350 is implemented as a total of several devices that are physically separated, communication between several devices may be required. Here, for the sake of simplicity, description will be made on the assumption that the storage unit 350 is implemented as one object.

The broadcast transmission unit 370 broadcasts a disaster alert broadcast according to whether a disaster has occurred or not through a VHF communication network or a mobile communication network.

The display unit 380 serves to output arbitrary information according to an instruction of the control unit 330. For example, the display unit 370 may display the location of the receiver on a map according to the instruction of the control unit 330.

The display unit 380 may be a separate display device or may be integrally formed with the control server 300. The display unit 370 may be implemented as, for example, a liquid crystal display (LCD), a light emitting diode (LED), an organic light emitting diode (OLED), a projector, and other display devices that are possible in the present, in the past, or in the future. The display unit 380 may display, for example, an interface page for providing information or an information providing result page. Depending on the embodiment, the display unit 380 may be used instead of the display unit 380, instead of the display unit 380, using a component that uses a voice output, vibration, or other method capable of transmitting information to the user.

The input unit 390 serves to transmit input information to the control unit 330. The input unit 390 may include at least one of a keyboard and a microphone. The input unit 390 may be configured integrally with the control server 300 or may be configured as a separate component. The user can input corresponding information in real time through the input unit 390. For example, the user may check image information of the unmanned aerial vehicle 100 in real time, input corresponding information through a microphone, and transmit the corresponding information to the unmanned aerial vehicle 100.

Also, the display unit 380 and the input unit 390 may be integrally formed such as a touch pad.

5 is a flowchart illustrating a response method of an emergency response system for a disaster in a mountainous area using an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 6 is a flowchart illustrating a method of predicting a disaster damage spread direction and damage range of FIG. 5 This is a flow chart.

According to an embodiment of the present invention, an unmanned aerial vehicle obtains an image from a camera while flying in a mountainous area (S100).

The unmanned aerial vehicle may receive and store a flight path from a control server prior to flight. In addition, the flight path can be changed or modified by the control server or remote control device even during flight.

The unmanned aerial vehicle determines whether an event has occurred based on the image information (S110).

Here, the occurrence of the event includes the occurrence of a disaster and the occurrence of a rescuer located in the disaster area. That is, the unmanned aerial vehicle analyzes the image information to determine whether a disaster has occurred or whether a rescuer exists in the disaster area.

For determining whether an event occurs based on such image information, refer to the description of the image processing module of FIG. 3.

In addition, the unmanned aerial vehicle can determine the direction of the disaster damage spread and the direction of movement of the rescuer through image information analysis, and can track and fly rescuers located in the disaster area. If the rescuer leaves the disaster area, the follow-up flight can be stopped. If there are multiple rescuers, it is possible to select one of a plurality of rescuers group or a small number of rescuers group to follow the flight.

In step S110, if the unmanned aerial vehicle determines that an event has occurred, it acquires location information of the event occurrence area, and transmits the acquired location information and image information to the control server (S120).

If in step S110 the unmanned aerial vehicle determines that no event has occurred, it returns to step S100.

Next, the control server receives the event location and image information from the unmanned aerial vehicle, and receives weather information from an external device every predetermined time period (S130). The external device may be a server and a terminal of a related institution such as the Meteorological Administration, the earthquake disaster prevention management office, and the flood monitoring office.

The control server can make the time period shorter than the normal time period when an event occurs.

The weather information includes one or more of wind direction, wind speed, rainfall, snowfall, and direct snow.

The control server estimates the direction and extent of the disaster damage based on the received weather information and the image information (S140).

An exemplary method for predicting a disaster damage spread direction and damage range will be described with reference to FIG. 6. First, the control server divides the mountain area into a plurality of areas, and sets an urgency level for each area according to the expected result (S142). The urgency class can be divided into a plurality of classes, such as an accident area where a disaster occurs, an emergency evacuation area that requires urgent evacuation, a state area that does not require urgent evacuation but requires attention, and a safety area area.

The control server generates different disaster alert information according to the urgency level (S144). Disaster alert information may include evacuation routes and evacuation tips.

Referring back to FIG. 5, the control server generates disaster evacuation information according to the expected result of the spread direction and damage range, and provides the generated disaster evacuation information to the monitoring device and the unmanned aerial vehicle (S150).

The control server can analyze the evacuation route and rescue route by analyzing the situational awareness of the disaster situation, the rescuer situation, and the rescuer situation at each location for the collected image information, weather information, terrain information, etc. Analyze the evacuation route and rescue route to lead to a safe area to avoid places with severe flames, places where collapse has occurred, places where smoke is severely detected, places where there is a risk of collapse, places with severe flooding caused by floods, etc., and evacuation routes Transmits to unmanned aerial vehicles and surveillance devices.

Rescue paths are communicated to the response agency to enable rapid rescue.

The evacuation route and the rescue route can be changed in real time by real-time situation recognition analysis of the control server based on the image information of the unmanned aerial vehicle.

Changes to evacuation routes and rescue routes are immediately transmitted to unmanned aerial vehicles and surveillance devices, allowing both rescuers and rescuers to respond immediately.

The unmanned aerial vehicle may guide flight according to an evacuation route included in the disaster evacuation information, or may output an evacuation method and an evacuation route included in the disaster evacuation information to a rescuer through a directional speaker (S160).

Here, guided flight refers to flying along an evacuation route without deviating from a preset distance from a rescuer. Here, the preset distance may be within 1 to 3 m, for example, but is not limited thereto.

The monitoring device can output an evacuation instruction and an evacuation route through the speaker through the speaker.

The unmanned aerial vehicle turns on a beacon during a guided flight of an evacuation route so that a rescuer can easily move along the unmanned aerial vehicle.

The above-described method can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention includes one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs). , Field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

In the above, embodiments disclosed in the present specification have been described with reference to the accompanying drawings. As described above, the embodiments shown in each drawing are not to be construed as limiting, and may be combined with each other by those skilled in the art who are familiar with the contents of the present specification, and when combined, some elements may be interpreted as being omitted.

Here, the terms or words used in the specification and claims should not be construed as being limited to a conventional or dictionary meaning, but should be interpreted as meanings and concepts consistent with the technical idea disclosed in the present specification.

Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only one embodiment disclosed in the present specification, and do not represent all the technical ideas disclosed in the present specification, and thus various It should be understood that there may be equivalents and variations.

100: unmanned aerial vehicle
110: wireless transceiver
120: control unit
121: flight control module
123: image processing module
125: disaster information analysis module
127: message generation module
129: alarm broadcasting module
130: position receiver
140: video recording unit
150: message generator
160: alarm output unit
180: power supply
190: data storage unit
200: remote control device
300: control server
400: alarm device
500: terminal of the corresponding organization

Claims (11)

An unmanned aerial vehicle that obtains image information from a camera while flying in an arbitrary mountain region, determines whether an event occurs by analyzing the acquired image information, and transmits the event occurrence image information; And
Receive event location and image information from the unmanned aerial vehicle, receive weather information from an external device, and perform ontology-based context awareness based on the received weather information and the image information It includes a control server that analyzes the disaster occurrence area, spread rate, and direction of spread to predict disaster evacuation information including the evacuation route and rescue route of the rescuer in real time, and provides disaster evacuation information to the unmanned aerial vehicle according to the expected result. and,
The occurrence of the event includes the occurrence of a disaster and the occurrence of a rescuer located in the disaster area,
The unmanned aerial vehicle guided flight according to the evacuation route included in the disaster evacuation information,
The control server divides the mountain area into a plurality of areas based on GIS information (geographic information system) of the disaster site, sets an urgency level for each area according to the expected result, and sets different disaster levels according to the level of urgency. Alert information is provided to the terminal and alarm device of the response agency, and the response agency that can arrive at the estimated damage area at the earliest for each estimated damage area is searched and selected from the previously stored response agency database, and is then sent to the terminal of the selected response agency. Disaster response system in mountainous areas using an unmanned aerial vehicle that provides video information, location information, and urgency ratings of predicted damage areas. The method of claim 1,
The unmanned aerial vehicle is a disaster response system in a mountainous area using an unmanned aerial vehicle that outputs evacuation instructions and evacuation routes included in the disaster evacuation information to a rescuer through a directional speaker. The method of claim 1,
The external device includes any one or more of a weather forecasting and warning device, an earthquake disaster prevention management device, and a flood monitoring device,
The weather information is a disaster response system in a mountainous area using an unmanned aerial vehicle including any one or more of wind direction and wind speed information, rainfall information, and direct setting report. delete The method of claim 1,
The response agency includes any one or more of a fire station, an emergency center, and a police station,
The alarm system is installed to be spaced apart from each other in a mountainous area, and a disaster response system in a mountainous area using an unmanned aerial vehicle that outputs disaster alert information to the outside through a speaker. delete The method of claim 1,
The unmanned aerial vehicle is a disaster response system in a mountainous area using an unmanned aerial vehicle that drops mounted rescue equipment at the location of a rescuer and provides the rescuer. The system of claim 7, wherein the rescue equipment is a disaster response system in a mountainous area using an unmanned aerial vehicle including any one or more of a first aid kit, a protective mask, a life tube, and a simple fire extinguisher. Acquiring image information from the mounted camera while the unmanned aerial vehicle flies in an arbitrary mountain area;
Determining whether an event occurs by analyzing the image information obtained by the unmanned aerial vehicle;
Obtaining, by the unmanned aerial vehicle, location information of an event occurrence area, and transmitting the obtained location information and image information to a control server;
Receiving, by the control server, event occurrence location and image information from the unmanned aerial vehicle, and receiving weather information from an external device;
Based on the weather information and the video information received by the control server, an ontology-based context awareness is performed to analyze the disaster occurrence area, the spreading speed, and the spreading direction, and the evacuation route and the rescue route of the rescuer Predicting in real time disaster evacuation information comprising a;
Providing, by the control server, disaster evacuation information including a disaster evacuation route and a rescue route to the unmanned aerial vehicle according to the expected result;
The control server partitioning the mountain region into a plurality of regions and setting an urgency level for each partitioned region according to the expected result; And
For each predicted damage area, the control server searches and selects the response agency that can arrive at the estimated damage area from the previously stored response agency database, and displays video information, location information, and location information of the estimated damage area on the terminal of the selected response agency. Providing an urgency level and providing different disaster alert information to a corresponding agency and an alarm device according to the urgency level; And
Including the step of the unmanned flight guided flight according to the evacuation route included in the disaster evacuation information,
The event occurrence is a disaster response method of a disaster response system in a mountainous area using an unmanned aerial vehicle including the occurrence of a disaster and the occurrence of a rescuer located in the disaster area. The method of claim 9, wherein the external device comprises at least one of a weather forecasting and warning device, an earthquake disaster prevention management device, and a flood monitoring device,
The weather information is a disaster response method of a disaster response system in a mountainous area using an unmanned aerial vehicle including any one or more of wind direction and wind speed information, rainfall information, and direct setting report. delete

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