KR102345421B1 - Integrated safety control system using mobile unmanned robot - Google Patents

Abstract

Provided is an integrated safety control system including: a plurality of fixed cameras photographing a predesignated monitoring area; a fixed camera operation server transmitting a driving command to the plurality of fixed cameras, and receiving first image information from the plurality of fixed cameras; a plurality of movable unmanned monitoring robots moved along a fixed rail, and monitoring a plurality of predesignated areas; a movable unmanned monitoring robot operation server transmitting driving commands to the plurality of movable unmanned monitoring robots, and receiving second image information and first sensor information from the plurality of movable unmanned monitoring robots; an image storage server storing the first image information and the second image information; a worker position information server receiving position information of a worker within a specific space from a worker terminal, and transmitting guide information to the worker terminal; a fire detector placed in a predesignated monitoring area, and monitoring whether a fire occurs on equipment in the specific space; and a comprehensive monitoring server determining whether a fire or abnormality occurs on the equipment in the specific space, based on the first image information received from the fixed camera operation server, the second image information and the first sensor information received from the movable unmanned monitoring robot operation server, and the second sensor information received from the fire detector, and monitoring a worker moving path and an access record based on the position information of the worker received from the worker position information server. Therefore, the present invention is capable of enabling accurate and efficient monitoring in regard to safety.

Description

Integrated safety control system using mobile unmanned surveillance robot {INTEGRATED SAFETY CONTROL SYSTEM USING MOBILE UNMANNED ROBOT}

The present invention relates to an integrated safety control system, and more particularly, to a mobile unmanned surveillance robot and an integrated safety control system based on a worker's location.

In power generation facilities, there is always the risk of accidents such as oil leakage and fire, and the risk of human accidents caused by operating equipment, so continuous and effective monitoring of the operator is required.

Recently, power generation facilities have increased the risk of facility/safety accidents due to the expansion of blind spots in facility operation due to the integrated control system configuration and control room operation and layout optimization.

Since the conventional monitoring system individually monitors a specific area for a limited time, it is difficult to efficiently manage facilities, and it is difficult to quickly determine the situation when an accident such as a fire or oil leak occurs, so that a large-scale accident may occur.

Conventionally, there was a problem in that the monitoring structure suitable for the 4th industry, such as equipment monitoring and worker safety management through image analysis, was insufficient.

Accordingly, it is possible to efficiently monitor the operation status of the entire specific space and prevent accidents in advance, and a technology capable of preventing the recurrence of accidents and responding accurately and quickly in case of accidents is required.

The technical problem to be achieved by the present invention is to provide an integrated safety control system capable of efficiently monitoring the operating status of the entire specific space and preventing accidents in advance, preventing the recurrence of accidents and enabling accurate and rapid response in case of accidents.

According to one embodiment, an integrated safety control system is provided. The integrated safety control system operates a plurality of fixed photographing devices for photographing a predetermined monitoring area, a fixed photographing device that transmits a driving command to the plurality of fixed photographing devices, and receives first image information from the plurality of fixed photographing devices A server, a plurality of mobile unmanned surveillance robots that move along a fixed rail and monitor a plurality of pre-designated surveillance zones, transmit a driving command to the plurality of mobile unmanned surveillance robots, and receive a second from the plurality of mobile unmanned surveillance robots A mobile unmanned surveillance robot operation server that receives image information and first sensor information, an image storage server that stores the first image information and the second image information, receives the location information of a worker in a specific space from a worker terminal, and the A worker location information server that transmits guidance information to a worker terminal, a fire detection device that is disposed in a pre-designated monitoring area and monitors whether fire occurs in a specific space, and the first image received from the stationary imaging device operation server Based on the information, the second image information and the first sensor information received from the mobile unmanned monitoring robot operation server, and the second sensor information received from the fire detection device, whether a fire or abnormality occurs in the equipment in a specific space and a comprehensive monitoring server for determining the worker's location information and monitoring worker movement and entry/exit details based on the location information of the worker received from the worker location information server.

The comprehensive monitoring server, based on the location information of the worker received from the worker location information server, selects at least one fixed photographing device from among the plurality of fixed photographing devices, and based on the location information of the selected fixed photographing device Calculate the distance, direction, rotation angle, and tilt angle for the operator's position, and transmit the distance, direction, rotation angle and tilt angle to the stationary imaging device operation server, wherein the stationary imaging device operation server is the selected stationary imaging device transmits the distance, direction, rotation angle, and tilt angle to the user, and the selected stationary photographing device rotates horizontally or vertically based on the distance, direction, rotation angle and tilt angle, or performs a zoom-in or zoom-out operation; The first image information may be generated.

The comprehensive monitoring server, based on the location information of the worker received from the worker location information server, selects at least one mobile unmanned surveillance robot from among the plurality of mobile unmanned surveillance robots, location information of the selected mobile unmanned surveillance robot Calculates the movement distance and movement direction for the position of the worker based on The moving distance and moving direction are transmitted, and the selected mobile unmanned surveillance robot may move to the operator's position based on the moving distance and moving direction to generate the second image information.

The comprehensive monitoring server analyzes the first image information and the second image information to derive the presence or absence of a worker in the first specific space and location information of the first specific space, and the worker in the first specific space When recognized, the worker compares the location information of the recognized first specific space with the location information of the worker received from the worker terminal of the worker recognized in the first specific space from the worker location information server, and the worker is recognized When the location information of the first specific space and the location information of the worker received from the worker terminal of the worker recognized in the first specific space do not match, an alarm sound may be output through a speaker installed in the first specific space.

The comprehensive monitoring server selects at least one fixed photographing device from among the plurality of fixed photographing devices based on the fire occurrence location information received from the fire detection device, and generates a fire based on the location information of the selected fixed photographing device Calculate the distance, direction, rotation angle, and tilt angle for the location, and transmit the distance, direction, rotation angle, and tilt angle to the stationary photographing device operation server, and the stationary photographing device operation server sends the selected stationary photographing device to the operation server. The distance, direction, rotation angle, and tilt angle are transmitted, and the selected fixed photographing device rotates horizontally or vertically based on the distance, direction, rotation angle and tilt angle, or performs a zoom-in or zoom-out operation, and the first 1 You can create image information.

The comprehensive monitoring server selects at least one mobile unmanned surveillance robot from among the plurality of mobile unmanned surveillance robots based on the fire occurrence location information received from the fire detection device, and based on the location information of the selected mobile unmanned surveillance robot calculates the moving distance and the moving direction for the location of the fire with a The distance and movement direction are transmitted, and the selected mobile unmanned surveillance robot may move to a fire location based on the movement distance and movement direction to generate the second image information.

It is possible to efficiently monitor the operation status of the entire specific space and prevent accidents in advance, and it is possible to prevent recurrence of accidents and to respond accurately and quickly in case of accidents.

Accurate and efficient monitoring of equipment abnormalities and worker safety in a specific space is possible through a mobile unmanned monitoring robot.

Through image analysis using artificial neural network, fast and precise worker recognition, location information derivation, and fire monitoring are possible.

Vibration and condition monitoring using sound data enables real-time detection of abnormalities in equipment in a specific space.

1 and 2 are block diagrams of an integrated safety control system according to an embodiment.
3 is a view for explaining an integrated safety control system according to an embodiment.
4 and 5 are diagrams for explaining a mobile unmanned surveillance robot of the integrated safety control system according to an embodiment.
6 is a block diagram of a mobile unmanned surveillance robot of an integrated safety control system according to an embodiment.
7 is a block diagram of a comprehensive monitoring server of an integrated safety control system according to an embodiment.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

1 and 2 are block diagrams of an integrated safety control system according to an embodiment. 3 is a view for explaining an integrated safety control system according to an embodiment. 4 and 5 are diagrams for explaining a mobile unmanned surveillance robot of the integrated safety control system according to an embodiment. 6 is a block diagram of a mobile unmanned surveillance robot of an integrated safety control system according to an embodiment. 7 is a block diagram of a comprehensive monitoring server of an integrated safety control system according to an embodiment.

1 to 3, the integrated safety control system according to an embodiment includes a stationary imaging device 110, a stationary imaging device operation server 120, a mobile unmanned surveillance robot 210, and a mobile unmanned surveillance robot operation server ( 220), comprehensive monitoring server 300, image storage server 400, viewer management server 500, user terminal 600, operator terminal 700, fire detection device 800, operator location information server 900 includes

The stationary imaging device 110 is installed in a pre-designated monitoring area (eg, zones 1 to 33 in FIG. 5 ) to photograph the pre-designated monitoring area. The stationary photographing apparatus 110 may include a real image (CCD) camera and an infrared (IR) camera, as an embodiment.

The stationary imaging device 110 may, in one embodiment, be placed on a stand-alone critical equipment, an intermittent monitoring area, or a centralized monitoring area and a rail near the equipment.

The stationary photographing device 110, as an embodiment, is capable of pan/tilt/zoom operations, and is horizontal or vertical based on the distance, direction, rotation angle and tilt angle received from the stationary photographing device operation server 120 . It may rotate, perform a zoom-in or zoom-out operation, and generate first image information.

The stationary imaging device operation server 120 transmits a driving command to the plurality of stationary imaging devices 110 and receives first image information from the plurality of stationary imaging devices 110 .

The stationary imaging device operation server 120 may transmit the first image information received from the plurality of stationary imaging devices 110 to the general monitoring server 300 as an embodiment.

The mobile unmanned monitoring robot 210 moves along the rail and monitors a plurality of pre-designated monitoring areas.

Referring to FIG. 4 , the mobile unmanned monitoring robot 210 may be disposed on the rail of a monitoring area partitioned by risk level within a specific space (eg, an industrial plant) as an embodiment. The rail may be installed at a certain distance away from the ceiling in a specific space (eg, an industrial plant) as an embodiment, and the mobile unmanned monitoring robot 210 as an embodiment moves along the rail to a specific space (eg, , industrial plants) can be monitored in all areas.

As an embodiment, the mobile unmanned surveillance robot 210 may be arranged in plurality for each of a plurality of pre-designated monitoring areas, and may move along a preset path (eg, paths 1 to 17 in FIG. 5 ). Through this, it is possible to monitor all areas within a specific space (eg, industrial plant) from various directions, angles, and distances without blind spots, thereby improving the accuracy and reliability of monitoring.

Referring to FIG. 5 , the mobile unmanned surveillance robot 210 is an embodiment, and a pan/tilt/zoom operation is possible through the image capturing unit 211, and a worker receiving from the mobile unmanned surveillance robot operation server 220 The second image information may be generated by moving to the position of the operator based on the movement distance and movement direction for the position.

The mobile unmanned surveillance robot operation server 220 transmits a driving command to the plurality of mobile unmanned surveillance robots 210 , and receives second image information and sensor information from the plurality of mobile unmanned surveillance robots 210 .

As an embodiment, the mobile unmanned surveillance robot operation server 220 may transmit the second image information and sensor information received from the plurality of mobile unmanned surveillance robots 210 to the comprehensive surveillance server 300 . The sensor information, as an embodiment, may include acoustic information and air quality information (CH4, CO, CO2 concentration, etc.).

Referring to FIG. 6 , the mobile unmanned surveillance robot 210 is an embodiment, and an image capturing unit 211 , a sensor unit 212 , an audio input/output unit 213 , an operator monitoring unit 214 , and an alarm unit 215 . , an air quality monitoring unit 216 , a fire monitoring unit 217 , and a battery unit 218 .

The image photographing unit 211 may photograph a plurality of pre-designated monitoring areas. The image capturing unit 211 may include a real image (CCD) camera and an infrared (IR) camera, as an embodiment.

The sensor unit 212 may detect a sound generated from equipment in the monitoring area and measure air quality in the monitoring area. As an embodiment, the sensor unit 212 may include an acoustic sensor and an air quality measurement sensor (CH4, CO, CO2, etc.).

The voice input/output unit 213 may recognize the voice of the operator in the monitoring area and output a voice message corresponding to the input voice based on map data stored in advance. The audio input/output unit 213 may include a microphone and a speaker as an embodiment.

The worker monitoring unit 214 may collect the location information of the worker in real time, and compare the location information of the worker with preset reference location information to determine whether the worker enters the unauthorized area. The location information, as an embodiment, may include GPS information, beacon location information, and AP information.

The operator monitoring unit 214 may receive GPS information from the operator terminal 700 in real time, as an embodiment. The worker monitoring unit 214 may receive, in real time, location information from a beacon attached to the worker's clothes, shoes, or hat, as an embodiment. The operator monitoring unit 214 may receive the AP information from the operator terminal 700 in real time.

The alarm unit 215 may output an alarm when the operator monitoring unit 214 determines that the operator enters the unauthorized area. As an embodiment, the alarm unit 215 may transmit a notification message to the comprehensive monitoring server 300 when the operator monitoring unit 214 determines that the operator enters an unauthorized area.

The air quality monitoring unit 216 may compare the air quality in the monitoring area measured by the sensor unit 212 with a preset reference value to determine whether the air quality is in a dangerous state.

The alarm unit 215 may output an alarm when the air quality monitoring unit 216 determines that the air quality is in a dangerous state. As an embodiment, the alarm unit 215 may transmit a notification message to the comprehensive monitoring server 300 when the air quality monitoring unit 216 determines that the air quality is in a dangerous state.

The fire monitoring unit 217 performs machine learning based on the learning data input in advance, and uses a machine learning algorithm that uses the image data as an input variable through the image capturing unit 211 to generate a fire in the equipment in the monitoring area. can determine whether The fire monitoring unit 217 uses a machine learning algorithm that uses image data as an input variable through the image capturing unit 211 to analyze behavior patterns for people and objects, and when a set event is detected, the alarm unit 215 is activated. It is possible to transmit a notification message to the comprehensive monitoring server 300 through.

The alarm unit 215 may output an alarm sound when the fire monitoring unit 217 determines that a fire has occurred.

The battery unit 218 may include a wireless charging battery as an example. The mobile unmanned surveillance robot 210 may move to a wireless charging port provided at a predetermined location on the rail according to settings, and the battery unit 218 may be charged through the wireless charging port.

The comprehensive monitoring server 300 includes the first image information received from the stationary photographing device operation server 120 , the second image information and the first sensor information received from the mobile unmanned surveillance robot operation server 220 , and the fire detection device 800 . ) based on the second sensor information received from, determining whether a fire or abnormality occurs in equipment in a specific space (eg, an industrial plant), and based on the location information of the worker received from the worker location information server 900 , the worker Monitor movement and entry/exit details.

The first image information and the second image information may include real image image information and thermal image information of the monitoring area as an embodiment. The first sensor information may include sound data and air quality data as an embodiment. The second sensor information, as an embodiment, may include temperature data, smoke detection information, flame detection information, and the like.

Referring to FIG. 4 , the comprehensive monitoring server 300 may include, as an embodiment, a communication unit 310 , a comprehensive analysis unit 320 , and a worker location monitoring unit 330 .

The communication unit 310 receives the first image information from the stationary photographing device 110 , the second image information and the first sensor information from the mobile unmanned surveillance robot 210 , and the second image information from the fire detection device 800 . You can receive sensor information.

The comprehensive analysis unit 320 performs machine learning based on the learning data input in advance, and uses a machine learning algorithm that takes the first image information and the second image information as input, and in a specific space (eg, an industrial plant) It is possible to determine whether or not a fire has occurred in the equipment. The communication unit 310 may transmit a notification message to the operator terminal 700 when the comprehensive analysis unit 320 determines that a fire has occurred.

The comprehensive analysis unit 320 may determine whether an abnormality has occurred in the equipment and whether the air quality is in a dangerous state based on the first sensor information received from the mobile unmanned monitoring robot 210 . As an embodiment, the comprehensive analysis unit 320 may determine whether an abnormality occurs in the equipment in the monitoring area by comparing the sound data included in the first sensor information with the map data stored in advance. The comprehensive analysis unit 320 as an embodiment compares the air quality data (eg, CH4, CO, CO2, etc.) included in the first sensor information with pre-stored map data to determine whether the air quality in the monitoring area is in a dangerous state. have. The communication unit 310 may transmit a notification message to the operator terminal 700 when the comprehensive analysis unit 320 determines that the equipment is abnormal or the air quality is in a dangerous state.

The comprehensive analysis unit 320 is an embodiment, based on the image information and sensor information received from the mobile unmanned surveillance robot 210, in real time whether a fire occurred in a specific space (eg, an industrial plant) and a monitoring area You can determine whether an abnormality has occurred in your equipment, and you can reset the previously set danger zone according to whether a fire or equipment abnormality occurs.

The comprehensive analysis unit 320 is an embodiment, based on the location information of the worker received from the worker location information server 900, a plurality of stationary photographing devices 110 (eg, in each of zones 1 to 33 in FIG. 5 ) At least one stationary imaging device 110 is selected from among the installed stationary imaging devices), and based on the location information of the selected stationary imaging device 110 (eg, the stationary imaging device installed in area 19 of FIG. 5 ) The distance, direction, rotation angle, and tilt angle may be calculated, and the distance, direction, rotation angle, and tilt angle may be transmitted to the stationary imaging device operation server 120 . At this time, the stationary imaging device operation server 120 transmits the distance, direction, rotation angle and tilt angle to the selected stationary imaging device 110 , and the selected stationary imaging device 110 sets the distance, direction, rotation angle and tilt angle. Based on the background, horizontal or vertical rotation or zoom-in or zoom-out operation may be performed, and first image information may be generated.

The comprehensive analysis unit 320 is an embodiment, based on the location information of the worker received from the worker location information server 900, a plurality of mobile unmanned surveillance robot 210 (eg, each of zones 1 to 33 in FIG. 5 ) At least one mobile unmanned surveillance robot 210 is selected from among the mobile unmanned surveillance robots installed on a rail installed in the It is possible to calculate the movement distance and movement direction for the operator's position based on the location information of the , and transmit the movement distance and movement direction to the mobile unmanned surveillance robot operation server 220 . At this time, the mobile unmanned surveillance robot operation server 220 transmits the moving distance and the moving direction to the selected mobile unmanned surveillance robot 210, and the selected mobile unmanned surveillance robot 210 moves to the operator's position based on the moving distance and the moving direction. By moving, the second image information may be generated. As an embodiment, the mobile unmanned surveillance robot 210 may rotate in a horizontal or vertical direction or perform a zoom-in or zoom-out operation, and may generate second image information.

As an embodiment, the comprehensive analysis unit 320 analyzes the first image information and the second image information to determine the presence or absence of an operator in the first specific space (eg, area 15 in FIG. 5 ), and location information of the first specific space , and when the worker in the first specific space is recognized, the location information of the first specific space recognized by the worker and the worker location information server 900 are received from the worker terminal 700 of the recognized worker in the first specific space compares the position information of the worker, and if the location information of the first specific space recognized by the worker and the location information of the worker received from the worker terminal 700 of the worker recognized within the first specific space do not match, enter the unauthorized area may be determined, and an alarm sound may be output through a speaker installed in the first specific space. It is possible to prevent a worker who does not have the operator terminal 700 that transmits real-time location information from entering an unauthorized area.

As an embodiment, the comprehensive analysis unit 320 performs machine learning based on previously input learning data, and uses a machine learning algorithm using image data as an input variable through the image capturing unit 211 to register in advance. It is possible to identify workers who have been trained and derive the location information of the monitoring area.

The worker location monitoring unit 330 may collect the location information of the worker in real time, compare the location information of the worker with preset reference location information for each worker terminal, and monitor the worker movement and entry/exit details.

The worker location monitoring unit 330 is an embodiment, and when a worker enters an unauthorized area, it can transmit the location information of the worker who has entered the unauthorized area to the mobile unmanned monitoring robot 210, and a mobile unmanned monitoring robot ( 210) may move to the location of the worker who has entered the unauthorized area to generate image information and collect audio data.

The operator position monitoring unit 330 may transmit a notification message to the operator terminal 700 located in the reset danger zone through the comprehensive analysis unit 320 as an embodiment.

The worker location monitoring unit 330 may receive GPS information from the worker terminal 700 in real time, and may receive location information from a beacon attached to the worker's clothing, shoes, or hat in real time, the worker terminal 700 . AP information can be received in real time.

As an embodiment, the worker location monitoring unit 330 may display the location information of the worker, the worker movement line, and the entry/exit details through an app installed in the user terminal 600 .

The comprehensive monitoring server 300 may set the monitoring time of the mobile unmanned monitoring robot 210 differently according to the risk level and equipment level of the monitoring area as an embodiment. For example, the comprehensive monitoring server 300 may set a longer monitoring time of the mobile unmanned monitoring robot 210 in the case of a monitoring area with a high risk level and equipment level, and a movable type in the case of a monitoring area with a low risk level and equipment level. The monitoring time of the unmanned monitoring robot 210 can be set to be short.

The image storage server 400 may store the first image information received from the stationary photographing device 110 and the second image information received from the mobile unmanned surveillance robot 210 . When the image storage server 400 receives the image information provision request message from the operator terminal 700 , the image storage server 400 may transmit a message including the first image information and the second image information to the operator terminal 700 .

The viewer management server 500 may output the first image information and the second image information through a wirelessly connected display device.

The user terminal 600 may be connected to the general monitoring server 300 by an administrator or a field operator through an app or a web. The user terminal 600 may transmit a message requesting the setting of the movement path and monitoring area of the mobile unmanned monitoring robot 210 to the comprehensive monitoring server 300 through the app or the web.

The worker terminal 700 may transmit GPS information or AP (Access Point) information connected through Wi-Fi to the comprehensive monitoring server 300 .

The user terminal 600 and the operator terminal 700 are, as an embodiment, a mobile communication terminal, a desktop computer, a notebook computer, a workstation, a palmtop computer, a personal digital assistant (PDA), a web pad. It may be a digital device equipped with a memory means, such as a microprocessor, and equipped with computational capability.

The fire detection device 800 is disposed in a pre-designated monitoring area, and can monitor whether equipment in a specific space (eg, an industrial plant) has a fire. As an embodiment, the fire detection device 800 may include a camera and a fire detection sensor, and may determine whether a fire has occurred based on image information and sensor information.

The comprehensive monitoring server 300 is an embodiment, when it is determined that a fire has occurred in the equipment in the second specific space (eg, area 19 in FIG. 5 ) based on the second sensor information received from the fire detection device 800 . , it is possible to transmit the location information of the equipment in the second specific space to the mobile unmanned monitoring robot 210, and output an alarm sound through a speaker installed in the second specific space. The mobile unmanned monitoring robot 210 may move to the location of the monitoring area where the fire occurred (eg, area 19 in FIG. 5 ) to generate image information and collect voice data. In this case, the operator position monitoring unit 330 may reset the danger zone based on the location information of the equipment in the second specific space, and transmit a notification message to the operator terminal 700 located in the reset danger zone.

The comprehensive analysis unit 320, as an embodiment, when it is determined that a fire has occurred in the equipment in the second specific space (eg, area 19 in FIG. 5 ), tells the mobile unmanned monitoring robot 210 of the equipment in the second specific space. The location information may be transmitted, and the mobile unmanned surveillance robot 210 may move to the location of the equipment in the second specific space to generate image information and collect voice data. As an embodiment, the fire detection device 800 may include a communication module for transmitting and receiving data to and from the comprehensive monitoring server 300 using wired/wireless communication.

The comprehensive analysis unit 320 is an embodiment, based on the fire occurrence location information received from the fire detection device 800 (eg, location information of the monitoring area in which the fire detection device 800 is disposed), a plurality of fixed At least one fixed photographing device 110 is selected from among the photographing devices 110 (eg, fixed photographing devices installed in each of zones 1 to 33 of FIG. 5 ), and the selected fixed photographing device 110 (eg, 19 of FIG. 5 ) is selected. Based on the location information of the stationary imaging device installed in the area), the distance, direction, rotation angle and tilt angle for the location of the fire are calculated, and the distance, direction, rotation angle and tilt angle are provided to the stationary imaging device operation server 120 . can send At this time, the stationary imaging device operation server 120 transmits the distance, direction, rotation angle and tilt angle to the selected stationary imaging device 110 , and the selected stationary imaging device 110 sets the distance, direction, rotation angle and tilt angle. Based on the background, horizontal or vertical rotation or zoom-in or zoom-out operation may be performed, and first image information may be generated.

The comprehensive analysis unit 320 is an embodiment, based on the location information of the fire (eg, location information of the monitoring area in which the fire detection device 800 is disposed) received from the fire detection device 800, a plurality of mobile At least one mobile unmanned surveillance robot 210 is selected among the unmanned surveillance robots 210 (eg, mobile unmanned surveillance robots installed on rails installed in each of zones 1 to 33 in FIG. 5), and the selected mobile unmanned surveillance robot 210 ) (e.g., a mobile unmanned surveillance robot placed in the 16th area of Fig. 5) calculates the movement distance and movement direction for the location of the fire based on the location information, and sets the movement distance and movement direction to the mobile unmanned surveillance robot operation server ( 220) can be sent. At this time, the mobile unmanned surveillance robot operation server 220 transmits the moving distance and the moving direction to the selected mobile unmanned surveillance robot 210, and the selected mobile unmanned surveillance robot 210 is the location of the fire based on the moving distance and the moving direction. , to generate second image information. As an embodiment, the mobile unmanned surveillance robot 210 may rotate in a horizontal or vertical direction or perform a zoom-in or zoom-out operation, and may generate second image information.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto. is within the scope of the right.

Claims (6)

a plurality of stationary imaging devices to photograph a pre-specified surveillance area;
a stationary imaging device operating server for transmitting a driving command to the plurality of stationary imaging devices and receiving first image information from the plurality of stationary imaging devices;
A plurality of mobile unmanned surveillance robots that move along a fixed rail and monitor a plurality of pre-designated surveillance areas;
A mobile unmanned surveillance robot operating server that transmits a driving command to the plurality of mobile unmanned surveillance robots and receives second image information and first sensor information from the plurality of mobile unmanned surveillance robots;
an image storage server for storing the first image information and the second image information;
A worker location information server that receives the location information of the worker in a specific space from the worker terminal and transmits guide information to the worker terminal,
A fire detection device that is placed in a pre-designated monitoring area and monitors the occurrence of fire in a specific space; and
The first image information received from the stationary photographing device operation server, the second image information and the first sensor information received from the mobile unmanned surveillance robot operation server, and the second sensor information received from the fire detection device Comprehensive monitoring server that determines whether fire or abnormality occurs in equipment in a specific space based on the
including,
The plurality of mobile unmanned surveillance robots,
A fire monitoring unit that performs machine learning based on the learning data input in advance and determines whether a fire has occurred in the equipment in the monitoring area using a machine learning algorithm that uses the image data generated through the image capturing unit as an input variable, ,
The comprehensive monitoring server resets the previously set danger zone according to whether a fire or abnormality occurs in the equipment in a specific space,
The rail is an integrated safety control system that is installed at a certain distance away from the ceiling in a specific space. In claim 1,
The comprehensive monitoring server,
Based on the location information of the worker received from the worker location information server, at least one stationary photographing device is selected from among the plurality of fixed photographing devices, and based on the location information of the selected fixed photographing device, the distance to the operator's location; calculating a direction, a rotation angle, and a tilt angle, and transmitting the distance, direction, rotation angle and tilt angle to the stationary photographing device operation server;
The stationary imaging device operation server transmits the distance, direction, rotation angle and tilt angle to the selected stationary imaging device,
The selected fixed photographing device rotates horizontally or vertically based on the distance, direction, rotation angle and tilt angle, performs a zoom-in or zoom-out operation, and generates the first image information. In claim 1,
The comprehensive monitoring server,
Based on the location information of the worker received from the worker location information server, at least one mobile unmanned surveillance robot is selected from among the plurality of mobile unmanned surveillance robots, and based on the location information of the selected mobile unmanned surveillance robot, to the worker location calculates the moving distance and the moving direction, and transmits the moving distance and moving direction to the mobile unmanned surveillance robot operation server;
The mobile unmanned surveillance robot operation server transmits the moving distance and the moving direction to the selected mobile unmanned surveillance robot,
The selected mobile unmanned surveillance robot moves to a position of a worker based on the moving distance and moving direction to generate the second image information. In claim 1,
The comprehensive monitoring server,
By analyzing the first image information and the second image information, the presence or absence of an operator in the first specific space and location information of the first specific space are derived,
When a worker in the first specific space is recognized, the location information of the first specific space recognized by the worker and the location information of the worker received from the worker terminal of the worker recognized in the first specific space from the worker location information server compare,
If the location information of the first specific space recognized by the worker and the location information of the worker received from the worker terminal of the worker recognized in the first specific space do not match, an alarm sounds through a speaker installed in the first specific space Discharge, integrated safety control system. In claim 1,
The comprehensive monitoring server,
Based on the fire occurrence location information received from the fire detection device, at least one fixed photographing device is selected from among the plurality of fixed photographing devices, and the distance and direction to the location of the fire based on the location information of the selected fixed photographing device , calculating a rotation angle and a tilt angle, and transmitting the distance, direction, rotation angle and tilt angle to the stationary photographing device operation server,
The stationary imaging device operation server transmits the distance, direction, rotation angle and tilt angle to the selected stationary imaging device,
The selected fixed photographing device rotates horizontally or vertically based on the distance, direction, rotation angle and tilt angle, performs a zoom-in or zoom-out operation, and generates the first image information. In claim 1,
The comprehensive monitoring server,
Based on the fire occurrence location information received from the fire detection device, at least one mobile unmanned surveillance robot is selected from among the plurality of mobile unmanned surveillance robots, and based on the location information of the selected mobile unmanned surveillance robot, the location of the fire is determined. Calculating the moving distance and moving direction, and transmitting the moving distance and moving direction to the mobile unmanned surveillance robot operation server,
The mobile unmanned surveillance robot operation server transmits the moving distance and the moving direction to the selected mobile unmanned surveillance robot,
The selected mobile unmanned surveillance robot moves to a fire location based on the moving distance and moving direction to generate the second image information.

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