KR102379326B1 - Disaster investigation system based on special vehicle and disaster investigation method using the same - Google Patents

Abstract

Disclosed are special vehicle-based disaster investigation system which performs regular monitoring for disaster prevention and risk management in normal times and uses an unmanned aerial vehicle (UAV) to investigate and analyze the cause of the disaster and simulate the cause of the accident when a disaster occurs, and a disaster investigation method using the same. According to the present invention, a disaster investigation special vehicle equipped with a UAV comprises: a UAV acquiring disaster images by photographing a disaster site while flying according to a predetermined flight path and remote navigation control at a disaster site; a UAV landing platform for landing or accommodating the UAV; a PC installed with a program for data processing and analysis including data matching, merging, contour generation, volume and area calculation, and distance and angle calculation for the disaster site; and an analysis server executing three-dimensional (3D) numerical analysis for processing and analyzing observational data of the disaster site or including software (SW) for numerical analysis of flood landslide and sediment runoff, and disaster evacuation simulation analysis to control data acquisition, processing, and display.

Description

Disaster investigation system based on special vehicle and disaster investigation method using the same}

The present invention relates to a special vehicle-based disaster investigation system and a disaster investigation method using the same. It relates to a special vehicle-based disaster investigation system that enables the collection of basic data for accident cause investigation and analysis, and simulation of the cause of an accident, and a disaster investigation method using the same.

In general, disasters have a complex occurrence mechanism and are not only easily transferred to other sectors, but also have multi-dimensional characteristics involving complex factors.

This characteristic acted as the main reason that the initial disaster cause investigation was carried out centered on the indirect estimation of the occurrence and root cause of the disaster through bibliographic data, and the numerical simulation technique (simulation) based on the predicted value for the occurrence and spread of the disaster.

However, at this point in the development of various high-tech equipment according to the recent development of electrical and electronic and information and communication technologies, it is possible to acquire more accurate data from the field and identify the root cause of disasters through more accurate and precise numerical simulation techniques based on this. did it

In particular, by grafting the leading technologies of the 4th industrial revolution (Internet, cloud computing, big data, mobile among mobile) such as unmanned aerial vehicles, wireless boats, and wireless robots specialized in disaster sites to scientific investigations that are the cause of disasters, In addition, a multidimensional approach was made possible by defining the cause of a disaster as one large frame that requires an additional analysis step to identify the organic relationship by independently analyzing the causes.

Republic of Korea Patent Publication No. 10-2020-0061564 (published date: 06.03.2020) describes a command and control system for support in response to multiple disasters.

An object of the present invention is to perform regular monitoring for disaster prevention and risk management in normal times, and to investigate and analyze the causes of disasters using an unmanned aerial vehicle in case of a disaster, and to obtain basic data for simulation of the cause of the accident. It is to provide an unmanned aerial vehicle-mounted disaster investigation special vehicle and a disaster investigation method using the same or a special vehicle-based disaster investigation system and a disaster investigation method using the same.

A special vehicle-based disaster investigation system according to an embodiment of the present invention for achieving the above object is an unmanned aerial vehicle that acquires a disaster image by photographing the scene of an accident while flying according to a pre-designated flight route and remote navigation adjustment at a disaster site air vehicle; an aircraft seat for seating or accommodating the unmanned aerial vehicle; a fixed frame for moving to the disaster site and attaching and detaching environmental equipment used to obtain disaster information; a loading space unit for storing advanced equipment used to obtain the disaster information; An awning that unfolds in case of rain at the disaster site; a large screen displaying the results of on-site collected data analysis for the disaster site; a PC installed with a program for data processing and analysis including data matching, merging, contour generation, volume and area calculation, distance and angle calculation for the disaster site; and 3D numerical analysis for processing and analysis of observation data at the disaster site, or software (SW) related to numerical analysis of flood landslides and sediment runoff, and simulation analysis of disaster evacuation is loaded, acquiring, processing, and displaying data It may include a server for analysis to control the.

In addition, the ladder for moving to the ceiling at the disaster site; and a generator for generating electricity required for operation of each device and a charger for charging the generated electricity, and may further include a power supply device for supplying electricity to each device.

The server for analysis performs regular monitoring for disaster prevention and risk management in normal times, and can collect basic data for disaster cause investigation and analysis, and simulation of accident causes using the unmanned aerial vehicle in a disaster. there is.

The environmental equipment outputs a laser pulse to an object at the disaster site and calculates time and distance using a laser pulse reflected from the object to obtain three-dimensional information (LiDAR: Light Detection and Ranging) sensor; Front and rear cameras for obtaining a front image, a rear image, a left image, and a right image by photographing the front, rear, left and right sides at the disaster site; A high-resolution camera capable of high-precision measurement of the millimeter level at the disaster site, and performing high-speed imaging for instantaneous measurement (surface heat measurement) of high-output energy of the surface of an object, and non-contact measurement for observation without approaching a hazardous area; A thermal imaging (IR/TIR) sensor that images the difference in heat (temperature) of an object at the disaster site with an infrared camera and outputs a spotmeter, area, temperature longitudinal analysis, isotherm, and temperature range in color or gray scale; a mobile meteorological observation device that acquires seven types of weather information including wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility by using five observation sensors at the disaster site; and a G-Sensor, GPS, Cam camera, data storage device, and OBD at the disaster site, and the G-Sensor receives an impact according to the road surface condition and analyzes the road surface condition.

The server for analysis may acquire 3D information by matching the lidar data acquired through the lidar sensor by manual matching or automatic matching.

The manual matching is performed by matching feature points existing in each data and feature points in common with each other. Since φ and κ become unknowns, 3 unknowns are calculated using 4 equations, and 4 or more points can be matched for feature point matching.

The automatic registration is a process of extracting countless feature points from two data and matching each other, one by one centering on the reference data. After specifying the data to be used, and after specifying each data point, the points of the same point are selected. When selecting the feature points, the next feature point is selected by increasing the number of Number of point pairs by pressing the + button next to the Number of point pairs. After matching 4 or more feature points through , the two data can be matched by entering the register, and the standard deviation of the matching result can be displayed.

The ground subsidence detection equipment is powered and operated according to the operation of the power switch provided in the OBD cable, and at the same time as power is connected, the operating state is expressed through the LED sensor, but through the STA LED, the ground subsidence detection equipment operation program ( RoadEYE) operation status, vehicle speed data status through OBD LED, GPS reception status through GPS LED, server connection status through Wifi LED, acceleration sensor through ACC LED of the data reception state, the camera image shooting state through the CAM LED, and the location and time of the impact using the data file registered in the server for analysis or the vehicle registration file stored inside the PC , acceleration data, and images are read, and from the G-Sensor data, X is orange, Y is yellow, Z is green, and G is blue.

On the other hand, a special vehicle-based disaster investigation system and a disaster investigation method using the same according to an embodiment of the present invention for achieving the above object are An investigation method comprising: (a) moving the unmanned aerial vehicle-mounted disaster investigation special vehicle to a disaster site; (b) the unmanned aerial vehicle flying over the disaster site according to the remote control of the unmanned aerial vehicle-mounted disaster investigation special vehicle; (c) obtaining three-dimensional information about the disaster site by using LiDAR in the unmanned aerial vehicle-mounted disaster investigation special vehicle; (d) receiving a disaster image photographed at a disaster site from the unmanned aerial vehicle in the unmanned aerial vehicle-mounted disaster investigation special vehicle; (e) Data processing and analysis including data matching, merging, contour generation, volume and area calculation, distance and angle calculation for the three-dimensional information and the disaster image through a PC in the unmanned aerial vehicle-mounted disaster investigation special vehicle running; and (f) the server for analysis executes three-dimensional numerical analysis for processing and analysis of observation data at the disaster site, and controls the acquisition, processing, and display of data related to flood landslide soil runoff numerical analysis and disaster evacuation simulation analysis may include the step of

In step (c), the unmanned aerial vehicle-mounted disaster investigation special vehicle acquires a front image, a rear image, a left image, and a right image by photographing the front, rear, left and right sides through the front and rear cameras at the disaster site, and using a high-resolution camera Through this, high-speed imaging, which instantaneously measures high-output energy on the surface of an object (surface heat measurement), and non-contact measurement, which observes without approaching a hazardous area, can be performed.

In the step (e), the unmanned aerial vehicle-mounted disaster investigation special vehicle imaged the difference in heat (temperature) of the object at the disaster site with an infrared camera of a thermal imaging (IR/TIR) sensor, and a spot meter, area, temperature Profiles, isotherms and temperature ranges can be output in color or grayscale.

In step (e), the unmanned aerial vehicle-mounted disaster investigation special vehicle utilizes five observation sensors according to mobile meteorological observation equipment at the disaster site to include wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility Seven types of weather information can be obtained.

In step (e), the unmanned aerial vehicle-mounted disaster investigation special vehicle detects the impact according to the road surface condition by the ground subsidence detection device composed of G-Sensor, GPS, Cam camera, data storage device, and OBD at the disaster site. -You can analyze the road surface condition by receiving input through the sensor.

In step (f), the server for analysis may acquire 3D information by matching the lidar data acquired through the lidar sensor by manual or automatic registration.

In step (f), the server for analysis uses the three-dimensional information and the disaster image to determine the overall size of the collapsed slope and the protruding rock formations located nearby, and analyze the degree of protrusion, but the three-dimensional information Modeling, extracting the cross section of the target retaining wall using modeling data, and visualizing it using the vertical distance of each three-dimensional spatial data from the design reference section, it is possible to derive the most dangerous abnormal displacement section and range in the entire retaining wall.

According to the present invention, it is possible to quickly access the disaster site, and it is possible to improve the convenience of operating the on-board equipment of special vehicles through modularization of various advanced equipment, real-time communication, and integrated operation interface.

In addition, according to the present invention, it is possible to precisely monitor real-time disaster images, on-site weather information acquisition and propagation, and 3D spatial information-based dangerous structures.

In addition, according to the present invention, it is possible to acquire and disseminate disaster situation information in a disaster area in real time using advanced equipment (unmanned aerial vehicles, special vehicles) in construction and operation.

In addition, according to the present invention, real-time weather information (wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, visibility) observation analysis at the disaster site, and analysis of the disaster site environment linked to the atmospheric diffusion model (creating a pollution map, etc.) can be performed.

In addition, according to the present invention, it is possible to calculate additional information from quantitative analysis (3D simulation) and precise three-dimensional data through the acquisition of three-dimensional information of the ground-level precise disaster investigation system.

In addition, according to the present invention, weather conditions such as smoke, on-site image acquisition without day/night restrictions, object identification, etc. are possible.

In addition, according to the present invention, it is possible to detect a pothole state and analyze the risk level of the road surface while driving to the disaster accident site.

In addition, according to the present invention, a number of advanced equipment is loaded in a vehicle to perform a disaster detection function during normal times, and when a disaster occurs, data collected and observed at the disaster site are integrated and analyzed to identify the cause of the disaster and predict the damage to the disaster situation. It can be monitored in the field.

In addition, according to the present invention, as a site-oriented information base, it is possible to perform real-time information-based comprehensive field situation analysis and disaster site simulation through organic linkage between advanced equipment-vehicle-experimental buildings.

In addition, according to the present invention, it is possible to perform a flow analysis of the simulated soil outflow due to natural disasters such as flood landslides.

In addition, according to the present invention, it is possible to analyze the leakage characteristics of hydraulic structures such as flood prediction and bridge beams due to dam collapse.

In addition, according to the present invention, it is possible to guide the evacuation route through the disaster site evacuation simulation analysis.

In addition, according to the present invention, numerical analysis such as the air diffusion of harmful substances and the diffusion of marine pollution is possible.

1A to 1D are perspective views illustrating the exterior front, rear, and side views of an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.
2A to 2C are perspective views illustrating the internal structure of an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.
3A to 3B are views showing the front, rear, and side views according to the external shape of an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.
4 is a view showing an example in which an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention is actually implemented on a road and an operating space therein.
5 is an exploded perspective view illustrating a lidar sensor mounted on an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.
6 is a diagram illustrating an example of data acquisition of a lidar sensor according to an embodiment of the present invention.
7 is a diagram illustrating a common data processing method for 3D spatial data processing of a lidar sensor according to an embodiment of the present invention.
8 is a view showing a configuration example of a weather observation equipment for a special vehicle according to an embodiment of the present invention.
9 is a view showing the position of the ground subsidence detection sensor mounted on a special vehicle according to an embodiment of the present invention.
10 is a flowchart illustrating a disaster investigation method using an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.

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. The present invention may be implemented in several different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

Throughout the specification, when a part is "connected" with another part, this includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween. . Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

When a part is referred to as being “above” another part, it may be directly on the other part, or the other part may be involved in between. In contrast, when a part refers to being "directly above" another part, no other part is involved in between.

The terms first, second and third etc. are used to describe, but are not limited to, various parts, components, regions, layers and/or sections. These terms are used only to distinguish one part, component, region, layer or section from another part, component, region, layer or section. Accordingly, a first part, component, region, layer or section described below may be referred to as a second part, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of referring to specific embodiments only, and is not intended to limit the present invention. As used herein, the singular forms also include the plural forms unless the phrases clearly indicate the opposite. The meaning of "comprising," as used herein, specifies a particular characteristic, region, integer, step, operation, element and/or component, and includes the presence or absence of another characteristic, region, integer, step, operation, element and/or component. It does not exclude additions.

Terms indicating a relative space such as “below” and “above” may be used to more easily describe the relationship of one part shown in the drawing to another part. These terms, along with their intended meanings in the drawings, are intended to include other meanings or operations of the device in use. For example, if the device in the drawings is turned over, some parts described as being "below" other parts are described as being "above" other parts. Thus, the exemplary term “down” includes both the up and down directions. The device may be rotated 90 degrees or at other angles, and terms denoting relative space are to be interpreted accordingly.

Although not defined otherwise, all terms including technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. Commonly used terms defined in the dictionary are additionally interpreted as having a meaning consistent with the related technical literature and the presently disclosed content, and unless defined, are not interpreted in an ideal or very formal meaning.

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 can easily carry out the present invention. However, the present invention may be implemented in several different forms and is not limited to the embodiments described herein.

1A to 1D are perspective views showing the external front, back, and side of an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention, and FIGS. 2A to 2C are an unmanned aerial vehicle mounted type according to an embodiment of the present invention; It is a perspective view showing the internal structure of a special disaster investigation vehicle, and FIGS. 3A to 3B are views showing the front, back, and side views according to the external shape of an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention, FIG. 4 is a diagram showing an example in which an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention is actually implemented on a road and an operating space therein.

1A to 1D, 2A to 2C, and 3A to 3B and 4, the unmanned aerial vehicle mounted disaster investigation special vehicle 100 according to the present invention includes a thermal image (IR/TIR) sensor ( 102), 16MB camera 104, 2MB camera 106, ground precision disaster investigation system 108, aircraft seat 110, fixed frame 112, ladder 114, lidar sensor (LiDAR: Light Detection) and Ranging; , may include an operating seat unit 142, a display unit 144, and the like.

In addition, the unmanned aerial vehicle-mounted disaster investigation special vehicle 100 according to the present invention may further include an unmanned aerial vehicle, a PC, and a server for analysis, although not shown in the drawings in addition to the above-described configuration.

Hereinafter, the unmanned aerial vehicle-mounted disaster investigation special vehicle 100 according to the present invention may be described simply as a 'special vehicle 100'.

On the outside of the special vehicle 100, 5 2M cameras 106, an awning 118 that can be used in rain, and a ladder 114 that can be moved to the ceiling are installed, and the vehicle ceiling is equipped with lidar and 16M high-resolution camera, heat A fixed frame 112 capable of attaching and detaching an image camera and mobile weather observation equipment is installed.

Inside the special vehicle 100, a loading space 134 that can store advanced equipment, a server and PC used for data acquisition, processing, and display, and a power supply capable of operating it are installed.

In addition, the inside of the special vehicle 100 is equipped with its own PC, a generator, and a suspension device for storing and operating various advanced equipment. The suspension introduced into the special vehicle 100 is an air suspension device and adjusts the height of the vehicle by using air pressure. In the special vehicle 100, a two-axis air suspension was installed considering that the PC and the generator are concentrated in the driver's seat direction and biased to one side. The 2-axis suspension can adjust the height of the left and right sides of the vehicle from the driver's seat.

The thermal imaging (IR/TIR) sensor 102 images the difference in heat (temperature) of an object at the disaster site with an infrared camera, and outputs the spotmeter, area, temperature longitudinal analysis, isotherm, and temperature range in color or gray scale. . To this end, the thermal imaging (IR/TIR) sensor 102 comprises a thermal imaging camera.

A thermal imaging camera can measure the temperature without direct contact with the material, measure the temperature of all objects within the observation range, and compare the temperature difference according to location. A special vehicle for scientific investigation, the cause of a disaster, can secure nighttime visibility by using these observation characteristics.

The thermal imaging camera is connected by setting the IP address of the PC in the special vehicle 100 . The default setting of the thermal imager is connected to the DHCP network, and if the IP setting of the camera is set to DHCP mode, the server automatically assigns an IP address to the thermal imager. In addition, if you are concerned about IP conflicts with other devices, you can manually designate the desired IP address and set it.

In addition, the camera installed in the vehicle may include a front and rear camera such as a 2MB camera 106 and a high-resolution camera such as a 16MB camera 104 .

The 2MB camera 106, which is a front and rear camera, acquires a front image, a rear image, a left image, and a right image by photographing the front, rear, left, and right sides at the disaster site.

The 16MB camera 104, a high-resolution camera, is capable of high-precision measurement at the level of mm at the disaster site. measurements can be performed.

The 2MB camera 106 can capture and transmit the disaster scene from multiple perspectives, and is equipped with an infrared function so that images can be captured during the day as well as at night. In addition, a waterproof function is added so that shooting is not affected even in the rain.

In the case of the 2MB camera 106, power is supplied in real time without a separate power control. However, in the case of the 16MB camera 104, since operation is determined according to the type of disaster, there is a separate power control device like the ground lidar equipment of the ground precision disaster investigation system. However, in the case of the 2MB camera 106, since the captured image is stored in the server, it is necessary to supply power to the server.

In the case of the 16MB camera 104, as a high-resolution camera system, unlike the 2MB camera 106, which cannot adjust the zoom function and shooting posture, posture adjustment is possible to observe a desired object, and zoom function is used to enlarge observation from a long distance. possible. The 16MB camera 104 is identifiable up to 5 cm from a distance of 1 km.

These two camera systems have separately installed software connected to the server for analysis. The software was developed in-house to meet the specifications and purpose of the PC and server inside the special vehicle, and is designed to enable recording, data extraction, and user environment setting.

The images acquired from the special vehicle 100 may be transmitted to the situation room of the National Institute of Disaster and Safety in real time. In addition, the recorded images are continuously stored on the server, and in case there are any peculiarities among these images, the recorded image export function is configured so that it can be backed up by itself. The ground precision disaster investigation system 108 refers to data acquisition and processing analysis equipment using ground lidar. Lidar is a high-tech equipment that acquires the position of an observation object as point data by using the time it takes to emit a laser and return it to a specific object and the attitude of the sensor. The ground-precision disaster investigation system 108 calculates additional information through quantitative analysis (3D simulation) and precise 3D data through 3D information acquisition.

The aircraft seat 110 is a space for seating or accommodating an unmanned aerial vehicle, and is provided outside or inside the ceiling. An unmanned aerial vehicle (UAV) acquires disaster images by photographing the scene of the accident while flying according to a pre-designated flight route and remote navigation control at the disaster site.

The fixed frame 112 is installed on the outer upper surface of the ceiling in order to move to the disaster site and attach/detach environmental equipment used to obtain disaster information.

The lidar sensor 116 outputs a laser pulse to the object to be investigated at the disaster site, and calculates the time and distance using the laser pulse reflected from the object to obtain three-dimensional information. The lidar sensor 116 may be referred to as, for example, a 'VZ-2000 scanner'. That is, the lidar sensor 116 is a state-of-the-art equipment that acquires the position of the observation object as point data by using the time and the posture of the sensor to be reflected and returned to a specific object by emitting a laser. LiDAR is combined with GPS and IMU to create tens of thousands of 3D digital terrain information per second, and all processes of measuring location and processing data are done digitally. The advantage of this equipment is that it is possible to quickly and accurately grasp the topography compared to the existing survey method, and it has the advantage that it is not affected by the sun and clouds.

The awning 118 is unfolded in case of rain at the disaster site, and can be automatically unfolded and then folded again using the rotational force of the motor according to the operation of the switch.

The external connection terminal 132 is a terminal for connecting to an external power source, and may receive AC power or DC power from the outside.

The loading space 134 is a space for storing advanced equipment used to acquire disaster information. The loading space 134 may be referred to as a 'generator and storage box assembly'.

The operation screen assembly 136 electrically connects the display unit 144 with a PC and a server for analysis, and is used for software operation and data processing.

The power supply unit 138 is equipment for supplying power to the entire device, and includes a generator including a battery. In addition, the power supply unit 138 includes a battery case, is provided with a generator for generating electricity required for operation of each device, and a charger for charging the generated electricity, and may further include a power supply device for supplying electricity to each device. there is.

The special vehicle 100 is equipped with a separate generator. The generator operates the advanced equipment mounted on the special vehicle 100 and serves to supply power to internal devices such as an internal PC power source. The generator is continuously charged with power when the special vehicle 100 is running, and when the special vehicle 100 is stopped, a separate 220V external power cable can be used to charge and use external power. The special vehicle 100 may be converted into internal power or external power according to the situation to operate advanced equipment and an internal PC. This control device is installed inside the vehicle, and an alarm sounds when the remaining amount of power reaches a limit value.

In the operation seat unit 142, an operating chair is disposed in the operating space unit 140 in which a PC and an analysis server are installed, and an administrator or an operator can work by sitting on the operating chair, and the operating chair is slide or rotatable. is installed

The display unit 144 is a device that displays the results of analysis of on-site collected data for the disaster site, and may include a 22-inch monitor, a large screen, and the like.

The PC is installed with programs for data processing and analysis, including data registration, merging, contour generation, volume and area calculations, and distance and angle calculations for disaster sites.

The server for analysis executes 3D numerical analysis for processing and analysis of observation data at the disaster site, or is equipped with software (SW) related to numerical analysis of flood landslides and soil runoff, and simulation analysis of disaster evacuation to acquire and process data , the expression can be controlled. The analysis server may be installed inside or outside the special vehicle 100 . The analysis server may perform regular monitoring for disaster prevention and risk management in normal times, and collect basic data for disaster cause investigation and analysis, and simulation of the cause of an accident by using an unmanned aerial vehicle during a disaster.

The meteorological observation equipment 120 may include a mobile meteorological observation equipment that acquires seven types of weather information including wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility by using five observation sensors at the disaster site. Here, the meteorological observation equipment 120 is a mobile meteorological observation equipment as well as a thermal image (IR/TIR) sensor 102, a 16m camera 104, a 2M camera 106, a ground precision disaster investigation system 108, and a lidar. A sensor 116 and the like may be further included.

The 2M camera 106 may acquire a front image, a rear image, a left image, and a right image by photographing the front, rear, left and right sides at the disaster site.

The 16m camera 104, a high-resolution camera, is capable of high-precision measurement at the level of mm at the disaster site. measurements can be performed.

The server for analysis may acquire 3D information by matching the lidar data acquired through the lidar sensor by manual matching or automatic matching.

The special vehicle 100 according to an embodiment of the present invention is composed of a G-Sensor, a GPS, a Cam camera, a data storage device, and an OBD at a disaster site, and the G-Sensor receives an impact according to the road surface condition and detects the road surface condition. It may include a ground subsidence detection device to analyze.

5 is an exploded perspective view illustrating a ground-precision disaster investigation system mounted on a special disaster investigation vehicle according to an embodiment of the present invention.

Referring to FIG. 5 , the lidar sensor 116 installed in the special vehicle 100 according to the embodiment of the present invention includes a fisheye lens camera 116a, a scanner 116b, an IMU/GNSS 116c, and a scanner frame. (116d) and the like.

The fisheye lens camera 116a performs a function of acquiring RGB data, and the scanner 116b acquires 3D spatial information data using a laser pulse. In addition, the IMU / GNSS (116c) determines the posture and three-dimensional position of the lidar equipment. The scanner frame 116d is installed on the ceiling of the special vehicle 100 and serves to stably fix the lidar.

In addition, the lidar sensor 116 is electrically connected to a PC or a server for analysis provided inside the special vehicle 100 . At this time, a post-processing program for post-processing and analyzing the data or information acquired through the lidar sensor 116 is installed in the PC or the analysis server. This software is, for example, RiSCAN PRO. RiSCAN PRO is a program used when geostationary surveying is performed using ground lidar. Various processing and analysis are possible, such as data registration, merging, contour generation, volume and area calculation, distance and angle calculation, etc.

The lidar sensor 116 may be, for example, a VZ-2000. The VZ-2000 uses laser pulses to retrieve 3D spatial information of all objects that can be observed by the scanner within a radius of 2 km from the scanner, 0 to 100° in the vertical direction, and 0 to 360° in the horizontal direction, with an accuracy of 8mm and a precision of 5mm per second. Earn 400,000 points.

7 is a view showing the operation procedure of the ground precision disaster investigation system in a special vehicle according to an embodiment of the present invention.

Referring to FIG. 7 , in the special vehicle 100 according to the embodiment of the present invention, the ground precision disaster investigation system equipment is operated in the order of equipment connection → project setting → data acquisition → data post-processing.

In the equipment connection process, the power of the terrestrial lidar is turned on and the network connection is performed through the unique IP designation of the terrestrial lidar. The power of the lidar is adjustable through the power supply installed inside the special vehicle (100).

After turning on the power of the terrestrial lidar, the PC inside the special vehicle 100 connected to the equipment sets the unique IP of the terrestrial lidar to establish a network connection with the equipment. IP settings are implemented in the local area connection properties window.

In the project setting process, create a project, set the data acquisition method in consideration of the working environment, and adjust the brightness by setting the camera.

Prior to acquiring data using terrestrial lidar, the user sets detailed equipment settings and data storage formats using an internal PC. In the data acquisition process, three-dimensional point cloud data is acquired and an RGB image is acquired. In order to acquire three-dimensional spatial information for an object, the object is observed from various points at various angles as shown in FIG. 6 using a ground lidar. 6 is a diagram illustrating an example of data acquisition of a lidar sensor according to an embodiment of the present invention.

In the data post-processing process, data matching, image matching, noise removal, etc. are performed, and data analysis is performed by extracting an analysis target.

The data processing of the ground-precision disaster investigation system starts by matching the ground LiDAR data acquired at different points to produce one data as shown in FIG. 7 . 7 is a diagram illustrating a common data processing method for 3D spatial data processing of a lidar sensor according to an embodiment of the present invention. The data processing of the ground precision disaster investigation system consists of a data matching process, an analysis target extraction process, and a noise removal process.

8 is a view showing a configuration example of a weather observation equipment for a special vehicle according to an embodiment of the present invention.

8, in the special vehicle 100 according to the embodiment of the present invention, the weather observation equipment 120 is installed outside the ceiling of the vehicle. It includes a temperature and humidity sensor, a barometric pressure sensor, a rainfall sensor, and a visibility/current sensor.

Each sensor has different specifications and characteristics according to observable measurement information, as shown in Table 1 below.

9 is a view showing the position of the ground subsidence detection sensor mounted on a special vehicle according to an embodiment of the present invention.

Referring to FIG. 9 , in the unmanned aerial vehicle-mounted disaster investigation special vehicle according to the embodiment of the present invention, the ground subsidence detection device is a device developed to measure the state of the road surface including the porthole, and three (PC version) One, two terminal versions) are installed.

Ground subsidence detection equipment was developed to measure the condition of road surfaces including potholes. This is a function that collects information by installing data storage devices, OBD, G-Sensor, GPS, GNSS, and Cam on the vehicle to collect impact and point information generated from a porthole or road surface while driving.

The data storage device consists of an LED to confirm sensor reception, a cable connector to connect each sensor cable, and an SD card slot to store data.

GPS or GNSS requires an open space because the better the reception rate, the more accurately the current location can be known. Therefore, it can be installed in an open location such as a dashboard.

OBD is a cable that supplies power and transmits speed data of RoadEYE, and is used by connecting to the vehicle's OBD terminal. The OBD cable is equipped with a battery saver, and when the vehicle battery voltage drops below 11.8V or 23.6V, the power to the equipment is cut off.

The acceleration sensor collects vehicle impact data and transmits the data to a data storage device. As for the installation location, the more reliable the main frame of the vehicle, the more reliable data can be obtained. At locations other than the main frame, the signal is weaker than the main frame because the shock is mitigated. Therefore, installation on the mainframe is appropriate.

The camera takes an image of the road surface in front of the vehicle and transmits the image data to a data storage device. It is desirable to install the installation location behind the rearview mirror so that the road surface in front can be seen well.

10 is a flowchart illustrating a disaster investigation method using an unmanned aerial vehicle-mounted disaster investigation special vehicle according to an embodiment of the present invention.

Referring to FIG. 10 , the special vehicle 100 according to the embodiment of the present invention moves to a disaster site with power by an engine or power by electric energy ( S910 ).

Then, according to the remote control of the special vehicle 100 , the unmanned aerial vehicle flies over the disaster site while photographing the field situation and the objects to be investigated ( S920 ).

At this time, the unmanned aerial vehicle transmits the disaster image obtained by photographing the objects at the disaster site to the special vehicle 100 .

Next, the special vehicle 100 acquires 3D information on the disaster site by using the lidar (S930).

At this time, the special vehicle 100 acquires a front image, a rear image, a left image, and a right image by photographing the front, rear, left, and right sides through the front and rear cameras at the disaster site, and instantaneously high-output energy of the surface of the object through the high-resolution camera High-speed imaging to measure (surface heat measurement) and non-contact measurement to observe without approaching the hazardous area can be performed.

Next, the special vehicle 100 receives a disaster image photographed at the disaster site from the unmanned aerial vehicle (S940).

Next, the special vehicle 100 executes data processing and analysis including data matching, merging, contour generation, volume and area calculation, distance and angle calculation for 3D information and disaster image through the PC (S950).

At this time, the special vehicle 100 images the difference in heat (temperature) of the object at the disaster site with an infrared camera of a thermal imaging (IR/TIR) sensor to color the spotmeter, area, temperature longitudinal analysis, isotherm, and temperature range. I can print in grayscale.

In addition, the special vehicle 100 can acquire seven types of weather information including wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility by using five observation sensors according to mobile meteorological observation equipment at the disaster site. .

In addition, the special vehicle 100 receives the impact according to the road surface condition through the G-Sensor by the ground subsidence detection equipment composed of G-Sensor, GPS, Cam camera, data storage device, and OBD at the disaster site, and then detects the road surface condition. can be analyzed.

Then, the server for analysis executes 3D numerical analysis for processing and analysis of observation data at the disaster site, and controls the acquisition, processing, and display of data related to flood landslide landslide numerical analysis and disaster evacuation simulation analysis ( S960).

In this case, the server for analysis may acquire 3D information by matching the lidar data acquired through the lidar sensor by manual or automatic registration.

In addition, the server for analysis uses the three-dimensional information and the disaster image to identify the overall size of the collapsed slope and the protruding rocks located nearby, and analyze the degree of protrusion, but model the three-dimensional information and use the modeling data Thus, the cross section of the target retaining wall can be extracted and visualized using the vertical distance of each three-dimensional spatial data from the design reference section to derive the most dangerous abnormal displacement section and range in the entire retaining wall.

On the other hand, the lidar sensor 116 outputs a laser pulse to the irradiation target at the disaster site, and calculates the time and distance using the laser pulse reflected from the irradiation target to obtain three-dimensional information.

The lidar sensor 116 may be referred to as, for example, a 'VZ-2000 scanner'. That is, the VZ-2000 scanner 116 acquires the position of the object to be observed as point data by using the time when the laser is emitted and reflected back to the specific object and the posture of the sensor.

As described above, according to the present invention, regular monitoring for disaster prevention and risk management is performed in normal times, and in case of a disaster, an unmanned aerial vehicle is used to investigate and analyze the cause of a disaster, and for simulation of the cause of the accident. It is possible to realize an unmanned aerial vehicle-mounted disaster investigation special vehicle and a disaster investigation method using the same that can collect basic data.

Those skilled in the art to which the present invention pertains should understand that the present invention can be embodied in other specific forms without changing the technical spirit or essential characteristics thereof, so the embodiments described above are illustrative in all respects and not restrictive. only do The scope of the present invention is indicated by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. .

100: special vehicle 102: thermal image (IR / TIR) sensor
104 : 16 MB camera 106 : 2 MB camera
108: ground precision disaster investigation system 110: aircraft seating platform
112: fixed frame 114: ladder
116: lidar sensor 118: awning
120: weather observation equipment 132: external connection terminal
134: loading space 136: operation screen assembly
138: power unit 140: operating space unit
142: operation seat portion 144: display unit

Claims (10)

An unmanned aerial vehicle that acquires disaster images by photographing the scene of an accident while flying according to a pre-designated flight route and remote navigation control at the disaster site;
an aircraft seat for seating or accommodating the unmanned aerial vehicle;
a fixed frame for moving to the disaster site and attaching and detaching environmental equipment used to obtain disaster information;
a loading space unit for storing advanced equipment used to obtain the disaster information;
An awning that unfolds in case of rain at the disaster site;
a large screen displaying the results of on-site collected data analysis for the disaster site;
a PC installed with a program for data processing and analysis including data matching, merging, contour generation, volume and area calculation, distance and angle calculation for the disaster site; and
3D numerical analysis for processing and analysis of observation data at the disaster site is executed, or software (SW) related to numerical analysis of flood landslides and soil runoff, and simulation analysis of disaster evacuation is loaded, and data acquisition, processing, and display are performed. a server for analysis to control;
including,
a ladder for moving to the ceiling at the disaster site; and
Further comprising; a power supply device having a generator for generating electricity required for operation of each device and a charger for charging the generated electricity, and supplying electricity to each device;
The server for analysis performs regular monitoring for disaster prevention and risk management in normal times, and collects basic data for disaster cause investigation and analysis, and simulation of the cause of an accident using the unmanned aerial vehicle in a disaster,
The environmental equipment is
A LiDAR (Light Detection and Ranging) sensor that outputs a laser pulse to an object at the disaster site and obtains three-dimensional information by calculating time and distance using a laser pulse reflected from the object;
Front and rear cameras for obtaining a front image, a rear image, a left image, and a right image by photographing the front, rear, left and right sides at the disaster site;
A high-resolution camera capable of high-precision measurement of the millimeter level at the disaster site, and performing high-speed imaging for instantaneous measurement (surface heat measurement) of high-output energy of the surface of an object, and non-contact measurement for observation without approaching a hazardous area;
a thermal imaging (IR/TIR) sensor that images the difference in heat (temperature) of an object at the disaster site with an infrared camera and outputs a spotmeter, area, temperature longitudinal analysis, isotherm, and temperature range in color or gray scale;
a mobile meteorological observation device for acquiring weather information including wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility by using an observation sensor at the disaster site; and
a ground subsidence detection device composed of a G-Sensor, a GPS, a Cam camera, a data storage device, and an OBD at the disaster site, and the G-Sensor receives an impact according to the road surface condition and analyzes the road surface condition; including,
The server for analysis obtains three-dimensional information by matching the lidar data acquired through the lidar sensor by manual or automatic registration,
The manual matching is performed by matching feature points existing in each data and feature points in common with each other.

, κ become unknowns, so 3 unknowns are calculated using 4 equations, and 4 or more points are matched for feature point matching,
The ground subsidence detection device is powered and operated according to the operation of the power switch provided in the OBD cable, and at the same time as power is connected, the operating state is expressed through the LED sensor, but through the STA LED, the ground subsidence detection device operation program Displays the operation status, vehicle speed data status through OBD LED, GPS reception status through GPS LED, server connection status through Wifi LED, accelerometer data reception through ACC LED In the special vehicle-based disaster investigation system that expresses the state and expresses the camera image shooting state through the CAM LED,
In order for the special vehicle to smoothly collect impact data, the installation location of the acceleration sensor is the main frame of the special vehicle,
In the above special vehicle, ground precision disaster investigation operation is operated in the order of equipment connection, project setting, data acquisition, and data post-processing,
The data post-processing includes: matching data acquired at each point; an analysis target extraction step of extracting only the data to be analyzed; and
A special vehicle-based disaster investigation system, characterized in that it consists of a noise removal step of removing noise generated by laser scattering and obstacles, and removing unnecessary data for analysis.
delete delete delete delete As a disaster investigation method using an unmanned aerial vehicle-mounted disaster investigation special vehicle that mounts or accommodates an unmanned aerial vehicle on the special vehicle-based disaster investigation system of paragraph 1,
(a) moving the unmanned aerial vehicle-mounted disaster investigation special vehicle to the disaster site;
(b) the unmanned aerial vehicle flying over the disaster site according to the remote control of the unmanned aerial vehicle-mounted disaster investigation special vehicle;
(c) obtaining three-dimensional information about the disaster site by using LiDAR in the unmanned aerial vehicle-mounted disaster investigation special vehicle;
(d) receiving a disaster image photographed at a disaster site from the unmanned aerial vehicle in the unmanned aerial vehicle-mounted disaster investigation special vehicle;
(e) Data processing and analysis including data matching, merging, contour generation, volume and area calculation, distance and angle calculation for the three-dimensional information and the disaster image through a PC in the unmanned aerial vehicle-mounted disaster investigation special vehicle running; and
(f) The server for analysis executes three-dimensional numerical analysis for processing and analysis of observation data at the disaster site, and controls the acquisition, processing, and display of data related to flood landslide landslide numerical analysis and disaster evacuation simulation analysis. step;
Disaster investigation method using a special vehicle-based disaster investigation system, including 7. The method of claim 6,
In step (c), the unmanned aerial vehicle-mounted disaster investigation special vehicle acquires a front image, a rear image, a left image, and a right image by photographing the front, rear, left and right sides through the front and rear cameras at the disaster site, and using a high-resolution camera A disaster investigation method using an unmanned aerial vehicle-mounted disaster investigation special vehicle that instantaneously measures high-output energy on the surface of an object (surface heat measurement) through high-speed photography and non-contact measurement that observes without approaching a hazardous area.
7. The method of claim 6,
In step (e), the unmanned aerial vehicle-mounted disaster investigation special vehicle,
The difference in heat (temperature) of the object at the disaster site is imaged with the infrared camera of the thermal imaging (IR/TIR) sensor, and the spotmeter, area, temperature longitudinal analysis, isotherm, and temperature range are output in color or gray scale,
Obtaining weather information including wind speed, wind direction, temperature, humidity, atmospheric pressure, rainfall, and visibility by using an observation sensor according to a mobile meteorological observation device at the disaster site,
A special vehicle-based disaster investigation that analyzes the road surface condition by receiving the impact according to the road surface condition through the G-Sensor by the ground subsidence detection device composed of G-Sensor, GPS, Cam camera, data storage device, and OBD at the disaster site Disaster investigation method using the system.
7. The method of claim 6,
In the step (f), the server for analysis acquires three-dimensional information by matching the lidar data acquired through the lidar sensor by manual or automatic registration,
The manual matching is performed by matching feature points existing in each data and feature points in common with each other. Since φ and κ become unknowns, 3 unknowns are calculated using 4 equations, and 4 or more points are matched for feature point matching, a disaster investigation method using a special vehicle-based disaster investigation system.
7. The method of claim 6,
In the step (f), the server for analysis uses the three-dimensional information and the disaster image to determine the overall size of the collapsed slope and the protruding bedrock located nearby, and analyze the degree of protrusion,
The three-dimensional information is modeled and the cross section of the target retaining wall is extracted using the modeling data, and visualized using the vertical distance of each three-dimensional spatial data from the design reference section to derive the most dangerous abnormal displacement section and range in the entire retaining wall. A disaster investigation method using a special vehicle-based disaster investigation system.

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