KR102567778B1 - System and method for monitoring accident occurrence of a moving object using sensor data calibrated according to the property of a moving onject - Google Patents

Abstract

A system and method for controlling risk occurrence of a moving object using sensor data calibrated according to the properties of the moving object are provided. A risk occurrence control system for a moving object using sensor data calibrated according to the attributes of the moving object according to various embodiments of the present invention is provided in each of a plurality of moving objects and collects sensor data corresponding to each of the plurality of moving objects. A monitoring module and a control server that detects the occurrence of danger to each of the plurality of moving objects using sensor data collected through the plurality of integrated monitoring modules, wherein the control server uses the collected sensor data to Determines the state of each of the plurality of moving objects, detects the occurrence of danger in each of the plurality of moving objects based on the determined state, corrects the collected sensor data based on the attributes of each of the plurality of moving objects, and corrects the collected sensor data. The state of each of the plurality of moving objects is determined using the obtained sensor data.

Description

System and method for risk control of a moving object using sensor data calibrated according to the properties of the moving object

Various embodiments of the present invention relate to a risk control system and method for a moving object using sensor data calibrated according to the attributes of the moving object, and more specifically, based on sensor data corrected according to the attributes of each of a plurality of moving objects. It relates to a system and method for controlling risk occurrence of a moving object using sensor data calibrated according to the properties of the moving object capable of monitoring the occurrence of danger to the moving object.

With the recent development of information and communication technology, advanced agricultural technologies grafted with information and communication technology have appeared in the agricultural field. For example, there are smart farms such as indoor vertical farms and smart barns, and precision agriculture that optimizes the efficiency of agricultural production management.

However, most of the agricultural fields grafted with information and communication technology are confined to producing and managing agricultural products, and an appropriate technology grafted with information and communication technology has not yet been proposed for managing agricultural machinery for vehicles used in agriculture. .

On the other hand, recently, urban farms with good accessibility from cities have appeared, but most farms are still located in areas far from cities or in deprived areas. In the case of these areas, since there are many unpaved roads or bare land, the risk of accidents of agricultural machinery for vehicles is inevitably greater than that of cities.

In fact, accidents at agricultural sites across the country, which are steadily increasing every year, are frequently caused by various causes such as aging of the agricultural population, inexperience in operating agricultural machinery, carelessness, drinking or driving alone. 3 years) Out of 422 agricultural machinery accidents, 255 cases were overturning accidents, accounting for a whopping 60.4%.

In particular, since agricultural machinery overturning accidents often occur during independent operation, in case of an agricultural machinery accident, it is necessary to report the accident directly, and if the driver is injured, it is left unattended until a witness appears and a dangerous situation may occur. there is

In order to solve this problem, a device capable of managing agricultural machinery, such as a black box, has been proposed, but this is nothing more than recording data after an accident or at the time of an accident. That is, there is a problem in that it is difficult to prevent an accident from occurring or to respond quickly when an accident occurs by preventing or warning an accident in advance before it occurs.

In addition, devices capable of managing agricultural machines, such as black boxes, only detect the occurrence of accidents for only one agricultural machine on which the device is installed, and a control system that monitors the occurrence of accidents for multiple agricultural machines. There is a problem in that it is difficult to efficiently manage risk occurrence for a plurality of agricultural machines in that there is no (eg, an accident monitoring system for a plurality of agricultural machines located in a specific area).

The problem to be solved by the present invention is to detect the occurrence of danger for each of a plurality of moving objects using sensor data corresponding to each of a plurality of moving objects, correct the sensor data according to the properties of the moving object, and based on the corrected sensor data An object of the present invention is to provide a system and method for controlling risk occurrence of a moving object using sensor data calibrated according to the properties of the moving object, which can more accurately detect the occurrence of danger to the moving object by detecting the occurrence of danger to each of a plurality of moving objects.

Another problem to be solved by the present invention is not only detecting the occurrence of danger for each of a plurality of moving objects, but also detecting the occurrence of danger for a plurality of moving objects located in a specific area, thereby a plurality of moving objects (eg, located in a specific area). An object of the present invention is to provide a system and method for controlling risk occurrence of a moving object using sensor data calibrated according to the properties of the moving object, which can provide an environment in which risk occurrence monitoring for a plurality of moving objects can be performed more efficiently.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, a risk control system for a moving object using sensor data calibrated according to the properties of the moving object according to an embodiment of the present invention is provided in each of a plurality of moving objects, and a sensor corresponding to each of the plurality of moving objects. It includes a plurality of integrated monitoring modules that collect data and a control server that detects the occurrence of danger to each of the plurality of moving objects using sensor data collected through the plurality of integrated monitoring modules, wherein the control server is Using the obtained sensor data, the state of each of the plurality of movable objects is determined, and based on the determined state, the risk occurrence of each of the plurality of movable objects is detected, and the collected sensors are based on the attributes of each of the plurality of movable objects. Data may be corrected, and a state of each of the plurality of movable bodies may be determined using the corrected sensor data.

In various embodiments, the plurality of integrated monitoring modules are provided at arbitrary positions of each of the plurality of movable bodies, and include an inertial measurement sensor including a gyro sensor, an acceleration sensor, and a geomagnetic sensor, and the control server comprises the 9 DOF values for each of the plurality of movable bodies collected from the inertial measurement sensor - the 9 DOF values include XYZ-axis angular velocity values, XYZ-axis acceleration values, and XYZ-axis geomagnetism values - Using each of the plurality of movable bodies Determines the posture of each of the plurality of movable bodies as a state for , corrects the 9 degree of freedom value for each of the plurality of movable bodies based on the attribute of each of the plurality of movable bodies, and uses the corrected 9 degree of freedom value It is possible to determine the posture of each of the plurality of movable bodies.

In various embodiments, the plurality of integrated monitoring modules are connected to the control solution tank provided in the mobile body and loaded with the control solution, so that the control solution loaded in the control solution tank flows in, and one side is connected to the lower end of the control solution tank. As it is connected and the other side is connected to the upper end of the pesticide solution tank, the tube pipe through which the pesticide solution loaded in the pesticide solution tank flows to the same height as the water level of the pesticide solution loaded in the pesticide solution tank and the outer surface of the tube tube and a water level measuring sensor including a plurality of capacitive sensors provided at different locations and arranged at predetermined intervals from each other, wherein the control server determines the water level of each of the plurality of movable objects collected through the water level measuring sensor. Value - The water level value is the capacitive sensor disposed at the highest position among the at least one capacitive sensor when the control solution flowing into the tube is detected through at least one capacitive sensor among the plurality of capacitive sensors. The height value of the sensor is used to determine the stability of each of the plurality of moving bodies as a state for each of the plurality of moving bodies, and the water level value for each of the plurality of moving bodies based on the attribute of each of the plurality of moving bodies. , and using the corrected water level value, the stability of each of the plurality of movable bodies may be determined.

In various embodiments, the control server determines the state of each of the plurality of movable objects using sensor data corresponding to each of the plurality of movable objects, and based on the determined state, the occurrence of danger to each of the plurality of movable objects. while detecting, correcting sensor data corresponding to each of the plurality of moving bodies using geographical characteristic information for a point where each of the plurality of moving bodies is located, and using the corrected sensor data to detect danger can be detected.

In various embodiments, the control server sets a weight based on at least one of the type, specification, whether or not an article is loaded, and the amount of loading of each of the plurality of movable objects, and uses the set weight to determine the weight corresponding to each of the plurality of movable objects. Sensor data can be calibrated.

In various embodiments, the control server corrects the first sensor data corresponding to the first moving body based on the property of the first moving body, and at least one sensor data corresponding to the first moving body is centered within a predetermined range. When the 2 movable bodies are located, second sensor data corresponding to the at least one second movable body may be corrected based on the corrected first sensor data.

In various embodiments, the plurality of integrated monitoring modules include a camera sensor that collects image data on a moving direction of the moving object, and the control server uses sensor data corresponding to the first moving object to determine the first moving object. Determines the state of the first moving object, detects the occurrence of danger to the first moving object based on the determined state of the first moving object, and detects one or more second moving objects - the one or more second moving objects is a point adjacent to the first moving object. A moving object located in - Analyzing one or more image data generated by photographing the first moving object through a camera sensor provided in , extracting state information about the first moving object, and using the extracted state information to The determined state of the first moving object may be corrected.

In various embodiments, the control server controls the detection of the first moving object by using sensor data corresponding to the first moving object collected at a first time point and image data generated by photographing the first moving object at the first time point. When the state is corrected, a sensor data correction property for the first moving object is determined based on the corrected state of the first moving object, and at a second time point after the first time point based on the determined sensor data correction property. The collected sensor data corresponding to the first moving object may be corrected.

In various embodiments, the control server classifies each of the plurality of movable bodies into a safe state, a caution state, a dangerous state, or an accident state based on the determined state, and at least one of the plurality of movable bodies When classified as a warning state, a warning notification having a first property is provided to the occupant riding the at least one moving object, and when the at least one moving object is classified as the dangerous state, the driver riding the at least one moving object A warning notification having a second property is provided to a passenger, and when the at least one mobile body is classified as the accident state, a warning notification having a third property may be provided to a passenger riding in the at least one moving body. .

In various embodiments, the control server, when it is determined that an accident has occurred in at least one moving object among the plurality of moving objects based on the determined state, sends a 119 safety report center server an accident occurred in the at least one moving object. Requesting the reception of a report corresponding to an accident, but requesting a report on the occurrence of an accident from the occupant as a warning notification is provided to the occupant on the at least one movable object when it is determined that an accident has occurred in the at least one movable object The 119 Safety Report Center server receives a report corresponding to the accident that occurred with the at least one moving object only when the feedback is obtained or the feedback is not obtained from the occupant within a predetermined time from the time of providing the warning notification. can request

In various embodiments, the institutional control server calculates an accident risk for each of a plurality of regions based on at least one of accident data, weather data, and vehicle usage data of each of a plurality of regions, and based on the calculated accident risk A sensor data collection period for each of a plurality of regions may be determined, and sensor data may be collected from the plurality of integrated monitoring modules based on the determined sensor data collection period.

In order to solve the above problems, a method for controlling risk occurrence of a moving object using sensor data calibrated according to the properties of the moving object according to another embodiment of the present invention includes a plurality of integrated monitoring modules and a control server that detects the occurrence of danger to the moving object. A method performed through a danger occurrence control system of a moving object using sensor data calibrated according to the attributes of the moving object, comprising the steps of collecting sensor data corresponding to each of the plurality of moving objects through the plurality of integrated monitoring modules; and Determining the state of each of the plurality of movable bodies using the collected sensor data, and detecting the occurrence of danger in each of the plurality of movable bodies based on the determined state, wherein the occurrence of danger in each of the plurality of movable bodies The sensing may include correcting the collected sensor data based on attributes of each of the plurality of moving objects and determining a state of each of the plurality of moving objects using the corrected sensor data.

Other specific details of the invention are included in the detailed description and drawings.

According to various embodiments of the present invention, the risk occurrence for each of a plurality of moving objects is detected using sensor data corresponding to each of the plurality of moving objects, the sensor data is corrected according to the properties of the moving object, and based on the corrected sensor data There is an advantage in that it is possible to construct an environment capable of more accurately detecting the occurrence of danger to a moving object by detecting the occurrence of danger to each of a plurality of movable objects.

In addition, by not only detecting the occurrence of danger to each of a plurality of moving objects, but also detecting the occurrence of danger to a plurality of moving objects located in a specific area, the risk to a plurality of moving objects (eg, multiple moving objects located in a specific area) It has the advantage of being able to provide an environment in which occurrence monitoring can be performed more efficiently.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a diagram illustrating a risk control system for a moving object using sensor data calibrated according to a property of the moving object according to an embodiment of the present invention.
2 is a diagram illustrating the configuration of an integrated monitoring module installed in a mobile body in various embodiments.
3 is a diagram illustrating an integrated monitoring module packaged as one module in various embodiments.
4 is a diagram exemplarily illustrating a form in which an integrated monitoring module is installed in a mobile body in various embodiments.
5 is a diagram illustrating a water level measurement sensor included in an integrated monitoring module in various embodiments.
6 is a diagram showing a form in which a water level measuring sensor is installed in a moving body by way of example.
7 is a diagram illustrating a warning notification output module included in an integrated monitoring module in various embodiments.
8 is a diagram showing the hardware configuration of a risk occurrence control server of a moving object using sensor data corrected according to the attributes of the moving object according to another embodiment of the present invention.
9 is a flow chart of a method for controlling risk occurrence of a moving object using sensor data corrected according to a property of the moving object according to another embodiment of the present invention.
10 is a diagram exemplarily illustrating a Madgwick Filter algorithm applicable to various embodiments.
11 is a diagram for explaining a process of calculating the degree of leaning of a moving object in various embodiments.
12 to 55 illustratively illustrate a user interface (UI) provided by a server for controlling risk occurrence of a moving object using sensor data calibrated according to a property of the moving object in various embodiments.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, and “and/or” includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first element mentioned below may also be the second element within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

The term "unit" or "module" used in the specification means a hardware component such as software, FPGA or ASIC, and "unit" or "module" performs certain roles. However, "unit" or "module" is not meant to be limited to software or hardware. A “unit” or “module” may be configured to reside in an addressable storage medium and may be configured to reproduce one or more processors. Thus, as an example, a “unit” or “module” may refer to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. Functions provided within components and "units" or "modules" may be combined into smaller numbers of components and "units" or "modules" or may be combined into additional components and "units" or "modules". can be further separated.

The spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe a component's correlation with other components. Spatially relative terms should be understood as including different orientations of elements in use or operation in addition to the orientations shown in the drawings. For example, if you flip a component that is shown in a drawing, a component described as "below" or "beneath" another component will be placed "above" the other component. can Thus, the exemplary term “below” may include directions of both below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

In this specification, a computer means any kind of hardware device including at least one processor, and may be understood as encompassing a software configuration operating in a corresponding hardware device according to an embodiment. For example, a computer may be understood as including a smartphone, a tablet PC, a desktop computer, a laptop computer, and user clients and applications running on each device, but is not limited thereto.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Although each step described in this specification is described as being performed by a computer, the subject of each step is not limited thereto, and at least a part of each step may be performed in different devices according to embodiments.

1 is a diagram illustrating a risk control system for a moving object using sensor data calibrated according to a property of the moving object according to an embodiment of the present invention.

Referring to FIG. 1 , the risk occurrence control system of a moving object using sensor data corrected according to the attributes of the moving object according to an embodiment of the present invention includes a control server 100, an integrated monitoring module 200, and a user terminal 300. and network 400 .

Here, the danger occurrence control system of a moving object using sensor data corrected according to the attributes of the moving object shown in FIG. 1 is according to an embodiment, and its components are not limited to the embodiment shown in FIG. may be added, changed or deleted according to

In one embodiment, the control server 100 may monitor the occurrence of danger to a plurality of moving objects 10 .

In various embodiments, the control server 100 may collect sensor data for each of the plurality of moving objects 10 from the integrated monitoring module 200 provided in each of the plurality of moving objects 10 located in a predetermined area, and , It is possible to determine the state of each of the plurality of movable objects 10 based on the collected sensor data, and to detect the occurrence of danger to the plurality of movable objects 10 based on the determined state.

Here, the state of the moving object 10 determined by the control server 100 is the motion of the moving object 10 determined based on the inertial data (eg, the movement, attitude, movement speed and position of the moving object 10, etc.) and It may include, but is not limited to, the water level and driving stability of the mobile body 10 determined based on the water level data, and the state of the mobile body 10 may be considered to detect danger to the mobile body 10. It can be applied in any condition.

In addition, although the state determination operation of the moving object 10 is described here as being performed by the control server 100 based on sensor data collected from the integrated monitoring module 200, it is not limited thereto, and the integrated monitoring module 200 ) The state determination operation of the mobile body 10 is performed through the computing device 210 provided in the control server 100, and result data derived as the state determination operation of the mobile body 10 is performed from the computing device 210 is performed. ) can be implemented in the form of collection.

In one embodiment, the integrated monitoring module 200 may be provided and installed on at least a portion of the mobile body 10 and may collect sensor data of the mobile body 10 . To this end, the integrated monitoring module 200 may include a computing device 210, a sensor module 220, a power source 230, a communication module 240, and a warning notification output module 250. However, it is not limited thereto.

Here, in the integrated monitoring module 200, components included in the integrated monitoring module 200 may be packaged into one module, as shown in FIG. 3, in consideration of convenience of installation and management of the mobile body 10. And, as shown in FIG. 4, it may be installed at any position of the movable body 10, but is not limited thereto.

More specifically, referring to FIG. 2 , first, the computing device 210 may control operations of various components included in the integrated monitoring module 200 . For example, the computing device 210 may be a micro controller unit (MCU), but is not limited thereto.

Here, the sensor data for the moving object 10 is data measured through the sensor module 220 to be described later, for example, inertial data, water level data, position data, temperature data, humidity data, and image data for the moving object 10. It may include, but is not limited to.

Next, the sensor module 220 may collect sensor data for the moving object 10 . To this end, the sensor module 220 may include an inertial measurement sensor 221, a water level measurement sensor 222, a position sensor 223, a temperature/humidity sensor 224, and a camera sensor 225, but is limited thereto. It doesn't work.

Here, a plurality of sensors included in the sensor module 220 may be packaged and installed as one set. At this time, only at least one sensor among a plurality of sensors may be selectively packaged according to the type of the movable body 10 . For example, when the moving object 10 is a tractor, an inertial measurement sensor 221, a position sensor 223, a temperature/humidity sensor 224, and a camera sensor 225 among a plurality of sensors are packaged as one set for integrated monitoring. It can be built into the module 200. In addition, when the moving object 10 is a control vehicle, the inertial measurement sensor 221, the water level measurement sensor 222, the position sensor 223, the temperature/humidity sensor 224, and the camera sensor 225 are set as one set. It may be packaged and embedded in the integrated monitoring module 200.

In addition, in some cases, when the water level measurement sensor 222 is implemented in the form shown in FIG. 5 , other sensors except for the water level measurement sensor 222 (eg, the inertial measurement sensor 221, the position sensor 223, The temperature/humidity sensor 224 and the camera sensor 225) may be packaged as a set and embedded in the integrated monitoring module 200, and the water level measurement sensor 222 may be an independent module from the integrated monitoring module 200. It can be implemented and connected to the integrated monitoring module 200 through short-range wireless communication (eg, Bluetooth). However, it is not limited thereto.

As described above, when the water level measurement sensor 222 is implemented independently of the integrated monitoring module 200, the water level module 222C for collecting water level data based on the water level value measured from the water level measurement sensor 222 is further provided. The water level module 222C and the integrated monitoring module 200 may be connected through short-range wireless communication and the water level data collected through the water level module 222C may be transmitted to the integrated monitoring module 200. .

The inertial measurement sensor 221 may generate inertial data for the moving object 10 . For example, the inertial measurement sensor 221 may be a 9-axis inertial measurement sensor including a gyro sensor 221A, an acceleration sensor 221B, and a geomagnetic sensor 221C, and the gyro sensor 221A, the acceleration sensor 221B and Inertial data for the moving object 10 may be measured using the geomagnetic sensor 221C.

Here, the inertial data for the moving object 10 may be values of 9 degrees of freedom measured through a 9-axis inertial measurement sensor. For example, the inertial data for the moving object 10 is a 3-axis (XYZ-axis) angular velocity value measured using the gyro sensor 221A, a 3-axis (XYZ-axis) acceleration value measured using the acceleration sensor 221B, and geomagnetism It may include, but is not limited to, the 3-axis (XYZ-axis) geomagnetic value measured using the sensor 221C, and the value generated by processing the 9-degree-of-freedom value (eg, obtained by integrating the XYZ-axis angular velocity angular value, a velocity value obtained by integrating the XYZ-axis acceleration, a position change amount obtained by integrating the XYZ-axis velocity value, etc.) may be further included.

The water level measurement sensor 222 may be installed in the mobile body 10 (eg, a control vehicle loaded with a control solution) for loading the liquid material, and the water level for the liquid material loaded in the mobile body 10 data can be generated. For example, the water level sensor 222 may be installed in a control vehicle loaded with a control solution, measure a level value for the control solution loaded in the control vehicle, and generate level data including the measured level value. there is.

In various embodiments, the water level measurement sensor 222 may measure a water level value for the control solution loaded on the moving object 10 using an electrostatic method. To this end, the water level measuring sensor 222 may include a tube tube 222A and a plurality of capacitive sensors 222B, as shown in FIG. 5 .

The tube pipe (222A) is provided on the movable body 10 and is connected to the control solution tank for loading the control solution, so that the control solution loaded in the control solution tank may be introduced.

At this time, the tube pipe (222A) has one side (eg, the lower end of the tube pipe (222A)) connected to the lower end of the control solution tank, and the other side (eg, the upper end of the tube pipe (222A)) is connected to the upper end of the control solution tank Depending on, it may be implemented so that the control solution loaded in the control solution tank is introduced to the same height as the water level of the control solution loaded in the control solution tank, but is not limited thereto.

A plurality of capacitive sensors (222B) may be provided on the outer surface of the tube tube (222A), it is possible to detect the control solution flowing into the tube tube (222A) through an electrostatic method. For example, the plurality of capacitive sensors 222B may measure the capacitance inside the tube tube 222A, and the capacitance value inside the tube tube 222A fluctuates as the control solution flows into the tube tube 222A. By detecting that, it is possible to detect the control solution flowing into the tube tube (222A). To this end, in order to measure the capacitance inside the tube tube (222A), each of the plurality of capacitive sensors (222B) may be composed of two capacitive sensors as a pair, and the two capacitive sensors are the tube tube ( 222A), the capacitance value inside the tube 222A can be measured by being arranged facing each other at the same height. As an example, the plurality of capacitive sensors 222B may be capacitive touch sensors, but are not limited thereto.

Here, the plurality of capacitive sensors 222B are disposed on the outer surface of the tube tube 222A, and the position, number and number of the plurality of capacitive sensors 222B are disposed on the outer surface of the tube tube 222A. The arrangement interval between the electrostatic sensors 222B is at least one of the length of the tube 222A, the capacity of the control solution tank provided in the moving body 10, the weight of the moving body 10, and the average water level level for the moving body 10. can be determined based on one

In one example, the number of the plurality of capacitive sensors (222B) may be determined in proportion to the weight of the length of the tube tube (222A), the capacity of the control solution tank and the mobile body (10).

As another example, an average water level level for the moving object 10 is calculated based on sensor data collected for a predetermined period of time, and the capacitive sensor 222B is provided at every first interval within a predetermined range around the calculated average water level level. , and the capacitive sensor 222B may be disposed at every second interval wider than the first interval except for a predetermined range.

As another example, an average water level for the movable body 10 is calculated based on sensor data collected for a predetermined period of time, and the position of the tube tube 222A corresponding to the calculated average water level level is based on one blackout. An expression sensor 222B may be disposed, and the remaining capacitive sensors 222B are arranged at predetermined intervals in the vertical direction centering on the capacitive sensor 222B as a reference, but the capacitive sensor 222B as a reference ), that is, the distance disposed in proportion to the distance from the position of the tube pipe 222A corresponding to the average water level level may be set wide.

As another example, for the purpose of detecting danger according to the water level of the moving object 10, the center of the position of the tube pipe 222A corresponding to the water level that is a criterion for detecting danger (risk determination standard) Thus, the capacitive sensor 222B may be disposed at every first interval within a predetermined range, and the capacitive sensor 222B may be disposed at every second interval wider than the first interval outside the predetermined range.

However, the arrangement position, number, and interval of the plurality of capacitive sensors 222B are not limited thereto, and may be freely set and arranged according to a user's request using the integrated monitoring module 200 .

The position sensor 223 may generate position data of the moving object 10 . For example, the location sensor 223 may be a GPS sensor, and may generate location data including information about location coordinates by measuring location coordinates of the moving object 10 through the GPS sensor, but is not limited thereto. .

Here, it is described that the position sensor 223 is included in the integrated monitoring module 200 to generate position data for the moving object 10, but is not limited thereto, and the integrated monitoring module 200 is a separate position sensor ( 223), it can be connected to the user terminal 300 of the occupant on the mobile body 10 through the network 400, and is generated through a location sensor (eg, GPS) provided in the user terminal 300. It can be implemented in the form of collecting location data.

The temperature/humidity sensor 224 may measure temperature and humidity data of the mobile body 10 or an environment surrounding the mobile body 10 .

The camera sensor 225 may generate image data for the moving object 10 or the moving direction of the moving object 10 by capturing the moving object 10 or the moving direction of the moving object 10 . For example, the camera sensor 225 may be a black box installed on the mobile body 10, but is not limited thereto, and the integrated monitoring module 200 does not include a separate camera sensor 225 and is installed on the mobile body 10. Image data for the moving object 10 or the moving direction of the moving object 10 is generated by capturing the moving object 10 or the moving direction of the moving object 10 using the camera module provided in the user terminal 300 of the occupant on board. can do.

Next, the power source 230 includes components included in the integrated monitoring module 200 (eg, the computing device 210, the sensor module 220, the communication module 240, and the warning notification output module 250) can supply power for driving. For example, the power source 230 may be a battery provided inside the integrated monitoring module 200, but is not limited thereto.

Next, the communication module 240 may be connected to an external device/device (eg, the user terminal 300 and the control server 100) of the integrated monitoring module 200 through the network 400, and the sensor module ( 220) may be provided to an external device/device. For example, the communication module 240 may be an LTE module, but is not limited thereto.

Here, the user terminal 300 is a wireless communication device that ensures portability and mobility, and includes navigation, PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System) , PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminal, smartphone ( It may include all types of handheld-based wireless communication devices such as Smartphone, Smartpad, Tablet PC, etc., but is not limited thereto, and the infotainment system provided in the mobile body 10 can be

Also, here, the network 400 may refer to a connection structure capable of exchanging information between nodes such as a plurality of terminals and servers. For example, the network 400 includes a local area network (LAN), a wide area network (WAN), a world wide web (WWW), a wired and wireless data communication network, a telephone network, a wired and wireless television communication network, and the like. can do.

In addition, here, the wireless data communication networks are 3G, 4G, 5G, 3GPP (3rd Generation Partnership Project), 5GPP (5th Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), Wi-Fi (Wi-Fi) Fi), Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), RF (Radio Frequency), Bluetooth network, A near-field communication (NFC) network, a satellite broadcasting network, an analog broadcasting network, a digital multimedia broadcasting (DMB) network, etc. may be included, but is not limited thereto.

Next, the warning notification output module 250 may output a warning notification in response to detection of danger to the moving object 10 .

For example, the control server 100 may detect the occurrence of danger to the moving object 10 based on information about the state of the moving object 10, and based on whether or not the occurrence of danger to the moving object 10 is detected, If there is a high possibility of danger to the moving object 10 or it is determined that danger has occurred to the moving object 10, the warning notification output module 250 through the computing device 210 included in the integrated monitoring module 200 A control command for controlling the operation of the controller may be output so that a warning notification is output. Here, the warning notification output module 250 may include a warning light as shown in FIG. 7 , but is not limited thereto, and the warning notification output module 250 further includes a speaker for outputting a warning notification in the form of a voice. can include In addition, the integrated monitoring module 200 does not have a separate warning notification output module 250, and based on the result of determining the danger to the moving object 10, there is a high possibility that danger will occur in the moving object 10 or the moving object When it is determined that danger has occurred in (10), it may be provided to the user terminal 300 so that a warning notification is output through the user terminal 300. Hereinafter, with reference to FIG. 8 , the hardware configuration of the control server 100 that performs a method for controlling risk occurrence of a moving object using sensor data calibrated according to the attributes of the moving object will be described.

8 is a diagram showing the hardware configuration of a risk occurrence control server of a moving object using sensor data corrected according to the attributes of the moving object according to another embodiment of the present invention.

Referring to FIG. 8, in various embodiments, the control server 100 includes one or more processors 110, a memory 120 for loading a computer program 151 executed by the processor 110, and a bus ( 130), a communication interface 140, and a storage 150 for storing the computer program 151. Here, only the components related to the embodiment of the present invention are shown in FIG. 8 . Accordingly, those skilled in the art to which the present invention pertains can know that other general-purpose components may be further included in addition to the components shown in FIG. 8 .

The processor 110 controls the overall operation of each component of the control server 100 . The processor 110 includes a Central Processing Unit (CPU), a Micro Processor Unit (MPU), a Micro Controller Unit (MCU), a Graphic Processing Unit (GPU), or any type of processor well known in the art of the present invention. It can be.

Also, the processor 110 may perform an operation for at least one application or program for executing a method according to embodiments of the present invention, and the control server 100 may include one or more processors.

In various embodiments, the processor 110 may temporarily and/or permanently store signals (or data) processed in the processor 110 (RAM: Random Access Memory, not shown) and ROM (ROM: Read -Only Memory, not shown) may be further included. In addition, the processor 110 may be implemented in the form of a system on chip (SoC) including at least one of a graphics processing unit, RAM, and ROM.

Memory 120 stores various data, commands and/or information. Memory 120 may load computer program 151 from storage 150 to execute methods/operations according to various embodiments of the present invention. When the computer program 151 is loaded into the memory 120, the processor 110 may perform the method/operation by executing one or more instructions constituting the computer program 151. The memory 120 may be implemented as a volatile memory such as RAM, but the technical scope of the present disclosure is not limited thereto.

The bus 130 provides a communication function between components of the control server 100 . The bus 130 may be implemented in various types of buses such as an address bus, a data bus, and a control bus.

The communication interface 140 supports wired and wireless Internet communication of the control server 100 . Also, the communication interface 140 may support various communication methods other than internet communication. To this end, the communication interface 140 may include a communication module well known in the art. In some embodiments, communication interface 140 may be omitted.

The storage 150 may non-temporarily store the computer program 151 . In the case of performing a risk control process of a moving object using sensor data calibrated according to the attributes of the moving object through the control server 100, the storage 150 controls the risk occurrence of the moving object using the sensor data calibrated according to the attributes of the moving object. Various types of information necessary to provide a process can be stored.

The storage 150 may be a non-volatile memory such as read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or the like, a hard disk, a removable disk, or a device well known in the art. It may be configured to include any known type of computer-readable recording medium.

Computer program 151 may include one or more instructions that when loaded into memory 120 cause processor 110 to perform methods/operations in accordance with various embodiments of the invention. That is, the processor 110 may perform the method/operation according to various embodiments of the present disclosure by executing the one or more instructions.

In one embodiment, the computer program 151 collects sensor data corresponding to each of the plurality of moving objects through a plurality of integrated monitoring modules, and determines the state of each of the plurality of moving objects using the previously collected sensor data, It may include one or more instructions for performing a method for controlling danger occurrence of a moving object using sensor data calibrated according to the property of the moving object, including detecting occurrence of danger in each of the plurality of moving objects based on the determined state.

Steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented in a software module executed by hardware, or implemented by a combination thereof. A software module may include random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any form of computer readable recording medium well known in the art to which the present invention pertains.

Components of the present invention may be implemented as a program (or application) to be executed in combination with a computer, which is hardware, and stored in a medium. Components of the present invention may be implemented as software programming or software elements, and similarly, embodiments may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs, such as C, C++ , Java (Java), can be implemented in a programming or scripting language such as assembler (assembler). Functional aspects may be implemented in an algorithm running on one or more processors. Hereinafter, with reference to FIGS. 9 to 11 , a method for controlling risk occurrence of a moving object using sensor data corrected according to the property of the moving object performed by the control server 100 will be described.

9 is a flow chart of a method for controlling risk occurrence of a moving object using sensor data corrected according to a property of the moving object according to another embodiment of the present invention.

Referring to FIG. 9 , in step S110 , the control server 100 may collect sensor data for a plurality of moving objects 10 . For example, the control server 100 may be connected to a plurality of integrated monitoring modules 200 provided in each of the plurality of mobile bodies 10 through the network 400, and the measurement is performed through the plurality of integrated monitoring modules 200. A plurality of sensor data can be collected.

In various embodiments, the control server 100 may collect inertial data on the moving object 10 as sensor data on the moving object 10 .

More specifically, the control server 100 outputs a control command for controlling the inertial measurement sensor 221 among a plurality of sensors included in the sensor module 220 of the integrated monitoring module 200, so that the inertial measurement sensor 221 The gyro sensor 221A, acceleration sensor 121B, and geomagnetic sensor 221C included in may operate to measure inertial data of the moving object 10, and the inertial measurement sensor 221 may measure the moving object 10. ) of inertial data can be collected.

Here, the inertial data of the moving object 10 collected from the inertial measurement sensor 221 may be 9 degrees of freedom values including XYZ-axis angular velocity values, XYZ-axis acceleration values, and XYZ-axis geomagnetism values, but is not limited thereto, and 9 degrees of freedom Inertial information (e.g., angle data obtained by integrating XYZ-axis angular velocity, velocity data obtained by integrating XYZ-axis acceleration, position data obtained by integrating velocity data, etc.) calculated by processing degree values can include more.

In various embodiments, the control server 100 may collect water level data of the mobile body 10 as sensor data of the mobile body 10 .

More specifically, first, the control server 100 outputs a control command for controlling the water level measuring sensor 222 among the plurality of sensors included in the sensor module 20 of the integrated monitoring module 20, so that the water level measuring sensor ( 222) can be controlled to detect the control solution introduced into the tube tube 222A through a plurality of capacitive sensors 222B included in the tube tube 222A, each of the plurality of capacitive sensors 222B flows into the tube tube 222A Capacitance values measured by sensing the sprayed control solution can be collected.

Thereafter, the control server 100 may select at least one capacitive sensor 222B having a changed capacitance value from among the plurality of capacitive sensors 222B, and the tube tube tube among the selected at least one capacitive sensor 222B. The capacitive sensor 222B disposed at the highest position of 222A may be selected, the height value of the selected capacitive sensor 222B may be extracted as the water level value of the mobile body 10, and the extracted water level value It is possible to collect water level data including information about

In various embodiments, the control server 100 may collect sensor data for each of the plurality of moving objects 10 at predetermined intervals.

For example, the control server 100 may detect the start of the operation of the specific moving object 10, and when it is determined that the operation of the specific moving object 10 has started, the control server 100 may set a preset starting time point when the operation of the specific moving object 10 is started. By outputting a control command for controlling the operation of the integrated monitoring module 200 provided in the specific moving body 10 at each period, the sensor for the specific moving body 10 is set every predetermined period from the time when the operation of the specific moving body 10 is started. data can be collected.

As another example, the integrated monitoring module 200 provided in the specific mobile unit 10 may be connected to the user terminal 300 based on short-range wireless communication (eg, Bluetooth (BLE), etc.), and received from the user terminal 300. It is possible to recognize that the user terminal 300 enters within a predetermined range based on the specific mobile body 10 based on the signal strength, and the control server 100 determines that the user terminal 300 moves within a specific mobile body 10. By outputting a control command for controlling the operation of the integrated monitoring module 200 provided in the specific mobile body 10 at each predetermined period from the time when it is determined that the mobile body 300 has entered the predetermined range based on Based on (10), sensor data for the moving object 10 may be collected at predetermined intervals from the time when it is determined that the sensor has entered within a predetermined range.

Here, the preset period is a period in which the sensor module 220 measures sensor data, and may be a value defined in advance, but is not limited thereto. Also, here, the predetermined period (sensor data measurement period) may be individually set for each of the plurality of moving objects 10 .

In addition, a predetermined period (sensor data measurement period) may be individually set for each of a plurality of sensors included in one integrated monitoring module 200 . For example, a period of measuring inertial data through the inertial measurement sensor 221 included in the sensor module 220 may be set shorter than a period of measuring water level data through the water level sensor 222, but is not limited thereto. .

In various embodiments, the control server 100 may calculate an accident risk for each of a plurality of regions based on at least one of accident data, weather data, and moving vehicle usage data of each of a plurality of regions, and the calculated accident risk Based on this, it is possible to determine a sensor data collection period for each of a plurality of regions, and sensor data can be collected from the plurality of integrated monitoring modules 200 based on the determined sensor data collection period.

More specifically, first, the control server 100 may define in advance first score data for each number of accidents, second score data for each weather, and third score data for each usage of the moving object 10 .

Thereafter, the control server 100 extracts a first score according to the number of accidents based on the accident data for a specific area and the first score data for each number of accidents, and calculates the weather data for a specific area and the second score data for each weather. Based on this, a second score according to the weather may be extracted, and a third score according to the usage of the moving object 10 may be extracted based on the moving object usage data and the third score data for each moving object usage.

Thereafter, the control server 100 may calculate the accident risk for a specific area by calculating the sum of the first score, the second score, and the third score, and by setting a period having a size inversely proportional to the calculated accident risk, It may be implemented such that sensor data is collected at shorter intervals as the risk of accidents increases, and sensor data is collected at longer intervals as the risk of accidents decreases. However, it is not limited thereto.

In step S120, the control server 100 may determine the state of each of the plurality of moving objects 10 using the sensor data for each of the plurality of moving objects 10 collected through step S110.

In various embodiments, the control server 100 may determine the operation of the plurality of moving objects 10 as a state of the plurality of moving objects 10 using inertial data of the plurality of moving objects 10 . Here, the operation of the movable body 10 may include the movement and posture of the movable body, but is not limited thereto.

In various embodiments, the control server 100 calculates the Euler Angle and Quaternion for the moving object 10 based on the value of the 9 degrees of freedom for the moving object 10, and the Euler angle and the quaternion. It is possible to determine the posture of the moving body 10 as a state of the moving body 10 by using.

Here, a method for calculating the Euler angle and quaternion for the moving object 10 based on inertial data (9 degree of freedom values) for the moving object 10 and estimating the posture of the moving object 10 based on the Euler angle and quaternion And various techniques are known for the method of determining, and these known techniques can be selectively applied. In this specification, based on a specific method for calculating the Euler angle and quaternion for the moving object 10 and the Euler angle and quaternion However, the specific method for estimating and determining the posture of the moving object 10 is not limited.

The method of determining the posture of the movable body 10 based on Euler angles and quaternions is not to obtain a fixed angle of the Z-Y-X axis based on a fixed frame, but continues rotation based on a frame that fluctuates every rotation without a fixed frame. This is a method of obtaining a reversely changed angle while going, which is a method capable of estimating the posture of the moving body 10 without distinguishing the front, rear, left and right directions of the moving body 10 . Therefore, the integrated monitoring module 200 including the inertial measurement sensor 121 can determine the posture of the moving object 10 regardless of where and in which direction it is installed, and thus the installation convenience of the integrated monitoring module 200 It has the advantage of increasing degrees of freedom.

In various embodiments, the control server 100 determines the posture of the moving object 10 based on the 9 degrees of freedom value, which is inertial data for the moving object 10, but uses a Madgwick Filter algorithm (eg, FIG. 10 ). ), it is possible to filter noise such as acceleration shaking from the inertial data of the moving object 10 by correcting the 9 degree of freedom value for the moving object 10 based on There is an advantage in that more accurate results can be derived by determining the posture of the moving object 10 using inertial data.

In various embodiments, the control server 100 may calculate the degree of leaning of the moving object 10 in a specific direction as a state of the moving object 10 when the moving object 10 includes a plurality of wheels.

Generally, in the case of a tractor, the front wheel is smaller than the rear wheel, the body is high, and the weight is heavy, so it has a high center of gravity. Accordingly, even if the tractor is slightly tilted in a certain direction, it can easily overturn, roll over, or fall. There is a problem with being able to.

In consideration of this point, the control server 100 determines the degree of leaning of the tractor in a specific direction as a state of the tractor, thereby more accurately determining the danger and risk of overturning, overturning, and falling accidents of the tractor can do.

More specifically, referring to FIG. 11, first, when the moving body 10 (eg, a tractor) includes a plurality of wheels, the control server 100 corresponds to the moving body 10 centered on each of the plurality of wheels. The XY plane (a plane horizontal to the moving direction of the moving body 10) can be divided into a plurality of regions. For example, when the moving body 10 includes four wheels, the control server 100 may divide the XY plane corresponding to the moving body 10 into four areas centered on each of the four wheels.

Thereafter, the control server 100 may calculate the center of gravity of the moving object 10 and the inclination of each of the plurality of wheels, and may calculate the degree of leaning toward each of the plurality of areas using the calculated inclination.

In various embodiments, the control server 100 may calculate an angle corresponding to the moving direction of the moving object 10 as a state of the moving object 10 .

Typically, in evaluating the driving stability of the mobile body 10, the angle corresponding to the traveling direction of the mobile body 10 may act as the most important parameter. In particular, in the case of a tractor, unlike a general vehicle, the traveling direction Corresponding angles and overturning, overturning and falling accidents for tractors have a high relevance.

In consideration of this point, the control server 100, when the moving object 10 is a tractor, calculates the angle with respect to the moving direction of the tractor, thereby more accurately determining the risk of overturning, overturning, and falling of the tractor and whether or not the risk occurs. In addition to being able to build an environment that can be judged, there is an advantage in that the system can be lightweight and the response speed of the system can be improved by calculating only the angle for the direction of travel without determining the attitude of the tractor as a state of the tractor. .

More specifically, first, the control server 100 may determine the moving direction of the moving object 10 .

For example, the control server 100 may collect location data of the moving object 10 for a predetermined period of time, and determine the moving direction of the moving object 10 using the location data collected for a predetermined period of time.

As another example, the control server 100 may collect 9 degree-of-freedom values that are inertial data of the moving object 10 for a predetermined period of time, and the moving object 10 progresses using the 9 degree-of-freedom values collected during the predetermined period of time. direction can be determined. For example, the control server 100 may integrate the 3-axis (XYZ-axis) acceleration values collected during a predetermined period to obtain speed values in the 3-axis direction, and integrate the speed values in the 3-axis direction to obtain the 3-axis acceleration values. The amount of change in position in the direction may be obtained, and the direction having the largest amount of change in position based on the amount of change in position in the three-axis direction may be determined as the moving direction of the movable body 10 .

Thereafter, the control server 100 may calculate an angle corresponding to the moving direction of the moving object 10 by using the value of the 9 degrees of freedom for the moving object 10 . For example, when it is determined that the traveling direction of the moving object 10 is in the X-axis direction, the control server 100 may calculate an angle in the X-axis direction using an X-axis angular velocity value among nine degrees of freedom.

In various embodiments, the control server 100 may use the water level data to determine the level of the control solution loaded on the moving object 10. For example, water level data according to water level values may be defined in advance in the control server 100, and based on the water level data according to the water level values, the water level values included in the water level data collected from the water level measurement sensor 222 The water level corresponding to can be determined as the water level for the control solution loaded on the moving body (10). However, it is not limited thereto.

In various embodiments, the control server 100 may determine the stability of the operation of the moving object 10 as a state of the moving object 10 based on the water level of the disaster prevention solution loaded on the moving object 10. .

In various embodiments, the control server 100 may determine the stability of the operation of the moving object 10 using Equation 1 below.

<Equation 1>

Here, the loading amount of the pesticide solution according to the water level is provided in the mobile body 10, and based on the capacity of the disaster prevention solution tank for loading the pesticide solution and the water level determined for the mobile body 10, indirectly according to the water level It may mean the load of the calculated control capacity, and the normalized weight of the mobile body 10 may mean a value obtained by normalizing the weight of the mobile body 10 to a value within a predetermined range (eg, a value within the range of 0 to 1). However, it is not limited thereto.

The weight (normal drag) of the moving body 10 is a parameter that maintains the running track of the moving body 10, and the loading amount (water level) of the control capacity is a parameter that leaves the running track of the moving body 10. The main cause of the movable body 10 loaded with the pesticide solution leaving the running track is when the centrifugal force created by the pesticide solution is higher than the frictional force of the vehicle maintaining the running track.

Therefore, the control server 100 determines the stability of the operation of the moving object 10 based on the water level of the control solution corresponding to the weight of the control solution and the weight of the moving object 10, thereby overturning, overturning and falling the control vehicle. It is possible to build an environment that can more accurately determine the risk of accidents and whether or not they occur.

In various embodiments, the control server 100 determines the state of each of the plurality of moving objects 10 using sensor data, corrects the sensor data based on the attributes of each of the plurality of moving objects 10, and corrects the sensor data. The state of each of the plurality of moving objects 10 may be determined using the data. For example, the control server 100 corrects 9 degree of freedom values for each of the plurality of moving objects 10 based on the attributes of each of the plurality of moving objects 10, and uses the corrected 9 degree of freedom values to determine the plurality of moving objects ( 10) Each posture can be judged. In addition, the control server 100 corrects the water level value for each of the plurality of moving objects 10 based on the attributes of each of the plurality of moving objects 10, and uses the corrected water level value to control the operation of each of the plurality of moving objects 10. stability can be assessed.

Here, the state of each of the plurality of movable bodies 10 is the point at which the plurality of movable bodies 10 are located, as well as the characteristics of the movable body 10 itself, such as the type, specifications, whether or not goods are loaded, and the amount of loading of the plurality of movable bodies 10. All attribute information related to the moving object 10, such as geographical characteristic information, weather, and usage of the moving object may be included.

In various embodiments, the control server 100 corrects sensor data corresponding to each of the plurality of moving objects 10 by using geographical characteristic information about a point where each of the plurality of moving objects 10 is located, and corrects the corrected sensor data. It is possible to determine the state of each of the plurality of movable bodies 10 by using.

In general, when the movable body 10 travels on an unpaved road, since the road surface is uneven compared to the paved road, frequent vibrations may occur during operation. Accordingly, even if the movable body 10 runs stably, the movable body ( 10), there is a problem in that it is difficult to accurately determine the posture of the moving body 10, since the value of the 9 degrees of freedom can change rapidly in a short time.

In addition, when the mobile body 10 travels on a ramp having a predetermined angle, it may be determined that the posture of the mobile body 10 is tilted or tilted in a specific direction according to the angle of the ramp, and in some cases, the mobile body ( If the angle of the ramp on which 10) travels is large, there is room for it to be mistakenly determined that the moving object 10 has overturned, overturned, or fallen.

In consideration of this point, the control server 100 corrects sensor data corresponding to each of the plurality of moving objects 10 using geographical characteristic information about the location of each of the plurality of moving objects 10, thereby movable object 10 ) can accurately determine the motion (movement or posture, etc.), and accordingly, it is possible to prevent the moving object 10 from being erroneously judged as being overturned, overturned, or fallen.

In various embodiments, the control server 100 may perform correction to remove noise included in sensor data corresponding to the moving object 10 through a pre-learned artificial intelligence model, and use the sensor data from which the noise has been removed. Thus, the state of the moving body 10 can be determined.

More specifically, the control server 100 converts a first image generated by imaging (eg, graphing) sensor data on a paved road and a second image generated by imaging sensor data on an unpaved road as learning data. By learning the artificial intelligence model and inputting the image generated by imaging the sensor data collected while driving on the pavement to the pre-learned artificial intelligence model, noise is removed, that is, caused by the condition of the road surface It is possible to generate a sensor data image from which noise is removed.

For example, a pre-learned artificial intelligence model includes a generator that generates a fake image of an original image by taking an original image as an input and a discriminator that determines the authenticity of a specific image. Generative Adversarial Network . , Each layer included in the generator and each of a plurality of nodes included in the layer may learn characteristics of an image and characteristics of noise (eg, a graph that varies according to the condition of a road surface).

Thereafter, the control server 100 may calculate a loss value using a result of determining the authenticity of a specific image through a discriminator, and based on the calculated loss value, a generator and a generator so that the loss value has a minimum value, and By updating the parameters of each discriminator, the performance of the generator and discriminator can be improved.

Thereafter, when the control server 100 wants to remove noise from sensor data including noise (eg, sensor data collected while driving on an unpaved road), an image generated by imaging sensor data including noise is generated. , but by inactivating a node from which noise characteristics have been learned among a plurality of nodes included in the generator, an image that does not contain noise as a fake image (for example, the same image as imaged sensor data collected while driving on a paved road) image) can be generated, and the pose of the moving object 10 can be more accurately determined by determining the pose of the moving object 10 based on the generated fake image, that is, sensor data from which noise has been removed.

In various embodiments, when the control server 100 determines that the moving object 10 is traveling on a ramp having a predetermined angle based on the geographical characteristic information of the point where the moving object 10 is located, the control server 100 determines the ramp The 9 degree of freedom values collected from the moving object 10 are corrected based on the 3-axis (XYZ) angle values for the moving object 10, and the attitude of the moving object 10 is determined using the corrected 9 degree of freedom values. position can be determined more accurately.

In various embodiments, the control server 100 may correct sensor data corresponding to the moving object 10 according to whether or not goods are loaded on the moving object 10 and the loading amount of the goods, and use the corrected sensor data to correct the moving object ( 10) can be judged.

Normally, when comparing the movable body 10 on which no goods are loaded with the movable body 10 loaded with goods, the center of gravity of the movable body 10 varies depending on whether the goods are loaded, even if they are located at the same point. The posture of the movable body 10 is different depending on whether or not the goods are loaded, and even in the case of the movable body 10 loaded with goods, the center of gravity of the movable body 10 changes according to the loading amount of the goods, so even if the goods are located at the same point The posture of the movable body 10 is different according to the loading amount of the.

In addition, even if the same items are not loaded on the movable body 10 or the same amount of items are loaded, if the type, specification, or brand of the movable body 10 is different, the center of gravity is different for each type, specification, and brand. Therefore, even if located at the same point, the posture of the moving body 10 is different.

In consideration of this point, the control server 100 corrects the center of gravity of the mobile body 10 based on the type, specifications, whether or not the article is loaded, and the amount of goods loaded on the mobile body 10, and calculates the corrected center of gravity. As a reference, the value of the 9 degrees of freedom of the moving object 10 can be corrected, and the attitude of the moving object 10 can be determined more accurately by using the corrected 9 degree of freedom values to determine the attitude of the moving object 10. there is.

For example, the control server 100 sets a weight according to a change in the center of gravity of each of the plurality of movable bodies 10 based on at least one of the type, specifications, whether or not goods are loaded, and the amount of loading of each of the plurality of movable bodies 10, and , Sensor data may be corrected using set weights, but is not limited thereto.

In various embodiments, when the control server 100 corrects the sensor data corresponding to the specific moving object 10 based on the properties of the specific moving object 10, the control server 100 also corrects other moving objects located adjacent to the specific moving object 10. The same correction can be applied.

For example, the control server 100 corrects the first sensor data corresponding to the first moving object based on the geographical characteristic information of the point where the first moving object 10 is located, and sets the location of the first moving object 10 as the center. When at least one second moving object 10 is located within a predetermined range, that is, when another moving object is located within a range having the same geographical characteristic information as the geographical characteristic information of the point where the first moving body 10 is located. , Second sensor data corresponding to at least one second moving object 10 may be corrected based on the corrected first sensor data.

In various embodiments, the control server 100 creates a plurality of regions including the same geographical characteristic information by dividing a predetermined region according to the type of geographical characteristic information based on the geographical characteristic information of the predetermined region. The same correction may be performed on sensor data of the moving objects 10 included in each of the plurality of areas.

More specifically, first, the control server 100 divides the predetermined region based on the slope angle as geographical characteristic information for a predetermined region, and divides the predetermined region into a plurality of regions (eg, a first region where the slope angle is 0 °, A second area with a ramp angle greater than 0° and less than or equal to 20°, a third area with a ramp angle greater than 20° and less than or equal to 30°, and a fourth area with a ramp angle greater than 30°, etc.) may be created.

Thereafter, the control server 100 selects one of the plurality of moving objects 10 located in each of the plurality of areas based on the standard, and the geographical characteristics of the area where the selected moving object 10 is located as a standard Based on the information, sensor data of the moving object 10 selected as a criterion may be corrected.

Thereafter, the control server 100 corrects the same for sensor data of other moving objects 10 located in the area where the moving object 10 selected as a reference is located based on the sensor data correction result of the moving object 10 selected as a reference. can be performed.

In various embodiments, the control server 100 analyzes image data generated as the first moving object 10 is photographed, and based on state information of the first moving object 10 extracted, the state of the first moving object 10 can be corrected. For example, the control server 100 determines the state of the first moving object 10 using sensor data corresponding to the first moving object 10, but one located at a point adjacent to the first moving object 10. At least one image data generated by photographing the first moving object through the camera sensor provided in the second moving object 10 is analyzed to extract state information (eg, motion, action, tilt, posture, etc.) of the first moving object. And, the state of the first moving object 10 determined based on the sensor data of the first moving object 10 may be corrected using the extracted state information.

At this time, the control server 100 corrects sensor data for the first moving object 10 based on the state correction of the first moving object 10 when the state of the first moving object 10 is corrected based on the image data. Attributes may be determined, and sensor data continuously collected for the first moving object 10 may be corrected based on the determined sensor data correction attributes.

More specifically, first, the control server 100 uses sensor data of the first moving object 10 collected at the first time point and image data generated by photographing the first moving object 10 at the first time point to control the control server 100. When the state of the first moving object 10 is calibrated, sensor data correction attributes for sensor data of the first moving object 10 may be determined based on the corrected state of the first moving object 10 .

Here, the sensor data correction property may include whether or not sensor data is corrected, a correction direction and correction degree of sensor data, but is not limited thereto.

Thereafter, the control server 100, when sensor data for the first moving object 10 is collected at a second time point after the first time point, the sensor data collected at the second time point based on the sensor data correction properties determined at the first time point Sensor data of the first movable object 10 may be corrected, and a state of the first movable object 10 at a second time point may be determined based on the corrected sensor data.

In various embodiments, the control server 100 determines the attitude of the moving object 10 using the inertial data of the moving object 10, but based on the attitude of the user terminal 200 of the occupant on the moving object 10 , the determined attitude of the movable body 10 can be verified.

More specifically, the control server 100 may be connected to the user terminal 300 (eg, a smart phone) through the network 400, and the user terminal 300 may be connected to the user from a sensor (eg, an inertial measurement sensor) provided in the user terminal 300. Inertial data for the terminal 300 (eg, 9 degree of freedom values for the user terminal 300) may be collected.

Thereafter, the control server 100 may determine the posture of the user terminal 300 based on the inertial data of the user terminal 200, and compare the posture of the user terminal 300 with the posture of the mobile body 10. , verification of the attitude of the moving object 10 can be performed.

For example, the control server 100 determines the angle corresponding to the moving direction of the moving object 10 determined using the inertial data of the moving object 10 and the user terminal 300 determined using the inertial data of the user terminal 300 When the angle corresponding to the moving direction of the moving object has a difference within an error range, it can be determined that the angle corresponding to the moving direction of the moving object 10 is accurately calculated using the inertial data of the moving object 10 .

In step S130, the control server 100 may detect occurrence of danger to each of the plurality of moving objects 10 based on the state of the plurality of moving objects 10 determined through step S120.

Here, detecting the occurrence of danger to the moving object 10 is not only determining whether an accident of overturning, overturning, or falling with respect to the moving object 10 has actually occurred, but also an accident of overturning, overturning, or falling with respect to the moving object 10. may include detecting whether a dangerous condition is likely to occur.

In various embodiments, the control server 100 classifies the state of the moving object 10 into a safe state, a caution state, a dangerous state, or an accident state based on information about the operation of the moving object 10 and a preset risk criterion. can do.

For example, the control server 100 may calculate the degree of leaning of the moving object 10 in a specific direction, and determine the state of the moving object 10 based on the degree of leaning in the specific direction and a preset risk determination criterion. It can be classified as safe state, caution state, danger state, or accident state.

As another example, the control server 100 may calculate an angle corresponding to the moving direction of the moving object 10, and based on the angle corresponding to the moving direction of the moving object 10 and a preset risk determination criterion, the moving object 10 The state can be classified into a safe state, a caution state, a dangerous state, or an accident state. For example, the control server 100 classifies the state of the moving object 10 as a safe state when the angle corresponding to the traveling direction of the moving object 10 is 22.5° or less, and the angle corresponding to the traveling direction of the moving object 10 is 22.5°. If the degree exceeds 45 ° or less, the state of the mobile body 10 is classified as a warning state, and if the angle corresponding to the traveling direction of the mobile body 10 exceeds 45 ° and is less than or equal to 67.5 °, the state of the mobile body 10 is classified as a dangerous state, , When the angle corresponding to the moving direction of the moving object 10 exceeds 67.5°, the state of the moving object 10 may be classified as an accident occurrence state.

In various embodiments, the control server 100 may set risk determination criteria for each region based on accident data for each region, and use the risk determination criteria corresponding to the region where the moving object 10 is located among the regional risk determination criteria for the moving object ( 10) can detect the occurrence of danger.

More specifically, first, the control server 100 may set a risk determination criterion for each of a plurality of regions using accident data for each of a plurality of regions. For example, the control server 100 may calculate an average value of angles corresponding to the moving direction of the moving object 10 when an accident occurs in the first area using accident data for the first area, and the calculated average value A first risk determination criterion for the first region may be set using the value. In addition, the control server 100 may calculate an average value of angles corresponding to the moving direction of the moving object 10 when an accident occurs in the second area using accident data for the second area, and the calculated average value A second risk determination criterion for the second region may be set using the value.

To this end, the control server 100 may build a big data system in advance using accident data for a plurality of moving objects 10 .

For example, first, the control server 100 may collect accident data for a plurality of moving objects 10 and store the collected accident data according to a big data-based data storage method, thereby constructing a big data system. there is.

Here, the big data-based data collection and storage methods include various technologies that are already known (e.g., big data collection technologies (log collection, crawling, sensing, RSS, Open API) and big data storage technologies (NoSQL, File System, Cloud, network)), and these various known technologies can be selectively applied according to circumstances, and the present specification does not specifically disclose a method for collecting and storing data based on big data performed by the computing device 100. .

Next, the control server 100 extracts accident data corresponding to the area where the moving object 10 is located from the built big data system in order to set risk judgment criteria corresponding to the area where the moving object 10 is located. can

Here, as for the method of extracting specific data from pre-stored big data, various technologies are already known (e.g., big data processing technology (a method of extracting result values from a large database through a query, a method of extracting result values through real-time processing) )), and these various known technologies can be selectively applied according to circumstances, and the present specification does not specifically disclose the big data processing method performed by the computing device 100.

Thereafter, the control server 100 selects a risk determination criterion corresponding to the position of the moving object from among a plurality of risk determination criteria based on the position of the moving object 10, and uses the selected risk determination criterion for the moving object 10. danger can be detected. For example, when the moving object 10 is located in the first region, the control server 100 may detect danger to the moving object 10 using a first risk determination criterion. In addition, when the location of the moving object 10 is changed from the first area to the second area, the control server 100 sets the risk judgment criterion for the moving object 10 to the second risk corresponding to the second area from the first risk judgment standard. It can be changed according to the judgment criteria.

Here, it is described that the control server 100 builds a big data system and uses it to set risk judgment criteria for each region, but this is only an example, and in some cases, a big data system is used to determine regional and weather conditions. It is possible to extract accident data for each condition, such as by country and farmland, and set risk judgment standards for each condition using the extracted accident data.

In various embodiments, the control server 100 detects the occurrence of danger to a specific moving object based on an operation of the specific moving object, but sets a risk determination criterion using inertial data of moving objects having properties similar to that of the specific moving object, It is possible to detect the occurrence of danger to a specific moving object by using the set risk judgment criteria.

When the moving object 10 is a tractor, since the front wheels are smaller than the rear wheels, the body is high, and the weight is heavy, it has a high center of gravity compared to a general vehicle (eg, a passenger car). Accordingly, the tractor is slightly tilted in a specific direction Even if this occurs, there is a problem that it is difficult to apply the same risk judgment standard as a general vehicle because it can easily overturn, overturn, or fall.

In addition, even if the movable body 10 is a tractor, the center of gravity is different for each brand of tractor and the center of gravity is different depending on whether or not the loader is attached to the tractor, so uniform risk for all movable bodies 10 There is a problem that it is difficult to apply the judgment standard.

Considering this point, the control server 100 may apply different risk judgment criteria based on the properties of the moving object 10 (eg, the type, brand, whether or not parts such as a loader are mounted on the moving object 10, etc.) there is.

More specifically, first, when the control server 100 intends to detect the occurrence of danger to the first moving object based on the operation of the first moving object, the plurality of second moving object attributes and the first moving object attributes (e.g., the first moving object) 1 It is possible to calculate the degree of similarity between types of moving objects, brands, whether or not parts are mounted, and types of mounted parts, etc.). For example, the control server 100 calculates a ratio of a common attribute (intersection) among all attributes (union) of each of the plurality of second moving objects and the first moving object as a similarity based on a Jaccard similarity calculation method. may, but is not limited thereto.

Thereafter, the control server 100 may select at least one second moving object having a similarity with the first moving object of a plurality of second moving objects equal to or greater than a predetermined value, and when a danger to the at least one second moving object is detected. Risk judgment criteria can be set using the inertia data of For example, the control server 100 may set an average value of inertial data when danger to at least one second moving object is detected as a risk determination criterion, but is not limited thereto.

Thereafter, the control server 100 sets the state of the first movable object to a safe state, based on the operation of the first movable object and the risk determination criterion set based on the inertial data when danger to at least one second movable object is detected. It can be classified as a caution state, a dangerous state, or an accident state.

In various embodiments, the control server 100 may classify the state of the movable object 10 into a safe state, a caution state, a dangerous state, or an accident state based on the stability of the operation of the movable object 10 .

For example, the control server 100 may classify the state of the moving object 10 as a safe state when the stability of the driving of the moving object 10 is greater than or equal to a first value, and the stability of the driving of the moving object 10 is If the value is greater than or equal to 2 and less than the first value, the state of the moving object 10 may be classified as a warning state, and if the stability of the operation of the moving object 10 is greater than or equal to the third value and less than the second value, the state of the moving object 10 may be classified as a dangerous state, and if the stability of the operation of the moving object 10 is less than the third value, the state of the moving object 10 may be classified as an accident occurrence state. However, it is not limited thereto.

In various embodiments, the control server 100 warns the occupant of the moving object 10 about the occurrence of danger when danger is detected in the moving object 10 based on the state of the moving object 10 and the risk determination criterion. Notifications can be provided. For example, when it is determined that danger to the moving object 10 is detected, the control server 100 outputs a control command for controlling the operation of the warning notification output module 250 to the warning notification output module 250. The included warning lights and speakers can be activated.

In various embodiments, the control server 100 classifies the moving object 10 into a safe state, a caution state, a dangerous state, or an accident state based on the posture and motion of the moving object 10, but classifies the state of the moving object 10 Based on the results, alert notifications with different properties can be provided.

For example, when at least one of the plurality of moving objects is classified as a safe state, the control server 100 does not provide a separate warning notification or controls the operation of the warning light of the warning notification output module 250 to turn on the warning light. Through this, a signal of the first color (eg, a green signal) may be output.

In addition, the control server 100, when at least one of the plurality of moving objects is classified as a caution state, alerts the occupant of the at least one moving object with a first attribute (eg, a warning light of a second color through a warning light). A signal (eg, a yellow signal) may be output and an audio signal (eg, a warning sound of a first level) corresponding to an attention state may be output through a speaker.

In addition, when the at least one moving object is classified as a dangerous state, the control server 100 sends a warning notification having a second property to the occupant on the at least one moving object (eg, a signal of a third color through a warning light (eg, a warning light)). A red signal) may be output and a voice signal (eg, a warning sound of a second size) corresponding to a dangerous state may be output through a speaker.

In addition, when at least one moving object is classified as an accident occurrence state, the control server 100 sends a warning notification having a third attribute to the occupant of the at least one moving object (eg, a signal of a third color through a warning light (eg, a warning light)). : A red signal) may be output and a voice signal (eg, a warning sound of a third level) corresponding to an accident state may be output through a speaker.

As another example, the control server 100 may control the warning notification output module 250 to output a warning notification every first period when it is determined that the state of the moving object 10 is in a safe state, and When it is determined that the state is a warning state, the warning notification output module 250 may be controlled to output a warning notification every second cycle shorter than the first cycle, and when it is determined that the state of the moving object 10 is a dangerous state The warning notification output module 250 can be controlled to output a warning notification every third period shorter than the second period, and when it is determined that the state of the moving object 10 is in an accident state, the warning notification output module 250 It can be controlled to continuously output warning notifications. However, it is not limited thereto.

In various embodiments, the control server 100, when danger is detected in the first movable body 10 based on the state of the first movable body 10 and the risk determination criterion, informs the occupant of the first movable body 100. Provides a warning notification according to the occurrence of danger, but when at least one second movable body 10 is located within a predetermined range around the point where the first movable body 10 is located, at least one second movable body 10 Regardless of their state, a warning notification corresponding to the occurrence of danger may be provided to the occupants who board the at least one second movable body 10 .

In various embodiments, the control server 100 may set a specific area as a dangerous area when danger is detected for a predetermined number of moving objects 10 among a plurality of moving objects 10 located in a specific area, A warning notification corresponding to occurrence of danger may be provided to all moving objects 10 that have entered a specific area, regardless of the state of the moving objects 10 .

In various embodiments, the control server 100 notifies an occupant of the moving object 10 with a warning according to the occurrence of danger when danger is detected in the moving object 100 based on the state of the moving object 10 and the risk determination criterion. It can provide guidance information on the risks that have occurred with it.

Here, the guide information includes information on how to take action and how to cope with the danger occurring in the moving object 10, and may be information provided based on augmented reality or virtual reality. Not limited to this.

In various embodiments, when the control server 100 determines that an accident has occurred in at least one moving object 10 as at least one moving object 10 among a plurality of moving objects 10 is classified as an accident occurrence state, A report reception corresponding to an accident occurring in at least one moving object 10 may be requested to the 119 Safety Report Center server.

At this time, the control server 100 determines that an accident has occurred in at least one moving object 10 and provides a warning notification to the occupant on at least one moving object 10 to report the accident from the occupant. By requesting the 119 Safety Report Center server to receive a report in response to an accident that occurred in at least one moving object only when the requested feedback is obtained or the feedback from the occupant is not obtained within a predetermined time from the time the warning notification is provided, It is possible to prevent an incorrect report submission from being requested due to an inaccurate state judgment.

In various embodiments, the control server 100 provides a warning notification according to the dangerous occurrence of the moving object 10 as the dangerous occurrence of the moving object 10 is detected, but the warning notification is based on the point where the moving object 10 is located. Attributes may be determined, and alert notifications may be provided according to the determined alert notification attributes. For example, the control server 100 detects a danger to the moving object 10 located at the first point based on the operation of the moving object 10 located at the first point, the moving object located at the first point ( 10) Provides a warning notification according to the occurrence of danger to the occupant on board, but based on at least one of driving history data and accident history data for a plurality of moving objects at the first point, a type of warning notification for the first point, It is possible to determine the warning notification properties including the provision method, size, and number of times, and based on the warning notification properties, a warning notification according to occurrence of danger can be provided to the occupants of the moving object 10 located at the first point.

A method for controlling risk occurrence of a moving object using sensor data calibrated according to the attributes of the aforementioned moving object has been described with reference to the flow chart shown in the drawings. For a brief explanation, the risk control method of a moving object using sensor data calibrated according to the attributes of the moving object has been illustrated and described as a series of blocks, but the present invention is not limited to the order of the blocks, and some blocks are described herein. It may be performed in a different order than shown and performed concurrently or in a different order. In addition, new blocks not described in the present specification and drawings may be added, or some blocks may be deleted or changed. Hereinafter, the UI provided by the control server 100 will be described in more detail with reference to FIGS. 12 to 55 .

12 to 55 illustratively illustrate a user interface (UI) provided by a server for controlling risk occurrence of a moving object using sensor data calibrated according to a property of the moving object in various embodiments.

First, referring to FIG. 12 , the UI provided by the control server 100 may provide overall situation information. The UI provided by the control server 100 can summarize major events generated in the monitoring-related system by topic and provide them as a list, and when the "[More]" button displayed on the UI is selected, the page moves to the corresponding menu. can

Next, referring to FIG. 13 , the UI provided by the control server 100 may provide map information. The UI provided by the control server 100 can display a central map corresponding to the business area of the business place, display changes in the map such as classification according to the type of agricultural machine, and safety/caution according to the operating state of the agricultural machine. Results can be displayed selectively, such as /hazard/accident and failure report.

Next, referring to FIG. 14 , the UI provided by the control server 100 may provide an automatic entry/exit function. In the UI provided by the control server 100, if the sensor is operating normally within the rental period and the coordinates of the location near the rental office are confirmed, the system automatically processes it as “shipment or return (receipt)” (manager manual shipment). / return is also possible). Here, the reference distance of the range for system identification of release/return through proximity to the rental office may be a radius of 100m from the center of the location of the rental office (effective identification sector: range of up to 200m across all directions), but is not limited thereto.

Next, referring to FIG. 15 , the UI provided by the control server 100 may provide a failure report reception function. The UI provided by the control server 100 enables confirmation and processing of application received from the mobile app service for farmers, management of processing status records and preservation through administrator action memos, etc., and failure reports are received. A list can be exposed as a list.

Next, referring to FIG. 16 , the UI provided by the control server 100 may include an upper notification panel. In the notification panel area at the top of the UI provided by the control server 100, it is possible to check the number of text message transmission information, the status of alert agricultural machinery, and the status of reservation reception, and it is possible to move the page by applying a shortcut link, and the dynamic panel is always fixed. function can be provided.

Next, referring to FIGS. 17 to 23 , the UI provided by the control server 100 may provide a user registration function.

For example, referring to FIG. 17 , the UI provided by the control server 100 may provide an institution registration function. The UI provided by the control server 100 provides a process of registering basic information that is the standard for the operation of the system and the owner to identify the subject (institution) using the system, and is implemented in a form in which the system can be used only after the process. It can be.

Also, referring to FIG. 18 , the UI provided by the control server 100 may provide a regional classification registration function. The UI provided by the control server 100 can register/manage the administrative area classification defined by the policy, and manage and classify the area to be inquired or the administrative district of the institution to be registered. In addition, the UI provided by the control server 100 may provide a function for registering regional classification in administrative area units for inquiry or monitoring by dividing regions of main information/map information.

Also, referring to FIGS. 19 to 23 , the UI provided by the control server 100 may provide a manager registration function. The UI provided by the control server 100 may issue and manage accounts granted with permission to access and edit functions suitable for the duties of a manager performing management tasks.

For example, referring to FIG. 19 , the UI provided by the control server 100 may provide a manager code (level) registration function that distinguishes manager levels to be classified/identified by the system and assigns codes.

In addition, referring to FIG. 20 , the UI provided by the control server 100 may provide an authorization code (authorization information) registration function for classifying/identifying a system for controlling administrator authorization.

In addition, referring to FIG. 21 , the UI provided by the control server 100 may provide an authorization function capable of setting whether to allow <read, write, modify, delete> authorization for each menu of each level manager.

Also, referring to FIG. 22 , the UI provided by the control server 100 may provide an administrator registration function capable of granting authority and issuing or managing an account.

In addition, referring to FIG. 23 , the UI provided by the control server 100 may provide a farmer member registration function. The UI provided by the control server 100 may provide a function for managing data of a subscribed member who has installed a mobile app for farmers or for a manager to directly register and manage members.

Next, referring to FIGS. 24 to 26 , the UI provided by the control server 100 may provide an agricultural machine registration function. Through the UI provided by the control server 100, it is possible to register/manage agricultural machines managed by the rental office, and it is possible to view information such as a list of registered agricultural machines, applied sensors, and rental history.

For example, referring to FIG. 24 , the UI provided by the control server 100 may provide an agricultural machine code registration function capable of registering agricultural machine equipment to be classified/identified by the system by type and type.

In addition, referring to FIG. 25 , the UI provided by the control server 100 may provide an agricultural machine classification registration function capable of registering/managing agricultural machine classification according to work steps and types of agricultural machines.

Also, referring to FIG. 26 , the UI provided by the control server 100 may provide an agricultural machine registration function.

Next, referring to FIGS. 27 to 30, the UI provided by the control server 100 may provide a sensor registration function, and through the UI provided by the control server 100, applied to the rental agricultural machinery of the rental office You can register/manage sensor equipment.

For example, referring to FIG. 27 , the UI provided by the control server 100 may provide a sensor code registration function capable of registering sensor devices to be classified/identified by the system by shape/type.

Also, referring to FIG. 28 , the UI provided by the control server 100 may provide a sensor registration function.

Also, referring to FIGS. 29 and 30 , the UI provided by the control server 100 may provide a sensor matching function capable of matching sensors registered in the system or searching/managing information of the matched sensors.

Next, referring to FIGS. 31 and 32 , the UI provided by the control server 100 may provide a notice registration function. Through the UI provided by the control server 100, it is possible to create/register/view notices for farmers members or managers, and managers can directly write all of the notices and register posts.

For example, referring to FIG. 31 , the UI provided by the control server 100 may provide a notice registration function for farmers. Notices for farmers are notices for farmers who have joined as members, and can be used when there are contents that need to be notified, such as safety education/other notices.

Also, referring to FIG. 32 , the UI provided by the control server 100 may provide a notice registration function for administrators. Announcements for administrators may be used for the purpose of disseminating notifications to managers in charge of control tasks by registering content to be notified to administrators who manage the system.

Next, referring to FIG. 33 , the UI provided by the control server 100 may provide a firmware registration function. Sensor-related firmware can be registered/managed through the UI provided by the control server 100 . Here, the firmware may be for updating module information in the sensor.

Next, referring to FIG. 34 , the UI provided by the control server 100 may provide a mobile app registration function. Through the UI provided by the control server 100, for the management of each Android (AOS) and Apple (iOS) mobile apps for farmer members, it is possible to register and manage as intangible assets, including APK file versions and improvements. there is.

Next, referring to FIGS. 35 to 38 , the UI provided by the control server 100 may provide an education registration function. The training registration function provided through the UI provided by the control server 100 is a posting management function for providing guidance and information on the completion process, such as mandatory safety training for reservation applicants for agricultural machine rental (rental), and Relevant information such as safety education and curriculum guidance can be provided.

For example, referring to FIGS. 35 and 36, the UI provided by the control server 100 can provide an education guide registration function through which farmers (members) can view the contents of education information on mobile through a manager's posting. there is.

In addition, referring to FIGS. 37 and 38 , the UI provided by the control server 100 may provide a completion status registration function capable of searching for each training and checking/managing the number of people who have completed training.

Next, referring to FIGS. 39 to 41 , the UI provided by the control server 100 may provide a reservation reception management function. The reservation reception management function provided through the UI provided by the control server 100 is to receive/confirm reservation requests such as the type of agricultural machine desired for reservation and the rental period, and to perform tasks such as approval/rejection of the reservation. It is composed of functions, and it is possible to easily check the reservation schedule, determine whether or not it is possible to rent, etc., and to visually and efficiently assign rental agricultural machines, to easily identify schedule management and reservation status in the form of a calendar, can manage

For example, referring to FIG. 39 , the UI provided by the control server 100 may provide reservation reception registration and modification functions.

In addition, referring to FIG. 40, the UI provided by the control server 100 is a reception history search function that can manually register a reservation or check reservation reception details that require approval / rejection through a mobile app in the reservation reception list menu can provide. Here, the status of approval of reservation reception can be checked in the status of reservation completion.

In addition, referring to FIG. 41, the UI provided by the control server 100 provides reservation details, rental and return processing details, and a search function, and provides a current calendar search function to easily identify and grasp the current status in the form of a calendar can do. Here, reservation details approved by the manager may be processed as being rented.

Next, referring to FIGS. 42 to 44 , the UI provided by the control server 100 may provide a storage/receiving management function. Through the UI provided by the control server 100, it is possible to manage the arrival / departure of agricultural machines held / managed for rental, and it is possible to inquire through the setting of the date section, etc., the rental status of each agricultural machine, It is possible to check/manage the agricultural machinery scheduled to be warehousing.

For example, referring to FIGS. 42 and 43 , the UI provided by the control server 100 may provide input/output registration and modification functions.

In addition, referring to FIG. 44 , the UI provided by the control server 100 may provide a function of checking in/out details.

Next, referring to FIGS. 45 and 46 , the UI provided by the control server 100 may provide a failure reception management function. The failure reception management function provided through the UI provided by the control server 100 is a function to manage the received contents of the A/S dispatch request with the touch of a button in the civil mobile app, and to check the received contents of the report according to the failure and action management. In addition, according to the type of fault report, classification/total inquiry is possible, the manager can directly modify the processing status, and the processing status can be managed through memos related to action items. In addition, by providing location data where a failure has occurred, a troubleshooting team can quickly and accurately identify the location of a failure and dispatch it.

For example, referring to FIGS. 45 and 46 , the UI provided by the control server 100 may provide a function of confirming and processing reception details.

Next, referring to FIGS. 47 to 50 , the UI provided by the control server 100 may provide an alarm notification management function.

For example, referring to FIG. 47 , the UI provided by the control server 100 may provide a text message transmission history function. You can search the cumulative list of notifications sent to mobile phone numbers pre-registered in the system, such as administrators, farmer members, and acquaintances. It can provide services such as sending text messages to mobile phones about events to notify various situations or warn of dangerous situations.

Also, referring to FIG. 48 , the UI provided by the control server 100 may provide a WebNoti list function. It is possible to search the occurrence history of Web-Notice, which is operated for the purpose of providing limited identification notices within the PC device of the controller operating the control website, and search function for details related to notification/propagation of warning situations. can notify the controller with a designated Web-Notice by referring to the level of risk level defined by judging the situation based on the data detected during operation of agricultural machinery. In addition, it can inform about the occurrence of events such as membership registration, reservation application, equipment arrival/departure, and accident data.

In addition, referring to FIG. 49 , the UI provided by the control server 100 may provide a text message sending setting function capable of setting a text message sending criterion condition value.

Also, referring to FIG. 50 , the UI provided by the control server 100 may provide a Web-Notice setting function capable of setting whether or not to use a Web-Notice creation condition value.

Next, referring to FIG. 51, the UI provided by the control server 100 can search/report data information collected/accumulated from the sensor, and can detect data according to the date, section, etc. of the collected/accumulated data. Data status function can be provided.

Next, referring to FIGS. 52 to 55, the UI provided by the management server 100 provides accident status/rental performance/failure reception/text transmission data with search condition setting and statistical data by period/year/quarter/month. It can provide statistics management function that can search.

For example, referring to FIG. 52, the UI provided by the control server 100 is a menu capable of inquiring/reporting performance statistics of accidents that have occurred, and displays statistical results according to the date, section, etc. of accumulated data through statistical visualization. Accident situation statistics function can be provided.

In addition, referring to FIG. 53 , the UI provided by the control server 100 may provide a rental status statistics function capable of inquiry/reporting by visualizing statistics on rental performance based on rented agricultural machines.

In addition, referring to FIG. 54, the UI provided by the control server 100 can query/report statistics on the reception of A/S dispatch requests for trouble reporting applied with a button touch in the mobile app function for farmers (members). It can provide fault report statistics function.

In addition, referring to FIG. 55 , the UI provided by the control server 100 may provide a text message transmission statistics function capable of inquiring/reporting statistics of notifications sent to mobile phones.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

100: control server
200: integrated monitoring module
210: computing device
220: sensor module
230: power source
240: communication module
250: warning notification output module
300: user terminal
400: network

Claims (12)

a plurality of integrated monitoring modules provided in each of the plurality of movable bodies and collecting sensor data corresponding to each of the plurality of movable bodies; and
A control server that detects the occurrence of danger to each of the plurality of moving objects using sensor data collected through the plurality of integrated monitoring modules; and
The control server,
The state of each of the plurality of moving objects is determined using the collected sensor data, and the risk occurrence of each of the plurality of moving objects is detected based on the determined state. Correcting the obtained sensor data, and determining the state of each of the plurality of moving objects using the corrected sensor data;
Using sensor data corresponding to each of the plurality of movable bodies, the state of each of the plurality of movable bodies is determined, and based on the determined state, an occurrence of danger for each of the plurality of movable bodies is detected, and each of the plurality of movable bodies is Correcting sensor data corresponding to each of the plurality of movable bodies by using geographical characteristic information about the location, and detecting the occurrence of danger for each of the plurality of movable bodies using the corrected sensor data;
The first sensor data corresponding to the first moving body is corrected based on the geographical characteristic information of the point where the first moving body is located, and at least one second moving body is located within a predetermined range centered on the first moving body. In this case, correcting second sensor data corresponding to the at least one second moving object based on the corrected first sensor data;
Detecting danger to the third moving object based on the motion of the third moving object, selecting at least one fourth moving object having a similarity with attributes of the third moving object of a plurality of fourth moving objects of a preset value or higher; A risk determination criterion is set using inertia data when danger is detected for the selected at least one fourth movable body, and based on the set risk determination criterion and the operation of the third movable body, the third movable body detect danger,
When danger to the moving object located at the first point is detected based on the water level of the moving object located at the first point, the occupant of the moving object located at the first point is notified of the detected danger. Provides a warning notification, but based on at least one of driving history data and accident history data for a plurality of moving objects at the first point, a warning notification property for the first point - the warning notification property is a type of warning notification; including a provision method, size, and number of times, and providing a warning notification according to the detected danger to an occupant of the moving object located at the first point based on the determined warning notification property,
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 1,
The plurality of integrated monitoring modules,
An inertial measurement sensor provided at an arbitrary position of each of the plurality of movable bodies and including a gyro sensor, an acceleration sensor, and a geomagnetic sensor,
The control server,
9 DOF values for each of the plurality of movable objects collected from the inertial measurement sensor, wherein the 9 DOF values include XYZ-axis angular velocity values, XYZ-axis acceleration values, and XYZ-axis geomagnetism values. Determine the posture of each of the plurality of movable bodies as a state for each,
Correcting a 9 degree of freedom value for each of the plurality of movable bodies based on the attribute of each of the plurality of movable bodies, and determining a posture of each of the plurality of movable bodies using the corrected 9 degree of freedom values.
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 1,
The plurality of integrated monitoring modules,
It is provided in the moving body and is connected to the control solution tank for loading the control solution so that the control solution loaded in the control solution tank flows in, one side is connected to the lower end of the control solution tank and the other side is connected to the upper end of the control solution tank It is provided at different positions on the outer surface of the tube tube and the tube tube into which the pesticide solution loaded in the pesticide solution tank flows to the same height as the level of the pesticide solution loaded in the pesticide solution tank according to the A water level measuring sensor including a plurality of capacitive sensors disposed thereon;
The control server,
The water level value of each of the plurality of movable bodies collected through the water level measuring sensor - the water level value is when the control solution flowing into the tube tube is detected through at least one capacitive sensor among the plurality of capacitive sensors, the The height value of the capacitive sensor disposed at the highest position among at least one capacitive sensor determines the stability of each of the plurality of moving objects as a state for each of the plurality of moving objects by using -,
Correcting a water level value for each of the plurality of movable bodies based on attributes of each of the plurality of movable bodies, and determining stability for operation of each of the plurality of movable bodies using the corrected water level value,
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. delete According to claim 1,
The control server,
Setting a weight based on at least one of the type, specification, whether or not goods are loaded, and the amount of loading of each of the plurality of movable bodies, and correcting sensor data corresponding to each of the plurality of movable bodies using the set weight,
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. delete According to claim 1,
The plurality of integrated monitoring modules,
A camera sensor for collecting image data on the moving direction of the moving object; includes,
The control server,
Determining the state of the first moving body using sensor data corresponding to the first moving body, and detecting the occurrence of danger to the first moving body based on the determined state of the first moving body;
At least one second movable body, wherein the at least one second movable body is a movable body located at a point adjacent to the first movable body, analyzes one or more image data generated by photographing the first movable body through a camera sensor provided in the first movable body. extracting state information about the first moving object and correcting the determined state of the first moving object using the extracted state information;
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 7,
The control server,
When the state of the first moving object is corrected using sensor data corresponding to the first moving object collected at a first point in time and image data generated by photographing the first moving object at the first point in time, the corrected first moving object is corrected. 1 determining sensor data correction properties for the first moving object based on the state of the moving object;
correcting sensor data corresponding to the first moving object collected at a second time point after the first time point based on the determined sensor data correction property;
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 1,
The control server,
Based on the determined state, each of the plurality of moving objects is classified into a safe state, a caution state, a dangerous state, or an accident state,
When at least one moving object among the plurality of moving objects is classified as the alert state, providing a warning notification having a first attribute to a passenger riding on the at least one moving object;
When the at least one movable object is classified as the dangerous state, a warning notification having a second attribute is provided to an occupant of the at least one movable object;
Providing a warning notification having a third attribute to an occupant on the at least one moving object when the at least one moving object is classified as the accident state,
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 1,
The control server,
When it is determined that an accident has occurred in at least one of the plurality of moving objects based on the determined state, a report corresponding to the accident occurring in the at least one moving object is requested to the 119 Safety Report Center server,
As it is determined that an accident has occurred in the at least one moving object, a warning notification is provided to the occupant on the at least one moving object, so that a feedback requesting a report on the occurrence of the accident is obtained from the occupant or the warning notification is provided. requesting the 119 safety report center server to receive a report corresponding to an accident occurring in the at least one moving object only when the feedback is not obtained from the occupant within a predetermined time from a point in time;
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. According to claim 1,
The control server,
Accident risk for each of the plurality of regions is calculated based on at least one of accident data, weather data, and vehicle usage data of each of the plurality of regions, and sensor data is collected for each of the plurality of regions based on the calculated accident risk. determining a period and collecting sensor data from the plurality of integrated monitoring modules based on the determined sensor data collection period;
A risk control system for moving objects using sensor data calibrated according to the properties of moving objects. In the method performed through a risk occurrence control system of a moving object using sensor data calibrated according to the properties of the moving object including a plurality of integrated monitoring modules and a control server that detects the occurrence of danger to the moving object,
collecting sensor data corresponding to each of a plurality of moving objects through the plurality of integrated monitoring modules; and
Determining a state of each of the plurality of movable objects using the collected sensor data through the control server, and detecting an occurrence of danger in each of the plurality of movable objects based on the determined state,
The step of detecting the occurrence of danger in each of the plurality of movable bodies,
correcting the collected sensor data based on attributes of each of the plurality of moving objects, and determining a state of each of the plurality of moving objects using the corrected sensor data;
Using sensor data corresponding to each of the plurality of movable bodies, the state of each of the plurality of movable bodies is determined, and based on the determined state, an occurrence of danger for each of the plurality of movable bodies is detected, and each of the plurality of movable bodies is correcting sensor data corresponding to each of the plurality of movable bodies by using geographical characteristic information about a location point, and detecting a danger to each of the plurality of movable bodies by using the corrected sensor data;
The first sensor data corresponding to the first moving body is corrected based on the geographical characteristic information of the point where the first moving body is located, and at least one second moving body is located within a predetermined range centered on the first moving body. If so, correcting second sensor data corresponding to the at least one second moving object based on the corrected first sensor data;
Detecting danger to the third moving object based on the motion of the third moving object, selecting at least one fourth moving object having a similarity with attributes of the third moving object of a plurality of fourth moving objects of a preset value or higher; A risk determination criterion is set using inertia data when danger is detected for the selected at least one fourth movable body, and based on the set risk determination criterion and the operation of the third movable body, the third movable body Detecting danger; and
When danger to the moving object located at the first point is detected based on the water level of the moving object located at the first point, the occupant of the moving object located at the first point is notified of the detected danger. Provides a warning notification, but based on at least one of driving history data and accident history data for a plurality of moving objects at the first point, a warning notification property for the first point - the warning notification property is a type of warning notification; including a provision method, size, and number of times, and providing a warning notification according to the detected danger to an occupant of the moving object located at the first point based on the determined warning notification property. doing,
A risk control method for moving objects using sensor data calibrated according to the properties of moving objects.