KR102601947B1 - Unmanned autonomous driving type NBC decontamination system - Google Patents

Abstract

The present invention performs purification work by inserting an unmanned vehicle equipped with an adsorbent filter corresponding to the harmful substances to be removed into the contaminated area, and efficient decontamination is achieved through autonomous driving by reflecting spatial information collected through cameras and sensors. This is about an unmanned, self-driving, chemical, radioactive, and biological purification system.

Description

Unmanned autonomous driving type NBC decontamination system}

The present invention relates to a chemical, biological and radiological purification system. In detail, an unmanned vehicle equipped with an adsorbent filter corresponding to the harmful substances to be removed is introduced into a contaminated area to perform purification work, while reflecting spatial information collected through cameras and sensors. This relates to an unmanned, self-driving, chemical and biological purification system that enables efficient decontamination through autonomous driving.

Chemical, biological and radiological (CBR) is an acronym for chemical, biological and radiological and is classified as a weapon of mass destruction, especially in war.

In general, when contaminants such as deadly gases, viruses, or hazardous substances are sprayed on the human body or equipment using chemical, biological, or radioactive weapons in a chemical, biological, or terrorist situation, people and equipment are protected through means that can filter out the contaminants. Meanwhile, decontamination must be carried out by spraying substances to remove pollutants in contaminated areas or equipment buildings.

Accordingly, the military and counter-terrorism agencies are developing equipment for rapid decontamination of chemical, biological and radiological agents, and the ROK Armed Forces Chemical, Biological and Radiological Defense Command is developing a special vehicle that can quickly detect biological weapons, poisonous gases, radioactive materials, etc. in conjunction with weather antennas. It has been introduced.

In addition, in 2013, the Defense Acquisition Program Administration designated and announced 10 components applied to the new chemical, biological and radiological reconnaissance vehicle as priority items for small and medium-sized enterprises in the research and development stage, and conducted research and development and mass production projects worth approximately 300 billion won over 9 years. In 2012, a new chemical, biological and radiological reconnaissance vehicle (armored type) was successfully developed using domestic technology, and as a result of test evaluation, it met the standards in all development test evaluation and operational test evaluation items and was judged “suitable for combat.”

When chemical, biological agents and radioactivity are detected, the reconnaissance vehicle automatically transmits warnings and detection results to each military's tactical command, control and automation system (C4I) to minimize damage in the event of chemical and biological discharge, and allows the crew to operate in chemical, biological and radiological contaminated areas. It is possible to carry out operations without wearing protective gear, and the cooling and heating equipment and weather measurement equipment allow active operation under any environmental and weather conditions, and the mounted chemical, biological and radiological equipment and various auxiliary equipment are controlled by a computer system. It is known that the crew's convenience and operability were maximized by allowing it to be operated.

However, it is still assessed that South Korea's chemical, biological and discharge response capabilities in response to North Korea's biological and chemical weapons production facilities are limited, and in particular, the safety of personnel on board due to the operation of manned special vehicles in risky areas where pollutants exist. Efficiency is inevitably lowered due to limitations in time, space, and work to ensure.

Republic of Korea Patent No. 10-1590982 (registered on January 27, 2015)

The present invention was created to solve the above problems, and the purpose of the present invention is to perform purification work by deploying an unmanned vehicle equipped with an adsorbent filter to remove harmful substances according to the characteristics of the contaminated area, including GPS signals, It provides an unmanned, autonomous driving type chemical, biological and radiological purification system that reflects spatial information collected through cameras and sensors and performs efficient purification.

For the above purpose, the present invention is a chemical, biological and radiological purification system using a plurality of unmanned purification vehicles having a steering wheel and a driving wheel, a steering part that moves the steering wheel, and a driving part that applies power to the driving wheel. A filter structure mounted on the purification vehicle, formed with an intake part and an exhaust part communicating with the outside, and containing an adsorbent for removing harmful substances therein, and passes the air sucked through the intake part through the filter structure to the exhaust part. A purification module equipped with a blower for exhausting water; It is mounted on the purification vehicle and includes a camera that photographs a designated direction, a sensor unit that measures harmful substances in the surrounding air, a GPS unit that transmits and receives GPS signals, and a first communication unit consisting of a long-distance wireless communication module, and collects a control module that transmits the image and measurement results and controls the steering unit, drive unit, and blower according to the received control signal; A second communication unit located in a remote location and communicating with the first communication unit, a main storage unit that stores geographical information of the control area, and a setting unit that sets the purification area and the number of purification vehicles to be introduced based on the geographical information. A control server including a progress management unit that generates and distributes control signals for purification work for each purification area and purification vehicle, and a monitoring unit that monitors the location, operation, and work status of the purification vehicle; It is characterized by consisting of.

At this time, the control server preferably further includes a manual control unit that controls the purification vehicle in real time as the manager checks the camera image transmitted from the purification vehicle and inputs control signals of the steering unit, drive unit, and blower.

In addition, the control server includes an information collection unit that collects weather information including wind direction and wind speed, temperature, and humidity in the control area, and a simulation unit that simulates a diffusion model of pollutants based on the weather information and geographic information. , It is desirable to further include an information linkage unit that controls the corresponding purification vehicle in connection with the progress management unit after establishing a purification plan by reflecting the simulation results.

In addition, the control module controls the steering unit, drive unit, and blower through an auxiliary storage unit that stores the purification area and corresponding geographic information and control signals transmitted from the control server, and the information stored in the auxiliary storage unit. It is desirable to further include a determination unit that analyzes images collected through cameras to determine the current location and movement path, so that autonomous operation at a set time is possible without communication with the control server.

In addition, the purification module includes a first accommodating portion in which a replacement filter structure is accommodated, a filter structure located in the first accommodating portion, and a filter structure located in the passage between the intake portion and the exhaust portion. It may be provided with a filter replacement unit that moves to the second accommodating unit, so that the filter structure can be replaced at a set time in conjunction with the sensor unit.

Through the present invention, purification and decontamination work is carried out through an unmanned purification vehicle in areas where chemical, biological, and radiological hazardous substances that threaten human safety exist, allowing safe work to be performed without risk to human life.

In addition, multiple purification vehicles can be operated simultaneously depending on the characteristics and scope of the area, and manual control according to the confirmation of transmitted on-site images, autonomous driving according to the judgment of the situation, and smooth operation even in the event of radio wave interference or unexpected failure are possible. It is possible, and efficient work is possible by increasing field work time.

1 is a conceptual diagram of the present invention;
Figure 2 is a block diagram showing the configuration and connection relationship according to an embodiment of the present invention;
Figure 3 is a perspective view showing the configuration of a purification vehicle according to an embodiment of the present invention;
4 is a structural diagram of a purification module according to an embodiment of the present invention;
5 is a block diagram showing the configuration and connection relationship according to another embodiment of the present invention;
Figure 6 is a structural diagram showing a filter replacement structure according to another embodiment of the present invention.

Hereinafter, the configuration of the unmanned autonomous driving type chemical, biological and radiological purification system of the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a conceptual diagram of the present invention. The present invention uses an unmanned purification vehicle 100 to protect human life as much as possible when purifying and decontaminating an area where chemical, biological, and radiological pollutants exist. This purification vehicle 100 is operated through the control server 200 and GPS communication and performs autonomous driving that reflects the field situation.

In the present invention, the shape and specifications of the purification vehicle are not limited, but it is basically configured for driving, including a steering wheel 101 and a drive wheel 103, a steering unit 102 that moves the steering wheel 101, and the drive. It is equipped with a driving unit 104 that applies power to the wheel 103, and is operated in plural rather than single operation to purify a relatively large outdoor area.

The configuration for driving and steering the purification vehicle 100 is a configuration configured in a conventional conventional vehicle, and is based on an electric vehicle driven by a battery and a motor as well as an internal combustion engine vehicle using gasoline or diesel. ) It is natural that it can be driven.

Figure 2 is a block diagram showing the configuration and connection relationship according to an embodiment of the present invention, and Figure 3 is a perspective view showing the configuration of a purification vehicle according to an embodiment of the present invention. The purification vehicle 100 is equipped with a device for removing pollutants in the air. A purification module 110 for and a control module 120 for remote and autonomous driving and control of purification work are installed, and a control server 200 for control of the purification vehicle 100 is configured.

Figure 4 is a structural diagram of a purification module according to an embodiment of the present invention. The attached drawing shows the purification module 110 being built into a truck-type vehicle, but it can be configured in various forms as long as the configuration is not changed. It can be mounted on a vehicle.

The purification module 110 is basically a cylindrical structure in which a filter structure 113 and a blower 114 are installed, and an intake unit 111 for sucking in external air is on one side and discharges purified air on the other side. Each exhaust portion 112 is formed. That is, an air flow is generated through the blower 114, and air containing contaminants sucked in through the intake unit 111 passes through the filter structure 113 to adsorb and remove contaminants, and then passes through the exhaust unit 111. It is discharged to (112) and the air is purified.

To this end, the filter structure 113 includes an adsorbent for removing harmful substances to be removed, such as HCHO, CO2, CO, fine dust (PM2.5, PM10), CNCl, HCN, Phosgene, and Sarin. Adsorbents or filters may be applied.

The control module 120 is configured to control the operation of the purification vehicle and the purification work. Basically, it controls the steering unit 102, the drive unit 104, and the blower 114 according to the control signal. The detailed configuration is It is provided with a camera 121, a sensor unit 122, a GPS unit 123, and a first communication unit 124.

The camera 121 captures images in a designated direction, mainly the front of the vehicle, and determines the driving path situation through image analysis. It is a configuration that supports monitoring of the situation remotely. Basically, it is possible to obtain the operation of the purification vehicle or the necessary surrounding images through a wide-angle camera that can shoot the front and rear, but it is also equipped with a pan-tilt control means that can rotate 360 degrees forward, left, right, and left, so that the shooting direction can be controlled in detail when necessary. It can also be configured to do so.

The sensor unit 122 basically consists of a sensor that measures harmful substances in the surrounding air. Appropriate sensors are optionally configured as needed, and include sensors for detecting the aforementioned HCHO, CO2, CO, fine dust (PM2.5, PM10), CNCl, HCN, Phosgene, and Sarin, as well as a variety of commercial chemical sensors. etc. can be applied.

The GPS unit 123 transmits and receives GPS signals using a GPS transmission and reception module and allows the current location or time to be determined.

The first communication unit 124 is a commercial long-distance wireless communication module that substantially communicates with the control server 200.

Through the above-described configuration, the control module 120 transmits the images collected through the camera 121 and the measurement results of the sensor unit 122 to the control server 200, and receives them from the control server 200. The steering unit 102, the driving unit 104, and the blower 114 are controlled using the control signals and programmed algorithms so that the purification vehicle 100 moves along a set path and performs purification work.

Basically, as described later, each purification vehicle 100 continuously performs air purification work while moving through the assigned area at a speed of 0.5 to 1 km/hr, and moves based on GPS coordinates linked to geographic information. , autonomous driving can be achieved according to situation judgment by analyzing the images collected through the camera 121 and applying algorithms such as road or obstacle recognition applied to autonomous vehicles.

The control server 200 is located in a remote location and is configured to control the purification vehicle 100 and control the work situation. The detailed configuration includes a second communication unit 210, a main storage unit 220, and a setting unit. It is provided with a unit 230, a progress management unit 240, a monitoring unit 250, and a manual control unit 260.

The second communication unit 210 is the same long-distance wireless communication module as the first communication unit 124 and performs data transmission and reception with each purification vehicle.

The main storage unit 220 is a storage medium in which geographic information of the control area is stored. It basically includes a plan map as well as information on terrain, roads, and major buildings, and is linked with various geographic information systems to provide satellite photos or load information. Additional view photos, etc. may be included.

The setting unit 230 is configured to set the purification area and the number of purification vehicles to be introduced based on the geographical information. Basically, considering the purification capacity of the purification vehicle and the area of the purification area, the number of units that can be used to effectively purify is calculated.

For example, when setting up an air purification zone, you can enter four GPS coordinates and set the zone as a square by connecting the four entered points. As mentioned earlier, the time set through the set driving speed and purification ability of the provided filter structure is possible. By roughly calculating the area that a purification vehicle can purify, it is possible to determine the number of units to be used relative to the area of the total purification area. Preferably, the number of units to be input can be calculated with ease by taking into account not only the area of the purification area but also the area's topographic elevation, road conditions, road length, buildings, etc. in detail.

The progress management unit 240 generates and distributes control signals for purification work for each purification area and purification vehicle. Depending on the number of vehicles deployed, the zones are automatically divided by 1/N through a zone division algorithm based on roads, etc.

The purification vehicle 100 is assigned an input zone according to the assigned turn number, and the input zone is given an automatic zone number when using a zone division algorithm, and the purification vehicle and zone can be configured to match from the earliest turn number. In addition, the purification vehicle 100 is configured to depart to the corresponding location at 5-minute intervals starting from the priority number, so that confusion due to simultaneous control can be prevented.

In addition, each purification vehicle 100 receives purification area GPS information transmitted from the control server and drives the distributed location at regular intervals, moving the allocated area at a rate of 0.5 to 1 km/hr as mentioned above. While doing so, the air is continuously purified.

At this time, the image captured through the camera 121 installed on each purification vehicle 100 is transmitted to the control server 200, enabling monitoring of the driving condition and surrounding situation, and the driving and control status of each component and the sensor unit 122. The measurement results are also transmitted to the control server 200.

In response, the monitoring unit 250 supports managers in a situation room, etc. to monitor the location, operation, and work status of the purification vehicle 100.

The purification vehicle 100 is based on autonomous driving through the above-mentioned algorithm, but is manually controlled when necessary through the captured image of the camera 121 mounted on the purification vehicle in the situation room and the measurement results of the sensor unit 122. You can also proceed.

The manual control unit 260 provided for this purpose allows the manager to check the camera image transmitted from the purification vehicle and input control signals of the steering unit 102, drive unit 104, and blower 114 to control the purification vehicle ( 100) can be controlled in real time.

In this way, by combining the driving information and GPS information of each purification vehicle, the work is carried out by repeatedly driving the route several times even after completing one purification. When the set work is completed, the purification vehicle returns to the initial position based on the GPS information stored at the time of departure. It is programmed to do so.

Figure 5 is a block diagram showing the configuration and connection relationship according to another embodiment of the present invention. In addition to the basic configuration described above in the present invention, additional configuration for linking weather information, strengthening the autonomous driving function, and extending work time is provided. Configurations that can improve efficiency and convenience are being added.

For chemical, biological and radiological pollutants that are usually spread through the air, the direction and speed of their spread is inevitably determined by the influence of the weather, which has a significant impact on purification work.

Accordingly, in another embodiment of the present invention, the control server 200 includes an information collection unit 270 that collects weather information, a simulation unit 280 that simulates the diffusion state of pollutants according to the collected weather information, and a simulation An information linkage unit 290 is added to allow purification work to be performed in conjunction with the results.

The information collection unit 270 is configured to collect weather information including wind direction and speed, temperature and humidity in the control area. Weather information can be collected through system linkage of various observation facilities owned by the Korea Meteorological Administration, military or private facilities, and is separately provided at the location where the control server 200 is located or on the purification vehicle 100, etc. to determine wind direction, wind speed, temperature, etc. Information can also be collected through observation means that can measure humidity, etc.

The simulation unit 280 is a configuration that simulates a diffusion model of pollutants based on the weather information and geographic information. Basically, it simulates and predicts the diffusion direction and speed of pollutants according to wind direction and wind speed, and predicts temperature and In addition to precise analysis reflecting humidity and density of pollutants, a more detailed simulation is possible by reflecting major buildings and terrain in conjunction with the geographical information of the main storage unit 220.

The information linkage unit 290 is configured to establish a purification plan by reflecting the simulation results and then control the corresponding purification vehicle in connection with the progress management unit. In other words, it reflects the spread of pollutants so that it can focus on purifying the points where the spread can be prevented. However, by reflecting the phenomenon of wind speeds increasing between large buildings, etc., purification is done before promoting the spread of pollutants on the windward side, which is possible based on simulation results. It is desirable to ensure that .

In the present invention, as the contaminants are mainly chemical, biological and radiological substances, artificial radio interference or communication failure due to various reasons may occur in terrorist or chemical and biological discharge situations where they are mainly used, and communication with the control server is cut off during purification work and GPS signals are disturbed. The system according to the present invention has no choice but to be substantially disabled.

To enable stable purification work to be completed even in such unexpected situations, the control module of the present invention includes an auxiliary storage unit 125 and a judgment unit 126 to enable autonomous operation at a set time even if communication with the control server and GPS signals are cut off. ) configuration can be added.

The auxiliary storage unit 125 is a memory that stores the purification area and corresponding geographical information and control signals transmitted from the control server. At this time, the purification vehicle 100 determines its own location and driving path through image analysis rather than GPS signals to enable smooth location detection even when GPS signal disturbances, so the geographic information includes a road view (street view) centered on the road. ) and related image information are included.

The determination unit 126 controls the steering unit 102, the driving unit 104, and the blower 114 through the information stored in the auxiliary storage unit, and analyzes the image collected through the camera 121 to determine the current location. and movement routes are identified. That is, for the initial startup, the purification area and corresponding geographical information from the control server 200, and the control signal for purification work for each purification vehicle are received and stored through the stored information. It controls and performs purification work, but even if communication and GPS signals are not smooth, it analyzes the video collected through the camera 121 and determines the current location and movement path through comparison with the image of the stored geographic information to carry out the given mission. It can be completed.

Figure 6 is a structural diagram showing a filter replacement structure according to another embodiment of the present invention. Basically, the filter structure of the present invention removes contaminants through the adsorbent component, so the adsorption performance decreases over time and there is a limit to the air purification ability. There is. In other words, purification work is effective only while filter performance is maintained, so periodic replacement of the filter structure is required for long-term work depending on the level of contamination in the area. To this end, in another embodiment of the present invention, an extra filter structure is loaded on the purification vehicle and replaced.

In addition, in the attached drawing, the filter structure is composed of a square, but this is not limited to this, and the filter structure can be configured in a circle or various shapes as needed, and the technical purpose is as long as sufficient storage space for the filter structure before and after use can be secured. Various shape modifications will be possible as long as is not changed.

To this end, the purification module 110 includes a first receiving portion 115 in which a replacement filter structure is accommodated outside the purification space where the filter structure 113 and the blower 114 are located, and a filter whose performance has deteriorated after use. A second accommodating portion 116 capable of accommodating the structure 113' is provided.

That is, the purification space is opened, the used filter structure 113' is removed to the second accommodating part, and then a new filter structure 113 is installed in the purifying space to ensure continuous purification work. The first accommodating part 115 ) A filter that positions the filter structure 113 located in the passage between the intake portion 111 and the exhaust portion 112 and moves the filter structure 113' located in the passage to the second receiving portion 116. A replacement unit 117 may be provided to replace the filter structure at set times in conjunction with the sensor unit 122 as it is confirmed that the purification performance has deteriorated.

In the present invention, in a preferred embodiment, the purification module 110 is opened to allow the filter structure to be inserted or removed, but the filter structure is moved along the first and second accommodating parts 115 and 116 provided on both sides, respectively. A filter replacement unit 117 is formed through a structure such as a rail that guides the filter structure, and after opening the purification module 110, the used filter structure 113' is removed to the second accommodating part 116, and the first accommodating part 116 is removed. It is shown that the filter structure is replaced by moving the new filter structure 113 located at (115) to the purification module side and then assembling the purification module 110.

The rights of the present invention are not limited to the embodiments described above but are defined by the claims, and those skilled in the art can make various changes and modifications within the scope of the claims. This is self-evident.

100: Purification vehicle 101: Steering wheel
102: steering unit 103: driving wheel
104: driving unit 110: purification module
111: intake part 112: exhaust part
113: Filter structure 114: Blower
115: first accommodating part 116: second accommodating part
117: Filter replacement unit 120: Control module
121: Camera 122: Sensor unit
123: GPS Department 124: First Communication Department
125: auxiliary storage unit 126: judgment unit
200: Control server 210: Second communication department
220: main storage unit 230: setting unit
240: Progress Management Department 250: Monitoring Department
260: manual control unit 270: information collection unit
280: Simulation unit 290: Information linkage unit

Claims (5)

A plurality of unmanned purifiers including a steering wheel 101 and a driving wheel 103, a steering part 102 that moves the steering wheel 101, and a driving part 104 that applies power to the driving wheel 103. As a chemical, biological and radiological purification system using a vehicle (100).
A filter structure 113 mounted on the purification vehicle 100, formed with an intake part 111 and an exhaust part 112 in communication with the outside, and containing an adsorbent for removing harmful substances therein, and the intake part ( A purification module 110 equipped with a blower 114 that discharges air sucked through 111) through the filter structure 113 and discharges it to the exhaust unit 112;
It is mounted on the purification vehicle 100 and includes a camera 121 that photographs a designated direction, a sensor unit 122 that measures harmful substances in the surrounding air, a GPS unit 123 that transmits and receives GPS signals, and a long-distance wireless A control module that includes a first communication unit 124 consisting of a communication module, transmits collected images and measurement results, and controls the steering unit 102, the drive unit 104, and the blower 114 according to the received control signal. (120);
A second communication unit 210, which is located in a remote location and communicates with the first communication unit 124, a main storage unit 220 that stores geographical information of the control area, and a purification area and purification based on the geographical information. A setting unit 230 that sets the number of vehicles to be input, a progress management unit 240 that generates and distributes control signals for purification work for each purification area and purification vehicle, and a monitoring unit that monitors the location, operation, and work status of the purification vehicle. A control server (200) including a monitoring unit (250); An unmanned, self-driving chemical, biological and radiological purification system characterized by consisting of.
According to paragraph 1,
The control server 200,
A manual control unit 260 is added to control the purification vehicle in real time as the manager checks the camera image transmitted from the purification vehicle and inputs control signals of the steering unit 102, drive unit 104, and blower 114. An unmanned, autonomous chemical, biological and radiological purification system comprising:
According to paragraph 1,
The control server 200,
An information collection unit 270 that collects weather information including wind direction, wind speed, temperature, and humidity in the control area, and a simulation unit 280 that simulates a diffusion model of pollutants based on the weather information and geographic information, An unmanned, autonomous driving type chemical, biological, and radiological purification system further comprising an information linkage unit 290 that establishes a purification plan by reflecting the simulation results and then controls the corresponding purification vehicle in connection with the progress management unit 240.
According to paragraph 1,
The control module 120 is,
An auxiliary storage unit 125 that stores the purification area and the corresponding geographical information and control signals transmitted from the control server 200, and the steering unit 102 and the driving unit ( 104) and the blower 114, but further includes a determination unit 126 that analyzes the image collected through the camera 121 to determine the current location and movement path, without communication with the control server 200. An unmanned, autonomous driving type chemical, biological and radiological purification system characterized by autonomous operation at a set time.
According to paragraph 1,
The purification module 110 is,
The first accommodating part 115 in which the replacement filter structure is accommodated, and the filter structure located in the first accommodating part 115 are positioned in the passage between the intake part 111 and the exhaust part 112, and the filter structure is positioned in the passage. It is provided with a filter replacement part 117 that moves the filter structure 113' located in the second receiving part 116, and is configured to replace the filter structure at a set time in conjunction with the sensor part 122. An unmanned, autonomously driven chemical, biological and radiological purification system.

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