KR102636506B1 - Emergency information detection and alarm system for self-driving patrol vehicles - Google Patents

Abstract

The present invention relates to an emergency information detection and warning device for an autonomous patrol vehicle, and includes a wheel drive unit 120, a steering unit 130, a power unit 140, a terrain detection and obstacle recognition unit 150, and a terrain detection unit. It is provided with an autonomous vehicle drive control unit 160 having an autonomous vehicle control algorithm that controls the operation of the steering unit 130 and the power unit 140 to drive on the patrol road within the surveillance area while avoiding obstacles, In an autonomous patrol vehicle 100 driving along a predetermined patrol road, an ultrasonic gas leak detector is mounted on the vehicle body 110 and outputs a detection signal by detecting an ultrasonic signal in a specific band generated by a gas leak. 210), an abnormality detection unit 200 equipped with a flame infrared detector 220 that detects infrared rays in the wavelength range emitted by fire flames and outputs a detection signal, and an ultrasonic gas leak detector of the abnormality detection unit 200 The detection signal input from (210) and the flame infrared detector 220 is compared with the reference value of the ultrasonic signal and infrared intensity of a preset specific band to detect a gas leak occurrence information signal, a fire occurrence information signal, or two information signals. An abnormality symptom determination unit 300 that generates and outputs all information, and the gas leak occurrence information, fire occurrence information, or both information generated by processing the signal input from the abnormality symptom determination unit 300 as an external alarm. It consists of a wireless communication module 600 that transmits wirelessly to the device 500.

Description

Emergency information detection and alarm system for self-driving patrol vehicles}

The present invention relates to an emergency information detection and warning device for a self-driving patrol vehicle, and more specifically, to a small self-driving vehicle patrolling sites such as petrochemical, gas, and oil refining plants. An emergency information detection and warning device for self-driving patrol vehicles that detects abnormal signs such as gas leaks or fires from surveillance targets in the factory and transmits emergency warning signals in real time to an integrated control center or a predetermined mobile communication terminal. It's about.

In general, at sites such as petrochemical, gas, and oil refining plants, numerous hazardous substances are handled at high temperatures and pressures in various processes, and there is always a risk of fire due to explosion. In addition, factories that have the risk of explosion as described above have a significant impact on surrounding factories and residential areas due to on-site explosions, and the casualties and property damage due to explosions are enormous.

Conventionally, the system to prevent disasters caused by explosions in industrial sites consists of simply installing CCTV to check images visible to the naked eye, and also detecting abnormal situations such as heat or flames through various sensors. A common problem with conventional detectors is malfunction, that is, a non-fire alarm that causes confusion to managers due to a fire situation when it is not a fire. This is not a problem that can be overlooked simply because it is a common occurrence. In other words, this is a serious problem that causes greater harm in the event of a fire because managers turn off the detector due to frequent non-fire alarms.

Accordingly, in the past, technology has been researched and developed to monitor fires occurring in fields such as petrochemical, gas, and oil refining plants, as disclosed in Patent Documents 1 to 4. The 'fire monitoring system' of Patent Document 1 determines the degree of fire risk by analyzing the thermal wavelength and general image data of the surveillance camera, and monitors flame and smoke by analyzing the image data of the panoramic camera, and monitors this through on-site monitors and It allows the central management office to monitor fire occurrences in real time, and the 'Fire detection method and system' in Patent Document 2 generates a third image by combining the first image from a visible light surveillance camera and the second image from a thermal imaging camera. In addition, the extent of the fire is determined based on the color of a specific object extracted from the third image, but this also has the limitation of not being able to install cameras on all surveillance targets (facilities) in a field where numerous facilities are deployed.

The 'fire detection system' of Patent Document 3 is designed to output a fire alarm when the temperature detected by the temperature sensor on the wall or ceiling of the fire detection space is detected to be higher than the preset fire occurrence temperature, but is installed in numerous facilities. There is difficulty in installing the temperature sensor. In addition, the 'Fire search method using a PTZ camera' in Patent Document 4 divides the captured NxN into N It is configured to re-determine whether a fire has occurred in an enlarged fire area by precisely controlling the pan, tilt, and zoom, but there are limitations in accurately recognizing the area where a fire occurred in a large field.

Additionally, in the past, field managers directly used related equipment such as leak detection equipment to detect gas leaks or fires, but in this case, the price of the related equipment was high, measurement skills were required, and it took a lot of time to measure one point. Because it is difficult to detect a large site individually, there is a limitation that patrols focus on major facilities. When patrolling along the roads of a wide site using a fire truck to monitor gas leaks or fire outbreaks, a fire truck with a large turning radius must be used. There is a problem that it is impossible to enter narrow roads such as secondary roads, and it is difficult to identify minute gas leaks or small fires with the naked eye.

Patent No. 10-0638120 (registration notice on October 24, 2006) Patent No. 10-1411624 (registration notice on June 26, 2014) Patent No. 10-1460176 (registration notice on November 12, 2014) Patent No. 10-2050821 (registration notice on December 3, 2019)

The present invention, which aims to solve the problems of the prior art as described above, is a small self-driving vehicle patrolling sites such as petrochemical, gas, and oil refining plants, and gas leaks to be monitored within the petrochemical, gas, and oil refining plants. Emergency information detection and warning by self-driving patrol vehicles that detects abnormal signs such as fire or fire and transmits an emergency warning signal to an integrated control center or a pre-determined mobile communication terminal to detect abnormal signs early and respond quickly. The purpose is to provide a device.

The purpose of the present invention as described above is to provide a wheel drive unit with a plurality of wheels and a braking device to move and stop the vehicle body, a steering device unit to control the moving direction of the plurality of wheels, and provide power to the plurality of wheels. A power unit unit that detects the surrounding terrain and recognizes obstacles, a terrain detection and obstacle recognition unit that detects obstacles, and the vehicle body avoids the terrain and obstacles detected and recognized by the terrain detection and obstacle recognition unit while maintaining a patrol road within the surveillance area. An autonomous patrol vehicle that travels along a predetermined patrol road and has an autonomous vehicle drive control unit having an autonomous vehicle control algorithm that controls the driving of the steering unit and the power unit to drive, wherein the vehicle body An abnormality detection unit equipped with an ultrasonic gas leak detector that is mounted on and outputs a detection signal by detecting leaking gas, and a flame infrared detector that detects infrared light in the wavelength range emitted by the fire flame and outputs a detection signal; The detection signal input from the ultrasonic gas leak detector and flame infrared detector of the abnormality symptom detection unit is compared with the reference value of the ultrasonic signal and infrared intensity of a preset specific band, and is compared to a gas leak occurrence information signal, a fire occurrence information signal, or the above. An abnormality symptom determination unit that generates and outputs both information signals; and a wireless communication module that wirelessly transmits gas leak information, fire information, or both information generated by processing the signal input from the abnormality symptom determination unit to an external alarm device. This is achieved by emergency information detection and warning devices in patrol vehicles.

According to one aspect of the present invention, the abnormality detection unit detects the reception sensitivity of an ultrasonic signal or infrared intensity of a specific band according to a plurality of different level settings for the ultrasonic signal or infrared intensity of a specific band that are set in advance. It is configured to detect leaking gas, fire flames and infrared rays by automatically or manually lowering or raising it.

According to another aspect of the present invention, the self-driving patrol vehicle further includes an RTK GPS (Real-Time Kinematic Global Positioning System) that provides real-time location information of the self-driving patrol vehicle, and the wireless communication module includes the anomaly occurrence determination unit. It is configured to output gas leak information, fire occurrence information, or both of the above information generated in and real-time location information of the vehicle body provided from the RTK GPS to the external alarm device.

According to another aspect of the present invention, the abnormality detection unit further includes a quad camera that outputs a video information signal captured by a surveillance target for which leaking gas and fire flame infrared rays are detected to the external alarm device.

According to another aspect of the present invention, the abnormality detection unit includes a complex gas concentration detector that detects the concentration of leaked gas and outputs a concentration detection signal to the wireless communication module; A digital air volume meter that detects wind volume and outputs a wind volume detection signal to the wireless communication module; and a digital anemometer that detects wind speed and outputs a wind speed detection signal to the wireless communication module.

According to another aspect of the present invention, the composite gas concentration sensor may be a sensor that detects combustible gas or toxic gas.

According to another aspect of the present invention, the complex gas concentration sensor detects NO ₂ , CO, VOCs, SO _2, Hydrocarbon (LEL), H ₂ S, H ₂ , NH _3, or harmful gases defined at the site of use. It may be a detector that detects one or more of the gases.

According to another aspect of the present invention, an abnormality symptom display unit is further provided that displays gas leak information or fire occurrence information input from the abnormality symptom occurrence determination unit.

According to another aspect of the present invention, the abnormality symptom display unit is composed of an LED lighting device or a sound transmitter.

According to another aspect of the present invention, the external alarm device may be an integrated control center or a mobile communication terminal.

According to the present invention, a small self-driving vehicle patrols sites such as petrochemical, gas, and oil refining plants and detects abnormal signs such as gas leaks or fires from surveillance objects in the petrochemical, gas, and oil refining plants. By transmitting emergency warning signals in real time to an integrated control center or a predetermined mobile communication terminal, abnormal signs such as gas leaks or fires occurring within petrochemical, gas, or oil refining plants can be detected early and responded quickly. There is a possible effect.

Figure 1 is a functional block diagram of an emergency information detection and warning device for a self-driving patrol vehicle according to an embodiment of the present invention.
FIG. 2 is a photograph showing the self-driving patrol vehicle equipped with the emergency information detection and warning device disclosed in FIG. 1.
Figure 3 is for explaining the process of remotely monitoring gas leaks or fires occurring at sites such as petrochemical, gas, or oil refining plants by the emergency information detection and alarm device of the self-driving patrol vehicle disclosed in Figure 1. This is a flow chart.
Figure 4 shows the movement path of self-driving patrol vehicles that can be checked at the integrated control center, gas leak warning, fire alarm, video information of fire generating equipment, and monitoring information on air quality through monitoring of various gases.

Hereinafter, preferred embodiments of the present invention will be described in more detail with illustrative drawings.

Figure 1 is a functional block diagram of an emergency information detection and warning device of a self-driving patrol vehicle according to an embodiment of the present invention, and Figure 2 is a photograph showing a self-driving patrol vehicle equipped with the emergency information detection and warning device disclosed in Figure 1. am.

1 and 2, the emergency information detection and warning device for an autonomous patrol vehicle according to an embodiment of the present invention includes a wheel drive unit 120 having a plurality of wheels and a braking device for moving and stopping the vehicle body 110. ), a steering device unit 130 that controls the moving direction of a plurality of wheels, a power unit 140 that provides power to a plurality of wheels, a terrain detection and obstacle recognition unit that detects the surrounding terrain and recognizes obstacles ( 150), and a steering device unit 130 and a power unit unit 140 so that the vehicle body 110 drives on the patrol road within the surveillance area while avoiding terrain and obstacles detected and recognized by the terrain detection and obstacle recognition unit 150. ), which is equipped with an autonomous vehicle drive control unit 160 having an autonomous vehicle control algorithm that controls the driving of the vehicle, and is mounted on the vehicle body 110 in an autonomous patrol vehicle 100 that travels along a predetermined patrol road. Ultrasonic gas leak detector 210 (manufacturer: SM Instruments, product name: BATCAM2.0), which detects ultrasonic waves in a specific area generated as gas leaks and outputs a detection signal, prevents fire, that is, a flame of hydrocarbon or hydrogen An abnormality detection unit (200) equipped with a flame infrared detector (220) (manufacturer: IRT KOREA, product name: IRT-001-K or IRT-021-K) that detects infrared rays in the emitted wavelength range and outputs a detection signal. , The detection signal input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 of the anomaly detection unit 200 is compared with the reference value of the ultrasonic signal and infrared intensity of a preset specific band to detect gas leak. An abnormality symptom occurrence determination unit 300 that generates and outputs an occurrence information signal, a fire occurrence information signal, or both information signals, and gas leak occurrence information generated by processing signals input from the abnormality symptom occurrence determination unit 300. , fire occurrence information, or both pieces of information are wirelessly transmitted to the external alarm device 500, thereby enabling petrochemical, gas, and oil refining operations using self-driving patrol vehicles without the need for fire trucks or expensive equipment. Abnormal signs such as gas leaks or fires occurring in related facilities can be detected early and responded to quickly.

At this time, the gas leak generates an ultrasonic signal in a specific band, and the amount, or concentration, of the leaked gas is proportional to the intensity of the ultrasonic signal in the specific band, which may vary depending on the conditions of pressure, temperature, and flow rate inside the pipe or container. In addition, since the infrared wavelength band emitted by a hydrocarbon-based flame is different from the infrared wavelength band emitted by a hydrogen flame, the flame infrared detector 220 may be divided into a hydrocarbon flame detector and a hydrogen flame detector, but in the embodiment of the present invention, an ultrasonic signal is transmitted. Only the wavelength range is different, but the specific band detects ultrasonic signals the same, so it is expressed as a flame infrared detector.

Here, the terrain detection and obstacle recognition unit 150 measures the position of itself 110 during the current time and uses SLAM (Simultaneous Localization And Map-Building) (151) to create a map of the surrounding environment including patrol roads within the surveillance area. ) or it may be composed of Lidar (Light Detection And Ranging) 152, which is mounted on the vehicle body 110 and measures reflection information of light or laser to create a three-dimensional model of the surrounding environment.

Furthermore, the terrain detection and obstacle recognition unit 150 includes a gyroscope, accelerometer, and geomagnetic sensor, an IMU (Inertial Measurement Unit) 153 that measures the speed, direction, gravity, and acceleration of the vehicle body 110, and a satellite. GPS (Global Positioning System) 154 that calculates the current position of the vehicle body 110 by receiving coordinate signals sent from the vehicle body 110, a camera 155 that recognizes signals, road signs, positions, etc. within the front view of the vehicle body 110, and electromagnetic waves A radar (156) that emits and measures the reflected waves of the electromagnetic waves to measure the range and speed of vehicles or obstacles in front and behind the vehicle body (110), and the acceleration of the running vehicle body (110) by detecting the inertial force of movement. , it may further be equipped with one or more of INS (Inertial Navigation System) 157 that measures autonomous driving-related information including speed, direction, and distance.

In the above embodiment, the abnormality detection unit 200 automatically adjusts the reception sensitivity of the ultrasonic signal or infrared intensity of a specific band according to a plurality of different level setting values for the ultrasonic signal or infrared intensity of the specific band that are set in advance. Alternatively, it can be configured to detect leaked gas and fire flame infrared rays by manually lowering or raising it, allowing more accurate monitoring of large or small gas leaks or fires that occur in the surveillance area within petrochemical, gas, and oil refining facilities.

In the above embodiment, the self-driving patrol vehicle 100 further includes an RTK GPS (Real-Time Kinematic global positioning system) 158 that provides real-time location information of the self-driving patrol vehicle 110, and a wireless communication module 600. Gas leak information, fire occurrence information, or both information generated by the abnormality symptom determination unit 300 and real-time location information of the vehicle body 110 provided from the RTK GPS 158 are transmitted to the external alarm device 500. By being configured to output, the abnormality symptom determination unit 300 transmits a gas leak information signal, fire occurrence information, or both information and real-time location information of the vehicle body 110 detected by the RTK GPS 158 to an external warning device ( 500).

In the above embodiment, the anomaly detection unit 200 further includes a quad camera 240 that outputs an image information signal captured by a surveillance object in which leaked gas and fire flame infrared rays are detected to the external alarm device 500. , the abnormality symptom determination unit 300 sends emergency warning signals, such as gas leaks and fire occurrences, and video information signals captured by the quad camera 240, where leaking gas and fire flames are detected, to an external alarm. It can be output to the device 500.

In the above embodiment, the anomaly detection unit 200 includes a complex gas concentration detector 230 that outputs a detection signal for detecting the concentration of gas to the wireless communication module 600, and an air volume detection signal for detecting the wind volume to the wireless communication module. By further comprising a digital wind meter 250 that outputs to 600, and a digital anemometer 260 that outputs a wind speed detection signal that detects the wind speed to the wireless communication module 600, the abnormality symptom occurrence determination unit 300 A detection signal detecting leaked gas by the complex gas concentration detector 230, wind volume information from the digital anemometer 250, and wind speed information from the digital anemometer 260 can be output to the external alarm device 500.

In the above embodiment, the complex gas concentration sensor 230 may be a sensor that detects combustible gas or toxic gas.

In the above embodiment, the complex gas concentration detector 230 detects NO ₂ , CO, VOCs, SO _2, Hydrocarbon (LEL), H ₂ S, H ₂ , NH ₃ or any of the gases defined as harmful gases at the site of use. It may be a detector that detects one or more gases.

In the above embodiment, an abnormality symptom display unit 400 is further provided to display gas leak information and fire occurrence information input from the abnormality symptom determination unit 300, so that patrol roads of petrochemical, gas, and oil refining-related facilities are protected. Workers working around self-driving patrol vehicles can also detect gas leaks or fires that occur in the field early and respond quickly.

In the above embodiment, the abnormality sign display unit 400 may be composed of an LED lighting device 410 or a sound transmitter 420.

In the above embodiment, the external alarm device 500 may be configured as an integrated control center 510 or a mobile communication terminal 520.

Figure 3 is for explaining the process of remotely monitoring gas leaks or fires occurring at sites such as petrochemical, gas, or oil refining plants by the emergency information detection and alarm device of the self-driving patrol vehicle disclosed in Figure 1. This is a flow chart.

According to FIG. 3, the vehicle body 110 is driven by driving the wheel drive unit 120, which receives power generated from the power unit 140, under the control of the autonomous vehicle drive control unit 160 having an autonomous vehicle control algorithm, that is, The self-driving patrol vehicle drives along a predetermined patrol road in a surveillance area such as a petrochemical, gas, or oil refining plant according to the operation of the steering unit 130 (S1).

At this time, the self-driving vehicle driving control unit 160 steers the self-driving patrol vehicle so that it can autonomously drive on the patrol road within the surveillance area while avoiding the surrounding terrain and obstacles detected and recognized by the terrain detection and obstacle recognition unit 150. Controls the operation of the device unit 130 and the power unit 140.

As described above, while the self-driving patrol vehicle is patrolling a predetermined patrol road in a surveillance area such as a petrochemical, gas, or oil refinery-related factory, the anomaly occurrence determination unit 300 detects an ultrasonic gas leak in the anomaly detection unit 200. Is an ultrasonic signal in a specific band indicating a gas leak in a monitoring area such as a petrochemical, gas, or oil refinery plant detected by the detector 210 (S2), or is a fire flame emitted by the flame infrared detector 220? It is monitored whether infrared rays in the wavelength range are detected (S3).

At this time, the ultrasonic gas leak detector 210 or the flame infrared detector 220 of the abnormality symptom detection unit 200 may detect the ultrasonic signal or infrared reception sensitivity of a specific band with one arbitrarily determined reception sensitivity, but may detect a preset specific reception sensitivity. By automatically or manually lowering or increasing the reception sensitivity of ultrasonic signals or infrared infrared intensity in a specific band according to a plurality of different level settings for the ultrasonic signal and infrared intensity of the band, detecting leaked gas, fire flame, and infrared rays, Gas leaks or fire sparks can be detected more accurately in surveillance areas such as chemical, gas, and oil refining plants.

As described above, when an ultrasonic signal in a specific band is detected by the ultrasonic gas leak detector 210 or a fire flame infrared ray is detected by the flame infrared detector 220, the anomaly occurrence determination unit 300 determines the abnormality symptom detection unit 200. The detection signal input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 is compared with the reference value of the ultrasonic signal and infrared intensity of a preset specific band to obtain a gas leak occurrence information signal and fire occurrence information. By generating a signal or both information signals and transmitting (S4) an emergency alert signal to the integrated control center 510 or mobile communication terminal 520 located at a remote location through the wireless communication module 600, the manager can control the petrochemical or Gas leaks or fires occurring in surveillance areas such as gas refining plants can be detected early and responded quickly. That is, the manager of the integrated control center 510 monitors air quality through the movement path of the autonomous patrol vehicle, gas leak alarm, fire alarm, video information of fire facilities, and various gas monitoring, as shown in FIG. 4. Information can be presented through the screen.

At this time, the abnormality symptom determination unit 300 receives real-time location information of itself 110 from the RTK GPS 158, and receives emergency warning signals such as gas leak information, fire information, or both information and the vehicle body ( By transmitting the real-time location information of 110) to the integrated control center 510 and the mobile communication terminal 520, managers can accurately recognize the location of a gas leak or fire and respond more quickly.

In addition, the abnormality symptom determination unit 300 receives image information signals from the quad camera 240 that capture gas leak information and fire information in real time and provides gas leak information, fire information, or these information. By transmitting an emergency warning signal, such as two signals, to the integrated control center 510 and the mobile communication terminal 520, the manager can accurately recognize a gas leak or fire by video and detect gas leak or fire early. You can respond more quickly.

In addition, the abnormality symptom determination unit 300 detects NO ₂ , CO, VOCs, SO _2, Hydrocarbon (LEL), H ₂ S, H ₂ , NH _{3 provided from the complex gas concentration detector 230,} or at the site of use. Information on the concentration of combustible gases or toxic gases, such as gases defined as harmful gases in ) and transmitting to the mobile communication terminal 520, the manager recognizes in advance that the direction or speed of gas leaking from the monitoring area of petrochemical, gas, or oil refining plants varies depending on the wind volume or wind speed, and quickly You can deal with it.

Even in this case, by transmitting the location information and video information signal of the gas leaked monitoring target to the integrated control center 510 or the mobile communication terminal 520, the manager can check the gas leaked target and the degree of leakage in real time. there is.

In addition, the abnormality symptom determination unit 300 displays an emergency alarm signal, such as gas leak occurrence information or fire occurrence information, on the LED lighting device 410 or the sound transmitter 420 of the abnormality symptom display unit 400, so that the manager or Workers can also check and respond to gas leaks or fires in real time on site, that is, around autonomous patrol vehicles.

Although specific embodiments according to the present invention have been described so far, it goes without saying that various modifications are possible without departing from the scope of the claims of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the claims described below as well as equivalents to these claims.

100: autonomous patrol vehicle 110: body
120: wheel drive unit 130: steering device unit
140: Power unit 150: Terrain detection and obstacle recognition unit
151: SLAM 152: Lidar
153: IMU 154: GPS
155: Camera 156: Radar
157: INS 160: Autonomous vehicle driving control unit
200: abnormality detection unit 210: ultrasonic gas leak detector
220: Flame infrared detector 230: Complex gas concentration detector
240: Quad camera 250: Digital air volume meter
260: Digital anemometer 300: Anomaly occurrence determination unit
400: Abnormality sign display unit 410: LED lighting device
420: Sound transmitter 500: External alarm device
510: Integrated control center 520: Mobile communication terminal
600: wireless communication module

Claims (10)

A wheel drive unit 120 having a plurality of wheels and a braking device for moving and stopping the vehicle body 110, a steering unit 130 for manipulating the moving direction of the plurality of wheels, and a device for providing power to the plurality of wheels. A power unit 140, a terrain detection and obstacle recognition unit 150 that detects the surrounding terrain and recognizes obstacles, and the vehicle body 110 is detected and recognized by the terrain detection and obstacle recognition unit 150. An autonomous vehicle drive control unit 160 having an autonomous vehicle control algorithm that controls the operation of the steering unit 130 and the power unit 140 to drive on a patrol road within the surveillance area while avoiding terrain and obstacles. In the self-driving patrol vehicle 100 that is provided and runs along a predetermined patrol road,
An ultrasonic gas leak detector 210 is mounted on the vehicle body 110 and outputs a detection signal by detecting an ultrasonic signal in a specific band generated by leaking gas, and detects infrared rays in the wavelength range emitted by a fire flame and outputs a detection signal. An abnormality detection unit 200 having a flame infrared detector 220 that outputs;
The detection signal input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 of the abnormality symptom detection unit 200 is used as a reference value of the ultrasonic signal and infrared intensity of a specific band generated by a preset gas leak. In contrast, an abnormality symptom determination unit 300 that generates and outputs a gas leak occurrence information signal, a fire occurrence information signal, or both of the two information signals; and
A wireless communication module 600 that wirelessly transmits gas leak information, fire information, or both information generated by processing the signal input from the abnormality symptom determination unit 300 to the external alarm device 500. ;
An emergency information detection and warning device for a self-driving patrol vehicle, including: According to paragraph 1,
The abnormality detection unit 200 automatically or manually lowers the reception sensitivity of the ultrasonic signal or infrared intensity of a specific band according to a plurality of different level settings for the ultrasonic signal or infrared intensity of the specific band that are set in advance. An emergency information detection and warning device for a self-driving patrol vehicle, characterized in that it is configured to detect leaking gas, fire flame, and infrared rays while increasing or increasing. According to paragraph 1,
The self-driving patrol vehicle 100 further includes an RTK GPS (Real-Time Kinematic global positioning system) 158 that provides real-time location information of the vehicle 110, and the wireless communication module 600 is configured to provide real-time location information of the self-driving patrol vehicle 100. Gas leak information, fire occurrence information, or both of the above information generated by the symptom occurrence determination unit 300 and real-time location information of the vehicle body 110 provided from the RTK GPS 158 are transmitted to the external alarm device 500. ) Emergency information detection and warning device for a self-driving patrol vehicle, characterized in that it is configured to output as ). According to paragraph 1,
The abnormality detection unit 200 further includes a quad camera 240 that outputs an image information signal captured by an ultrasonic signal in a specific band and a surveillance target for which fire flame infrared rays are detected to the external alarm device 500. An emergency information detection and warning device for an autonomous patrol vehicle. According to paragraph 1,
The abnormality symptom detection unit 200,
A composite gas concentration detector 230 that detects the concentration of leaked gas and outputs a concentration detection signal to the wireless communication module 600;
A digital air volume meter (250) that detects the wind volume and outputs a wind volume detection signal to the wireless communication module (600); and
An emergency information detection and warning device for an autonomous patrol vehicle, further comprising a digital anemometer (260) that outputs a detection signal that detects wind speed to the wireless communication module (600). According to clause 5,
The complex gas concentration detector 230 is an emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it is a detector that detects combustible gas or toxic gas. According to clause 5,
The complex gas concentration sensor 230 is a detector that detects one or more gases of NO ₂ , CO, VOCs, SO _2, Hydrocarbon (LEL), H ₂ S, H ₂ , and NH ₃ , autonomous driving Emergency information detection and warning device for patrol vehicles. According to paragraph 1,
An emergency information detection and warning device for an autonomous patrol vehicle, further comprising an abnormality symptom display unit 400 that displays gas leak occurrence information or fire occurrence information input from the abnormality symptom determination unit 300. According to clause 8,
The abnormality sign display unit 400 is an emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it is composed of an LED lighting device 410 or a sound transmitter 420. According to paragraph 1,
The external warning device 500 is an emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it is an integrated control center 510 or a mobile communication terminal 520.