KR20190066873A - Method for rescue using drone and computer readable record-medium on which program for executing method therefor - Google Patents

Abstract

The present invention relates to a method for automating lifesaving using a drone and a recording medium having a program recorded therein to perform the method. According to an aspect of the present invention, the system for automating lifesaving comprises: a step of receiving a video on an area of interest relevant to marine leisure activities from one or more cameras; a step of detecting one or more objects from the received video; a step of comparing a change volume in a shape and a position of the one or more objects detected to determine whether an accident relevant to marine leisure activities has occurred in the video; a step of, when it is determined that the accident has occurred, transmitting a movement command including a coordinate corresponding to the position of the object detected to the drone; and a step of, when the drone has moved to a position corresponding to the coordinate, controlling the drone to perform a lifesaving activity for the one or more objects.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method for automating lifesaving using a drone and a recording medium on which a program for executing the method is recorded.

The present invention relates to automated lifesaving. More particularly, the present invention relates to a method for automating lifesaving using drones and a recording medium on which a program for executing the method is recorded.

As industrialization has advanced, working hours have been reduced, and as a result, leisure time has increased. Water Leisure activities refers to all leisure activities that take place on the inland waters such as beaches, valleys, rivers or lakes using water-based leisure facilities. However, since people can not live in the water, safety for water-based leisure activities must be secured.

In order to ensure the safety of water-based leisure activities, marine rescue teams monitor real-time beaches, valleys, rivers or lakes and conduct rescue activities in the event of a safety accident. In addition, marine rescue teams and other marine related organizations install CCTV (Closed Circuit TeleVision) in water-based leisure activities, and use them to conduct surveillance. However, surveillance activities that depend on human vision or hearing are limited. Specifically, it is difficult for the rescue personnel active in the water and leisure activity area to visually check the large area with the naked eye, and it is difficult to identify the occurrence of the accident as soon as possible. Also, even if a person who is in the water calls for a rescue by fostering, open spaces such as the coast can not reach far away, and it is difficult for the rescue personnel to hear the sound of waves and so on. Even if a rescue agent finds a person in the water, even if the distance between the rescue agent and the person in the water is long, the golden time to rescue the human life is very short.

Thus, existing lifesaving activities that depend on the viewers and hearing of rescue personnel can not prevent safety accidents related to water and leisure activities. Accordingly, there is a need for a solution capable of preventing a safety accident occurring in relation to water leisure activity and the like, and performing rapid lifesaving.

Korean Patent Laid-Open Publication No. 10-2017-0000637, 'Disaster Situation Control System Using Short-Range Wireless Communication' (published on Mar. 1, 2013) Korean Patent Laid-Open Publication No. 10-2017-0045972, "Coastal Topography Apparatus Using Drones" (Published Apr. 28, 2017)

One disclosure of the present disclosure is directed to providing a method for automating lifesaving using drones.

It is another object of the present invention to provide a recording medium on which a program for executing a method of automating lifesaving using a dragon is recorded.

The technical objects of the present invention are not limited to the above-mentioned technical problems, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a system for automating lifesaving structures, the system comprising: receiving an image of a region of interest associated with water leisure activities from one or more cameras; Determining whether a safety accident situation related to an aquatic leisure activity has occurred in the image by comparing a change amount of a shape and a position of the detected one or more objects with a predetermined risk element criterion, Transmitting a move command including coordinates corresponding to a position of the detected object to a drone, and when the dragon moves to a position corresponding to the coordinates, And controlling to perform a structural activity on one or more objects.

The detecting of the one or more objects may include detecting the shape and position of the first object detected from the first image obtained from the first camera and the shape and position of the second object detected from the second image obtained from the second camera, And recognizing the validity of the detected object when the type and position of the first object and the type and position of the second object correspond to each other.

Wherein the step of judging whether the safety accident situation has occurred includes the steps of judging whether the detected object corresponds to a person based on the detected form of the object, and when the object corresponds to a person, And judging that a safety accident situation related to the water leasing activity has occurred if the risk element criterion is met.

The step of transmitting the movement command to the drones comprises the steps of: dividing the coastal image into a plurality of regions; mapping GPS (Global Positioning System) coordinates to each of the plurality of divided regions; And transmitting the movement command including GPS coordinates mapped to the GPS coordinates.

Controlling to perform the structural action comprises: instructing the drone to drop the structural tube loaded on the dron when the dron moves to a position corresponding to the coordinate; and, after dropping the structural tube, And, if the load changes, commanding the drones to return.

Wherein controlling to perform the structural action moves a new dron on a path that the dron moves to a position corresponding to the coordinate when the coordinate is outside the coverage that can communicate with the dron, And to relay the communication of the drones to move to the coordinates.

According to another aspect of the present invention, there is provided a computer-readable medium storing a computer program for causing a computer to perform a method comprising: receiving an image of a region of interest related to an aqua leisure activity from at least one camera; Determining whether a safety accident situation related to an aquatic leisure activity has occurred in the image by comparing a change amount of a shape and a position of the detected one or more objects with a predetermined risk element criterion, Sending a move command to the dragon, the move command including a coordinate corresponding to the position of the detected object, and when the dragon moves to a position corresponding to the coordinates, To perform the step of controlling to perform the rescue operation, The computer program recorded can be provided.

The details of other embodiments are included in the detailed description and drawings.

According to the embodiments of the present invention, it is possible to ensure that the life structure is performed in the golden time by performing the life structure by utilizing the drones without depending on the sight and hearing of the rescue personnel.

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

1 and 2 are conceptual diagrams of a safety support system for water leisure activities according to some embodiments of the present invention.
3 is a block diagram of a safety support system for water leisure activities according to an embodiment of the present invention.
4 is a logical block diagram of a safety support server according to an embodiment of the present invention.
5 to 8 are diagrams for explaining a safety prediction process according to an embodiment of the present invention.
9 is an exemplary diagram illustrating a routine patrol of a drone according to an embodiment of the present invention.
10 and 11 are illustrations for explaining the structure of a structural tube according to some embodiments of the present invention.
12 is an exemplary view for explaining lifesaving activities using a dron according to an embodiment of the present invention.
13 is a flowchart for explaining a database construction method of the safety support server according to an embodiment of the present invention.
FIG. 14 is a flowchart illustrating a method for predicting a safety of a safety support server according to an embodiment of the present invention.
15 is a flowchart illustrating a method for automating lifesaving using a dron according to an embodiment of the present invention.
16 is a physical configuration diagram of a safety support server according to an embodiment of the present invention.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. Further, when a technical term used herein is an erroneous technical term that does not accurately express the spirit of the present invention, it should be understood that technical terms that can be understood by a person skilled in the art are replaced. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "having ", etc. should not be construed as necessarily including the various elements or steps described in the specification, and some of the elements or portions thereof Or may further include additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in this specification can be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

When an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings. The spirit of the present invention should be construed as extending to all modifications, equivalents, and alternatives in addition to the appended drawings.

Prior to description of the present invention, terms commonly used in this specification will be described.

Water leisure activities refer to all leisure activities that take place in the sea, such as beaches, valleys, rivers or lakes. Water Leisure activities may be activities using separate water leisure facilities, but they are not limited to activities using water leisure facilities. Water Leisure activities include snorkelling, skiving scuba, duck boat, water bicycle, pedal boat, fly board, jet boat, parasailing, fly fish, water ski, weight board, rafting, river buggy, canoe, kayak, , Blob jumps and surf boats, but is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a concept of the present invention and embodiments according to the present invention will be described in detail with reference to the drawings.

Figures 1 and 2 illustrate some In the embodiment  On the safety support system of water leisure activities It is a concept. .

Referring to FIG. 1, the safety support system 10 for aquatic and leisure activities includes a video and weather sensor 300 for an aquatic and leisure activity area photographed by cameras 200 installed in a water- It is a system that builds a database based on weather information and predicts the safety of water and leisure activities based on the constructed database and weather forecast.

Referring to FIG. 2, the safety support system 10 for water and leisure activities automatically determines whether or not a safety accident has occurred by using the cameras 200 installed in the water and leisure activity area, And if it is determined that the rescuer 20d can be automatically constructed using the drone 600,

More specifically, the water security activity safety support system 10 analyzes events related to the persons 20a, 20b, 20c, and 20d who execute water leisure activities among the ROI images photographed by the camera 200. [ The safety support system 10 for water leisure activities matches the analyzed events with the weather information collected by the weather sensor 300 to build a database on which safety prediction is based. The safety support system 10 for water leisure activities can predict the safety of water leisure activity by matching the weather forecast to the constructed database when the weather forecast is received. And, the safety support system 10 for water leisure activity can provide the safety of the water leisure activity predicted to the marine rescue team and the like.

In other words, the safety support system 10 for water leisure activities according to an embodiment of the present invention can predict the possibility of a safety accident related to water leisure activity and provide it to a marine rescue team. In particular, the water / leisure safety prediction system 10 according to another embodiment of the present invention may predict a type of water / leisure activity highly likely to cause an accident and a location where an accident is likely to occur in advance, and provide the water /

In addition, the safety support system 10 for water and leisure activities determines whether or not a safety accident related to a water and leisure activity has occurred, based on the ROI image photographed by the camera 200. When the safety support system 10 for water leisure activity is determined to have generated a safety accident related to the water leisure activity, it can perform life saving activity using the dron 600.

For convenience of explanation, the image of the water leisure activity area is described as an 'image for point of interest'.

If the region of interest image according to an embodiment of the present invention is an image photographed by a camera installed on the coast, the region of interest may include a sea (or a beach), a land, and a wave (40). In the region of interest image, persons (20a, 20b, 20c, and 20d) who perform water leisure activities and people who perform activities other than water leisure activities may be included. In addition, the region of interest may include artifacts such as a buoy 30, an aquaplaning apparatus, a lighthouse, and the like.

FIG. 3 is a cross- In the embodiment  This is a diagram of the safety support system for water and leisure activities.

3 includes a safety support server 100, one or more cameras 200, one or more weather sensors 300, a weather forecast server 400, a rescue server 500, And a drones 600. [0050] Since the elements of the safety support system 10 for water and leisure activities are merely functionally distinguished elements, any one or more elements can be integrated with each other in an actual physical environment.

3, the safety support server 100 for aquatic and leisure activities may be configured to store the interest area image photographed by the camera 200 and the weather information collected by the weather sensor 300 When the weather forecast is received from the weather forecast server 400, the weather forecast server 400 can match the established weather forecast to predict the safety of the water leisure activity and provide the predicted water leisure safety to the resident server 500 . The safety support server 100 determines whether a safety accident has occurred based on the region of interest image photographed by one or more cameras 200 and instructs the drones 600 to perform automated lifesaving activities.

The safety support server 100 may be any device that can communicate with the camera 200, the weather sensor 300, the weather forecast server 400, the rescue unit server 500, and the drone 600, Devices may also be acceptable. Preferably, the secure support server 100 may be any one of a fixed computing device such as a desktop, a workstation, or a server, but is not limited to a laptop, a smart But may also be implemented on mobile computing devices such as smart phones, phablets, tablets, personal digital assistants (PDAs), e-book readers and the like.

The configuration and operation of the safety support server 100 will be described later with reference to FIGS. 4 to 10. FIG.

The camera 200 may capture an image of an aquatic activity area and provide it to the safety support server 100. The camera 200 is not limited to a camera dedicated to the safety support server 100 and may be a camera installed by a marine rescue team or other marine related organizations for the purpose of marine security monitoring and marine pollution monitoring. . The number of the cameras 200 is not limited to a single number, and a plurality of cameras 300 may be installed at a spaced apart position to photograph the water leisure activity area at a wide angle and provide the same to the safety support server 100. In addition, the camera 200 can change directions such as left / right swing, tilt, and the like in response to a command from the safety support server 100.

The weather sensor 300 may be installed in an aquatic and leisure activity area to measure a weather environment and provide information on the measured weather environment to the safety support server 100. At least one of sensors such as a weather vane, an anemometer, a wind direction / anemometer, a rain / humidity sensor, a rainfall sensor, a barometer, an evaporation meter, a rain gauge, a monoculture system, a solar system, an ultraviolet ray But is not limited thereto.

For convenience of explanation, the information about the weather environment provided by the weather sensor 300 to the safety support server 100 is referred to as a first weather condition. The first weather condition may include, but is not limited to, wind direction, wind speed, temperature, humidity, precipitation, atmospheric pressure, sunshine, solar radiation or UV index measured by the weather sensor 300.

The weather forecast server 400 can provide the safety support server 100 with information on the predicted weather forecast for a wide area including the aquatic leisure activity area. The weather forecast server 400 may be any one of devices operating to distribute the weather forecast calculated by the weather station, but the present invention is not limited thereto and may be a device operated by a private institution in connection with weather forecast.

For convenience of explanation, the information about the weather forecast provided by the weather forecast server 400 to the safety support server 100 is referred to as a second weather condition. Therefore, the second meteorological condition can be a meteorological condition for a later time point of the first meteorological condition. Second weather conditions include weather, wind direction, wind speed, humidity, probability of precipitation, precipitation, minimum temperature, maximum temperature, reliability, wave height of open sea, wave force of external sea, But are not limited to, alarms, storm warning, storm warning, storm warning, storm warning, typhoon warning, hurricane warning, lightning warning, lightning alarm, warning of heavy storms or alarm storms.

The rescue party server 500 can receive information on the safety of the predicted water leisure activity from the safety assisting server 100 and output it. The rescue server 500 may be any of the devices operating for the purpose of task allocation, scheduling, accident information propagation, etc., of marine rescue personnel at an ocean rescue site, but is not limited thereto, It may also be a device operated by a private organization that conducts activities. For example, the rescue server 500 may be a 119 safety reporting center or a device operated by the Marine Police Agency.

The drone 600 is a human body moving according to a command received from the safety support server 100. [ The drones 600 are movable not only in the horizontal direction from the ground surface but also in the vertical direction from the earth surface. That is, the drone 600 is capable of three-dimensional movement. The drone 600 is not limited to the unmanned airplane capable of flying to the air, and may be any device capable of moving on land, sea, or sea floor, and capable of communicating with the safety support server 100 .

The drone 600 may be configured to include a GPS (Global Positioning System) circuit for location tracking, but it is not limited thereto and may include a third location tracking configuration for location tracking. The drone 600 may include a camera, a microphone, and a speaker. Further, the drone 600 may be provided with a structural tube. The structural tube loaded on the drone 600 is loaded in the form of a capsule, and liquefied carbon dioxide is vaporized at the time when it is separated from the drones 600 and expanded to have a shape of a tube. The shape of the tube loaded on the drone 600 will be described later in more detail with reference to Figs. 10 and 11. Fig.

The drone 600 may perform lifesaving activities according to a control command of the safety support server 100. [ Specifically, the drone 600 can fly the structural tubing after flying to a specific position according to a command from the safety assisting server 100. The drone 600 can retrieve the falling structural tube and return to the land according to an instruction from the safety assurance server 100. [ In addition, the drone 600 can routinely patrol a specific route in response to an instruction from the safety support server 100. [ Then, the drone 600 can routinely patrol and transmit the photographed image to the safety support server 100.

The safety support server 100 can transmit and receive data to and from the camera 200 and the weather sensor 300 via a dedicated cable directly connected thereto. Alternatively, the safety assurance server 100 may include an Ethernet, a digital subscriber line (xDSL), a hybrid fiber coax (HFC), a fiber to the home (FTTH) (CDMA), wideband code division multiple access (WCDMA), and the like, as well as wireless communication with the camera 200 and the weather sensor 300 through a public wired communication network Data can be transmitted and received through a mobile communication network such as Wideband CDMA (WCDMA), High Speed Packet Access (HSPA), Long Term Evolution (LTE) In addition, the safety support server 100 may transmit a control command to the drone 600 through radio wave induction. However, the present invention is not limited to this, and the safety support server 100 may transmit a control command to the drone 600 through the mobile communication network.

Hereinafter, the configuration and operation of the safety assurance server 100 will be described in more detail.

4 is a logical block diagram of a safety support server according to an embodiment of the present invention.

4, the security assisting server 100 may include a communication unit 110, an input / output unit 120, a security predicting unit 130, and a lifeline structure control unit 140. Since each element of the security assurance server 100 is merely a functionally distinguishing element, any one or more elements may be integrated with each other in an actual physical environment.

The communication unit 110 can communicate with the camera 200, the weather sensor 300, the weather forecast server 400, the rescue unit server 500, and the drones 600, respectively. have. Specifically, the communication unit 110 can receive the ROI image from one or more cameras 200. [ The communication unit 110 can receive the first weather condition from the weather sensor 300. [ The communication unit 110 can receive the second weather condition from the weather forecast server 400. [ The communication unit 110 can transmit the information on the safety of the water leisure activities predicted to the rescue party server 500. [ Then, the communication unit 110 can transmit a control command to the drones 600. [

To this end, the communication unit 110 may transmit a radio wave induction signal. The communication unit 110 may be a mobile communication network such as a Code Division Multiple Access (CDMA), a Wideband Code Division Multiple Access (WCDMA), a High Speed Packet Access (HSPA), a Long Term Evolution (LTE) (xDSL), a fiber optic hybrid network (HFC), a fiber-optic network (FTTH), or the like, but the present invention is not limited thereto.

The input / output unit 120 can input and output signals for the interface between the safety support server 100 and the user. Specifically, the input / output unit 120 can receive a control command from a user of the safety support server 100. [ The input / output unit 120 can output information about the safety of the predicted water leisure activity. The input / output unit 120 may output information received from the camera 200, the weather sensor 300, or the drones 600.

The input / output unit 120 may include an input device such as a keyboard, a mouse, and / or a joystick, a liquid crystal display (LCD), a light emitting diode (LED) An image output device such as an organic light emitting diode (OLED) and / or an active matrix organic light emitting diode (AMOLED), or a printing device such as a printer, a plotter, , But is not limited thereto.

The safety prediction unit 130 can predict the safety of the aquatic leisure activity area in advance. The safety prediction unit 130 may include a data collection module 132, a risk assessment module 134, a risk prediction module 136, and a risk distribution module 138.

Specifically, the data collection module 132 may collect basic data for predicting the safety of aquatic leisure activities. Specifically, the data collection module 132 may control the communication unit 110 to collect the region of interest images captured while the first weather condition is maintained from the camera 200. The data collection module 132 may control the communication unit 110 to collect the first weather condition from the weather sensor 300. [ Also, the data collection module 132 may output the collected coastal image and the first weather condition through the input / output unit 110.

The risk assessment module 134 may analyze the events associated with the water leisure activities included in the region of interest image to assess the risk for water leisure activities. Specifically, the risk assessment module 134 may grid-partition the region of interest images collected through the data collection module 132 into a plurality of regions. The risk assessment module 134 may detect an area where an event related to water leisure activity is generated among a plurality of grid-divided areas. And, the risk assessment module 134 can give a risk to the area where the event related to the water leisure activity is detected, according to the property of the event related to the water leisure activity.

Here, the attributes of events related to aquatic leisure activity include the type of aquatic leisure activity, the activity frequency / density / density of aquatic leisure activity, the activity area of aquatic leisure activities, the predefined risk index for aquatic leisure activity, The type of accident that occurred, or the need for assistance from the rescue team. Also, the risk level given by the risk assessment module 134 may be a numerical value expressed by an integer between a minimum value and a maximum value, but is not limited thereto and may be a predefined character. For example, the risk assessment module 134 may assign a risk of a value of '100' to an area where an event related to a water leisure activity rated as the most dangerous was detected. Alternatively, the risk assessment module 134 may provide a risk of the letter ' A ' for an area where an event related to a water leisure activity rated as the most dangerous was detected.

In particular, if the region of interest image is an image taken by a camera mounted on the shore, the risk assessment module 134 may measure the direction of the wave, wave and current of the inland sea based on the region of interest image. Specifically, when the buoy 30 is detected from the coastal image, the risk assessment module 134 calculates the wave height, wave force, and wave height of the inland water included in the coastal image based on the detected change in the position of the buoy 30. [ ) And the direction of the current.

The risk assessment module 134 calculates a position and a positional change amount of the wave 40 included in the first coastal image and a positional change amount of the wave 40 included in the second coastal image when the buoy 30 is not detected from the ROI image, Based on the angle between the first camera and the second camera which captured the first coastal image and the second coastal image and the distance between the first camera and the second camera, , And the direction of waves and currents may be calculated.

In addition, if the ROI image is an image captured by a camera installed in a coastal area, a valley, a river, or a lake, the risk assessment module 134 may measure a change in water volume, a change in water depth, have.

The risk assessment module 134 can evaluate the risk by assigning relatively higher weights to the measured or calculated inland seawalls, waves, direction of the currents, changes in water depth, changes in depth, and precipitation than in the first weather condition .

In general, the weather information predicted by the weather satellite, weather observation instrument, weather radar and the like may include the direction of wave, wave or current. However, the direction of the wave, wave or ocean current predicted by meteorological satellites, etc. corresponds to the direction of wave, wave or ocean current in the external sea. That is, the information about the direction of the wave, waves, or currents provided by the weather forecast server 400 corresponds to the information about the direction of wave, wave or current of the sea. However, in the event of an accident in water-based leisure activities, the direction of digging, wave or ocean current in the seawater has a greater effect than the direction of wave, wave or current in the seas. Accordingly, the risk assessment module 134 measures itself in the risk assessment by measuring the wave height, direction of the wave or ocean current, and so on.

The risk assessment module 134 then builds a database of risk for the first weather condition and coastal image. Specifically, the risk assessment module 134 may match and store the evaluated risk and the first meteorological condition collected through the data collection module 132 with each other.

The risk prediction module 136 can predict a risk of a situation that may occur when a water leisure activity is performed at a weather forecasting time based on the constructed database. Specifically, the risk prediction module 136 may control the communication unit 110 to receive the second weather condition from the weather forecast server 400. [ The risk prediction module 136 can predict the risk by querying the constructed database with the conditions corresponding to the second weather condition.

In particular, the risk prediction module 136 can calculate the predicted risk in numerical terms corresponding to the second weather condition. The risk prediction module 136 may generate a map that visualizes the risk by overlaying the color corresponding to the calculated value on the coastal image.

The risk prediction module 136 can calculate the type of water and leisure activities having an accident occurrence rate higher than the risk determination threshold value, based on the database and the predicted risk. Here, the risk determination threshold value may be received from the administrator or user of the safety support server 100 via the input / output unit 120, but is not limited thereto and may be preset in advance. Based on the database, the risk prediction module 136 may calculate an activity area of the water leisure activity having an accident occurrence rate higher than the risk determination threshold value. That is, the risk prediction module 136 can predict information on the types of water and leisure activities predicted to occur safety accidents, regions where intensive activities are expected, and the degree of cluster aggregation.

In addition, the information about the direction of wave, waves, and currents provided by the weather forecast server 400 corresponds to information about the wave height, waves, and current direction of the sea. Therefore, when the second weather condition includes information on the direction of wave, wave or current, the risk prediction module 136 calculates the wave direction, wave direction, or current direction of the external sea included in the second weather condition Can be converted into the direction of wave, wave or current in the sea. Then, the risk prediction module 136 may predict the risk based on the calculated wave height, the wave or the direction of the current.

The risk distribution module 138 may distribute the predicted risks to ensure the safety of aquatic leisure activities. Specifically, the risk distribution module 138 may control the communication unit 110 to provide the rescuer server 500 with the predicted risks through the risk prediction module 136. [ In particular, the risk distribution module 138 may send information to the rescue team server 500 about the type of water and leisure activity for which a safety accident is predicted, the area where intensive activity is expected, the degree of cluster, and the like.

Next, the life structure control unit 140 may determine whether a safety accident related to the water leisure activity has occurred, and may perform lifesaving activity using the drone 600 when it is determined that a safety accident has occurred. The life structure control unit 140 may include an object detection module 142, a safety accident determination module 144, a coordinate description module 146, and a dron control module 148.

In particular, the object detection module 142 may detect an object from the region of interest image. The object detection module 142 may detect an object by overlaying a plurality of ROI images obtained from the plurality of cameras 200 in order to increase the accuracy and reliability of detection. Alternatively, the object detection module 142 may detect the object by cross-validating the region of interest obtained from the plurality of cameras 200. [

For example, the object detection module 142 detects the first object from the first ROI acquired from the first camera. The object detection module 142 detects the second object from the second ROI acquired from the second camera. The object detection module 142 compares the shape and position of the first object with the shape and position of the second object. The object detection module 142 recognizes the validity of the detected object when the shape and position of the first object and the shape and position of the second object correspond to each other. Then, the object detection module 142 can determine whether the detected object corresponds to a person, by comparing the type of the recognized object with the object identification standard.

The object detection module 142 may track the movement path of the detected object by accumulating a plurality of changed coordinate values when coordinates are set on the ROI through the coordinate setting module 146. [

The safety incident determination module 144 determines whether a safety incident occurs in the ROI based on the detected one or more objects and the risk element criterion. Specifically, the safety-risk determination module 144 may determine whether a change in the shape and position of the detected object corresponds to a risk-based criterion, and determine whether a safety-critical situation has occurred in the region-of-interest image.

Here, the criterion for the risk factor may include a criterion for an area where human access is permitted depending on the geographical location of the water leisure activity area. For areas where human access is permitted, the hazard criteria may include distances from land. The risk criterion may also include information about the type and amount of change of the object when a risk situation occurs to a person who is in the water. For example, the risk criteria may include the type and amount of change of the object as a person moves while swimming, or the shape and amount of change of the object as a person moves by the wave.

When the detected object performs the water leisure activity predicted to be dangerous by the safety predicting unit 130, the safety incident determination module 144 tracks the movement path of the detected object, It may be judged that an accident has occurred.

In addition, when the camera 200 providing the region of interest image is a thermal camera, the safety-risk determination module 144 determines that a safety accident occurs when the temperature of the detected object falls below a predetermined threshold temperature It is possible.

The coordinate setting module 146 sets a geographical coordinate value in the ROI image. Specifically, the coordinate setting module 146 may divide the region of interest into a plurality of regions on the basis of the resolution of GPS (Global Positioning System) coordinates. The coordinate description module 146 can map the corresponding GPS coordinates for each of the plurality of divided regions.

In addition, the coordinate setting module 146 may additionally map fine coordinates having higher resolution than the GPS coordinates to the ROI image by crossing the two or more ROI images taken at the separated angles.

When it is determined that a safety accident situation has occurred through the safety accident determination module 144, the drones control module 148 controls the drones 600 to perform lifesaving activities. Specifically, when it is determined that a safety incident occurs, the drones control module 148 identifies the drones 600 closest to the detected object position. Then, the drones control module 148 may transmit to the identified drones 600 a move command that includes coordinates corresponding to the position of the detected object.

The drones control module 148 determines whether the drones 600 have moved to a coordinate position included in the movement command (i.e., a position at which the safety accident occurred), based on the position information of the drones 600. [ When the drone 600 moves to the coordinate position, the drones control module 148 can transmit a drop command to drop the structural tube loaded on the drones 600.

Based on the state information of the drones 600, the drones control module 148 determines whether the load applied to the drones 600 has changed. If the change in the load applied to the drone is greater than or equal to a predetermined threshold value, the drone control module 148 determines that the structural member has caught the falling structural tube, and can transmit a return command to return to the drone 600 .

In particular, the drones control module 148 may transmit a routine patrol command that includes a plurality of coordinates to the drones 600. In this case, the routine patrol command may include at least one moving coordinate indicating a position at which the dragon 600 should move, and at least one photographing coordinate indicating a position at which the dragon 600 should photograph the image. When the image is received from the drone 600 performing the routine patrol, the drone control module 148 may transmit the image to the object detection module 142 or the data collection module 132 of the safety prediction unit 130. That is, the information for the safety prediction or the life history structure can be updated by the image received by the drones 600.

When the coordinates of the first dron are out of the coverage capable of communicating via the communication unit 110, the drones control module 148 controls the path between the position of the first drones and the path between the safety support server 100 To move the second dron to the intermediate point of the second drones. The drones control module 148 may then direct the second drones to relay the second drones commands to be sent to the first drones. The drones control module 148 may also instruct the second drones to relay the data that should be received from the first drones.

When a load greater than a predetermined weight is loaded on the first drones in which the structural tube has fallen, the drones control module 148 controls the first drones to coincide with the first drones so that the plurality of drones can cooperatively perform lifesaving activities. And may transmit a move command to move the second drones. When a plurality of drones cooperate to perform lifesaving activities, the drones control module 148 may set a flight path so that the plurality of drones do not collide with each other.

Also, the drones control module 148 may receive an image related to the safety incident photographed by the camera installed in the drones 600, and output the received image through the input / output unit 120. The drone control module 148 can receive sound related to the safety accident recorded by the microphone installed in the drone 600 and output it through the input / output unit 120. The drone control module 148 can control the voice of the administrator or the user of the safety support server 100 inputted through the input and output unit 120 to be outputted through the speaker installed in the drones 600. [ In addition, the drones control module 148 may transmit a video or sound associated with the safety incident received from the drones 600 to the rescue party server 500. Accordingly, the administrator or the user of the safety support server 100 can control or plan the drone 600 to perform lifelong activities appropriate to the safety incident based on the collected image or sound information.

Hereinafter, the process of predicting the safety associated with water leisure activities will be described in more detail.

5 To  8 < / RTI > In the embodiment  To explain the safety prediction process It is also an example .

The safety support server 100 may receive the ROI 50 captured while the first weather condition is maintained from the camera 200 and divide the received ROI image into a plurality of grid areas 51 .

5, the safety support server 100 includes five regions A, B, C, D, and E in the horizontal direction of the shoreline, five regions 1, 2, 3, 4, and 5) to divide the region of interest image 50 into a total of 25 grid regions 51. However, the present invention is not limited to this, and in order to increase the safety prediction probability, the safety support server 100 can increase the resolution for grid partitioning of the region of interest image 50 within the performance range supported by the hardware.

The safety support server 100 can detect the area 52 where the event related to the water leisure activity 53 among the plurality of grid-divided areas is generated.

6, the safety support server 100 searches each of the plurality of grid-partitioned areas to determine whether or not an activity related to the water leisure activity 53 is included, and thus, a total of five water leisure activities 53 Can be detected. Then, the safety assisting server 100 can detect the A4, B4, C3, D3 and E2 areas 52 including the detected water leisure activity 53. [ On the other hand, when a plurality of water leisure activities 53 are included in one area 52, the number of water leisure activities 53 and the number of areas 52 detected by the safety support server 100 do not coincide with each other .

The safety assisting server 100 can give a risk to the detected area 52 according to the attribute of the event related to the detected water leisure activity 53. [

7, the safety support server 100 identifies 'snorkeling' and 'out of safety range' as an event attribute of the water leisure activity 53 included in the E2 area 52, A risk of 90% can be given to the E2 area 52 as a basis. By repeating the similar process, the safety support server 100 can give a risk of 15% to A4, 20% to B4, 30% to C3, and 40% to D3.

The safety support server 100 can predict the risk by querying the database with the condition corresponding to the second weather condition. Then, the safety support server 100 may generate a map by calculating the predicted risk level as a numerical value, and overlaying the color corresponding to the calculated value on the coastal image to visualize the risk. Also, the safety assisting server 100 may calculate the type and activity area of the water leisure activity having the accident occurrence rate higher than the danger judgment threshold value.

As shown in FIG. 8, the safety support server 100 may provide a coastal image overlaid with layers having different colors according to the predicted risk. In addition, the safety assisting server 100 may provide a type and an activity area of a water leisure activity having an accident incidence rate higher than a risk judgment threshold value.

Hereinafter, the process of performing lifesaving activities using a drones will be described in more detail.

Figure 9 is a cross- In the embodiment  Following Drones  Routine Patrol the routine  To illustrate It is also an example .

The safety assisting server 100 may instruct the drone 600 to execute a routine patrol which includes a plurality of coordinates.

The plurality of coordinates included in the routine patrol command can be divided into one or more moving coordinates 60 and one or more shooting coordinates 70. [ The movement coordinate 60 included in the routine patrol command is a coordinate indicating a position at which the dron 600 should move. The shooting coordinate 70 included in the routine patrol command is a coordinate indicating a position at which the dron 600 should shoot an image.

As shown in FIG. 9, the drone 600 performing the routine patrol sequentially moves according to a plurality of moving coordinates 60, and at the moment when it passes through a position corresponding to the shooting coordinates 70, And transmit it to the safety support server 100.

Figures 10 and 11 illustrate some of the inventions In the embodiment  To explain the structure of the structural tube according to It is also an example .

The structural tube 700 may be loaded into the drone 600 in the form of a capsule 710. In this case, liquefied carbon dioxide and the tube body 720 may be embedded in the capsule 710. The liquefied carbon dioxide contained in the capsule 710 may be vaporized by an instruction such as the drones 600 and the like. The vaporized carbon dioxide can be injected into the tube body 720 embedded in the capsule 710. Then, the tube body 720 into which the vaporized carbon dioxide is injected can be released from the capsule 710 and expand. Thus, the structural tube 700 in the form of a capsule 710 can be easily loaded into the drones 700 because of its small volume.

In particular, the structural tube 700 according to some embodiments of the present invention may comprise a plurality of capsules 710.

As shown in FIGS. 10 and 11, the structural tube 700 may comprise more than two capsules 710. At the time when two or more capsules 710 are separated from the drones 600, liquefied carbon dioxide may be vaporized and each can expand the tube body 720. Further, the two or more tube bodies 720 may be connected to each other by a net 730.

According to the embodiment, the plurality of tubular bodies 720 may be arranged in various shapes, in the structural tube 700 composed of the plurality of capsules 710. The plurality of tube bodies 720 arranged in various forms may be connected to each other by a net 730. 10 and 11 illustrate the arrangement of the structural tube 700 composed of three capsules 710, it will be appreciated that the structural tube 700 can be arranged in a different form.

As such, the structural tube 700 may have the form of a plurality of tube bodies 720 and a wide mesh network 730. Therefore, the structural member that has fallen into the sea can easily hold the structural tube 700 separated from the dragon 600.

Figure 12 is a graph In the embodiment  Following Drones  To illustrate the lifesaving activities used It is also an example .

Referring to FIG. 12, the safety support server 100 may determine whether a safety accident related to water leisure activity has occurred, based on the ROI image acquired through the camera 200. [

The drone 600 moves to the position of the requesting user 80 in response to a command from the safety support server 100. The drone 600 is connected to the safety support server 100, The structural tube 700 is dropped. The structural tube 700 loaded on the drones 600 is separated from the drones 600. At the same time, the liquefied carbon dioxide can be vaporized and expanded.

When the load changes, the drone 600 judges that the requesting person 80 has caught the structural tube 700, and returns to the land according to the command of the safety support server 100. [ When there is no change in the load for a predetermined time, the drone 600 determines that the requester 80 can not hold the structural tube 700, and the structural tube 700 And the structural tube 700 can be dropped at a new point.

As described above, the safety support server 100 can perform lifesaving activities using the drones 600 and a process of predicting safety related to water leasing activities. The process of predicting the safety related to water leisure activities can be classified into a process of building a database for safety prediction and a process of predicting safety based on the constructed database.

The process of constructing the database of the safety support server 100, the process of predicting safety, and the lifesaving activity using the drone 600 may be performed continuously or discontinuously at intervals of time . Hereinafter, each process will be described in more detail.

Figure 13 is a graph In the embodiment  To illustrate how to build a database of safety support servers It is a flowchart. .

Referring to FIG. 13, the safety support server 100 may receive the first weather condition from the weather sensor 300 (S110). Then, the safety support server 100 may receive the photographed region of interest image from the camera 200 while the first weather condition is maintained (S120).

The safety support server 100 may analyze an event related to water leisure activities included in the ROI image received from the camera 200 and evaluate the risk of the water leisure activity (S130). Specifically, the safety support server 100 can grid-partition the region of interest received from the camera 200 into a plurality of regions. The safety support server 100 can detect an area where an event related to water leisure activities is generated among a plurality of grid-divided areas. Then, the safety support server 100 can give a risk to the area where the event related to the water leisure activity is detected, according to the attribute of the event related to the detected water leisure activity.

Then, the safety support server 100 can build a database by matching the first weather condition received from the weather sensor 300 with the evaluated risk, matching each other (S140).

FIG. 14 is a cross- In the embodiment  To explain how to predict the safety of servers It is a flowchart. .

Referring to FIG. 14, the safety assisting server 100 may receive a second weather condition (i.e., weather forecast) from the weather forecast server 400 (S210).

Based on the database, the safety support server 100 can predict the risk of a situation that may occur when performing the water leisure activity in the second weather condition (S220). Specifically, the safety support server 100 can query the database for conditions corresponding to the second weather condition received from the weather forecast server 400 to predict the risk.

Then, the safety support server 100 can distribute the predicted risk to the rescue server 500 or the like (S230).

FIG. 15 is a cross- In the embodiment  Following Drones  To explain how to use lifesaving automation It is a flowchart. .

Referring to FIG. 15, the safety support server 100 receives a region of interest image from the camera 200 (S310).

The safety support server 100 detects the object from the ROI image (S320). Specifically, the safety support server 100 can detect an object by overlaying a plurality of ROI images obtained from the plurality of cameras 200. FIG. Alternatively, the safety support server 100 may detect an object by cross-validating the ROI images obtained from the plurality of cameras 200. [

In operation S330, the safety support server 100 determines whether a safety incident occurs in the region of interest image based on the detected one or more objects and the risk element criterion. Specifically, the safety support server 100 can determine whether a change in the type and position of the detected object corresponds to a risk criterion, and determine whether an accident situation in the coastal image has occurred.

The safety support server 100 sets a geographical coordinate value in the received ROI image (S340). The safety support server 100 transmits a move command to move the dragon 600 to the detected object position (S350). Then, when the drone 600 moves to a coordinate position included in the movement command (i.e., a position where a safety accident has occurred), the safety assisting server 100 controls the drones 600 to perform lifesaving activities (S360).

Fig. In the embodiment  Fig. 1 is a physical configuration diagram of a safety support server according to the present invention.

16, the safety support server 100 includes a processor 150, a memory 155, a transceiver 160, an input / output device 165, and a data bus Bus, 170, and storage (Storage) 175.

The processor 150 is further operable to perform a safety prediction associated with water leisure activities and an operation associated with lifesaving activities using the drones 500 based on commands in accordance with the safety support software 180a associated with water leisure activities residing in the memory 155. [ And functions. The memory 1550 may be loaded with safety support software 180a associated with water leisure activities. The transceiver 160 can transmit and receive data to and from the camera 200, the weather sensor 300, the weather forecast server 400, the rescue team server 500 and the drones 600. The input / output device 165 receives data required for the safety prediction and the dron control, and can output information on the predicted risk. The data bus 170 is connected to the processor 150, the memory 155, the transceiver 160, the input / output device 165, and the storage 175, and is a transfer path for transferring data between the respective components.

The storage 175 may store an application programming interface (API), a library file, a resource file, and the like necessary for execution of the safety support software 180a related to water leisure activities. In addition, the storage 175 may store the safety support software 180b associated with water leisure activities and the database 185 upon which the safety predictions are based.

The security support software 180a, 180b associated with the water leisure activity residing in the memory 155 or stored in the storage 175 receives the image for the area of interest associated with the water leisure activity photographed while the first weather condition is maintained Analyzing an event related to the water leisure activity included in the image, evaluating the risk to the image, matching the risk to the image with the first weather condition, comparing the risk to the first weather condition, The method comprising the steps of: receiving a first weather condition, a second weather condition, and predicting a risk for a situation that may occur when performing a water leisure activity on a second weather condition, based on the risk matched to the first weather condition, And may be a computer program recorded on a medium. In addition, the safety support software 180a, 180b associated with water leisure activities may include receiving an image of a region of interest associated with water leisure activities from one or more cameras, detecting one or more objects from the received image, Determining whether a safety accident situation related to a water leisure activity occurs in the image in comparison with a change amount of the shape and position of the object and a preset risk element criterion, Transmitting a move command including coordinates corresponding to the position to a drone, and controlling the dron to perform a structural action on one or more objects when the dron moves to a position corresponding to the coordinates It may be a computer program recorded on a recording medium.

More specifically, the processor 150 may include an application-specific integrated circuit (ASIC), other chipset, logic circuitry, and / or a data processing device. The memory 155 may include a read-only memory (ROM), a random access memory (RAM), a flash memory, a memory card, a storage medium, and / The transceiver 160 may include a baseband circuit for processing wired and wireless signals. The input / output device 165 may be an input device such as a keyboard, a mouse, and / or a joystick, a liquid crystal display (LCD), a light emitting diode (LED) An image output device such as an organic light emitting diode (OLED) and / or an active matrix organic light emitting diode (AMOLED), a printer, a plotter, and the like. When the embodiments included in the present specification are implemented in software, the above-described method may be implemented by a module (a process, a function, and the like) that performs the functions described above. The module resides in the memory 155 and may be executed by the processor 150. The memory 155 may be internal or external to the processor 150 and may be coupled to the processor 150 by various well known means.

Each component shown in FIG. 16 may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present invention may include one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) Field Programmable Gate Arrays), a processor, a controller, a microcontroller, a microprocessor, or the like.

In addition, in the case of an implementation by firmware or software, an embodiment of the present invention may be embodied in the form of a module, a procedure, a function, and the like for performing the functions or operations described above, Lt; / RTI > Here, the recording medium may include program commands, data files, data structures, and the like, alone or in combination. Program instructions to be recorded on a recording medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. For example, the recording medium may be an optical recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a compact disk read only memory (CD-ROM), a digital video disk (DVD) Optical media such as a floppy disk and a hardware device specifically configured to store and execute program instructions such as ROM, RAM, flash memory and the like. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like. Such hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be apparent to those skilled in the art. Furthermore, although specific terms are used in this specification and the drawings, they are used in a generic sense only to facilitate the description of the invention and to facilitate understanding of the invention, and are not intended to limit the scope of the invention. Accordingly, the foregoing detailed description is to be considered in all respects illustrative and not restrictive. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

In addition, a device or terminal according to the present invention may be driven by instructions that cause one or more processors to perform the functions and processes described above. Such instructions may include, for example, interpreted instructions such as script commands, such as JavaScript or ECMAScript commands, or other instructions stored in executable code or computer readable media. Further, the apparatus according to the present invention may be implemented in a distributed manner across a network, such as a server farm, or may be implemented in a single computer device.

Further, a computer program (also known as a program, software, software application, script or code) that is embedded in the apparatus according to the present invention and which implements the method according to the present invention includes a compiled or interpreted language, a priori or procedural language , And may be deployed in any form including standalone programs or modules, components, subroutines, or other units suitable for use in a computer environment. A computer program does not necessarily correspond to a file in the file system. The program may be stored in a single file provided to the requested program, or in multiple interactive files (e.g., a file storing one or more modules, subprograms, or portions of code) (E.g., one or more scripts stored in a markup language document). A computer program may be deployed to run on multiple computers or on one computer, located on a single site or distributed across multiple sites and interconnected by a communications network.

Moreover, in describing the embodiments according to the present invention, operations are depicted in the drawings in a particular order, but it is to be understood that they should perform such operations in that particular order or sequential order shown in order to obtain the desired result, Should not be understood as being performed. In certain cases, multitasking and parallel processing may be advantageous. Also, the separation of the various system components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and systems will generally be integrated together into a single software product or packaged into multiple software products It should be understood.

Safety Support System: 10 Safety Support Server: 100
Camera: 200 Weather sensor: 300
Weather Forecast Server: 300 Rescue Server: 500
Drone: 600 Structural Tube: 700
Communication unit: 110 Input / output unit: 120
Safety prediction section: 130 Lifesaving control section: 140

Claims (7)

Receiving an image of a region of interest associated with a water leisure activity from one or more cameras;
Detecting one or more objects from the received image;
Determining whether a safety accident situation related to an aquatic leisure activity occurs in the image by comparing a change amount of a type and position of the detected one or more objects with a predetermined risk element criterion;
Transmitting a move command including a coordinate corresponding to a position of the detected object to a drone if it is determined that the safety accident situation has occurred; And
And controlling, when the drones move to positions corresponding to the coordinates, to cause the drones to perform structural activities on the one or more objects. 2. The method of claim 1, wherein detecting the one or more objects comprises:
Comparing the shape and position of the first object detected from the first image obtained from the first camera with the shape and position of the second object detected from the second image obtained from the second camera; And
Recognizing the validity of the detected object if the type and location of the first object and the type and location of the second object correspond to each other. The method of claim 1, wherein determining whether the safety event has occurred
Determining whether the detected object corresponds to a person based on the type of the detected object; And
And determining that a safety accident situation related to the water leasing activity has occurred when the variation of the object type and the position corresponds to the risk element criterion when the object corresponds to a person, Structure automation method. The method of claim 1, wherein transmitting the move command to the drones comprises:
Dividing the coastal image into a plurality of regions;
Mapping GPS (Global Positioning System) coordinates to each of the plurality of divided regions; And
And transmitting a move command including GPS coordinates mapped to a location of the detected object. 2. The method of claim 1, wherein controlling
Instructing the drone to drop the structural tube loaded when the dron moves to a position corresponding to the coordinate; And
And instructing the drone to return to the drones when the load applied to the drones changes after dropping the structural tube. 2. The method of claim 1, wherein controlling
If the coordinates deviate from the coverage capable of communicating with the drones, move the new drones on a path that the drones move to positions corresponding to the coordinates, and relay the communication of the drones to be moved to the coordinates Wherein said control means is adapted to control said system. Coupled to the computing device,
Receiving an image of a region of interest associated with a water leisure activity from one or more cameras;
Detecting one or more objects from the received image;
Determining whether a safety accident situation related to an aquatic leisure activity occurs in the image by comparing a change amount of a type and position of the detected one or more objects with a predetermined risk element criterion;
Transmitting a move command to a drone, the move command including coordinates corresponding to a position of the detected object; And
And controlling, when the drones move to a position corresponding to the coordinates, to control the drones to perform structural actions on the one or more objects.

Images