KR20190109643A - Guidance rovot for disaster relief - Google Patents

Abstract

The present invention relates to a guide robot for disaster relief capable of actively guiding an escape route while moving to solve a disadvantage of an existing attachable emergency exit lamp when a fire occurs inside a building. According to the present invention, the guide robot is installed in a predetermined location inside the building and guides an evacuee by a visual or an audio signal such that the evacuee can follow while autonomously moving along an evacuation route in the event of a disaster, comprising: a cylindrical body (10); a driving part (20) embedded in the body to move the body; a control part (30) embedded in the body for detecting a disaster occurrence signal and controlling the driving part by the signal to move the cylindrical body to a set position; and a signal generating part (40) for generating the visual and audio signals to the evacuee by the control signal of the control part.

Description

Guidance rovot for disaster relief

The present invention can actively guide the evacuation route while moving in an autonomous driving method with the evacuator to solve the shortcomings of the evacuation guidance lamp or the direction indicator fixed in the ground or underground building in the event of a disaster such as fire or earthquake. It relates to a guide robot for disaster relief.

In general, in case of a disaster such as a fire or earthquake, there is a power outage inside the ground or underground building, and means for escaping to the outside or evacuating to a safe area without visibility of the smoke or darkness. In the related art, an emergency lamp installed at an emergency exit side or a light irradiation device or a fixed voice guidance apparatus for irradiating a laser light toward an emergency exit side has been used.

On the other hand, such a conventional emergency lamp, laser light irradiating device or voice guidance device is fixed to a predetermined position inside the building, so in the event of a disaster, it is a useless object that cannot act as an effective guide in a state where it is impossible to sense the direction and secure the view. There is a problem throwing away.

In the past as well as in recent years, multi-use facilities such as hospitals and sports centers often lead to catastrophic disasters due to failure to induce escape to the outside. This is especially used by many people, such as hospitals, hotels or subway facilities. In the event of a disaster in a building, the evacuation route is not properly recognized at the early stage, leading to serious life-saving accidents as the missed golden time is possible during the spread of fire and asphyxiation during the throne.

In the related art related to the present invention, 'Emergency escape guide' in Patent Document 1 is a shock-resistant rupture-resistant synthetic resin that is constructed so that the lower half of the body is not inverted. It is sealed with a cap so that it can be lit and thrown in a fire place to guide people inside.

Patent document 2 'Emergency induction light system for guiding the shortest exit in case of fire' changes the direction of the induction light toward the exit of the shortest distance located in the opposite direction of the fire point from the point where an arbitrary person is present when a fire occurs. It is designed to help people evacuate safely by inducing people to evacuate people from fire.

The evacuation guidance lamp for irradiating the evacuation guidance laser beam of Patent Literature 3 is configured to irradiate the evacuation guidance laser beam for irradiating the laser beam with the guide plate so as to reliably guide the evacuation route even in the thick smoke during a fire.

Patent Document 4, 'Two-stage horizontal fire extinguisher with fire alarm and escape exit guidance system' has a fire extinguishing device using a button in the horizontal fire extinguisher type and an escape device, and is separated into a fire extinguishing container and an escape device. It is possible to help escape the fire place through the light and the exit guide sign by separating the device for escape at the time of the button.

Korea Utility Model Publication No. 1986-0001567 (July 19, 1986) Korea Patent Registration No. 10-0653604 (Nov. 28, 2006) Korea Patent Registration No. 10-1102280 (2011.12.28.) Korean Laid-Open Patent No. 0-2016-0085540 (2016.07.18.)

The present invention has been made to solve the above problems, the object of the present invention is to actively evacuate the escape route while moving with the escape to solve the shortcomings of the fixed evacuation guidance installed inside the building in the event of a disaster such as fire It is to provide a disaster relief guide robot that can be guided to escape outside the building or evacuate to a safe area.

In order to achieve the above object, the present invention provides a disaster relief guide robot that is installed at a predetermined position inside a building and guides the user to a visual or audio signal to follow the evacuator while autonomously moving along the evacuation path when a disaster occurs.

Preferably, the disaster relief guide robot may be mounted on a dock installed at a predetermined position inside a building to be charged, and may be configured to move away from the dock when a disaster occurs.

Preferably the disaster relief guide robot can be moved by driving or flight, the traveling guide robot is a cylindrical body; A driving part embedded in the body to move the body; A control unit for detecting a disaster occurrence signal embedded in the body and controlling the driving unit according to the signal to move the cylindrical body to a predetermined position; And a signal generator for generating visual and audio signals to the evacuator by the control signal of the controller.

Disaster relief guide robot of the present invention, unlike the conventional fixed evacuation guidance light, so as to guide the evacuation route while moving in an autonomous driving system with the escape, not only to make the escape psychologically stable, but also difficult to secure visibility It can be evacuated by following the guidance of a nearby robot, and can escape to the outside along a safe path or evacuate to a safe area, thereby minimizing the damage to life even when rescuers are not accessible from the outside. There is an advantage.

1 is a structural diagram of a disaster relief guide robot according to an embodiment of the present invention,
2 is a front view of the guide robot shown in FIG.
3 is a view showing a state in which the guide robot shown in FIG. 1 is inclined to one side for turning while driving;
4 is a flowchart illustrating the operation of the guide robot.

Hereinafter, with reference to the accompanying drawings, preferred embodiments that do not limit the present invention will be described in detail.

1 to 3 is a view for explaining the internal configuration, appearance, driving and direction of the disaster relief guide robot according to an embodiment of the present invention.

The disaster relief guide robot 1 of the present embodiment is mounted on a dock (not shown) attached to a predetermined position inside a building, for example, a wall, to be charged, and is evacuated from the dock during a disaster and the predetermined evacuation is performed. Human damage can be reduced by directing the evacuator to a visual or audio signal to follow the evacuator while autonomously moving to the path or destination.

For example, the dock may use the same method as the wireless charging dock or the docking station of the robot cleaner. As the related art, Korean Patent No. 10-1192540 is disclosed, a detailed description thereof will be omitted. Outside of (1) is provided with a charging terminal (not shown) that is detachably connected to the charging dock or docking station.

The dock may further include a signal terminal for transmitting a signal for transmitting an operation start signal to the guide robot 1 by wire or wirelessly.

The guide robot 1 of the present embodiment is mounted on the dock and is waiting while charging is performed, and an external device connection terminal for updating a program or checking a status, for example, a USB connection terminal may be further provided. Of course, the program can be updated or checked by wireless method.

The guide robot 1 is automatically disengaged from the dock in the event of a disaster, so that the driving can be performed on the floor, such as a corridor, which is provided with a locking means on the dock itself or a locking means on the guide robot. After receiving the disaster occurrence signal, the locale may be dismantled from the dock by a method of falling to the floor by gravity or by expanding the bumper, which will be described later.

In the present embodiment, the guide robot is made of a driving method, but the present invention is not limited to this, for example, it can also be moved in a flying manner, such as a small flying means, such as a drone, but the driving guide robot in the following Will be described only.

The traveling guide robot (1) and the cylindrical body (10); A driving unit 20 embedded in the body 10 to move the body 10; A controller (30) embedded in the body (10) for detecting a disaster occurrence signal and controlling the driving unit according to the signal to move the body to a set position; And a signal generator 40 for generating visual and audio signals to the evacuator by the control signal of the controller 30.

The left and right outer sides of the cylindrical body 10 are provided with an air-expandable bumper 50 to prevent breakage in case of impact during falling and collision with obstacles during movement. The bumper 50 maintains its normal contraction state while being controlled. In response to the signal (30), air compressed in the expansion gas container 52, helium gas, which is carbon dioxide, or an inert gas, is released and swells.

In the present embodiment, the cylindrical body 10 is formed in the form of a kind of oak barrel for wine storage of the outer diameter is smaller than the outer diameter of the center, the inner surface is axially coupled to the driving motor 22 of the drive unit 20 In contact with the drive gear 23, the body 10 itself is to act as a wheel (wheel).

The body 10 may be made of a flame retardant rubber material, metal or synthetic resin.

In the accompanying drawings, the body 10 and the bumper 50 are illustrated as being integrally formed. However, the present invention is not limited thereto, and the body 10 and the bumper 50 may be separately manufactured to be integrated. Combination of the body 10 may also be reused when the bumper 50 is broken.

The driving unit 20 is a driving motor 22 for rotating the cylindrical body 10 in contact with the inner surface of the cylindrical body 10 to have a gear coupling or a predetermined friction force, and the cylindrical body 10 inclined to change the direction A frame 26 on which the direction change motor 24, the traveling motor 22, and the direction change motor 24 are mounted, and the frame 26 is provided below the inner side of the frame 26. It comprises a balance weight 28 to maintain the state and at the same time geared to the direction switching motor 26 to tilt the cylindrical body while moving left and right.

In the drawings, reference numerals 23 and 25 denote driving gears axially coupled to the driving motor 22 and the turning motor 24, respectively, and reference numeral 28 denotes a rack gear provided on the surface of the balance weight 28. In the reference numeral 29, a drive gear 25 axially coupled to the changeover motor 24 is engaged to move the balance weight 28 to the left or the right, thereby changing the center of gravity as shown in FIG. 10) is inclined so that the direction can be changed.

In this embodiment, the balance weight 28 is intended to be used as a digestion gas storage container for the extinguishing gas discharging means 60, not merely as a weight, and to the hose toward the bumper 50. 62 is extended so that the extinguishing gas can be injected when necessary through the extinguishing gas discharge nozzle 64 exposed to the outside.

The means 60 for extinguishing gas is started or terminated by the controller 30 by fire information obtained through the heat sensor 70 or the image camera 80 for sensing external heat.

The driving unit 20 is controlled by the autonomous driving method that combines the image camera 80, the proximity sensor 90 and the GPS, which is implemented by the autonomous driving module provided in the control unit 30, The drive unit 20 is programmed so that the destination and the traveling speed can be set differently depending on the installation place and environment.

Reference numeral 100 in the figure is a rechargeable battery, the battery 100 is fixed to the lower portion of the digestive gas storage container forming the above-described balance weight 28 to serve as a balance weight.

The control unit 30 controls the operation of the locking device for the expansion of the drive unit 20, the signal generator 40, the bumper 50, the extinguishing gas discharge means 60 and the dock (not shown) As described above, autonomous driving to the destination is performed by using the GPS information and the information obtained from the sensors 70 and 90 and the image camera 80.

The GPS information is generally difficult to be received indoors due to the characteristics of the frequency, so that indoor location information of the building can be obtained in real time by applying the 'indoor positioning system using GPS' such as Korean Patent No. 10-1095266. Can be used.

The signal generator 40 includes a light emitter (not shown) for self-emission so as to allow the evacuator to recognize the robot, a laser irradiator 42 for indicating a moving direction, and a light 44 for securing a field of view during movement. And, in addition to this may further include a speaker and a microphone (not shown) for guiding caution when evacuating.

The signal generator 40 is not only a means for transmitting a visual and audio signal to the evacuator inside the building, but also a communication terminal outside the building in various wireless manners, for example, a fire station control device or a walkie-talkie or other smart phone. By providing a communication function capable of transmitting location information or two-way communication, it is possible to make a structure from the outside more quickly by informing the evacuation of the interior of the building at which position and what state.

The bumper 50 is expanded by the inflation gas and serves to prevent the body 10 of the guide robot from being directly damaged when hit by a wall or other obstacle while driving. It is made of the same flame retardant rubber or flame retardant fabric, and keeps folded or retracted state and expands in case of an accident such as a fire.

The extinguishing gas discharging means 60, the heat sensor 70, the image camera 80 and the proximity sensor 90 is a technical configuration well known in the art to which the present invention belongs, detailed description thereof will be omitted, but The proximity sensor 90 is installed at the front and rear of the body 10, respectively, the proximity sensor in the front senses an obstacle, and the rear proximity sensor detects whether the evacuator follows and proceeds when the evacuator follows. In other words, if you do not follow, you will slow down so that you can only drive toward your destination if you are within a certain distance range. That is, in this embodiment, the driving speed of the guide robot is to be considered in order to avoid obstacles and whether or not the evacuator is following, so that the guide robot alone can not be moved to the destination to effectively ensure escape of the evacuator. It will be possible.

The disaster relief guide robot of the present embodiment configured as described above is guided to evacuation from the installation place to the destination, as shown in FIG. The current position on the GPS at the floor of the corridor, etc., in the expanded state is released from the dock by the operation signal (S1) received by the communication, and at the same time the various expansion gases including air into the bumper 50 (S20) inflated (S3), the autonomous driving method moves toward the preset destination (S4), and the frame 26 is established as shown in FIG. 1 by the weight of the balance weight 28 and the batter FL 100 during the movement. That is, the control unit 30 is located in the upper position and the battery 100 is maintained in the lower state, when the driving motor 22 rotates in this state, the drive gear 23 is a cylindrical body Since it rotates in a state of being in close contact with the inner surface of the (10), the inner frame 30 is running while the outer cylindrical body 10 rolls while maintaining an upright state.

As shown in FIG. 3, when the controller 30 rotates the direction change motor 24 forward or reverse, the balance weight 28 located inside the frame 26 moves to the left or the right. While the center of gravity of the body 10 is inclined toward either side, the body 10 is inclined toward the center of gravity, so that the direction change is made toward the inclined side by the characteristics of the body 10 shaped like an oak barrel. .

In order to pass an obstacle or go straight on the path, the direction change motor 24 is operated to bring the balance weight 28 to the center of the frame 30. This direction change is performed by using information of a sensor, an image camera, and a GPS. It will be controlled by autonomous driving.

On the other hand, if an obstacle is found by the proximity sensor 90 while driving, the distance between the obstacle is measured (S5) and the direction is adjusted while adjusting the driving speed (S6), and the thermal sensor 70 or the image camera If it is determined that the signal from the fire (80) (S7), the extinguishing gas discharge means 60 is activated to spray the extinguishing gas to the flame on the path (S8) that the guide robot or the evacuator is burned in the evacuation process. When it is possible to prevent, if the fire is made again resumes driving toward the destination (S9) when the arrival to the destination is stopped (S10).

In addition, the proximity sensor 90 installed at the rear of the body 10 during the initial driving or during the driving detects whether the evacuator is following the guide robot 1, and if the evacuator is within a certain distance from the guide robot. Only drive toward the destination, and if you go out of a certain distance, you can slow down the driving speed so that the evacuator can follow, so that the evacuator can always follow within a certain distance. It becomes possible.

In the guide robot according to the embodiment of the present invention, when a fire occurs in a building or an underground facility, the guide robot installed in an element of an interior of the building is in an escape or emergency preparedness area even when it is difficult for rescue personnel to access from the outside. As the evacuators can follow the guide robot, they can evacuate safely along the escape route. In general, the guide robot is mounted on a wall and thus does not interfere with the activities inside the building.

 The traveling guide robot of the present invention can solve active evacuation and psychological anxiety of the evacuator, which the existing simple wall-mounted evacuation guidance light, laser irradiator or direction light could not solve, especially the elderly who are not healthy. In addition, it is expected that if installed and used in hospitals that patients use a lot, it can help to prevent human injury from fire.

1: Guide Robot
10: body
20: drive unit
22: traveling motor
24: direction change motor
23,25: Drive gear
26: frame
28: balance weight
29: rack gear
30: control unit
40: signal generator
42: laser irradiator
44: light
50: bumper
52: expansion gas container
60: extinguishing gas discharge means
62: hose
64: Digestion gas discharge nozzle
70: heat sensor
80: image camera
90: proximity sensor
100: battery

Claims (11)

Disaster relief guidance robot that is installed at a predetermined location inside the building and guides the evacuator with a visual or audio signal to follow the evacuation path along the evacuation route in case of disaster.
The method according to claim 1,
The disaster relief guide robot is mounted on a dock installed at a predetermined position inside a building to be charged, and when a disaster occurs, the guide robot for disaster relief, characterized in that the departure from the dock to move to the destination.
The method according to claim 2,
The disaster relief guide robot is a disaster relief guide robot, characterized in that moving to a destination by driving or flying.
The method according to claim 3,
The traveling guide robot has a cylindrical body;
A driving part embedded in the body to move the body;
A control unit for detecting a disaster occurrence signal embedded in the body and controlling the driving unit according to the signal to move the cylindrical body to a predetermined position;
And a signal generator for generating visual and auditory signals to the evacuator by the control signal of the controller.
The method according to claim 4,
The outside of the body is provided with an air-expandable bumper, the bumper is a guide for disaster relief robot, characterized in that inflated by the signal of the control unit while maintaining the normal contraction state.
The method according to claim 4,
The driving unit is a disaster relief guide robot, characterized in that the driving is controlled by the autonomous driving method combining the camera, the proximity sensor and the GPS.
The method according to claim 4,
The signal generator comprises a light emitting device for self-emission, a laser irradiator for indicating a moving direction, and a speaker for guiding cautions during evacuation.
The method according to claim 4,
The body is a disaster relief guide robot, characterized in that the extinguishing gas emitter for ejecting the extinguishing gas by the heat sensor or the fire image detection of the image camera.
The method according to claim 4,
The cylindrical body has an outer diameter smaller than the outer diameter of the central portion, the drive unit is geared with the inside of the body driving motor for rotating the cylindrical body, the direction change motor for changing the direction by tilting the cylindrical body, A balance weight mounted on the frame equipped with the driving motor and the direction change motor, and installed at a lower portion of the frame to maintain the upright position, and at the same time, coupled to the direction change motor to tilt the cylindrical body while moving left and right. Disaster relief guide robot comprising a.
The method according to claim 6,
The control unit detects obstacles and evacuation of the evacuator detected by proximity sensors installed at the front and rear of the body, respectively, and proceeds when the evacuator follows. Disaster relief guidance robot, characterized in that to drive toward the destination only when there is.
The method according to claim 7,
The signal generator is a disaster relief guide robot, characterized in that it has a communication function for transmitting information to the communication terminal outside the building by wireless.

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