KR20200061582A - System and method for setting searching position - Google Patents

Abstract

Disclosed is a search location automatic setting system and a method thereof. The search location automatic setting system comprises: an input unit receiving witness information of a witness and a floor plan at a disaster site; a map information knowledge unit extracting map information necessary for the knowledge of the map information from the floor plan, and then intellectualizing and storing the extracted map information by area; a requestor location inference unit inferring a search location of a requester using the witness information; a search location coordinate generation unit generating search location coordinates using the inferred search location of the requester and the intellectualized map information; a robot control server including a communication unit transmitting the generated search location coordinates to a selected robot; and a robot searching for the requestor based on the search location coordinates received from the robot control server.

Description

System and method for automatically setting the search position{SYSTEM AND METHOD FOR SETTING SEARCHING POSITION}

The present invention relates to a system and method for automatically setting a search location, and more specifically, a search location automatic setting to automatically generate a search location of a requestor inferred from the witness information of a disaster site witness within knowledgeable map information. System and method.

Disaster environments, such as high temperatures, extremes, harmful gases, radiation, and heavy weight, are difficult to reach for rescuers and can cause secondary human damage.

If the initial response of the disaster environment is insufficient, it may develop into a large human life and disaster damage.

Disaster response robots are robots that enter the disaster environment on behalf of people to prevent the search for victims and spread damage, and a number of rescuers are using one or more robots through remote controllers to control and operate the disaster response robots.

When the disaster site is searched using the disaster response robot as described above, the position of the requestor is quickly estimated, and the estimated requestor's position is transmitted to the robot or the remote controller to perform the search.

However, in the related art, since the rescuer needs to estimate the position of the requestor in the map based on the eyewitness information of the eyewitness and convert the estimated position back into the position coordinate value in the map that the robot can interpret, the eyewitness information is collected and the estimated position It may take a long time to convert to a location coordinate value in the map, which may delay the search of the requestor, or cause a problem in which incorrect location information is transmitted.

Korean Registered Patent Publication No. 10-1888012 (announcement date 2018.08.13.)

The present invention has been devised to solve this problem, and after receiving the sighting information of a witness in a disaster field through voice or text, inferring the position of the requestor, the searched position coordinates of the deduced requester are automatically within the knowledgeable map information. It is an object of the present invention to provide a system and method for automatically setting a search location to be generated.

An automatic search position setting system according to an embodiment of the present invention for achieving the above object includes: an input unit that receives sighting information and a floor plan of a witness at a disaster site; A map information knowledge unit for extracting map information necessary for the knowledge of the map information from the floor plan, and then storing the extracted map information by region; A requestor position inference unit for inferring a search position of the requester using the sighting information; A search position coordinate generator for generating search position coordinates using the deduced search position of the requested assistant and the knowledged map information; And a communication unit transmitting the generated search position coordinates to a selected robot. And a robot that searches for a requestor based on the search position coordinates received from the robot control server.

In one embodiment of the present invention, the map information is preferably made to include at least one of the center coordinates, size (area), window position, door position of each zone.

In one embodiment of the present invention, the requestor position inference unit extracts semantic information related to the position, personnel, and status of the requestor in the sighting information and infers the search position of the requestor based on the extracted semantic information It is preferred.

In one embodiment of the present invention, it is preferable that the search position coordinate generation unit generates search position coordinates through coordinate matching of the deduced searcher's search position and the knowledged map information.

Robot control server according to an embodiment of the present invention, an input unit that receives the sighting information and the floor plan of the witness of the disaster site; A map information knowledge unit for extracting map information necessary for the knowledge of the map information from the floor plan, and then storing the extracted map information by region; A requestor position inference unit for inferring a search position of the requester using the sighting information; A search position coordinate generator for generating search position coordinates using the deduced search position of the requested assistant and the knowledged map information; And a communication unit transmitting the generated search position coordinates to a selected robot.

On the other hand, in the automatic search location setting method according to an embodiment of the present invention, the map information knowledge unit extracts map information necessary for knowledge of the map information from the floor plan received through the input unit, and then knowledge the extracted map information for each area To save; Receiving sighting information of a witness at the disaster site through the input unit; A requestor position inference unit, inferring a search position of the requester using the sighting information; A search location coordinate generation unit generating search location coordinates of the requestor by using the deduced searcher's search location and the knowledged map information; And transmitting the generated search position coordinates to a selected robot.

In one embodiment of the present invention, the step of inferring the search position of the requesting assistant extracts semantic information related to the position, personnel, and status of the requesting assistant within the sighting information, and based on the extracted semantic information Preferably, it is a step of inferring the search position.

In one embodiment of the present invention, generating the search position coordinates of the requestor is preferably a step of generating search position coordinates through coordinate matching of the deduced searcher search position and the knowledged map information. .

The automatic search position setting system and method of the present invention, after receiving the sighting information of a witness in a disaster field, infers the position of the requestor, and automatically calculates the searched position coordinates of the deduced requester within the knowledged map information. By creating, it is possible to quickly and accurately convey the search position of the requestor.

In addition, by automatically inferring the position of the requestor, it is possible to reduce the work load of the rescuer.

1 is a view schematically showing a configuration of a system for automatically setting a search location according to an embodiment of the present invention.
2 is a view schematically showing the configuration of a robot control server applied to the present invention.
3 is a process diagram for explaining a method for automatically setting a search location according to an embodiment of the present invention.

For a detailed description of the present invention, which will be described later, reference is made to the accompanying drawings that illustrate, by way of example, specific embodiments in which the invention may be practiced. These examples are described in detail enough to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the invention are different, but need not be mutually exclusive. For example, the specific shapes, structures, and properties described herein can be implemented in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. In addition, it should be understood that the location or placement of individual components within each disclosed embodiment can be changed without departing from the spirit and scope of the invention. Therefore, the following detailed description is not intended to be taken in a limiting sense, and the scope of the present invention, if appropriately described, is limited only by the appended claims, along with all ranges equivalent to those claimed. In the drawings, similar reference numerals refer to the same or similar functions across various aspects.

Hereinafter, a system and method for automatically setting a search location according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view schematically showing the configuration of a system for automatically setting a search location according to an embodiment of the present invention.

In FIG. 1, the robot control server 100 infers the search position of the requestor using the sighting information of the witness at the disaster site, and searches the coordinates of the requestor's search position through coordinate matching between the inferred searcher's search position and knowledgeable map information. Generates and transmits the generated search position coordinates to the robot 10 performing the search for the requestor.

The plurality of robots 10 located at the disaster site is wirelessly connected to the robot control server 100, and moves to the corresponding search position based on the requestor search position coordinates received from the robot control server 100 to search for the requester.

Each robot 10 may transmit its current location information and its status information to the robot control server 100 that is wirelessly connected at a predetermined cycle.

The plurality of robots 10 located at the disaster site may include a ground search robot performing search on the ground, an air search robot flying through the air, and an underwater search robot performing search in the water.

2 is a view schematically showing the configuration of a robot control server applied to the present invention.

In FIG. 2, the input unit 110 receives a plan view of a site where a disaster has occurred from a rescuer and receives at least one witness information of a site witness.

When receiving eyewitness information of a disaster scene witness, the eyewitness information may be input by voice or text.

When receiving the sighting information by voice, a voice-to-text converter (not shown) for converting the received voice into text may be further provided.

The display 120 displays a camera image transmitted from each robot 10 and a global map generated by the global map generator (not shown) on the screen so that the rescuer can check the disaster situation information.

Also, the display unit 120 may display the search location coordinates generated by the search location coordinate generation unit 150 on the global map.

The map information knowledge unit 130 extracts map information necessary for knowledge of the map information from the floor plan received through the input unit 110 and stores the extracted map information by knowledge for each zone.

Specifically, the map information knowledge unit 130 analyzes the area estimated to be a room from the floor plan and determines the center coordinates, size (area), window position, door position, etc. of each area, which is map information required for knowledge of map information for each area. To extract.

In addition, the use of each area is estimated based on the map information extracted for each area, and map information is stored by knowledge of each area for which the use is estimated.

The map information knowledge unit 130 may estimate the use of each area based on the size (area) information among the map information extracted for each area, and if the size is the same, estimate the use based on the window position or the door position can do.

The map information knowledge unit 130 may estimate the use of each zone as a living room, bedroom 1, bedroom 2, kitchen, toilet, etc. when the disaster site is a home, or when the disaster site is a factory The use of each area can be estimated as the place of wearing, parts warehouse, processing/production place, inspection place, product warehouse, electric room, control room, air conditioning room, conference room, office, restaurant, rest room, toilet, shower room, changing room, etc.

For example, the map information that has been knowledged and stored for the estimated area is as follows.

Anbang-center coordinates (30, 50), room area (15㎡), door location (50, 60)

When the requestor position inference unit 140 receives at least one or more sighting information through the input unit 110, the searcher's search position is inferred using the sighting information under the control of the control unit 170.

Specifically, within the at least one or more eyewitness information input through the input unit 110, the requestor's location, personnel, and status-related keyword are extracted, and based on the extracted meaning information, the requestor's search position is searched. Reasoning.

Here, if the sighting information is'a person is hanging on the living room window railing','living room' and'window railing' may be semantic information related to the position of the requestor, and'living room','window railing' Can be inferred first as a search-needed location.

In addition to the sighting information, the requestor position inference unit 140 may infer the search position of the requester using environment information such as weather, wind strength, elapsed time after a disaster, and current time (night, day). That is, the search position of the requester can be estimated based on the correlation between environmental information, fire, and smoke.

In addition, the search position of the requestor can be estimated based on the correlation between the elapsed time after the disaster and the witness location.

The search position coordinate generation unit 150, when the search position of the requestor is inferred by the requestor position inference unit 140, knowledge of the search position and map information of the requester inferred by the requestor position inference unit 140 under the control of the control unit 170 The search unit 130 generates search position coordinates of the requestor by using the knowledged map information.

Specifically, the search position coordinates are generated through coordinate matching of the search position of the requester inferred by the requestor position inference unit 140 and the map information knowledged by the map information knowledge unit 130.

For example, when the search position of the requestor inferred by the requestor position inference unit 140 is a living room window, the searched position coordinates of the requester are generated using coordinates matched to the living room window in the knowledged map information.

The communication unit 160 transmits the search position coordinates of the requestor generated by the search position coordinate generation unit 150 to the robot 10 assigned the search requestor search mission under the control of the control unit 170.

In addition, the communication unit 160 receives a result of performing a task from the corresponding robot 10.

The communication unit 160 may be embodied as a mobile communication module performing communication through each robot 10 and a mobile communication network, and a short-range wireless communication module performing communication through each robot 10 and a short-range wireless communication network. .

Upon receiving the floor plan of the disaster site through the input unit 110, the control unit 170 controls the map information knowledge unit 130 to knowledge the map information for each area, and through the input unit 110, the witness information of the disaster site witnesses When the input is received, the requestor position inference unit 140 is controlled to extract the semantic information from the target information, and then the search position of the requestor is inferred based on the extracted semantic information.

When the search position of the requestor is inferred by the requestor position inference unit 140, the search position and map information knowledge unit 130 of the requestor inferred by the requestor position inference unit 140 is controlled by controlling the search position coordinate generating unit 150 The search position coordinates of the requestor generated by the search position coordinate generation unit 150 with the robot 10 performing the requester search mission through the communication unit 160 by generating the search position coordinates of the requester using the knowledged map information To send.

3 is a process diagram for explaining a method for automatically setting a search location according to an embodiment of the present invention.

First, when a disaster site occurs, the robot control server 100 receives the floor plan of the disaster site from the rescuer, etc. through the input unit 110, the map information knowledge unit 130 is the floor plan received through the input unit 110 After extracting the map information (for example, the center coordinates, size (width), window position, door location, etc.) of each section required for knowledge of map information in the map, the use of each section based on the extracted map information Is estimated, and map information is stored for each area for which the use is estimated (S10).

Subsequently, at least one or more eyewitness information of the disaster site witness is input through the input unit 110 (S20 ).

In the above step S20, the sighting information may be input by voice or text.

Here, when the sighting information is received by voice, it is preferable to convert the received voice into text through a voice-to-text conversion unit (not shown).

When the sighting information is input through the above-described step S20, the requestor position estimation unit 140 infers the search position of the requestor using the sighting information under the control of the control unit 170 (S30).

In the above step S30, the requestor position inference unit 140 extracts semantic information related to the position, personnel, and status of the requestor from at least one witness information received through the input unit 110, and extracts the extracted semantic information. Based on this, it is possible to infer the search position of the requestor.

When the search position of the requestor is inferred through the above-described step S30, the search position coordinate generating unit 150, under the control of the control unit 170, the search position and map information knowledge unit of the requester inferred by the requester position inference unit 140 In step 130), search location coordinates of the requestor are generated using the map information knowledged (S40).

In the above-described step S40, the search location coordinate generation unit 150 searches for the requestor through the coordinate matching of the search position of the requestor inferred by the requestor location inference unit 140 and the map information knowledged by the map information knowledge unit 130. You can create location coordinates.

When the search position coordinates of the requestor are generated through the above-described step S40, the control unit 170 uses the communication unit 160 to perform the search requestor's search mission to the robot 10 performing the search requestor's search position coordinates generated in the above step S40. Transmit (S50).

The robot 10, which has received the search position coordinates of the requesting assistant through the above step S50, moves to the corresponding search position based on the requesting person search location coordinates received from the robot control server 100, searches for the requesting assistant, and searches for the search result by the robot It transmits to the control server 100.

Although described above with reference to embodiments, those skilled in the art understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. Will be able to.

10. Robot, 100. Robot control server,
110. Input unit, 120. Display unit,
130. Ministry of Knowledge and Information of Map, 140. Reasoning Department of Requested Position,
150. Search position coordinate generating unit, 160. Communication unit,
170. Control

Claims (8)

An input unit that receives sighting information and a floor plan of a witness at the disaster site;
A map information knowledge unit for extracting map information necessary for the knowledge of the map information from the floor plan, and then storing the extracted map information by region;
A requestor position inference unit for inferring a search position of the requester using the sighting information;
A search position coordinate generator for generating search position coordinates using the deduced search position of the requested assistant and the knowledged map information; And
A robot control server including; a communication unit transmitting the generated search position coordinates to a selected robot; And
And a robot for searching for a requestor based on the search position coordinates received from the robot control server. According to claim 1,
The map information,
A system for automatically setting a search position, comprising at least one of a center coordinate, a size (area), a window position, and a door position of each zone. According to claim 1,
The requestor position inference unit,
A search position automatic setting system that extracts semantic information related to the position, personnel, and status of the requestor from the sighting information and infers the searcher's search position based on the extracted semantic information. According to claim 1,
The search position coordinate generation unit,
An automatic search position setting system that generates search position coordinates through coordinate matching of the deduced search position of the requested assistant and the knowledged map information. An input unit that receives sighting information and a floor plan of a witness at the disaster site;
A map information knowledge unit for extracting map information necessary for the knowledge of the map information from the floor plan, and then storing the extracted map information by region;
A requestor position inference unit for inferring a search position of the requester using the sighting information;
A search position coordinate generator for generating search position coordinates using the deduced search position of the requested assistant and the knowledged map information; And
Including; communication unit for transmitting the generated search position coordinates to the selected robot, including, robot control server. After the map information knowledge unit extracts the map information necessary for the knowledge of the map information from the floor plan received through the input unit, and then stores the extracted map information by knowledge by zone;
Receiving sighting information of a witness at the disaster site through the input unit;
A requestor position inference unit, inferring a search position of the requester using the sighting information;
A search location coordinate generating unit generating search location coordinates of the requester using the deduced searcher's search location and the knowledged map information; And
And transmitting the generated search position coordinates to a selected robot. The method of claim 6,
Inferring the search position of the requestor,
A method of automatically setting a search location, which is a step of extracting semantic information related to a position, a person, and a condition of a requestor in the sighting information and inferring a search position of a requestor based on the extracted meaning information. The method of claim 6,
Generating the search position coordinates of the requestor,
A method of automatically setting a search position, which is a step of generating search position coordinates through coordinate matching of the deduced search position of the requested assistant and the knowledged map information.

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