KR20210086800A - Control device for unmanned travelling vehicle - Google Patents

Abstract

The present invention relates to a safe driving system for an unmanned vehicle capable of securing a safe path through a plurality of sensors for each range, which is able to more efficiently recognize surrounding facilities and objects around the unmanned vehicle including disinfection equipment, provide a driving path with safety secured in real time, calculate a disinfection direction and a range value based on secured information on the surrounding facilities and objects, and guarantee a broad range of user value and maintenance convenience. The safe driving system for an unmanned vehicle capable of securing a safe path through a plurality of sensors for each range comprises: a driving unit (S100) which includes a disinfection unit to move to an allocated space or a predetermined destination and improve the surrounding environment; a facility recognition unit (S200) which is installed on four surfaces of the driving unit to detect the surrounding facilities and objects; a main control unit (S300) which compares driving information entered by a user and information provided by the facility recognition unit, resets a driving path in real time, and controls the driving of the driving unit; and a steering management unit (S400) which controls the moving direction of the driving unit in accordance with the path set by the main control unit.

Description

A safe driving system for an unmanned vehicle that secures a safe path through multiple detection sensors for each range {Control device for unmanned traveling vehicle}

The present invention relates to a safe driving system for an unmanned vehicle, and more particularly, by recognizing surrounding facilities and objects in a more efficient way for an unmanned vehicle including disinfection equipment, providing a safe driving route in real time, etc. Regarding the safe driving system of an unmanned vehicle that secures a safe route through multiple detection sensors for each range, where the value of use and the convenience of maintenance are widely guaranteed by calculating the disinfection direction and range value based on the information on surrounding facilities and objects will be.

In general, the disinfection car refers to all vehicles that are equipped with predetermined disinfection equipment, move to a plurality of places requiring disinfection, and induce spraying of the disinfectant.

As an example of technical ideas related to disinfection vehicles, Patent Publication No. 10-0733730 "Special vehicle for disinfection prevention" is published.

The technical idea is that a stirring tank for stirring the medicine and water discharged from the injection unit and the injection unit from which the medicine is discharged from a plurality of storage containers is installed, and the injector and the vehicle that sprays the medicine discharged from the stirring tank in the form of ultra-fine particles. It consists of a boom that is possibly installed and a pump and nozzle connected to the outlet of the injector.

This prior art has the advantage of being able to perform disinfection work in various places by spraying chemicals without height restrictions using a telescopic boom.

Here, the disinfection work was done in such a way that the driver directly operated the vehicle, and as a result, the disinfectant that was harmful to the human body was exposed to the driver. However, in this situation, it was impossible to improve the situation due to technical limitations, so the disinfection work is being carried out with the above risks as it is until now.

On the other hand, an unmanned vehicle refers to a vehicle that enables safe driving without a driver by using various smart systems, and active development is still in progress.

As an example of technical ideas related to unmanned vehicles, Korean Patent Application Laid-Open No. 10-2007-0063838 "A method for controlling steering of an unmanned vehicle using GPS" is published.

The technical idea is that by installing a GPS receiver in an unmanned vehicle, the current location of the vehicle can be quickly identified, and a safe driving route can be freely set based on this information.

However, in the prior art described above, since the current location of the vehicle is detected using GPS, and only the route to be moved forward is re-searched by comparing the detected location information and map information, for example, unexpected facilities or objects around the vehicle. Alternatively, if there is a recessed section, it may not be detected and there is a risk of a vehicle crashing or falling.

For the same reason as above, safer disinfection work should be done by grafting unmanned vehicles and sterilizers, as well as unmanned disinfection vehicles that enable efficient implementation of disinfection work by detecting various terrain features in real-time and providing a route where driving safety is secured several times. technology development is urgently required.

Registered Patent Publication No. 10-0733730 "Special vehicle for disinfection prevention" Laid-Open Patent Publication No. 10-2007-0063838 "A method for controlling steering of an unmanned vehicle using GPS"

The present invention was created to more actively solve the above-mentioned problems, and has a main purpose of installing a sterilizer in an unmanned vehicle to provide safety for workers and convenience of disinfection work.

In addition, the present invention detects and measures the surrounding facilities and objects of the unmanned vehicle in real time several times in real time in order to provide a safe driving route for the unmanned vehicle, and provides the most complete and safe route based on the measured information. It's a different solution.

In addition, the present invention is another solution to provide a suitable disinfection operation by calculating the disinfection range and disinfection amount based on information about the surrounding facilities and objects measured for the safe route of the unmanned vehicle.

In addition, the present invention provides a plurality of collision detection sensors in case a collision occurs in an unmanned vehicle due to an unexpected situation while driving, and it is another method to promptly respond according to an immediate re-route search and steering control from this. it is a solution

In order to achieve the above-mentioned problem, the safe driving system of an unmanned vehicle in which a safe path is secured through a plurality of detection sensors for each range proposed by the present invention is as follows.

The safe driving system of the present invention includes a driving unit (S100) equipped with a disinfector to improve the surrounding environment while moving to an assigned space or a predetermined destination; and facility recognition installed on all four sides of the driving unit to detect surrounding facilities and objects A unit (S200); and a main controller (S300) for controlling the driving of the driving unit by resetting the real-time driving route while comparing the driving information input by the user with the information provided by the facility recognition unit; and the path set by the main controller and a steering management unit (S400) for controlling the moving direction of the driving unit along the .

In addition, the facility recognition unit (S200) is a facility detection unit (S210) that collects information necessary for disinfection work through soil quality measurement on the driving route; and a collision detection sensor unit for detecting a collision between driving of the driving unit (100) (S220); and a laser scan unit (S230) that detects the surrounding facilities and objects of the driving unit while driving and resets the driving route.

In addition, the facility detection unit (S210) measures the moisture content and temperature of the soil and calculates a running speed suitable for disinfection work (S211); and, detects the entire area of the facility and protects against running at the same time It is characterized in that it is composed of; an area detection unit (S212) for determining the zone and the warning zone.

In addition, the main control unit (S300) is a soil characteristic input unit (S310) for inputting the disinfection direction and spray amount according to the information of the soil and the running speed; and the disinfection area input unit (S320) for entering the area of the facility requiring disinfection. and a driving type input unit (S330) for inducing selection of any one of the number of driving units of the driving unit and a plurality of preset driving paths, and inducing an input of the spray range of the sterilizer based on the selected path; and, the input information and a driving correction unit (S340) that compares the values measured by the facility detection unit (S210) and resets the driving route and the disinfection range in real time;

In addition, the laser scanning unit (S230) uses a laser displacement sensor (S231), and the laser displacement sensor (S231) divides the surrounding scan range by distance, and stops or stops depending on the distance from the object detected while driving. It is characterized in that the driving of the driving unit is controlled by issuing a command of either deceleration or caution.

In addition, the laser scanning unit (S230) is divided into a protection zone and a warning zone according to the operator's scan range setting, and the protection zone determines the driving stop and the driving stop of the driving unit according to the detection, and the warning zone is the surrounding area. It is characterized in that the new route is suggested from the main controller by re-searching the set driving route according to real-time recognition of the object.

In addition, the collision detection sensor unit (S220) includes a bumper, and the bumper is characterized in that according to the pressing force caused by the collision, the sensors installed inside the bumper come into contact with each other and a request for issuing a stop and start command is made to the main control unit.

According to the present invention having the above configuration, the sterilizer is integrally provided in the driving unit, so that the disinfection operation of the assigned area is performed without the operator's operation operation, thereby providing convenience of disinfection operation as well as actively contributing to the safety of the operator. It works.

In addition, the present invention provides accurate and efficient disinfection by continuously providing the safest driving route while a number of sensors installed on all sides of the drive unit detect the surrounding facilities and objects by range and divide it into a protection zone and a warning zone. It is more effective because the work is done.

And the present invention automatically sets the direction and range of spraying disinfectant based on the information of the surrounding facilities and objects measured in order to provide a safe path of the driving unit, and also measures the surrounding soil of the driving unit while driving to drive the driving unit. As the speed is controlled, the spray amount of the disinfectant is adjusted, and there is another effect of making more complete disinfection work.

In addition, the present invention prevents a primary collision by detecting facilities and objects arranged in the section in which the drive unit travels through the laser scanning unit installed in the drive unit, and unexpectedly collides with surrounding objects through a bumper provided in the drive unit In this case, the driving route is immediately re-searched and the driving direction is corrected, and other effects can be expected to actively prevent damage to the drive unit as well as the safety of facilities and objects due to a collision.

1 is a flowchart illustrating a safety driving system for an unmanned vehicle according to the present invention divided into units.

Hereinafter, with reference to the accompanying drawings, it will be collectively described for the configuration of the present invention and the resulting action and effect.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only this embodiment serves to complete the disclosure of the present invention, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. In addition, like reference numerals refer to like elements throughout the specification.

The present invention is disclosed with respect to a safe driving system for an unmanned vehicle.

Above all, the present invention provides a safe driving route in real time by recognizing surrounding facilities and objects in a more efficient way for an unmanned vehicle including disinfection equipment, etc. Note that it is related to the safe driving system of an unmanned vehicle in which a safe path is secured through multiple detection sensors for each range in which the value of use and the convenience of maintenance are widely guaranteed by calculating the range value.

1 is a flowchart illustrating a safe driving system for an unmanned vehicle according to the present invention divided by units.

As shown in FIG. 1, the unmanned vehicle safety driving system of the present invention largely includes a drive unit (S100) installed with a disinfector; and a facility recognition unit (S200) that detects surrounding facilities and objects; and the drive unit drives safely The main control unit (S300) for instructing various actions to be performed; and a steering management unit (S400) for controlling the direction of the driving unit according to the command of the main control unit;

The driving unit (S100) includes all means capable of moving to an allocated space or a predetermined destination by steering while the driving motor is connected to the wheel or caterpillar and moves forward, and in particular, at least one sterilizer is installed in the driving unit while driving It may be a specially equipped vehicle that is disinfected.

To this end, the driving unit S100 proposed in the present invention includes a facility recognition unit S200 that detects surroundings during driving, which will be described below, and a main control unit S300 and a main control unit that issue a driving-related command of the driving unit with the sensed information. It is an unmanned vehicle that is equipped with a steering management unit ( S400 ) that operates the actual driving of the driving unit according to the command of the driver, so that it can be driven without a driver's operation.

As described above, the driving unit S100 made of an unmanned vehicle can actively prevent human casualties caused by chemicals in disinfection work because the driver does not board, and the sterilizer installed in the driving unit S100 can be stretched in all directions. It is made in the form of height adjustment, as well as front and rear, left and right length adjustment is possible, and it is provided in a structure that can be rotated at a set angle, so that the spray angle of the drug can be arbitrarily controlled.

The facility recognition unit S200 is installed on all four sides of the vehicle body constituting the driving unit S100 to detect surrounding facilities or objects, and transmits the sensed information to the main control unit S300 to be described below. do.

In addition, the facility recognition unit (S200) of the present invention mainly measures the soil quality between driving to control the driving speed, and detects surrounding facilities or objects to prevent collision as well as transmit information on route re-search to the main control unit (S300) Thus, the steering management unit ( S400 ) performs a major role for substantially setting the overall driving route of the driving unit ( S100 ), such as suggesting a steering operation.

In detail, the facility recognition unit (S200) includes a facility detection unit (S210) that measures the soil quality during driving, a collision detection sensor unit (S220) that detects an impulse between driving of the driving unit (S100), and surrounding facilities and a laser scan unit (S230) that detects an object and requests resetting of the driving route.

Here, the facility sensing unit S210 is composed of a soil sensing unit S211 responsible for measuring the soil quality and an area sensing unit S212 responsible for sensing the area of the facility, and the soil sensing unit S211 includes a soil moisture content and As a sensor that measures the temperature and calculates a running speed suitable for disinfection work, the sensor at this time uses a soil humidity sensor, and in the present invention, a WAT-MS101 kit was used.

The WAT-MS101 is a sensor capable of measuring moisture in soil, etc., particularly, it can be used in MCU (Micro Controller Unit), and since the main control unit (S300) of the present invention is a unit configured based on the MCU, it is a soil characteristic detection sensor. Preferably, WAT-MS101 is used.

The WAT-MS101 kit is a product that can adjust the sensitivity while sensing soil humidity, provides an operating voltage of 3.3~5V and two outputs, digital and analog, and is easy to install on the drive unit (S100) and compatible with Arduino. This is possible. In addition, the WAT-MS101 kit has an adjustable sensor bracket so that the WAT-MS101 kit can always detect the soil at a constant depth because the soil humidity value varies depending on the depth of the sensor, the soil humidity, and the variable resistance. use

In particular, the WAT-MS101 kit measures both the soil quality and moisture content of the surrounding soil that the driving unit S100 steps on while moving, as well as measurement data that can be compared with the soil characteristic standard value input to the main control unit S300, which will be described later. is transmitted to the main control unit to control the amount of disinfection according to the deceleration control of the drive unit.

However, the WAT-MS101 kit proposed as the facility detection unit (S210) is merely an embodiment for constituting the present invention and is not limited to the corresponding product, and can be attached to the drive unit (S100) while detecting the characteristics of the soil. It would be natural to include all possible means.

The area detection unit S212 is a sensor that detects the entire area of a facility requiring disinfection and selects the detected area as a protection area and a warning area to prepare for safe driving. The area sensing unit S212 in the present invention is preferably a short-range sensor or a laser scan sensor.

The area sensing unit S212 divides a preset sensing range, detects facilities and objects for each sensing range, and transmits it to the main control unit S300 so that any one command of driving, deceleration, or stop data can be issued.

The setting of the sensing range of the area sensing unit S212 is shown in the figure below.

<Method for setting a detection range according to a preferred embodiment>

As in the first embodiment, the protective field case 1 detects the ultra-proximity area of the driving unit S100 and is the closest protection distance that requires immediate braking of the driving unit depending on whether facilities and objects are detected, and protective field case 2 is It detects the distance from the wall, and as the distance from the wall decreases, it is a wall recognition protection distance that requires deceleration of the drive unit, and the warning field detects facilities and objects for the first time while driving and determines whether normal driving is possible. to be.

As described above, the area detection unit S212 divides the detection range into the closest protection distance, the wall recognition protection distance, and the cautionary driving distance, and performs braking, deceleration, and cautionary driving when a facility or object is detected within the divided protection distance. It determines and transmits the sensed data and the driving determination data to the main control unit S300 to request immediate control related to driving.

The scanning range of the laser scanner of the area sensing unit S212 is as follows.

<Method for calculating scan range of laser scanner according to a preferred embodiment>

In the second embodiment, ① detects 4 m in front of the drive unit (S100) as a protection area, and when a facility or object is detected in the protection area, a stop command to prevent a collision of the drive unit can be issued A request is made to the main controller (S300). The protection zone is a zone necessary for stopping running and stopping the machine. In the present invention, 4 m is set as a distance that can be secured, but a safe distance can be set according to the working environment and braking control of the drive unit.

In the second embodiment, ② is a warning zone that detects 20 m ahead based on the driving unit S100, and when a facility or object is detected in the warning zone, a route reset command is issued to avoid a collision with the driving unit. To make a request to the main control unit (S300). In the warning zone setting, similar to the protection zone setting, the sensing distance can be set according to the working environment and steering control of the driving unit.

On the other hand, the area detection unit S212 determines that the protection area is within the nearest protection area, requests a braking command to the main control unit S300, and the driving unit S100 does not collide with the detected object according to the requested item. The following stopping distance formula is needed to secure a safe braking distance for a safe stop.

The stopping distance formula of the driving unit S100 is as follows.

<Stop distance formula of the driving unit according to the preferred embodiment>

Always in Example 3

SA is the stopping distance,

SBr is the braking distance of the drive unit,

SAnF is the braking control response distance of the drive unit,

SAnS is the sensing response distance of the area sensing unit.

To calculate the stopping distance according to the above, SA = SBr + SAnF + SAnS.

And the average stopping distance was 3m 50cm, and a safety distance of 50cm was added to set the stopping distance of 4m.

The collision detection sensor unit S220 serves to detect a collision between the surrounding facilities and various objects disposed on the driving path during the driving of the driving unit S100. The collision detection sensor unit (S220) interworks with the facility detection unit (S210) and transmits the information detected by the facility detection unit as well as the impact information when the driving unit (S100) substantially collides with an object to the main control unit (S300) to request a stop start or route change command.

For example, the driving unit (S100) primarily secures driving safety from various facilities and objects during driving through the area sensing unit (S212), and in the event of an unexpected collision despite a plurality of detections, the sensor enables immediate response. A built-in bumper is constructed.

The sensor-embedded bumper proposed by the present invention senses an impact according to the principle shown in the figure below.

<Principle of contact sensing of a sensor-embedded bumper according to a preferred embodiment>

As in the fourth embodiment, the bumper of the present invention is provided with a sensor therein, and the connector of the sensor is in contact with each other to detect a collision with a surrounding object while the pressing force generated during a collision causes a shape change in the bumper. At the same time, the shock information is transmitted to the main control unit S300 to request braking or route change.

The laser scan unit S230 detects surrounding facilities and objects during the driving of the driving unit S100 and transmits them to the main control unit S300 to request to reset the driving path of the driving unit, and the laser displacement sensor (S231) is used, and the specifications of the laser displacement sensor are as follows.

Measuring range: 0.05~24meters

Resolution: 3mm

Static measurement accuracy: ±5cm

Dynamic measurement accuracy: 16cm

Visible Laser: Class 3R, <3mW

IR Laser: Class 2, <1mW

Infrared laser wavelength: 905nm

The laser displacement sensor S231 divides the surrounding scan range by distance, and according to the distance to an object sensed while driving, commands any one of stop, decelerate, or attention to control the driving of the driving unit.

In particular, the laser scanning unit (S230) of the present invention is divided into a protection area and a warning area according to the operator's scan range setting in conjunction with the area detection unit (S212). And, the protection zone determines the driving stop and the driving stop of the driving unit according to the detection, and the warning zone re-searches the driving route set according to real-time recognition of surrounding objects to receive a new route suggestion from the main controller.

The main control unit (S300) calculates the most suitable driving information and disinfectant injection conditions by comparing various standard information values set by the operator with the driving zone information provided by the facility recognition unit (S200), and uses the calculated information to the steering management unit It serves to transfer to (S400).

In addition, the main control unit (S300) proposed as a feature of the present invention is based on the MCU, which is the most suitable computer for controlling the unmanned vehicle, and receives the requested information transmitted by the facility recognition unit (S200) and quickly makes a suitable judgment. In addition to outputting it smoothly, it has the ability to implement the operation processing specified by the operator as close to perfection as possible.

In more detail, the main control unit (S300) includes a soil characteristic input unit (S310) for inputting information on soil quality and a disinfection direction and an amount of spray according to the running speed, and a disinfection area input unit for inputting the area of a facility requiring disinfection. (S320), a driving type input unit (S330) for inducing the selection of any one of the number of driving units and a plurality of preset driving paths, and inducing an input of the injection range of the sterilizer based on the selected path; It is composed of a driving correction unit (S340) that compares the information and the value measured by the facility detection unit (S210) to reset the driving route and the disinfection range in real time.

The soil characteristic input unit (S310) receives standard values such as soil characteristics and soil moisture content (%) and disinfection temperature, and compares the calculated values with the actual soil characteristics measured by the soil quality detection unit (S211) to the steering management unit ( S400).

The disinfection area input unit S320 serves to receive an input from the operator of the total area of the area in which the disinfection and driving unit S100 travels.

The driving type input unit S330 is linked with the disinfection area input unit S320, and selectively receives the number of round trips or driving routes or driving forms of the driving unit S100 within the entire area, and furthermore, facilities and objects on the driving path Calculate the separation distance of the sterilizer for

The driving correction unit S340 compares and analyzes the information entered by the operator with the actual sensing data provided by the facility recognition unit S200 to calculate the most suitable driving route and disinfection operation. Then, the calculated information is transmitted to the steering management unit S400 to issue a command to control the operation of the driving unit S100 .

The steering management unit ( S400 ) performs a role of executing a collective action related to the moving direction and driving speed of the driving unit ( S100 ) and the sterilization operation according to the data requested by the main control unit ( S300 ).

The steering management unit S400 changes the path in the following form.

<Steering control direction control guide according to a preferred embodiment>

<Structure of the drive unit according to the preferred embodiment>

According to the fifth embodiment, A to G indicate the measurement distances of each sensor unit, and L and R of the drive unit indicate the left drive speed and the right drive speed, respectively. Here, it is assumed that each sensor-measured distance value replaces the set field value with a unit value.

The following shows the concept of left and right drive speed control according to the above measured values.

<Calculation formula for drive speed control based on measured values>

As described above, when an object is not detected by sensors A and B, the wheels of L and R rotate the same to make an accurate straight-line operation. For example, when an object is detected by sensor A, wheel L is decelerated and the drive unit ( S100) is attempted to turn left and departs from the object.

Conversely, when an object is detected by the B sensor, the R wheel is decelerated and the driving unit S100 is completely separated from the object as a right turn is attempted. On the other hand, as the sensing distance between the A and B sensors gradually decreases, the L and R wheels are decelerated gradually rather than braking at once.

And even if an object or facility is detected by the E or F sensor provided on the same line with the L wheel or the F or G sensor provided on the same line with the R wheel, the wheel arranged on the corresponding line is stopped or decelerated to steer.

According to the present invention having the above configuration, the sterilizer is integrally provided in the driving unit, so that the disinfection operation of the assigned area is performed without the operator's operation operation, thereby providing convenience of disinfection operation as well as actively contributing to the safety of the operator. It works.

In addition, the present invention provides accurate and efficient disinfection by continuously providing the safest driving route while a number of sensors installed on all sides of the drive unit detect the surrounding facilities and objects by range and divide it into a protection zone and a warning zone. It is more effective because the work is done.

And the present invention automatically sets the direction and range of spraying disinfectant based on the information of the surrounding facilities and objects measured in order to provide a safe path for the driving unit, and also measures the surrounding soil of the driving unit in motion to drive the driving unit. As the speed is controlled, the spray amount of the disinfectant is adjusted, and there is another effect of making more complete disinfection work.

In addition, the present invention prevents a primary collision by detecting facilities and objects arranged in the section in which the driving unit travels through a laser scanning unit installed in the driving unit, and unexpectedly collides with surrounding objects through a bumper provided in the driving unit In this case, the driving route is immediately re-searched and the driving direction is corrected, and other effects can be expected to actively prevent damage to the drive unit as well as the safety of facilities and objects due to a collision.

Although the present invention described above has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and various modifications and equivalent other embodiments are possible by those skilled in the art. should be made clear. Accordingly, the true technical protection scope of the present invention should be construed by the appended claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

S100. drive unit
S200. Facility Recognition Department
S300. main control unit
S400. Steering Management Department

Claims (3)

a driving unit (S100) equipped with a sterilizer to improve the surrounding environment while moving to an allocated space or a predetermined destination;
A facility recognition unit (S200) installed on all four sides of the driving unit to detect surrounding facilities and objects;
a main controller (S300) for comparing the driving information input by the user with the information provided by the facility recognition unit and resetting the real-time driving route to control the driving of the driving unit (S300);
a steering management unit (S400) for controlling the moving direction of the driving unit along the path set by the main control unit;
A safe driving system for an unmanned vehicle in which a safe path is secured through a plurality of detection sensors for each range, characterized in that it consists of.
According to claim 1,
The facility recognition unit (S200),
A facility detection unit (S210) that collects information necessary for disinfection work through soil measurement on the driving route;
a collision detection sensor unit (S220) for detecting a collision between driving of the driving unit 100;
A laser scanning unit (S230) that detects the surrounding facilities and objects of the driving unit while driving and resets the driving route;
including,
The facility detection unit (S210),
a soil sensing unit (S211) for calculating a running speed suitable for disinfection by measuring the moisture content and temperature of the soil;
an area sensing unit (S212) for detecting the entire area of the facility and simultaneously determining a protection area and a warning area for driving;
A safe driving system for an unmanned vehicle in which a safe path is secured through a plurality of detection sensors for each range, characterized in that it consists of.
According to claim 1,
The main control unit (S300),
a soil characteristic input unit (S310) for inputting information on soil quality and a disinfection direction and spray amount according to running speed;
a disinfection area input unit (S320) for entering an area of a facility requiring disinfection;
a driving type input unit (S330) for inducing selection of any one of the number of driving units and a plurality of preset driving paths, and for inducing input of a spray range of the sterilizer based on the selected path;
a driving correction unit (S340) that compares the input information with the values measured by the facility detection unit (S210) and resets the driving route and the disinfection range in real time;
A safe driving system for an unmanned vehicle in which a safe path is secured through a plurality of detection sensors for each range, characterized in that it consists of.

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