KR20210089991A - Method and System For Facility management using unmanned device - Google Patents

Abstract

The present invention provides a facility management method using an automated device, which comprises the steps of: acquiring first sensing data regarding the outside of a predetermined facility through a first automated device; determining whether it is necessary to acquire additional data regarding the inside of the facility; controlling, based on a result of the determination, to provide information about a target location inside the facility to which a second automated device should move to the second automated device; acquiring second sensing data regarding the inside of the facility through the second automated device; and generating management data based on the first sensing data and the second sensing data. The present invention can reduce the burden on a manager by efficiently generating the management data for maintaining and repairing the facility.

Description

Method and System For Facility management using unmanned device

The technical field to which this embodiment belongs relates to a facility management method, and specifically, to a facility management method using an unmanned device.

With the development of building technology, various types of facilities such as dams, power plants, and buildings are being built. After the construction of the facility, continuous maintenance and repair is required. In general, the maintenance and repair of facilities is mainly performed through direct observation of the manager. However, in this case, it is very difficult to access the management according to the size and shape of the facility, such as a facility inside a very narrow space or a facility of a high-rise building. In addition, some devices are used to assist inaccuracies when inspecting with the naked eye of an administrator, but devices that can be utilized for maintenance and repair are insufficient.

In addition, since various companies cooperate to build facilities, defects and management responsibilities are different for each part and member of the facility. Therefore, the burden on the manager to separately collect and organize information for maintenance and repair of each part and member of the facility is very high.

Therefore, in recent years, attempts have been made to provide a method for efficient and accurate maintenance and management of facilities with less burden on managers.

The disclosed embodiments are intended to provide a method for maintaining and managing a facility.

According to an embodiment of the present disclosure, in a facility management method using an unmanned device, the method includes: acquiring first sensing data regarding the outside of a predetermined facility through a first unmanned device; determining whether it is necessary to acquire additional data regarding the interior of the facility; controlling, based on a result of the determination, to provide information about a target location inside the facility to which a second unmanned device should move to the second unmanned device; acquiring second sensing data regarding the inside of the facility through the second unmanned device; and generating management data based on the first sensed data and the second sensed data.

The information about the target location inside the facility to which the second unmanned device should move may be determined based on the first sensing data and location information acquired by the first unmanned device.

Acquiring the second sensing data on the inside of the facility through the second unmanned device, the second sensing data is the sensing data at the target location and the second unmanned device moves inside the facility It may include sensing data of a movement path, and the movement path may be determined based on a location of the second unmanned device determined by the second unmanned device and the target location.

The location of the second unmanned device may be determined based on a global positioning system (GPS) of the second unmanned device.

The location of the second unmanned device may be determined when a global positioning system (GPS) sensor signal of the second unmanned device is lower than a predetermined strength, the location of the second unmanned device is a position value relative to the most recently received GPS information It may be determined by performing addition or subtraction.

The addition or subtraction of the relative position value may be determined based on movement direction and distance information in the facility measured by the acceleration sensor of the second unmanned device.

The controlling to provide information on the target location inside the facility to the second unmanned device may include controlling the first unmanned device to directly provide information on the target location inside the facility to the second unmanned device, or , the management device may be to provide the second unmanned device with information about the target location inside the facility obtained from the first unmanned device.

The acquiring of the first sensing data regarding the outside of a predetermined facility through the first unattended device may include acquiring the first sensing data by controlling the first unattended device based on a user input, or through a preset path. The first sensing data may be obtained from the moving first unmanned device.

The acquiring of the second sensing data on the inside of the facility through the second unmanned device may include: according to a user input based on information about a target location inside the facility to which the second unmanned device should move, the second The second sensing data may be acquired by controlling the unmanned device, or the second sensing data may be acquired from the second unattended device that automatically moves to information about a target location inside the facility.

At least one of the first sensed data and the second sensed data includes image data, and the determining whether additional data on the inside of the facility needs to be acquired may include, based on the analysis result of the image data, the It may be determined by the first unattended device or determined by a user input.

The image data may include a barcode, and the barcode may include management information on the facility or management information on each member constituting the facility.

The management data may include at least one of data in which external and internal images of the facility are connected or three-dimensional point cloud data based on the first sensing data and the second sensing data.

The method may further include outputting management information corresponding to the facility, the absence of the facility, or a predetermined location of the facility, based on a user input for the management data.

According to an embodiment of the present disclosure, in a device for managing a facility using an unmanned device, the device includes: a communication unit; Memory; and acquiring first sensing data regarding the outside of a predetermined facility through the first unmanned device, determining whether additional data regarding the inside of the facility is required, and based on the result of the determination, second unattended control to provide information about a target location inside the facility to which the device should move to the second unmanned device, obtain second sensing data about the inside of the facility through the second unmanned device, and It may include a processor that controls to generate management data based on the sensed data and the second sensed data.

A system for managing a facility using an unmanned device, the system comprising: a first unmanned device including a GPS sensor, one or more cameras and communication means; a second unmanned device comprising a GPS, an acceleration sensor, one or more cameras, and communication means; and a management device generating management data through the first sensing data obtained by the first unattended device and the second sensing data obtained by the second unattended device, wherein the management device is configured to add information about the inside of the facility It is determined whether it is necessary to acquire data, and based on the result of the determination, the second unmanned device moves to a target location inside the facility, and the second sensed data includes the sensing data at the target location and the second unmanned device. 2 The unmanned device may include sensing data of a movement path moving inside the facility.

By efficiently generating management data for maintaining and repairing facilities, the burden on the administrator can be reduced.

1 is a view for explaining the maintenance and management of a facility using an unmanned device.
2 is a view for explaining a system for managing the inside and outside of a facility according to an embodiment of the present disclosure.
3 is a flowchart of a facility management method using an unmanned device according to an embodiment of the present disclosure.
4 is a view for explaining a method of interworking of an unmanned device for facility management according to an embodiment of the present disclosure.
5 is a diagram for explaining a method for estimating a location of an unmanned device indoors according to an embodiment of the present disclosure.
6 is a diagram for describing a method for determining a defect based on sensing data according to an embodiment of the present disclosure.
7 is a view for explaining acquisition of facility management information using a barcode according to an embodiment of the present disclosure.
8 is a flowchart of a system for managing the inside and outside of a facility according to an embodiment of the present disclosure.
9 is a block diagram of a management device according to an embodiment of the present disclosure;
10 is a block diagram of an unmanned device according to an embodiment of the present disclosure.

Since the technical spirit of the present disclosure may have various changes and may have various embodiments, specific embodiments will be illustrated in the drawings and will be described in detail through detailed description. However, this is not intended to limit the technical spirit of the present disclosure to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the scope of the technical spirit of the present disclosure.

In describing the technical idea of the present disclosure, if it is determined that a detailed description of a related known technology may unnecessarily obscure the spirit of the present disclosure, the detailed description thereof will be omitted. In addition, numbers (eg, first, second, etc.) used in the description process of the present specification are only identification symbols for distinguishing one component from other components.

In addition, in this specification, when a component is referred to as "connected" or "connected" with another component, the component may be directly connected or directly connected to the other component, but in particular It should be understood that, unless there is a description to the contrary, it may be connected or connected through another element in the middle.

In addition, terms such as "~ unit", "~ group", "~ character", and "~ module" described in this specification mean a unit that processes at least one function or operation, which is a processor, a micro Processor (Micro Processor), Application Processor (Application Processor), Micro Controller (Micro Controller), CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerate Processor Unit), DSP (Digital Signal Processor), ASIC ( It may be implemented by hardware or software, such as an Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or a combination of hardware and software.

In addition, it is intended to clarify that the classification of the constituent parts in the present specification is merely a classification for each main function in charge of each constituent unit. That is, two or more components to be described below may be combined into one component, or one component may be divided into two or more for each more subdivided function. In addition, each of the constituent units to be described below may additionally perform some or all of the functions of other constituent units in addition to the main functions that each constituent unit is responsible for, and some of the main functions of the constituent units are different from other constituent units. Of course, it may be carried out by being dedicated to it.

Hereinafter, in the present disclosure, a facility refers to various types of buildings or devices, and may mean a building or device installed to satisfy a specific purpose. For example, it may be a building such as a building, a structure such as a tower or a stone statue, a device such as a large clock or electric sign, a plumbing facility, and a structure such as a road. In the present disclosure, a facility may mean a single facility, and may include a group of buildings having common characteristics, a set of facilities such as a road, and a device for connecting facilities. Of course, it is not limited to the above example.

In the present disclosure below, a barcode may mean a code expressed in various patterns readable by a device. A predetermined amount of data may be stored in the barcode, and the device may optically read the barcode to read data stored in the barcode. Barcodes in the present disclosure may include one-dimensional and two-dimensional barcodes. The two-dimensional barcode may mean a QR (Quick Response) code. Of course, it is not limited to the above example and may also include a 3D barcode.

In the present disclosure below, the unmanned device may include both a device in which a person does not directly board and a device capable of autonomously performing an operation without a human control. In addition, the unmanned device may include a device capable of flying, a device movable on the ground, and a device movable on water or in water. Of course, it is not limited to the above example.

Sensing data in the present disclosure below may include all information acquired through a sensor. The sensing data may include various data such as an image acquired through an image sensor, thermal image data (or thermal image image) acquired through a thermal sensor, temperature data, humidity data, altitude data, wind direction data, and the like. Of course, it is not limited to the above example.

Location information in the present disclosure below may include all information related to the location of a device or a location of a facility, such as absolute coordinate information, relative coordinate information, information about a moving path, information about a moving speed, information about a moving direction, etc. have.

In the present disclosure below, a management device is a device for managing a facility, and may include, for example, a smartphone, a PC, a tablet PC, a server, a cloud server, and the like, and is not limited to the above example.

Hereinafter, embodiments according to the technical spirit of the present disclosure will be described in detail in turn.

1 is a view for explaining the maintenance and management of a facility using an unmanned device.

Referring to FIG. 1 , the unmanned device 10 senses within a predetermined range of the facility 20 periodically or aperiodically for maintenance and management of the facility 20 , and for maintenance and management of the facility 20 . information can be obtained.

As described above, the unmanned device may include both a device in which a person does not directly board and a device capable of autonomously performing an operation without a human control. For example, the unmanned device may mean a drone, an RC car, etc., and may include an airplane or a car supporting an autonomous driving function.

According to an embodiment of the present disclosure, the unmanned device 10 may be moved up, down, left, and right by a user's manipulation, and may fly along a predetermined route. Also, the unmanned device 10 may mean a single device or a set of a plurality of unmanned devices. The size of the unmanned device may vary, and may vary according to the type, operation, and size of the unmanned device.

The unmanned device 10 according to an embodiment of the present disclosure may include various sensors. For example, it may include an image sensor such as a camera, an altimeter, a wind vane, a thermometer, a heat sensor, an acceleration sensor, a gyro sensor, and the like, but is not limited to the above example.

Also, according to an embodiment of the present disclosure, the unmanned device 10 may include at least one communication module supporting various communication methods. The unmanned device 10 may transmit sensing data acquired through a sensor using a communication module. The unmanned device 10 may transmit the sensed data by processing it in a predetermined manner, or may transmit the sensed data without processing. Also, the unmanned device 10 may periodically or aperiodically transmit sensing data. The sensing method and sensing data transmission setting of the unmanned device 10 may be determined by a user input or a preset code.

Referring to FIG. 1 , the unmanned device 10 may acquire an image using a camera. The unmanned device 10 includes a Global Positioning System (GPS) sensor, and the unmanned device 10 may take a picture to include location information in an image using the GPS sensor. In addition, the unmanned device 10 according to an embodiment of the present disclosure may acquire a thermal image through a thermal imaging camera.

Accordingly, according to an embodiment of the present disclosure, the unmanned device 10 may also acquire information on a location where a defect occurs in a facility, such as a crack and a heat loss site, through close-up photography and thermal imaging.

According to an embodiment of the present disclosure, sensing data about the facility 20 obtained by the unmanned device 10 may be generated as management data through the management device. The management system according to the present disclosure will be described in more detail with reference to FIG. 2 below.

2 is a view for explaining a system for managing the inside and outside of a facility according to an embodiment of the present disclosure.

The system 100 for managing the inside and outside of a facility according to an embodiment of the present disclosure may include a first unattended device 101 , a second unmanned device 102 , and a management device 103 . Of course, the system 100 for managing the inside and outside of the facility is not limited to the illustrated example, and may include more or fewer components than the configuration shown in FIG. 2 .

For example, the system 100 for managing the inside and the outside of a facility may include only one unmanned device, may include three unmanned devices, and may include a plurality of management devices.

According to an embodiment of the present disclosure, the management device 103 may acquire sensing data from the first unattended device 101 and the second unattended device 102 . Also, the management device 103 may generate management data based on the sensed data.

According to an embodiment of the present disclosure, the management device 103 may control the first unattended device 101 and the second unattended device 102 . The management device 103 may control the moving direction, the moving speed, the moving path, etc. of the first unattended device 101 and the second unattended device 102 according to a user input. In addition, the management device 103 may set a sensing period of the first unattended device 101 and the second unattended device 102 , a type of data to be sensed, a transmission period of the sensing data, and the like.

According to an embodiment of the present disclosure, the management device 103 may be a separate device different from the first unattended device 101 or the second unattended device 102 , and the first unattended device 101 or the second unattended device ( 102). That is, a separate device may control the first unattended device 101 , the first unattended device 101 may control the second unattended device 102 , and the first unattended device 101 may control the first unattended device 101 . The unmanned device 101 may be controlled.

According to an embodiment of the present disclosure, the management device 103 may determine a location where a defect occurs in the facility 110 and the degree of the defect based on the sensed data. For example, the management device 103 may include a facility such as cracks and heat loss sites based on sensing data acquired through close-up photography and thermal imaging acquired by the first unmanned device 101 and the second unmanned device 102 . Information on the location where the defect occurred can also be obtained.

In addition, the management device 103 is based on the barcode information attached to the facility 110 photographed by the first unmanned device 101 and the second unmanned device 102, information about the facility, information for the maintenance and management of the facility may be obtained. Information for photographing barcodes and maintaining and managing facilities will be described in more detail with reference to FIG. 7 below.

Also, according to an embodiment of the present disclosure, when there is a location where the first unmanned device 101 cannot photograph a facility or additional sensing data is required, the management device 103 controls the second unmanned device 102 It is possible to additionally acquire sensing data by controlling it.

According to an embodiment of the present disclosure, the second unmanned device 102 receives location information from the first unmanned device 101 or receives location information from the management device 103, and provides a facility based on the received location information. (110) can be moved.

For example, the first unmanned device 101 is a drone and may not be able to move into the facility 110 . The second unmanned device 102 may be a ground-moving unmanned device such as an RC car capable of moving inside the facility 110 . Accordingly, the first unmanned device 101 provides predetermined coordinates inside the facility 110 to the second unmanned device 102 , and the second unmanned device 102 moves into the facility 110 according to the predetermined coordinates. can move The second unmanned device 102 may obtain sensing data for a predetermined coordinate and provide it to the management device 103 .

Hereinafter, a method of managing a facility using an unmanned device will be described in more detail.

3 is a flowchart of a facility management method using an unmanned device according to an embodiment of the present disclosure.

In step 301, the management device may acquire first sensing data regarding the outside of a predetermined facility through the first unmanned device.

According to an embodiment of the present disclosure, the management device acquires the first sensing data by controlling the first unattended device based on a user input, or obtains the first sensing data from the first unattended device moving through a preset path. can

According to an embodiment of the present disclosure, the first unmanned device may be a flight-type device. Also, the first sensing data may be sensing data regarding the outside of the facility. Also, according to an embodiment of the present disclosure, at least one of the first sensing data may include image data.

As described above, the sensed data may include all information acquired through the sensor. In addition, the sensed data may include an image acquired through the image sensor and thermal image data (or thermal image) acquired through the thermal sensor. Of course, it is not limited to the above example.

In operation 303 , the management device may determine whether it is necessary to acquire additional data regarding the interior of the facility.

According to an embodiment of the present disclosure, the management device may determine whether sensing data for an internal facility is additionally required. That is, the management device may determine whether additional data regarding the interior of the facility is required based on the first sensing data.

According to an embodiment of the present disclosure, the management device may determine whether a defect has occurred in the facility based on the first sensing data, and may determine whether sensing data for the determination result is additionally required. For example, the management device may determine whether a defect of the building has occurred based on the thermal image of the building acquired through the first unmanned device, and determine whether additional sensing data for a predetermined location such as the inside of the building is required can do.

In addition, the management device may determine a location of a facility in which the first unmanned device is difficult to enter based on the first sensing data, and may determine that additional sensing data is necessary based on the determination result.

Also, according to an embodiment of the present disclosure, the first unattended device, not the management device, may directly determine whether additional sensing data is required, and the management device or the first unattended device determines whether additional sensing data is required according to a user input. You may.

In operation 305 , the management device may control to provide the second unmanned device with information about a target location inside the facility to which the second unmanned device needs to move, based on the result of the determination.

According to an embodiment of the present disclosure, the management device may provide location information corresponding to a location requiring additional sensing data to the second unmanned device. The management device may receive location information corresponding to a location requiring additional sensing data from the first unattended device, and provide the received location information to the second unmanned device, and the first unattended device may Corresponding location information may be directly provided to the second unmanned device.

According to an embodiment of the present disclosure, a location requiring additional sensing data may be a target location inside a facility to which the second unmanned device needs to move. That is, it is possible to provide the second unmanned device with coordinates regarding the target location inside the facility, which is difficult to enter by the first unmanned device, and move the second unmanned device to the target location to acquire sensing data. That is, the information about the target location inside the facility to which the second unmanned device should move may be determined based on the first sensing data or location information acquired by the first unmanned device. Of course, the example is not limited thereto, and information regarding a target location to which the second unmanned device should move may be determined according to a user input.

In operation 307 , the management device may acquire second sensing data regarding the interior of the facility through the second unmanned device.

According to an embodiment of the present disclosure, the second sensing data may be additional sensing data determined to be necessary in step 305 . In addition, the second sensing data may include sensing data sensed by the second unmanned device at a target location and sensing data of a movement path through which the second unmanned device moves inside the facility.

For example, the second sensing data may be sensing data at (32, 127, 53) coordinates, or sensing data obtained from a path in which the second external device moves to (32, 127, 53) coordinates. .

Also, according to an embodiment of the present disclosure, the movement path may be determined based on the location of the second unmanned device determined by the second unmanned device and the target location. According to an embodiment of the present disclosure, the location of the second unmanned device is determined based on a Global Positioning System (GPS) of the second unmanned device, or when the GPS sensor signal of the second unmanned device is lower than a predetermined strength, the second unmanned device is 2 The location of the unmanned device may be determined by adding or subtracting a location value relative to the most recently received GPS information. This will be described in more detail in FIG. 5 .

Obtaining the second sensing data by controlling the second unmanned device according to a user input based on information about a target location inside the facility to which the second unmanned device should move, or information about a target location inside the facility The method of acquiring the second sensing data from a second unattended device that automatically moves to

In operation 309, the management device may generate management data based on the first sensing data and the second sensing data.

According to an embodiment of the present disclosure, data in which external and internal images of a facility are connected may be generated based on the first sensing data and the second sensing data. Alternatively, the management device may generate the first sensing data and the second sensing data 3D point cloud data.

Also, according to an embodiment of the present disclosure, the management device may output management information corresponding to a facility, the absence of the facility, or a predetermined location of the facility, based on a user input for the management data. The output management information may be obtained from a barcode attached to a facility or a member of the facility.

4 is a view for explaining a method of interworking of an unmanned device for facility management according to an embodiment of the present disclosure.

Referring to FIG. 4 , the first unmanned device 101 may be a drone. The first unmanned device 101 may be located outside the facility 110 and may acquire sensing data for the outside of the facility. The first unmanned device 101 may photograph the outside of the facility based on architectural information about the facility, such as the location and altitude of the facility 110 . The location and altitude of the facility 110 may be obtained from information stored in the first unmanned device 101 or may be obtained from an external server.

However, it is difficult for the first unmanned device 101 to enter the inside of the facility 110 . Accordingly, it is difficult for the first unmanned device 101 to acquire sensing data for the inside of the facility. Accordingly, instead of the first unmanned device 101 , the second unmanned device 102 may acquire the sensing data inside the facility 110 .

Referring back to FIG. 4 , the second unmanned device 102 may be an unmanned device capable of ground movement. For example, the second unmanned device 102 may be an RC (Radio Control) car. In addition, the second unmanned device 102 may be a device equipped with a 360-degree rotatable camera.

According to an embodiment of the present disclosure, the second unmanned device 102 may enter the facility 110 and move inside the facility 110 . The second unmanned device 102 may move inside the facility 110 based on location information provided from the first unmanned device 101 .

According to an embodiment of the present disclosure, the first unattended device 101 or the management device may control the second unattended device 102 . For example, the first unattended device or the management device may control the second unmanned device to move within the facility 110 by providing location information to the second unmanned device 102 at predetermined time intervals.

Also, according to an embodiment of the present disclosure, the second unmanned device 102 may determine a photographing period, a photographing angle, a photographing location, and a photographing time by the first unmanned device 101 or the management device.

Also, according to an embodiment of the present disclosure, the second unmanned device 102 may determine a movement path based on destination location information provided from the first unattended device 101 or the management device. For example, the second unmanned device 102 may obtain a drawing of the inside of the facility 110 , and may determine a movement path based on the target location information and the drawing regarding the inside of the facility. The drawing of the inside of the facility may be obtained from information stored in the second unmanned device 102 or may be obtained from an external server, or may be provided by the first unmanned device 101 .

Also, according to an embodiment of the present disclosure, the second unmanned device 102 may be a movable unmanned device located inside the facility 110 . For example, the second unmanned device 102 may be a device existing inside a facility, such as a robot cleaner, an elevator, a robot dog, and a robot fish. The first unmanned device 101 or the management device acquires the control right of the second unmanned device 102 existing inside the existing facility, and controls the second unattended device 102 based on the acquired control right to control the facility. It is also possible to acquire internal sensing data.

According to an embodiment of the present disclosure, the first unmanned device 101 and the second unmanned device 102 may be connected through a short-range communication method. For example, the first unattended device 101 may control the second unattended device 102 using a short-range communication method such as Bluetooth, BLE, Wi-Fi, or Zigbee. However, the example is not limited thereto, and the first unmanned device 101 may be connected using a communication method through a base station such as 3G, LTE, or 5G.

However, it may be somewhat difficult for the second unmanned device 102 to determine the location of the second unmanned device 102 inside the facility 110 . A method for estimating the location of the second unmanned device 102 inside the facility 110 will be described in more detail with reference to FIG. 5 below.

5 is a diagram for explaining a method for estimating a location of an unmanned device indoors according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the second unmanned device 102-1 located outside may determine the location of the second unmanned device 102-1 by using a GPS sensor. That is, the second unmanned device 102-1 may determine its location based on the GPS sensor signal. However, it is difficult for the second unmanned device 102 - 2 to determine its location in a space where the signal of the GPS sensor cannot be smoothly received, such as inside the facility 110 or underground. Therefore, the second unmanned device 102 - 2 may determine its location by using a method other than the GPS sensor signal.

According to an embodiment of the present disclosure, the second unmanned device 102 - 2 includes movement direction information of the second unmanned device 102 - 2 . Its location may be determined based on at least one of movement distance information and movement speed information. For example, the second unmanned device 102 may calculate at least one of a moving direction, a moving speed, and a moving distance of the second unmanned device 102 - 2 based on an acceleration sensor, a gyro sensor, and the like. The second unmanned device 102 - 2 may determine the coordinates according to the received GPS sensor signal as an initial value, and apply the calculated movement direction, movement speed, and movement distance.

In other words, the second unmanned device 102-2 obtains the current position coordinates (absolute value) by adding the user's movement coordinates (relative value) calculated by the 　 calculation to the last received 　GPS 　 coordinates (absolute value). can be calculated. Of course, the second unmanned device 102 - 2 may perform the calculation directly, but the management device or the first unattended device may replace the calculation for estimating the location of the second unattended device 102 - 2 .

In addition, according to an embodiment of the present disclosure, the second unmanned device 102-2 determines its own location information based on the relative coordinates inside the facility 110 (a separate coordinate inside a building or a coordinate using a QR code) can do. The relative coordinates inside the facility 110 may be mapped with absolute coordinates (GPS coordinates), and the mapping information may be stored in the second unmanned device 102-2 or may be obtained from an external device.

According to an embodiment of the present disclosure, the second unmanned device 102 - 2 is the second unmanned device based on at least one of a movement direction, a movement speed, and a movement distance through a sensor from when entering the facility 110 . By determining the relative coordinates inside the facility of 102-2, and changing the relative coordinates inside the facility 110 to absolute coordinates, it is also possible to determine its own location.

Additionally, according to an embodiment of the present disclosure, the second unmanned device 102 - 2 may determine its location based on a wireless positioning technology. For example, the second unmanned device 102 - 2 may be configured to use the second unmanned device 102 - 2 based on the location of at least one access point within the facility 110 and signal strength between each access point and the second unmanned device 102 - 2 . The location of the unmanned device 102 - 2 may be determined.

For example, the second unmanned device 102-2 determines the distance and direction between the access point and the second unmanned device 102-2 in consideration of the signal strength from the access point and the signal direction using the directional antenna, It is also possible to determine its own location in the facility 110 according to the determination result.

As in the above embodiments, there is no limitation in the method of estimating the position of the second unmanned device 102 - 2 in the interior of the facility 110 according to an embodiment of the present disclosure.

6 is a diagram for describing a method for determining a defect based on sensing data according to an embodiment of the present disclosure.

As described above, the management device may acquire sensing data from the first unattended device or the second unattended device. The management device, the first unmanned device, or the second unmanned device may determine the lower limb of the facility by analyzing the sensing data.

According to an embodiment of the present disclosure, the management device may store sensing data for a state of a facility without a defect. Accordingly, the management device may determine whether the facility is defective by comparing the sensing data for the state of the facility without the defect with the sensing data obtained from the first unmanned device or the second unmanned device. Of course, as described above, the first unmanned device and the second unmanned device may determine whether the facility is defective in the same manner.

Referring to FIG. 6 , a first image 601 may be an image in a state of a defect-free facility, and a second image 603 may be an image obtained from the second unmanned device. The management device compares the first image 601 and the second image 603 to determine a portion (eg, a degree of distribution of heat) in which the first image 601 and the second image 603 are different, and based on the determination result Accordingly, it is possible to determine whether the facility is defective or not.

7 is a view for explaining acquisition of facility management information using a barcode according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, barcode information 701 may be attached to the facility 110 . The barcode information 701 may be attached to the outside or the inside of the facility 110 , or may be attached in units of members of the facility 110 . According to an embodiment of the present disclosure, the barcode may include a QR code.

According to an embodiment of the present disclosure, the barcode information 701 may be attached by being printed at a factory when a member of the facility 110 such as glass or metal product is manufactured, and the barcode for the structure and finishing material to be constructed is the construction or It may be attached to a predetermined position after construction is completed. The barcode may be printed or attached to a steel plate, aluminum, stone, wood, or the like. Of course, it is not limited to the above example.

As described above, the first unattended device 101 and the second unattended device 102 may acquire sensing data. The sensing data may include at least one type of image, and barcode information 701 may be included in the image. In other words, the first unmanned device 101 and the second unmanned device 102 may acquire the barcode information 701 and read information stored in the barcode information 701 .

According to an embodiment of the present disclosure, the information stored in the barcode information 701 includes information about the construction company of the facility 110 (constructor homepage, person in charge, contact information), the contact information of the person in charge of maintenance and repair of the facility 110 , and the facility 110 ) address, elevation and coordinates of the facility 110, and at least one of external and internal drawings of the facility 110 may be included, and of course, is not limited to the above example.

According to an embodiment of the present disclosure, the first unattended device 101 and the second unmanned device 102 may read and provide data stored in the barcode information 701 to the management device together with or separately from the sensing data. Of course, the example is not limited thereto, and the management device may read information stored in the barcode information 701 based on the photographed barcode information 701 .

8 is a flowchart of a system for managing the inside and outside of a facility according to an embodiment of the present disclosure.

In step 801 , the management device 103 may transmit a control message. According to an embodiment of the present disclosure, as described above, the management device 103 may control the first unattended device 101 . The management device 103 may control the first unattended device 101 by transmitting the control message. The control message may include information for controlling the movement path, movement direction, movement speed, sensing period, sensing data transmission period, and the like of the first unmanned device 101 .

In operation 802 , the first unattended device 101 may acquire external sensing data. The external sensing data may be sensing data outside the facility.

In operation 803 , the first unattended device 101 may provide external sensing data to the management device 103 .

In step 804, the management device 103 may determine whether internal sensing data is required. According to an embodiment of the present disclosure, the management device 103 may determine whether the first unattended device 101 is a type of device capable of acquiring internal sensing data. In addition, the management device 103 may determine which part of the internal sensing data is required. The determination of the management device 103 may be determined based on external sensing data provided by the first unattended device 101 .

In operation 805 , the management device 103 may request the first unattended device 101 to provide location information. In other words, the management device may request the first unattended device 101 to provide the location information to the second unattended device 102 .

In operation 806 , the first unattended device 101 may provide location information to the second unattended device 102 . The location information provided by the first unmanned device 101 to the second unmanned device 102 may be information about a target location to which the second unmanned device 102 should move. Of course, as described above, the management device 103 may provide the location information to the second unattended device 102 .

In operation 807 , the second unmanned device 102 may move based on the received location information and acquire internal sensing data. The internal sensing data may be sensing data inside the facility.

In step 808 , the second unattended device 102 may provide the acquired internal sensing data to the management device 103 .

In operation 809, the management device 103 may generate management data based on the external sensing data and the internal sensing data. The management data is data to which external sensing data and internal sensing data are connected, and may be data processed so that internal and external sensing data of a facility are linked and displayed according to a user input. Also, the management device 103 may generate 3D point cloud data according to external and internal sensing data.

9 is a block diagram of a management device according to an embodiment of the present disclosure;

As shown in FIG. 9 , the management device 103 of the present disclosure may include a processor 901 , a memory 903 , and a communication unit 905 . However, the components of the management device 103 are not limited to the above-described example. For example, the management device 103 may include more or fewer components than the aforementioned components. In addition, the processor 901 may be at least one, and the memory 903 may also be at least one. Also, the processor 901 , the memory 903 , and the communication unit 905 may be combined into one chip.

According to an embodiment of the present disclosure, the processor 901 acquires first sensing data about the outside of a predetermined facility through the first unmanned device, and determines whether it is necessary to acquire additional data about the inside of the facility, Based on the result of the determination, the second unmanned device controls to provide information on the target location inside the facility to which the second unmanned device should move to the second unmanned device, and collects second sensing data about the inside of the facility through the second unmanned device. and control to generate management data based on the first sensed data and the second sensed data.

Also, according to an embodiment of the present disclosure, the processor 901 controls the first unmanned device to provide information about the target location inside the facility directly to the second unmanned device, or the first unmanned device through the communication unit 905 It is possible to provide the information about the target location inside the facility obtained from the second unmanned device.

According to an embodiment of the present disclosure, the processor 901 acquires first sensed data by controlling the first unattended device based on a user input, or receives first sensed data from the first unattended device moving through a preset path. can be obtained

According to an embodiment of the present disclosure, the processor 901 acquires second sensing data by controlling the second unmanned device according to a user input based on information about a target location inside the facility to which the second unmanned device needs to move, or , it is possible to acquire second sensing data from the second unmanned device that automatically moves to information about the target location inside the facility.

According to an embodiment of the present disclosure, the processor 901 may determine whether additional sensing data is required based on an analysis result of at least one image data, and may determine whether a defect exists.

According to an embodiment of the present disclosure, the processor 901 may output management information corresponding to a facility, the absence of the facility, or a predetermined location of the facility, based on a user input for the management data.

According to an embodiment of the present disclosure, the memory 903 may store at least one of data generated or acquired by the processor 901 . For example, the memory 903 may store management information for maintenance and repair acquired through the first sensing data, the second sensing data, and barcode information. The memory 903 may be configured as a storage medium or a combination of storage media, such as ROM, RAM, hard disk, CD-ROM, and DVD.

According to an embodiment of the present disclosure, the communication unit 905 may transmit/receive information to and from the first unattended device or the second unattended device using any communication method. The communication unit 905 is a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD (Wi -Fi Direct) communication unit, UWB (ultra wideband) communication unit, and may include an Ant+ communication unit, but is not limited thereto. The communication unit 905 may be implemented as at least one module or chip.

10 is a block diagram of an unmanned device according to an embodiment of the present disclosure.

As shown in FIG. 10 , the unmanned device 1000 of the present disclosure may include the first unattended device 101 and the second unattended device 102 described above. The unmanned device 1000 may include a processor 1001 , a memory 1003 , a communication unit 1005 , and a sensor unit 1007 . However, the components of the unmanned device 1000 are not limited to the above-described example. For example, the unmanned device 1000 may include more or fewer components than the aforementioned components. In addition, the processor 1001 may be at least one, and the memory 1003 may also be at least one. Also, the processor 1001 , the memory 1003 , and the communication unit 1005 may be combined into one chip.

According to an embodiment of the present disclosure, the processor 1001 may control the movement of the unmanned device 1000 based on the control information, and control the sensor unit 1007 to obtain sensing data. The control information may be user input, may be obtained from an external device (management device or other unattended device), or may be pre-stored information.

Also, according to an embodiment of the present disclosure, the processor 1001 may provide location information to other unmanned devices. In addition, the processor 1001 may control other unattended devices.

According to an embodiment of the present disclosure, the processor 1001 may determine the location of the unmanned device 1000 or the location of another unmanned device 1000 . In addition, the processor 1001 may determine a location inside the facility based on the various methods described above.

Also, according to an embodiment of the present disclosure, the processor 1001 may control the communication unit 1005 to provide sensor data to the management device.

According to an embodiment of the present disclosure, the memory 1003 may store at least one of data generated or acquired by the processor 1001 . For example, the memory 1003 may store sensing data, control information, and information about facilities. The memory 1003 may be configured as a storage medium or a combination of storage media such as ROM, RAM, hard disk, CD-ROM, and DVD.

According to an embodiment of the present disclosure, the communication unit 1005 may transmit/receive information to and from a management device or other unmanned device using any communication method. The communication unit 1005 includes a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD (Wi-Fi) communication unit. -Fi Direct) communication unit, UWB (ultra wideband) communication unit, and may include an Ant+ communication unit, but is not limited thereto. The communication unit 1005 may be implemented as at least one module or chip.

According to the embodiment of the present disclosure, the sensor unit 1007 image sensor (Image sensor), the geomagnetic sensor (Magnetic sensor), acceleration sensor (Acceleration sensor), temperature / humidity sensor, infrared sensor, gyroscope sensor, position sensor ( For example, it may include at least one of a GPS sensor), a barometric pressure sensor, a proximity sensor, and an RGB sensor, but is not limited thereto. Since a function of each sensor can be intuitively inferred from a person skilled in the art from the name, a detailed description thereof will be omitted.

On the other hand, the embodiments of the present disclosure disclosed in the present specification and drawings are merely provided for specific examples to easily explain the technical content of the present disclosure and help the understanding of the present disclosure, and are not intended to limit the scope of the present disclosure. That is, it is apparent to those of ordinary skill in the art to which other modifications are possible based on the technical spirit of the present disclosure. In addition, each of the above-described embodiments may be operated in combination with each other as needed.

Claims (15)

In the facility management method using an unmanned device,
acquiring first sensing data regarding the outside of a predetermined facility through a first unmanned device;
determining whether it is necessary to acquire additional data regarding the interior of the facility;
controlling the second unmanned device to provide information about a target location inside the facility to which the second unmanned device should move, to the second unmanned device based on a result of the determination;
acquiring second sensing data regarding the inside of the facility through the second unmanned device; and
and generating management data based on the first sensed data and the second sensed data. According to claim 1,
The information about the target location inside the facility to which the second unmanned device should move is,
Which is determined based on the first sensing data and the location information obtained by the first unmanned device, the method. 3. The method of claim 2,
Acquiring the second sensing data about the inside of the facility through the second unmanned device,
The second sensing data includes sensing data at the target location and sensing data of a movement path in which the second unmanned device moves within the facility,
The moving path is a method that is determined based on the target location and the location of the second unmanned device determined by the second unmanned device. 4. The method of claim 3,
The location of the second unmanned device is,
The method is determined based on a Global Positioning System (GPS) of the second unmanned device. 5. The method of claim 4,
The location of the second unmanned device is,
When the GPS (Global Positioning System) sensor signal of the second unmanned device is lower than a predetermined strength, the location of the second unmanned device is determined by adding or subtracting a position value relative to the most recently received GPS information. how to be. 6. The method of claim 5,
The addition or subtraction of the relative position value is to be determined based on the movement direction and distance information inside the facility measured by the acceleration sensor of the second unmanned device. According to claim 1,
The step of controlling to provide information about the target location inside the facility to the second unmanned device,
Controlling the first unmanned device to provide information about the target location inside the facility directly to the second unattended device, or a management device using the information about the target location inside the facility acquired from the first unmanned device to provide to the second unattended device. Way. According to claim 1,
Acquiring the first sensing data about the outside of a predetermined facility through the first unmanned device,
The method of acquiring the first sensing data by controlling the first unattended device based on a user input, or acquiring the first sensing data from the first unattended device moving through a preset path. According to claim 1,
Acquiring the second sensing data about the inside of the facility through the second unmanned device,
Obtaining the second sensing data by controlling the second unmanned device according to a user input based on information about a target location inside the facility to which the second unmanned device should move, or information about a target location inside the facility The method of acquiring the second sensing data from a second unattended device that automatically moves to According to claim 1,
At least one of the first sensing data and the second sensing data includes image data,
The step of determining whether it is necessary to acquire additional data regarding the interior of the facility comprises:
The method of being determined by the first unattended device or determined by a user input based on the analysis result of the image data. 11. The method of claim 10,
The image data includes a barcode,
The method, wherein the barcode includes management information about the facility or management information about each member constituting the facility. 12. The method of claim 11,
The management data is
On the basis of the first sensing data and the second sensing data, the method comprising at least one of data or three-dimensional point cloud data in which external and internal images of the facility are connected. 13. The method of claim 12,
The method is
The method further comprising outputting management information corresponding to the facility, the absence of the facility, or a predetermined location of the facility, based on a user input for the management data. In the device for managing a facility using an unmanned device,
communication department;
Memory; and
Acquire first sensing data on the outside of a predetermined facility through the first unmanned device, determine whether additional data on the inside of the facility needs to be acquired, and based on the result of the determination, the second unmanned device Controls to provide information on a target location inside the facility to which the user should move to the second unmanned device, obtains second sensing data about the inside of the facility through the second unmanned device, and the first sensing A device comprising a processor controlling to generate management data based on data and the second sensed data. A system for managing a facility using an unmanned device, the system comprising:
a first unattended device comprising a GPS sensor, one or more cameras and communication means;
a second unmanned device comprising a GPS, an acceleration sensor, one or more cameras, and communication means; and
a management device generating management data through first sensing data obtained by the first unattended device and second sensing data obtained by the second unattended device,
The management device determines whether it is necessary to acquire additional data regarding the inside of the facility, and based on the result of the determination, the second unmanned device moves to a target location inside the facility,
The second sensing data will include sensing data at the target location and sensing data of a movement path through which the second unmanned device moves within the facility.

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