KR20230037075A - Emergency information detection and alarm system for self-driving patrol vehicles - Google Patents

Abstract

The present invention relates to an emergency information detection and alarm device for an autonomous patrol vehicle. In regard to an autonomous patrol vehicle (100) driven along a predetermined patrol road by including a wheel driving unit (120), a steering mechanism unit (130), a power mechanism unit (140), a terrain detection and obstacle recognition unit (150), and an autonomous vehicle driving control unit (160) having an autonomous vehicle control algorithm for controlling the driving of the steering mechanism unit (130) and the power mechanism unit (140) such that the autonomous vehicle is driven along a patrol road in a monitoring area while avoiding a terrain and an obstacle, the emergency information detection and alarm device includes: an abnormality sign detection unit (200) including an ultrasonic gas leak detector (210) mounted on a vehicle body (110) and detecting an ultrasonic signal of a specific band generated by a gas leak to output a detection signal, and a flame infrared detector (220) detecting an infrared ray in a wavelength range emitted from flames of a fire to output a detection signal; an abnormality sign occurrence determination unit (300) comparing the detection signals inputted from the ultrasonic gas leak detector (210) and the flame infrared detector (220) of the abnormality sign detection unit (200), to an ultrasonic signal of a preset specific band and a reference value of infrared intensity, thereby generating and outputting a gas leak occurrence information signal, a fire occurrence information signal, or both the information signals; and a wireless communication module (600) wirelessly transmitting gas leak occurrence information, fire occurrence information, or both the information, which are generated by processing the signals inputted by the abnormality sign occurrence determination unit (300), to an external alarm device (500). Therefore, the present invention is capable of quickly responding to an abnormality sign such as a fire by detecting the sign at an early stage.

Description

Emergency information detection and alarm system for self-driving patrol vehicles}

The present invention relates to an emergency information detection and warning device for an autonomous patrol vehicle, and more particularly, to a small autonomous vehicle that patrols a site such as a petrochemical, gas, or oil refinery-related factory. An emergency information detection and warning device for an autonomous patrol vehicle that detects signs of abnormalities such as gas leaks or fires from monitoring objects in the factory and transmits emergency alert signals to the integrated control center or pre-determined mobile communication terminal in real time. It is about.

In general, in fields such as petrochemical, gas, and oil refinery-related factories, numerous hazardous substances are treated at high temperature and high pressure in various processes, and there is always a risk of fire due to explosion. In addition, the factories having the risk of explosion as described above have a great influence on the surrounding factories or residential areas generated by the on-site explosion, and human casualties and property damage due to the explosion are enormous.

Conventionally, systems for preventing disasters due to explosions at industrial sites are configured to simply check images visible to the naked eye through the installation of CCTVs, and also detect abnormal situations such as fever and flames through various sensors. A common problem of conventional detectors is a malfunction, that is, a non-fire alarm that confuses managers with a fire situation when it is not a fire. This is not a problem that can be overlooked simply because it can be common. In other words, it is a serious problem that causes a bigger fire in the event of a fire because the manager turns off the detector due to frequent non-fire alarms.

Accordingly, conventionally, technologies capable of monitoring fires occurring in fields such as petrochemical, gas, and oil refinery-related factories have been researched and developed, which are as disclosed in Patent Documents 1 to 4. The 'fire monitoring system' of Patent Document 1 analyzes the thermal wavelength and general video data of a surveillance camera to determine the degree of fire risk, analyzes the video data of a panoramic camera to monitor flames and smoke, monitors and It is possible to monitor the occurrence of fire in real time in the central management office, and the 'fire detection method and system' of Patent Document 2 generates a third image by combining the first image of the visible light monitoring camera and the second image of the thermal imaging camera. and the degree of fire is determined based on the color of a specific object extracted from the third image, but this also has a limitation in that cameras cannot be installed on all surveillance targets (facility) in the field where numerous facilities are deployed.

The 'fire detection system' of Patent Document 3 is designed to output a fire alarm when the temperature detected by the temperature sensor of the wall or ceiling of the fire detection space is higher than the preset fire occurrence temperature, but is applied to numerous facilities. There is difficulty in installing the temperature sensor. In addition, the 'fire search method using a PTZ camera' of Patent Document 4 divides the filmed NxN and divides it into a trained CNN to first determine whether a fire occurs in a specific area, and then captures an image of the fire area. It is configured to re-determine whether or not a fire has occurred in the enlarged fire area by precisely controlling the pan, tilt, and zoom of the , but there is a limit to accurately recognizing the area where the fire has occurred in a wide field.

In the past, a site manager directly detected gas leakage or a fire by using related equipment such as leak detection equipment, but in this case, the price of the related equipment is expensive, requires skill in measurement, and takes a lot of time to measure 1 point. Since it is required and it is difficult to detect a wide site individually, there is a limit to patrolling mainly on major facilities. There is a problem in that it is impossible to enter narrow roads such as auxiliary roads, and it is difficult to identify minute gas leaks or small fires with the naked eye.

Patent No. 10-0638120 (2006. 10. 24. Registration notice) Patent No. 10-1411624 (2014. 06. 26. Registration notice) Patent No. 10-1460176 (2014. 11. 12. Registration notice) Patent No. 10-2050821 (2019. 12. 03. Registration announcement)

In order to solve the problems of the prior art as described above, the present invention is a small self-driving vehicle patrolling a site such as a petrochemical, gas, or oil refinery related plant, and gas leakage of a monitoring target in a petrochemical, gas, or oil refinery related plant. Emergency information detection and alerting of autonomous patrol vehicles that detects abnormal signs such as fire or fire and transmits an emergency alert signal to the integrated control center or a pre-determined mobile communication terminal so that abnormal signs can be detected early and responded quickly. Its purpose is to provide a device.

As described above, an object of the present invention is to provide a wheel driving unit having a plurality of wheels and a braking device for moving and stopping a vehicle body, a steering unit for manipulating the traveling direction of the plurality of wheels, and providing power to the plurality of wheels. A power unit that detects surrounding terrain and recognizes obstacles, a terrain detection and obstacle recognition unit that detects obstacles, and a patrol road within a surveillance area while avoiding the terrain and obstacles detected and recognized by the terrain detection and obstacle recognition unit. In an autonomous patrol vehicle having an autonomous vehicle driving control unit having an autonomous vehicle control algorithm for controlling driving of the steering unit unit and the power unit unit to drive, the autonomous driving patrol vehicle traveling along a predetermined patrol road, the vehicle body An abnormal sign detection unit equipped with an ultrasonic gas leak detector mounted on the gas leak and outputting a detection signal, and a flame infrared detector for outputting a detection signal by detecting infrared rays in the wavelength range emitted by the flame of the fire; The detection signal input from the ultrasonic gas leak detector and the flame infrared detector of the abnormality detection unit is compared with the reference value of the ultrasonic signal and infrared intensity of a specific band set in advance, and the gas leak occurrence information signal, the fire occurrence information signal, or the above an abnormal symptom determination unit generating and outputting both of the two information signals; and a wireless communication module for wirelessly transmitting gas leak occurrence information, fire occurrence information, or both of the two information generated by processing the signal input from the anomaly symptom determination unit to an external alarm device, autonomous driving It is achieved by the emergency information detection and warning device of the patrol vehicle.

According to one aspect of the present invention, the abnormal symptom detection unit determines the reception sensitivity of the ultrasonic signal or infrared intensity of a specific band according to a plurality of different levels of preset values for the ultrasonic signal or infrared intensity of a specific band set in advance. It is configured to detect leaking gas, fire flame infrared light by automatically or manually lowering or raising it.

According to another aspect of the present invention, the self-driving patrol vehicle further includes a real-time kinematic global positioning system (RTK GPS) that provides real-time location information of the self-driving patrol vehicle, and the wireless communication module includes the abnormal symptom occurrence determination unit. and outputs gas leak information, fire occurrence information, or both of the two pieces of information and real-time location information of the vehicle body provided from the RTK GPS to the external alarm device.

According to another aspect of the present invention, the abnormality detection unit further includes a quad camera for outputting an image information signal of a monitoring target in which leak gas and fire flame infrared rays are detected to the external alarm device.

According to another aspect of the present invention, the abnormal symptom detection unit, a complex gas concentration detector for outputting a concentration detection signal for detecting the concentration of the leaked gas to the wireless communication module; a digital air flow meter for outputting an air volume detection signal to the wireless communication module; and a digital anemometer for outputting a wind speed detection signal to the wireless communication module.

According to another aspect of the present invention, the complex gas concentration detector may be a detector for detecting a combustible gas or a toxic gas.

According to another aspect of the present invention, the complex gas concentration detector, NO ₂ , CO, VOCs, SO _{2 ,} Hydrocarbon (LEL), H ₂ S, H ₂ , NH _{3 ,} or defined as a harmful gas at the site of use It may be a detector that detects one or more of the gases.

According to another aspect of the present invention, an abnormal symptom display unit for displaying gas leakage information or fire occurrence information input from the abnormal symptom occurrence determination unit is further provided.

According to another aspect of the present invention, the abnormal symptom display unit is composed of an LED lighting device or a sound emitter.

According to another aspect of the present invention, the external alarm device may be an integrated control center or a mobile communication terminal.

According to the present invention, while patrolling a site such as a petrochemical, gas, or oil refinery-related factory with a small self-driving vehicle, abnormal signs such as gas leakage or fire from a monitoring target in a petrochemical, gas, or oil refinery-related plant are detected. By sending an emergency alarm signal in real time to the integrated control center or a pre-determined mobile communication terminal, it is possible to detect abnormal signs such as gas leaks or fires occurring in petrochemical, gas, and oil refinery-related factories at an early stage and respond promptly. There are possible effects.

1 is a functional block diagram of an emergency information detection and warning device for an autonomous patrol vehicle according to an embodiment of the present invention.
FIG. 2 is a photograph showing an autonomous patrol vehicle equipped with an emergency information detection and warning device disclosed in FIG. 1 .
FIG. 3 is for explaining a process of remotely monitoring gas leaks or fires occurring at sites such as petrochemical, gas, and oil refinery-related factories by the emergency information detection and alarm device of the self-driving patrol vehicle disclosed in FIG. 1. It is a flow chart.
Figure 4 shows the movement path of the autonomous patrol vehicle, gas leak alarm, fire alarm, video information of fire generating facilities, and monitoring information on air quality through monitoring of various gases that can be checked in the integrated control center.

Hereinafter, preferred embodiments of the present invention will be described in more detail with exemplary drawings.

1 is a functional block diagram of an emergency information detection and warning device of an autonomous patrol vehicle according to an embodiment of the present invention, and FIG. 2 is a photograph showing an autonomous driving patrol vehicle equipped with the emergency information detection and warning device disclosed in FIG. 1 am.

1 and 2, an emergency information detection and warning device for an autonomous patrol vehicle according to an embodiment of the present invention includes a wheel driving unit 120 having a plurality of wheels and a braking device for moving and stopping a vehicle body 110. ), a steering unit 130 for manipulating the traveling direction of a plurality of wheels, a power unit 140 for providing power to a plurality of wheels, a terrain detection and obstacle recognition unit for detecting surrounding terrain and recognizing obstacles ( 150), and the vehicle body 110 avoiding the terrain and obstacles detected and recognized by the terrain detection and obstacle recognizing unit 150 while driving on the patrol road within the monitoring area. The steering unit 130 and the power unit 140 In the autonomous driving patrol vehicle 100, equipped with an autonomous driving vehicle driving control unit 160 having an autonomous vehicle control algorithm for controlling the driving of a vehicle and driving along a predetermined patrol road, mounted on a vehicle body 110 Ultrasonic gas leak detector 210 (manufacturer: SM Instruments, product name: BATCAM2.0) that outputs a detection signal by detecting ultrasonic waves in a specific area generated as gas leaks, fire, that is, hydrocarbon or hydrogen flame An abnormal symptom detection unit 200 equipped with a flame infrared detector 220 (manufacturer: IRT KOREA, product name: IRT-001-K or IRT-021-K) that detects infrared rays in the emitted wavelength range and outputs a detection signal , gas leakage by comparing the detection signals input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 of the anomaly sign detection unit 200 with reference values of the ultrasonic signal and infrared intensity of a specific band set in advance An abnormal symptom occurrence determination unit 300 that generates and outputs an occurrence information signal, a fire occurrence information signal, or both information signals, and gas leak occurrence information generated by processing a signal input from the abnormal symptom occurrence determination unit 300 , fire occurrence information, or both, by being composed of a wireless communication module 600 that wirelessly transmits both information to the external alarm device 500, autonomous driving without a fire truck or expensive equipment By using patrol vehicles, abnormal signs such as gas leaks or fires occurring in petrochemical, gas, and oil refinery-related facilities can be detected at an early stage and promptly dealt with.

At this time, the gas leak generates an ultrasonic signal of a specific band, and the amount or concentration of the leaked gas is proportional to the intensity of the ultrasonic signal of the specific band, which may vary depending on conditions of pressure, temperature, and flow rate inside the pipe or container. In addition, since the infrared wavelength band emitted by the hydrocarbon-based flame and the infrared wavelength band emitted by the hydrogen flame are different, the flame infrared detector 220 may be divided into a hydrocarbon flame detector and a hydrogen flame detector, but in the embodiment of the present invention, the ultrasonic signal It is expressed as a flame infrared detector because it is the same to detect the ultrasonic signal in a specific band except for the wavelength band of the

Here, the terrain detection and obstacle recognizing unit 150 measures the position of itself 110 during the current time and creates a map of the surrounding environment including the patrol road in the monitoring area. SLAM (Simultaneous Localization And Map-Building) (151 ) or a lidar (Light Detection And Ranging) 152 that is mounted on the vehicle body 110 and measures light or laser reflection information to create a 3D model of the surrounding environment.

Furthermore, the terrain sensing and obstacle recognizing unit 150 includes an inertial measurement unit (IMU) 153 including a gyroscope, an accelerometer, and a geomagnetic sensor to measure the speed, direction, gravity, and acceleration of the vehicle body 110, and artificial satellites. A GPS (Global Positioning System) 154 that calculates the current position of the vehicle body 110 by receiving coordinate signals sent from the vehicle body 110, a camera 155 that recognizes signals, road signs, locations, etc. in the forward field of view of the vehicle body 110, electromagnetic waves and a radar 156 that measures the range and speed of vehicles or obstacles in the front and rear of the vehicle body 110 by measuring the reflected waves of the electromagnetic waves, and the acceleration of the vehicle body 110 traveling by detecting the inertial force of motion. At least one of INS (Inertial Navigation System) 157 for measuring autonomous driving-related information including speed, direction, and distance may be further provided.

In the above embodiment, the anomaly symptom detection unit 200 automatically determines the reception sensitivity of a specific band of ultrasonic signal or infrared intensity according to a plurality of different levels of preset values for the ultrasonic signal or infrared intensity of a specific band. Alternatively, by being configured to detect leaking gas, fire flame infrared rays while manually lowering or raising, it is possible to more accurately monitor large and small gas leaks or fires occurring in monitoring areas in petrochemical, gas and oil refinery related facilities.

In the above embodiment, the self-driving patrol vehicle 100 further includes a real-time kinematic global positioning system (RTK GPS) 158 providing real-time location information of the self-driving patrol vehicle 110, and a wireless communication module 600 Gas leak information, fire occurrence information, or both information generated by the abnormal symptom occurrence determination unit 300 and real-time location information of the vehicle body 110 provided from the RTK GPS 158 are transmitted to the external alarm device 500 By being configured to output, the anomaly symptom determination unit 300 transmits gas leak information signal, fire occurrence information, or both information and real-time location information of the vehicle body 110 detected by the RTK GPS 158 to an external warning device ( 500) can be output.

In the above embodiment, the anomaly symptom detection unit 200 further includes a quad camera 240 for outputting an image information signal of a monitoring target in which leak gas and fire flame infrared rays are detected to the external alarm device 500. , The anomaly symptom determination unit 300 transmits an emergency alarm signal such as gas leakage and fire occurrence and an image information signal photographed by the quad camera 240 to the monitoring target in which leaked gas and fire flame infrared rays are detected to external alarm It can be output to device 500 .

In the above embodiment, the abnormal symptom detection unit 200 includes a complex gas concentration detector 230 that outputs a detection signal for detecting the gas concentration to the wireless communication module 600, and an air volume detection signal for detecting the air volume to the wireless communication module. By further comprising a digital anemometer 250 outputting to 600 and a digital anemometer 260 outputting a wind speed detection signal that detects wind speed to the wireless communication module 600, the abnormal symptom occurrence determination unit 300 A detection signal obtained by detecting a leaked gas by the complex gas concentration detector 230 and air volume information of the digital anemometer 250 and wind speed information of the digital anemometer 260 may be output to the external alarm device 500 .

In the above embodiment, the complex gas concentration detector 230 may be a detector for detecting a combustible gas or a toxic gas.

In the above embodiment, the complex gas concentration detector 230 is NO ₂ , CO, VOCs, SO _{2 ,} Hydrocarbon (LEL), H ₂ S, H ₂ , NH ₃ or gases defined as harmful gases at the site of use. It may be a detector that detects one or more gases.

In the above embodiment, by further comprising an anomaly symptom display unit 400 displaying gas leak information and fire occurrence information input from the anomaly symptom occurrence determination unit 300, patrol roads of petrochemical, gas and oil refining related facilities are provided. Workers working around autonomous patrol vehicles can also detect gas leaks or fires in the field early and respond quickly.

In the above embodiment, the symptom display unit 400 may be composed of an LED lighting device 410 or a sound emitter 420.

In the above embodiment, the external alarm device 500 may be configured as an integrated control center 510 or a mobile communication terminal 520.

FIG. 3 is for explaining a process of remotely monitoring gas leaks or fires occurring at sites such as petrochemical, gas, and oil refinery-related factories by the emergency information detection and alarm device of the self-driving patrol vehicle disclosed in FIG. 1. It is a flow chart.

According to FIG. 3 , the vehicle body 110 is driven by the wheel drive unit 120 receiving power generated from the power unit unit 140 under the control of the autonomous vehicle drive control unit 160 having an autonomous vehicle control algorithm, that is, The self-driving patrol vehicle drives along a pre-determined patrol road in a monitoring area such as a petrochemical, gas, or oil refinery-related factory according to the operation of the steering unit 130 (S1).

At this time, the self-driving vehicle drive control unit 160 steers the self-driving patrol vehicle to autonomously drive on the patrol road within the monitoring area while avoiding the surrounding terrain and obstacles detected and recognized by the terrain detection and obstacle recognizing unit 150. The driving of the device unit 130 and the power unit 140 is controlled.

As described above, while the self-driving patrol vehicle patrols a predetermined patrol road in a surveillance area such as a petrochemical, gas, or oil refinery-related plant, the abnormal symptom occurrence determination unit 300 detects an ultrasonic gas leak of the abnormal symptom detecting unit 200. Whether an ultrasonic signal of a specific band indicating a gas leak is detected in a monitoring area such as a petrochemical, gas, or oil refinery-related factory by the detector 210 (S2), or a flame of a fire is emitted by the flame infrared detector 220 It is monitored whether infrared rays in the wavelength range are detected (S3).

At this time, the ultrasonic gas leak detector 210 or the flame infrared detector 220 of the anomaly sign detection unit 200 may detect the ultrasonic signal or infrared reception sensitivity of a specific band as one arbitrarily determined reception sensitivity, but a predetermined specific By automatically or manually lowering or increasing the receiving sensitivity of a specific band of ultrasonic signal or infrared intensity according to the set value of a plurality of different levels of ultrasonic signal or infrared intensity of a band, leaking gas, fire flame infrared rays are detected, petroleum It can more accurately detect gas leaks or fire sparks in monitoring areas such as chemical, gas, and oil refineries.

As described above, when an ultrasonic signal of a specific band is detected by the ultrasonic gas leak detector 210 or a fire flame infrared ray is detected by the flame infrared detector 220, the abnormal symptom occurrence determination unit 300 is an abnormal symptom detecting unit 200 ) by comparing the detection signal input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 with the ultrasonic signal of a specific band set in advance and the reference value of the infrared intensity, gas leak occurrence information signal, fire occurrence information By generating a signal or both information signals and transmitting the emergency alert signal to the remote integrated control center 510 or mobile communication terminal 520 through the wireless communication module 600 (S4), the manager It is possible to detect gas leaks or fires that occur in monitoring areas such as gas refinery-related factories at an early stage and respond promptly. That is, as shown in FIG. 4, the manager of the integrated control center 510 monitors the air quality through the movement path of the autonomous patrol vehicle, gas leak alarm, fire alarm, video information of fire generating facilities, and monitoring of various gases. Information can be displayed through the screen.

At this time, the anomaly symptom determination unit 300 receives real-time location information of itself 110 from the RTK GPS 158, and an emergency alarm signal such as gas leak occurrence information, fire occurrence information, or both information and vehicle body ( 110) by transmitting the real-time location information to the integrated control center 510 and the mobile communication terminal 520, a manager can accurately recognize the location of a gas leak or fire and respond more quickly.

In addition, the abnormal symptom occurrence determination unit 300 receives in real time an image information signal obtained by photographing an object in which gas leak occurrence information and fire occurrence information occurs from the quad camera 240, and gas leak occurrence information, fire occurrence information, or these By transmitting an emergency alarm signal such as two signals to the integrated control center 510 and the mobile communication terminal 520, the manager accurately recognizes whether a gas leak or fire occurs as an image, detects a gas leak or fire at an early stage, and You can react more quickly.

In addition, the abnormal symptom occurrence determination unit 300 is NO ₂ , CO, VOCs, SO _{2 ,} Hydrocarbon (LEL), H ₂ S, H ₂ , NH _{3 provided from the complex gas concentration detector 230,} or the site of use. Integrated control center (510 ) and the mobile communication terminal 520, the manager recognizes in advance that the direction or speed of the gas leaking from the monitoring area such as petrochemical, gas, or oil refinery factories changes according to the wind volume or wind speed, and promptly can cope

Even in this case, by transmitting the location information and image information signal of the gas leak monitoring target to the integrated control center 510 or the mobile communication terminal 520, the manager can check the leaked gas target and the degree of leakage in real time. there is.

In addition, the abnormal symptom occurrence determination unit 300 displays an emergency alarm signal such as gas leak occurrence information or fire occurrence information on the LED lighting device 410 or the sound emitter 420 of the abnormal symptom display unit 400, so that a manager or Workers can also check and respond to gas leaks or fires in the field, that is, in the vicinity of autonomous patrol vehicles, in real time.

Although specific embodiments according to the present invention have been described so far, various modifications are possible without departing from the scope of the claims of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments and should not be defined, but should be defined by not only the scope of the claims described later, but also those equivalent to the scope of these claims.

100: autonomous patrol vehicle 110: body
120: wheel drive unit 130: steering unit
140: power unit 150: terrain detection and obstacle recognition unit
151: SLAM 152: Lidar
153: IMU 154: GPS
155: camera 156: radar
157: INS 160: autonomous vehicle driving control unit
200: anomaly detection unit 210: ultrasonic gas leak detector
220: flame infrared detector 230: complex gas concentration detector
240: quad camera 250: digital airflow meter
260: digital anemometer 300: abnormal symptom occurrence determination unit
400: Abnormal symptom display unit 410: LED lighting device
420: sound transmitter 500: external alarm device
510: integrated control center 520: mobile communication terminal
600: wireless communication module

Claims (10)

A wheel driving unit 120 having a plurality of wheels and a braking device for moving and stopping the vehicle body 110, a steering unit 130 for manipulating the traveling direction of the plurality of wheels, and providing power to the plurality of wheels A power unit 140, a terrain detection and obstacle recognition unit 150 that detects surrounding terrain and recognizes obstacles, and the vehicle body 110 is sensed and recognized by the terrain detection and obstacle recognition unit 150 An autonomous vehicle driving control unit 160 having an autonomous vehicle control algorithm that controls driving of the steering device unit 130 and the power unit unit 140 to drive on a patrol road within a monitoring area while avoiding terrain and obstacles. In the self-driving patrol vehicle 100 that is provided and travels along a pre-determined patrol road,
An ultrasonic gas leak detector 210 mounted on the vehicle body 110 and outputting a detection signal by detecting an ultrasonic signal of a specific band generated by the leaking gas, and detecting infrared rays of a wavelength range emitted by the flame of a fire to detect the detection signal An abnormal symptom detection unit 200 having a flame infrared detector 220 that outputs;
The detection signals input from the ultrasonic gas leak detector 210 and the flame infrared detector 220 of the anomaly sign detection unit 200 are the reference values of the ultrasonic signal and infrared intensity of a specific band generated by the preset gas leak. Contrary to the above, a gas leak occurrence information signal, a fire occurrence information signal, or an abnormal symptom occurrence determination unit 300 generating and outputting both of the two information signals; and
A wireless communication module 600 that wirelessly transmits gas leak occurrence information, fire occurrence information, or both of the two information generated by processing the signal input from the abnormal symptom occurrence determination unit 300 to the external alarm device 500 ;
Consisting of, an emergency information detection and warning device for an autonomous patrol vehicle. According to claim 1,
The abnormal symptom detection unit 200 automatically or manually lowers the reception sensitivity of the ultrasonic signal or infrared intensity of a specific band according to a plurality of different levels of the ultrasonic signal or infrared intensity of a specific band set in advance. An emergency information detection and warning device for an autonomous patrol vehicle, characterized in that configured to detect leaking gas, fire flame infrared rays while increasing or increasing. According to claim 1,
The self-driving patrol vehicle 100 further includes a real-time kinematic global positioning system (RTK GPS) 158 providing real-time location information of the self-driving patrol vehicle 110, and the wireless communication module 600 is Gas leakage information, fire occurrence information, or both of the two information generated by the symptom determination unit 300 and the real-time location information of the vehicle body 110 provided from the RTK GPS 158 are stored in the external alarm device 500. ), characterized in that configured to output, an emergency information detection and warning device for an autonomous patrol vehicle. According to claim 1,
The anomaly symptom detection unit 200 further includes a quad camera 240 for outputting an image information signal obtained by photographing a monitoring target in which an ultrasonic signal and a fire flame infrared ray of a specific band are detected to the external alarm device 500 Characterized in that, an emergency information detection and warning device for an autonomous patrol vehicle. According to claim 1,
The abnormal symptom detection unit 200,
A complex gas concentration detector 230 for outputting a concentration detection signal that detects the concentration of leaked gas to the wireless communication module 600;
a digital air flow meter (250) for outputting an air volume detection signal to the wireless communication module (600); and
An emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it further comprises a digital anemometer (260) for outputting a detection signal for detecting wind speed to the wireless communication module (600). According to claim 5,
The complex gas concentration detector 230 is an emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it is a detector for detecting combustible gas or toxic gas. According to claim 5,
The complex gas concentration sensor 230 is NO ₂ , CO, VOCs, SO _{2 ,} Hydrocarbon (LEL), H ₂ S, H ₂ , NH ₃ characterized in that it is a sensor for detecting one or more gases, autonomous driving Emergency information detection and warning device for patrol vehicles. According to claim 1,
An emergency information detection and warning device for an autonomous patrol vehicle, characterized in that it further comprises an abnormal symptom display unit 400 for displaying gas leak occurrence information or fire occurrence information input from the abnormal symptom occurrence determination unit 300. According to claim 8,
The abnormal symptom display unit 400 is an emergency information detection and warning device for an autonomous patrol vehicle, characterized in that composed of an LED lighting device 410 or a sound emitter 420. According to claim 1,
The external warning device 500 is an integrated control center 510 or a mobile communication terminal 520, characterized in that, an emergency information detection and warning device for an autonomous patrol vehicle.

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