KR20230056943A - Unmanned autonomous driving type NBC decontamination system - Google Patents

Abstract

The present invention relates to an unmanned autonomous driving type chemical, biological, and radiological purification system which performs a purification work by inserting an unmanned vehicle equipped with an adsorbent filter corresponding to harmful substances to be removed into a contaminated area and reflects spatial information collected through cameras and sensors, thereby performing efficient decontamination through autonomous driving.

Description

Unmanned autonomous driving type NBC decontamination system}

The present invention relates to a chemical, biological, and radiological purification system, and in detail, an unmanned vehicle equipped with an adsorbent filter corresponding to a harmful substance to be removed is put into a contaminated area to perform a purification operation, and the information of the space collected through a camera and a sensor is reflected. The present invention relates to an unmanned self-driving fire-fighting purification system that enables efficient decontamination through autonomous driving.

Chemical, Biological, and Radiological (CBR) is an acronym for chemical, biological, and radiological, and is classified as a weapon of mass destruction, especially in war.

In general, when pollutants such as deadly gases, viruses, or dangerous substances are sprayed on the human body or equipment using chemical, biological, or radioactive weapons in a chemical, biological, or terrorist situation, human life and equipment are protected through means that can filter out the pollutants. Decontamination should be carried out by spraying materials for the removal of pollutants while doing so on contaminated areas or equipment buildings.

Accordingly, the military or counter-terrorism agencies are developing equipment for rapid decontamination of these chemical, biological and radioactive agents, and the National Chemical, Biological and Radiological Defense Command is developing a special vehicle that can quickly detect biological weapons, poison gas, and radioactive materials in conjunction with a weather antenna. have been introduced

In addition, the Defense Acquisition Program Administration designated and announced 10 components applied to the new NBC reconnaissance vehicle as priority selection items for small and medium-sized enterprises in the research and development stage, and carried out R&D and mass production projects worth about KRW 300 billion for 9 years. In 2014, it succeeded in developing a new chemical, biological, and radiological reconnaissance vehicle (armored type) with domestic technology, and was judged “suitable for combat” by meeting the standards in all items of test evaluation results, development test evaluation, and operation test evaluation.

When chemical, biological agents and radioactivity are detected, the scout vehicle automatically transmits an alarm and detection result to each military tactical command and control automation system (C4I) so that damage can be minimized in the event of NBC discharge, and crew members in NBC-contaminated areas It is possible to carry out operations without wearing protective equipment, and the air-conditioning and heating equipment and meteorological measurement equipment enable active operation under any environmental and weather conditions, and the mounted chemical, biological, and radiation equipment and various auxiliary equipment are controlled by the computer system. It is known that the convenience and operability of the crew are maximized by allowing them to be operated.

However, South Korea's capacity to respond to chemical and biological weapons production facilities in North Korea is still evaluated to be limited, and in particular, the safety of boarding personnel due to the operation of manned special vehicles in hazardous areas where pollution sources exist. Due to the limitations of time, space and work to ensure the efficiency, the situation is inevitable.

Republic of Korea Patent Registration No. 10-1590982 (registered on 2015.01.27)

The present invention was created to solve the above problems, and an object of the present invention is to perform a purification operation by introducing an unmanned vehicle equipped with an adsorbent filter for removing harmful substances according to the characteristics of the contaminated area, It is to provide an unmanned self-driving NBC purification system that performs efficient purification while reflecting the information of the space collected through cameras and sensors.

For the above object, the present invention is a chemical, biological, and biological purification system using a plurality of unmanned type purification vehicles having a steering wheel and a driving wheel, a steering unit for moving the steering wheel, and a driving unit for applying power to the driving wheel. A filter structure mounted on the purification vehicle, having an intake part and an exhaust part communicating with the outside, and containing an adsorbent for removing harmful substances therein, and air sucked through the intake part passes through the filter structure to the exhaust part. Purification module equipped with a blower for discharging; The purification vehicle is equipped with a camera for photographing a designated direction, a sensor unit for measuring harmful substances in the surrounding air, a GPS unit for transmitting and receiving GPS signals, and a first communication unit composed of a long-distance wireless communication module. A control module for transmitting the obtained image and measurement result and controlling the steering unit, the driving unit and the blower according to the received control signal; A second communication unit located in a remote location and communicating with the first communication unit, a main storage unit storing geographic information of the control area, and a setting unit that sets the purification area and the number of purification vehicles based on the geographic information. and a control server having a progress management unit generating and distributing control signals for purification work for each purification area and purification vehicle, and a monitoring unit for monitoring the location, operation, and work state of the purification vehicles; It is characterized by consisting of.

At this time, the control server preferably further includes a manual control unit for controlling the purification vehicle in real time as the manager confirms the camera image transmitted from the purification vehicle and inputs control signals of the steering unit, driving unit, and blower.

In addition, the control server includes an information collection unit for collecting weather information including wind direction and speed, temperature and humidity of the controlled area, and a simulation unit for simulating a pollutant diffusion model based on the weather information and geographic information; In addition, it is preferable to further include an information interlocking unit for establishing a purification plan reflecting simulation results and then controlling a corresponding purification vehicle in connection with the progress management unit.

In addition, the control module controls the steering unit, the driving unit and the blower through an auxiliary storage unit for storing the purification area and corresponding geographic information and control signals transmitted from the control server, and the information stored in the auxiliary storage unit. It is preferable to further include a determination unit that analyzes the images collected through the camera to determine the current location and movement path, and enables autonomous operation of the set time without communication with the control server.

In addition, the purification module has a first accommodating portion in which a filter structure for replacement is accommodated, and a filter structure located in the first accommodating portion is positioned in a passage between the intake and exhaust parts, and the filter structure positioned in the passage A filter replacement unit that moves to the second accommodating unit may be provided so that the filter structure can be replaced at set intervals in conjunction with the sensor unit.

Through the present invention, as purification and decontamination work is performed through an unmanned purification vehicle in an area where CBRN hazardous substances threatening life safety exist, safe work can be performed without risk to life.

In addition, depending on the characteristics and scope of the region, multiple purification vehicles can be operated simultaneously, and smooth operation is possible even in the event of radio interference or unexpected failure, as well as manual operation according to the transmitted on-site video confirmation and autonomous driving according to the self-determination of the situation. It is possible, and efficient work is possible by increasing the field work time.

1 is a conceptual diagram of the present invention;
2 is a block diagram showing the configuration and connection relationship according to an embodiment of the present invention;
3 is a perspective view showing the configuration of a purification vehicle according to an embodiment of the present invention;
4 is a structural diagram of a purification module according to an embodiment of the present invention;
5 is a block diagram showing the configuration and connection relationship according to another embodiment of the present invention;
6 is a structural diagram showing a filter replacement structure according to another embodiment of the present invention.

Hereinafter, the configuration of the NBC purification system of the unmanned autonomous driving method of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram of the present invention, in which an unmanned purification vehicle 100 is used to purify and detoxify an area where NBC contaminants exist, so that human life can be maximally protected. This purification vehicle 100 is operated through the control server 200 and GPS communication, and autonomous driving is performed reflecting the on-site situation.

In the present invention, the shape and standard of the purification vehicle are not limited, but basically a steering wheel 101 and a driving wheel 103 for driving, a steering unit 102 for moving the steering wheel 101, and the drive A driving unit 104 for applying power to the wheels 103 is provided, and is operated in multiple rather than singly for purification of a relatively wide outdoor area.

The configuration for driving and steering of the purification vehicle 100 is a configuration configured in conventional vehicles, and the driving unit 104 is based on an electric vehicle driven by a battery and a motor as well as an internal combustion engine vehicle using gasoline or diesel. ) can be driven.

2 is a block diagram showing the configuration and connection relationship according to an embodiment of the present invention, and FIG. 3 is a perspective view showing the configuration of a purification vehicle according to an embodiment of the present invention, in which the purification vehicle 100 removes pollutants from the air. A purification module 110 for and a control module 120 for control of remote and autonomous driving and purification work are mounted, and a control server 200 for controlling the purification vehicle 100 is configured.

4 is a structural diagram of a purification module according to an embodiment of the present invention. In the accompanying drawings, the purification module 110 is built into a truck-type vehicle, but various forms are provided within the range where the configuration is not changed. can be mounted on a vehicle.

The purification module 110 is basically a tubular structure in which a filter structure 113 and a blower 114 are installed, and an intake part 111 for sucking in external air is installed on one side and the purified air is discharged on the other side. Exhaust parts 112 are formed, respectively. That is, an air flow is generated through the blower 114, and air containing pollutants sucked through the intake unit 111 is passed through the filter structure 113 to adsorb and remove pollutants, and then the exhaust unit (112), and the air is purified.

To this end, the filter structure 113 includes an adsorbent for removing harmful substances to be removed, for example, HCHO, CO2, CO, fine dust (PM2.5, PM10), CNCl, HCN, Phosgene, Sarin removal An adsorbent or filter may be applied.

The control module 120 is a component for controlling the operation of the purification vehicle and the purification work, and basically controls the steering unit 102, the driving unit 104, and the blower 114 according to a control signal. It includes a camera 121, a sensor unit 122, a GPS unit 123, and a first communication unit 124.

The camera 121 captures a designated direction, mainly the front of the vehicle, and determines the condition of the driving route through image analysis. It is a configuration that supports remote monitoring of the situation. Basically, a wide-angle camera capable of taking pictures of the front and rear can be used to obtain the operation of the cleaning vehicle or necessary surrounding images, but it is equipped with a pan-tilt control means that can rotate 360 degrees in the forward, backward, left, and right directions, so that the shooting direction can be controlled in detail if necessary. It can also be configured to

The sensor unit 122 is basically composed of a sensor that measures harmful substances in the ambient air. Appropriate sensors are optionally configured as needed, and various commercial chemical substance sensors including sensors for detecting HCHO, CO2, CO, fine dust (PM2.5, PM10), CNCl, HCN, Phosgene, and Sarin mentioned above etc. can be applied.

The GPS unit 123 transmits and receives GPS signals through a GPS transmission/reception module, and enables the current location or time to be grasped.

The first communication unit 124 is a commercial long-distance wireless communication module that actually communicates with the control server 200 .

Through the above-described configuration, the control module 120 transmits the image collected through the camera 121 and the measurement result of the sensor unit 122 to the control server 200 and receives it to the control server 200. The steering unit 102, the driving unit 104, and the blower 114 are controlled using the programmed control signal and the programmed algorithm so that the cleaning vehicle 100 moves along a set path and performs cleaning work.

Basically, as will be described later, each purification vehicle 100 continuously purifies the air while moving at a speed of about 0.5 to 1 km/hr in the assigned area, and moves based on GPS coordinates linked with geographic information, , By analyzing the images collected through the camera 121 and applying algorithms such as road or obstacle recognition applied to self-driving vehicles, autonomous driving can be performed according to situational judgment.

The control server 200 is located in a remote location and is configured to control the cleaning vehicle 100 and control the work situation. In detailed configuration, the second communication unit 210, the main storage unit 220, and the setting A unit 230, a progress management unit 240, a monitoring unit 250, and a manual control unit 260 are provided.

The second communication unit 210 is the same remote wireless communication module as the first communication unit 124 and transmits and receives data with each cleaning vehicle.

The main storage unit 220 is a storage medium in which geographic information of the controlled area is stored, and basically includes information on topography, roads, and major buildings as well as a plane map, and is linked with various geographic information systems such as satellite photos or loading. View photos and the like may be further included.

The setting unit 230 is a component that sets a purification area and the number of input purification vehicles based on the geographic information. Basically, considering the purification capacity of the purification vehicle and the area of the purification area, the number of input units capable of effective purification work is calculated.

For example, when setting an air purification zone, four GPS coordinates can be input and the zone can be set as a rectangle by connecting the four points entered. It is possible to determine the number of input vehicles compared to the area of the total purification area by roughly calculating the area that can be purified by the purification vehicle. Preferably, the number of input units can be calculated leisurely by considering in detail not only the area of the purification area but also the topography of the area, road condition, road length and buildings.

The progress management unit 240 generates and distributes control signals for purification work for each purification area and purification vehicle. According to the number of vehicles introduced, 1/N is automatically divided into zones through a zone division algorithm based on roads.

The purification vehicle 100 is allocated input zones according to the assigned order, and automatic zone numbers are assigned to the input zones when using the zone division algorithm, and the purification vehicles and zones can be configured to be matched in the earliest order. In addition, the purification vehicle 100 is configured to depart to the corresponding location at intervals of 5 minutes from the priority order, so that confusion due to simultaneous control can be prevented.

In addition, each purification vehicle 100 receives the GPS information of the purification area transmitted from the control server and drives the distributed location at regular intervals, but as mentioned above, moves the allocated area at a rate of 0.5 to 1 km/hr. while continuously purifying the air.

At this time, by transmitting the image captured through the camera 121 installed in each purification vehicle 100 to the control server 200, it is possible to monitor the driving state and the surrounding situation, and the driving and control status of each component and the sensor unit 122 The measurement result of is also transmitted to the control server (200).

Correspondingly, the monitoring unit 250 supports a manager to monitor the location, operation, and work state of the purification vehicle 100 in a situation room or the like.

The purification vehicle 100 is based on autonomous driving through the aforementioned algorithm, but in the situation room, the camera 121 mounted in the purification vehicle and the measurement result of the sensor unit 122 work through manual operation when necessary. may proceed.

The manual control unit 260 provided for this purpose is a purification vehicle ( 100) can be controlled in real time.

In this way, by integrating driving information and GPS information of each purification vehicle, the work is performed by repeatedly driving the route several times even after one purification is completed, and when the set task is completed, the purification vehicle returns to the initial position based on the GPS information stored at the time of departure. programmed to do so.

5 is a block diagram showing the configuration and connection relationship according to another embodiment of the present invention. In addition to the basic configuration described above in the present invention, additional configurations for linking weather information, strengthening autonomous driving functions, and extending working hours are provided. Through this, a configuration capable of improving efficiency and convenience is being added.

In general, chemical, biological, and radiological pollutants propagated through the air have no choice but to determine their diffusion direction and speed according to the influence of the weather, which has a great influence on purification work.

Therefore, in another embodiment of the present invention, the control server 200 includes an information collection unit 270 for collecting weather information, a simulation unit 280 for simulating the diffusion state of pollutants according to the collected weather information, and simulation The configuration of the information interlocking unit 290 is added so that the purification work linked with the result is performed.

The information collection unit 270 is a component that collects meteorological information including wind direction, wind speed, temperature, and humidity in the controlled area. Weather information can be collected through system linkage of various observation facilities held by the military or private facilities, including the Korea Meteorological Administration. Information can also be collected through observation means capable of measuring humidity.

The simulation unit 280 simulates a diffusion model of pollutants based on the meteorological information and geographic information, and basically simulates and predicts the diffusion direction and speed of pollutants according to the wind direction and wind speed, and the temperature and Along with precise analysis reflecting humidity and density of pollutants, more detailed simulation is possible by reflecting major buildings and topography in conjunction with geographic information of the main storage unit 220 .

The information interlocking unit 290 is a component that establishes a purification plan by reflecting simulation results and then controls a corresponding purification vehicle in connection with the progress management unit. In other words, while reflecting the spread of pollutants, purify the point where the spread can be prevented intensively, reflect the phenomenon of wind speed between large buildings, etc., and purify before promoting the spread of pollutants on the windward side where possible based on simulation results It is desirable to make it happen.

In the present invention, as the contaminants are mainly NBC materials, artificial radio interference or communication failure may occur for various reasons in terrorism or NBC discharge situations that mainly utilize them, and communication with the control server is cut off during purification work and GPS signal is disturbed The system according to the invention is practically incapacitated.

In order to complete the stable purification work even in such an unexpected situation, the control module of the present invention includes an auxiliary storage unit 125 and a determination unit 126 to enable autonomous operation at a set time even if communication with the control server and GPS signal are cut off. ) may be added.

The secondary storage unit 125 is a memory and stores the purification area transmitted from the control server and corresponding geographic information and control signals. At this time, the purification vehicle 100 identifies its location and driving route through image analysis rather than GPS signals so that it can smoothly locate its location even in the event of GPS signal disturbance, so the geographic information includes a road view (street view) centered on the road ) and related image information is included.

The determination unit 126 controls the steering unit 102, the driving unit 104, and the blower 114 through the information stored in the secondary storage unit, but analyzes the image collected through the camera 121 to determine the current location. and route of movement. That is, the steering unit, the driving unit and the blower through the stored information in a state in which the purification area and corresponding geographic information and the control signal for the purification work for each purification vehicle are received and stored from the control server 200 for the first start-up. Controls and performs purification work, but even if communication and GPS signals are not smooth, the image collected through the camera 121 is analyzed and the current location and movement route are identified through comparison and judgment with the image of the stored geographic information to perform the given task. can be completed

6 is a structural diagram showing a filter replacement structure according to another embodiment of the present invention. Basically, since the filter structure of the present invention removes contaminants through an adsorbent component, the adsorption performance decreases over time and the air purification capacity is limited. there is That is, since the purification operation is effective only while the filter performance is maintained, periodic replacement of the filter structure is required for long-term operation according to the degree of contamination of the area. To this end, in another embodiment of the present invention, an extra filter structure is loaded in the purification vehicle and is configured to be replaced.

In addition, in the accompanying drawings, the filter structure is composed of a square, but it is not limited thereto, and the filter structure can be configured in a circle or various shapes as needed, and if a sufficient storage space for the filter structure before and after use can be secured, the technical purpose is Various shape transformations will be possible as long as the range does not change.

To this end, the purification module 110 includes a first accommodating part 115 in which a replacement filter structure is accommodated outside the purification space where the filter structure 113 and the blower 114 are located, and a filter whose performance has deteriorated after use. A second accommodating part 116 capable of accommodating the structure 113' is provided.

That is, after opening the purification space and removing the used filter structure 113' toward the second accommodating part, a new filter structure 113 is installed in the purification space so that continuous purification work is performed, and the first accommodating part 115 A filter for moving the filter structure 113 located at ) to the passage between the intake part 111 and the exhaust part 112 and moving the filter structure 113' located in the passage to the second accommodating part 116. A replacement unit 117 may be provided so as to replace the filter structure at set intervals when it is confirmed that the purification performance is lowered in conjunction with the sensor unit 122 .

In the present invention, in a preferred embodiment, the purification module 110 is opened so that the filter structure can be inserted or removed, but the filter structure moves along the first accommodating part 115 and the second accommodating part 116 provided on both sides, respectively. By configuring the filter replacement part 117 through a structure such as a rail that guides the filter structure 117 after opening the purification module 110, the used filter structure 113' is removed to the second accommodating part 116, and the first accommodating part The new filter structure 113 located at 115 is moved to the purification module side and then the filter structure is replaced by assembling the purification module 110.

The rights of the present invention are defined by what is described in the claims, not limited to the embodiments described above, and that those skilled in the art can make various modifications and adaptations within the scope of rights described in the claims. It is self-evident.

100: purification vehicle 101: steering wheel
102: steering unit 103: driving wheel
104: driving unit 110: purification module
111: intake part 112: exhaust part
113: filter structure 114: blower
115: first accommodating part 116: second accommodating part
117: filter replacement unit 120: control module
121: camera 122: sensor unit
123: GPS unit 124: first communication unit
125: auxiliary storage unit 126: determination unit
200: control server 210: second communication unit
220: main storage unit 230: setting unit
240: progress management unit 250: monitoring unit
260: manual control unit 270: information collection unit
280: simulation unit 290: information interlocking unit

Claims (5)

A plurality of unmanned type purification having a steering wheel 101 and a driving wheel 103, a steering unit 102 for moving the steering wheel 101, and a driving unit 104 for applying power to the driving wheel 103 As a chemical, biological and chemical purification system using the vehicle 100.
A filter structure 113 mounted on the purification vehicle 100, having an intake part 111 and an exhaust part 112 communicating with the outside, and containing an adsorbent for removing harmful substances therein, and the intake part ( a purification module 110 equipped with a blower 114 for discharging the air sucked through 111) through the filter structure 113 to the exhaust unit 112;
Mounted on the purification vehicle 100, a camera 121 for photographing a designated direction, a sensor unit 122 for measuring harmful substances in the surrounding air, a GPS unit 123 for transmitting and receiving GPS signals, and a remote wireless A control module having a first communication unit 124 composed of a communication module, transmitting collected images and measurement results, and controlling the steering unit 102, the driving unit 104, and the blower 114 according to the received control signals. (120);
A second communication unit 210 located in a remote location and communicating with the first communication unit 124, a main storage unit 220 storing geographic information of the controlled area, and a purification area and purification based on the geographic information A setting unit 230 for setting the number of input vehicles, a progress management unit 240 for generating and distributing control signals for purification work for each purification area and purification vehicle, and monitoring the location, operation and work status of the purification vehicles Control server 200 having a monitoring unit 250; Characterized in that consisting of an unmanned self-driving NBC purification system.
According to claim 1,
The control server 200,
A manual control unit 260 that controls the purification vehicle in real time as the manager checks the camera image transmitted from the purification vehicle and inputs the control signals of the steering unit 102, the driving unit 104, and the blower 114 is further installed. An unmanned self-driving method of chemical, biological and biological purification system, characterized in that it comprises.
According to claim 1,
The control server 200,
An information collection unit 270 that collects meteorological information including wind direction and speed, temperature, and humidity of the controlled area, and a simulation unit 280 that simulates a pollutant diffusion model based on the meteorological information and geographic information; After establishing a purification plan by reflecting the simulation results, an information interlocking unit 290 for controlling a corresponding purification vehicle in conjunction with the progress management unit 240 is further included.
According to claim 1,
The control module 120,
The steering unit 102 and the driving unit ( 104) and the blower 114, but further including a determination unit 126 that analyzes the images collected through the camera 121 to determine the current location and movement path, even without communication with the control server 200 An unmanned self-driving NBC purification system characterized in that it is possible to operate autonomously for a set time.
According to claim 1,
The purification module 110,
The first accommodating part 115 in which the replacement filter structure is accommodated, and the filter structure located in the first accommodating part 115 are positioned in the passage between the intake part 111 and the exhaust part 112, and the passage A filter replacement unit 117 is provided to move the filter structure 113 'located at to the second accommodating unit 116, so that the filter structure can be replaced every set time in conjunction with the sensor unit 122. Characterized in that the unmanned self-driving NBC purification system.

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