KR20230133727A - Location measurement system using three drones equipped with smart scanner and method thereof - Google Patents

Abstract

A location determination system and method using three drones equipped with smart scanners are disclosed. The location determination system using three drones equipped with smart scanners is equipped with a smart scanner equipped with a wireless AP module that transmits the signal strength and camera image data of terminals within the coverage area (WLAN) of the drone's wireless AP module. one drone; And the signal strength and camera image data of the victim's or fall victim's terminal are collected from a smart scanner equipped with a wireless AP module of one or more drones and stored in a database, and the location determination server detects one drone according to the signal strength of the terminal. It includes a location determination server that measures the location of the terminal of a person in distress or a fall victim by nearest proximity survey or triangulation of three drones and displays it on a map in conjunction with a GIS server.

Description

Location measurement system using three drones equipped with smart scanner and method thereof}

The present invention relates to a positioning system and method using three drones equipped with smart scanners, and more specifically, a wireless AP module is installed to identify the location of victims or fall victims during forest fires or mountaineering and provide emergency rescue. It provides a location determination system using three drones equipped with smart scanners (IoT devices), and scans/detects the coverage area (WLAN) of the wireless AP module to detect the terminal (smartphone) of the victim or fall victim. The strength of the signal is scanned/detected by a smart scanner and transmitted to the location determination server, and the location determination server measures the location of the terminal by nearest measurement or triangulation according to the signal strength of the terminal of the person in distress or the person who fell. It relates to a location determination system and method using three drones equipped with smart scanners.

Recently, smart devices such as smartphones and tablet PCs have become widely available, and drone technology has developed, leading to an increase in LBS services in wireless communication networks. In addition, ubiquitous computing requires LBS services in various fields regardless of time and place in connection with drones.

The Multi Radio Access Technology (RAT) System, which communicates through a terminal and a base station, can communicate using a single communication method or using multiple communication methods simultaneously. For example, the multiple wireless access system may apply Wi-Fi, a short-range wireless communication.

Wi-Fi (WLAN) is an abbreviation for Wireless Fidelity, which provides short-range wireless Internet services within a certain coverage distance (100 m) using radio waves or infrared transmission where a wireless access device (AP: Access Point) is installed. It is a wireless communication network.

Location Based Service (LBS), which measures the location of a user terminal through short-distance wireless communication, can be calculated using the law of cosines, coordinate rotation, triangulation, etc.

In order to determine location through short-range wireless communication such as existing Wi-Fi, the terminal must be connected to a wireless access device (Access Point, AP).

Figure 1 is a configuration diagram of a location determination server providing LBS service, a BSS of IEEE 802.11 WALN, and a station (STA).

For reference, the basic type of IEEE 802.11 WLAN structure, BSS (Basic Service Set), is transparent to the PHY and MAC upper layers through the interaction of multiple stations (STAs) consisting of at least two stations (STAs). Provides mobility of the station (STA). For example, if there are three BSSs (BSS1, BSS2, BSS3) in the WLAN coverage area BSA (Basic Service Area), BSS1 is a member of each BSS. Two stations (STA1 and STA2) are included, BSS2 includes STA3 and STA4, and BSS3 includes STA5 and STA6. When a station (STA) moves outside the BSA coverage area, it cannot communicate directly with other stations (STAs) within the BSA.

IEEE 802.11 PHY includes three physical layer technologies.

* Frequency Hopping Spread Spectrum (FHSS)

- Uses 2.4GHz ISM band (Industrial, Scientific, Medical)

- two-level Gaussian frequency shift keying (GFSK)

* Direct Sequence Spread Spectrum (DSSS)

- Uses 2.4GHz ISM band (Industrial, Scientific, Medical)

- Differential binary phase shift keying (DBPSK)

- differential quadrature phase shift keying (DQPSK)

* Infrared(IR)

- For indoor use

- Operates with nondirected transmission using 16-pulse position modulation (PPM) and 4-PPM

IEEE 802.11a PHY uses Coded OFDM (COFDM), which uses OFDM (Orthogonal Frequency Division Multiplexing) in combination. This is a Frequency Division Multiplexed multi-carrier communication technology that uses convolutional coding to provide higher actual data transmission rates.

The PHY of IEEE 802.11b uses CCK (Complementary Code Keying) and DSSS modulation technology at 2.4GHz.

IEEE 802.11g PHY is a superset of 802.11b PHY and uses 802.11b's modulation technology and OFDM technology originally defined for 802.11a PHY in the 5GHz band.

As prior art 1 related to this, patent registration number 10-1702261 registers “a method and device for estimating the location of a terminal by selectively using an active method and a passive method.”

Figure 2a is a diagram for explaining a method of estimating a location by selectively using an active method and a passive method.

The terminal's location estimation system selectively uses active and passive methods.

Location determination server; A plurality of APs (Access Points) communicating with the location determination server; And a location estimation system including a terminal in short-distance communication with the plurality of APs,

When the terminal is a first terminal that receives or transmits and receives through the short-distance communication, the first terminal uses the strength of the signal received from the plurality of APs without being connected to the plurality of APs. Estimate the location of the first terminal,

If the terminal is a second terminal that only transmits through the short-distance communication,

In a state where the plurality of APs are not connected to the second terminal, the plurality of APs transmit signal strength information received from the second terminal to the location determination server,

The location determination server estimates the location of the second terminal using the signal strength information,

When the terminal includes a first terminal and a second terminal,

A method of estimating the location of the first terminal using the strength of the signal received from the plurality of APs, and the location determination server using the strength information of the signal received from the second terminal to estimate the location of the second terminal. Simultaneously use the estimation method,

The first terminal and the location determination server estimate the location of the first terminal or the second terminal using trilateration,

The strength of the signal received from the plurality of APs used by the first terminal and the location determination server or the strength of the signal received from the second terminal is three or more.

The location determination server determines the terminal as the first terminal or the second terminal depending on whether the terminal can receive signals from the plurality of APs.

As prior art 2 related to this, “Method and device for estimating the location of a terminal” is registered in Patent Registration No. 10-1711791.

Figure 2b is a flowchart explaining a specific method of utilizing signal strength monitoring information between APs to increase location determination accuracy through a wireless AP (Access Point).

The location estimation system of the terminal includes a location determination server; A plurality of APs (Access Points) communicating with the location determination server; And a location estimation system including a plurality of terminals in short-distance communication with the plurality of APs,

When the terminal is a first terminal that receives or transmits and receives through the short-distance communication, the first terminal uses the strength of the signal received from the plurality of APs without being connected to the plurality of APs. Estimate the location of the first terminal,

If the terminal is a second terminal that only transmits through the short-distance communication,

In a state where the plurality of APs are not connected to the second terminal, the plurality of APs transmit signal strength information received from the second terminal to the location determination server,

The location determination server estimates the location of the second terminal using the signal strength information,

Among the plurality of APs, the first terminal or the location determination server uses a first AP capable of measuring mutual signal strength values to generate a first event related to estimating the location of the first terminal or the location of the second terminal. Determine what has occurred.

When a change in signal strength occurs in two of the first APs, the first terminal or the location determination server determines whether the change in signal strength of at least one second AP around the two APs occurs equally. judge.

When the change in signal strength of the two APs and the change in signal strength of the second AP are the same, the first terminal or the location determination server determines that an event related to the external environment among the first events has occurred.

If the change in signal strength of the two APs and the change in signal strength of the second AP are not the same, the first terminal or the location determination server may detect a third AP other than the two APs among the first APs. Determine whether the change in signal strength occurred equally.

As prior art 3 related to this, “Method and device for estimating the location of a terminal” is registered in Patent Registration No. 10-1780592.

Location determination server; A plurality of APs (Access Points) communicating with the location determination server; And a plurality of terminals in short-distance communication with the plurality of APs. In the location estimation system including,

The location determination server determines at least one first AP among the plurality of APs that has not moved for a preset period,

If the terminal is a first terminal that receives or transmits through the short-distance communication,

In a state where the first terminal is not connected to the plurality of APs, the first terminal estimates the location of the first terminal using the strength of a signal received from the first AP,

If the terminal is a second terminal that only transmits through the short-distance communication,

In a state where the plurality of APs are not connected to the second terminal, the plurality of APs transmit signal strength information received from the second terminal to the location determination server,

The location determination server estimates the location of the second terminal using the strength information of the signal received through the first AP,

The first terminal estimates the location of the first terminal by additionally using the location information of the first AP,

The location determination server estimates the location of the second terminal by additionally using the location information of the first AP,

The location determination server determines the location of a second AP adjacent to the first AP based on the location of the first AP among the plurality of APs,

The first terminal estimates the location of the first terminal by additionally using the location information of the second AP,

The location determination server estimates the location of the second terminal by additionally using the location information of the second AP,

The first terminal or the location determination server determines a third AP whose signal strength is higher than a preset value among the communicating first APs,

The first terminal estimates the location of the first terminal using the strength of the signal received from the third AP,

The location determination server estimates the location of the second terminal using the strength information of the signal received through the third AP,

The terminal or location determination server is characterized in that it determines the third AP by additionally using the separation distance between the terminal or location determination server and the first AP.

However, drone technology has recently developed, and in the event of a forest fire or a fall accident while climbing a mountain, a drone can be used to measure the location of the victim's terminal to rescue a person carrying a smartphone or a person who has fallen injured in a dangerous area. LBS services for emergency rescue were not provided.

Patent registration number 10-1702261 (registration date: February 3, 2017), “Method and device for estimating the location of a terminal by selectively using active and passive methods”, Toysmith Co., Ltd. Patent registration number 10-1711791 (registration date March 3, 2017), “Method and device for estimating the location of a terminal”, Toysmith Co., Ltd. Patent registration number 10-1780592 (registration date September 14, 2017), “Method and device for estimating the location of a terminal”, Toysmith Co., Ltd.

The purpose of the present invention to solve the above problems is to use three smart scanners (IoT devices) equipped with a wireless AP module to identify the location of victims or fall victims during forest fires or mountaineering and provide emergency rescue. It provides a location determination system using a drone, and scans/detects the coverage area (WLAN) of the wireless AP module to determine the location by scanning/detecting the signal strength of the terminal (smartphone) of the person in distress or the person who fell. A positioning system using three drones equipped with smart scanners that transmits data to a server, and the positioning server measures the position of the terminal by nearest survey or triangulation according to the strength of the signal from the victim's or fall victim's terminal. provides.

Another object of the present invention is to provide a location determination method using three drones equipped with smart scanners.

In order to achieve the purpose of the present invention, a location determination system using three drones equipped with smart scanners scans/detects the coverage area (WLAN) of the wireless AP module of the drone to determine the signal strength of the terminal of the person in distress or the person who fell. , a drone equipped with a smart scanner equipped with a wireless AP module that transmits camera video data; And the signal strength of the terminal of the person in distress or the person who fell after a fall, and the camera image data are collected from a smart scanner equipped with a wireless AP module of one or more drones and stored in a database, and the location determination server is configured according to the strength of the signal of the terminal. It includes a server provided with a location determination server that measures the location of the terminal of the person in distress or the person who fell by using closest measurement of one drone or triangulation of three drones and displays it on a map.

In order to achieve another object of the present invention, the location determination method using three drones equipped with smart scanners is (a) a smart scanner equipped with a wireless AP module is installed on the drone, and the coverage area (WLAN) of the wireless AP module is installed. Scanning/detecting the signal strength of the victim or fall victim's terminal and transmitting the drone's camera image data to a server and storing them in a database; and (b) collecting the signal strength of the terminal of the person in distress or the person who has fallen due to a fall from a smart scanner equipped with the wireless AP module of one or more drones and the camera image data and storing it in a database, and the location determination server in the server determines the signal of the terminal It includes the step of measuring the location of the terminal of the person in distress or the person who fell by using closest measurement of one drone or triangulation of three drones depending on the intensity, and displaying it on the map.

The positioning system and method using three drones equipped with a smart scanner of the present invention is a smart scanner (Smart Scanner) equipped with a wireless AP module to identify the location of a person in distress or a fall victim during a forest fire or mountain climbing and provide emergency rescue. It provides a location determination system using three drones equipped with IoT devices, and scans/detects the coverage area (WLAN) of the wireless AP module to measure the signal strength of the victim's or fall victim's terminal (smartphone) to a smart scanner. It scans/detects and transmits it to the location determination server, and the location location server has the effect of measuring the location of the terminal by nearest measurement or triangulation according to the strength of the signal of the terminal of the person in distress or the person who fell.

In mountainous terrain, one or three drones are used in the event of a fire/wildfire, mountaineering disaster, or fall accident, and the wireless AP module of the three drones is equipped to measure the strength of the Wi-Fi signal of the terminal of the victim or fall victim. It is scanned/detected by a smart scanner and transmitted to the location determination server, and the location location server detects the location of the victim's or fall victim's terminal (smart phone/tablet PC) through nearest survey (1 drone) or triangulation (3 drones). Emergency rescue is possible by measuring by a drone) and displaying the location of the victim or injured fall victim on a map on the user terminal, and providing drone camera images through an image storage server using a smartphone.

Figure 1 is a configuration diagram of a location determination server providing LBS service, a BSS of IEEE 802.11 WALN, and a station (STA).
FIG. 2A is a diagram illustrating a method of estimating a location by selectively using an active method and a passive method.
Figure 2b is a flowchart explaining a specific method of utilizing signal strength monitoring information between APs to enhance positioning accuracy through a wireless AP (Access Point).
Figure 3 is a configuration diagram of the main body and expansion pack of the Smart Scanner, which is an IoT device equipped with sensors from Toysmith Co., Ltd. (affiliated company), and is attachable and detachable using the Plug & Play method.
Figure 4 is a configuration diagram of a location determination system using three drones equipped with smart scanners according to the present invention.
Figure 5 is a flow chart showing a location determination method using three drones equipped with smart scanners according to the present invention.
Figure 6 is an internal configuration diagram of a drone equipped with a smart scanner equipped with a wireless AP module.
Figure 7 is a diagram explaining the RTSP protocol of the viewer (RTSP client) of the user terminal and the video storage server (RTSP server).
Figure 8 shows the structure of the protocol stack of the viewer of the user terminal.

Hereinafter, the configuration and operation of the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the present invention, if it is determined that a detailed description of a related known technology or a known configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the attached drawing numbers are assigned the same drawing numbers in other drawings when indicating the same configuration.

The present invention is a location positioning system and method using three drones equipped with smart scanners, a smart scanner (IoT device) equipped with a wireless AP module to identify the location of a person in distress or a person who has fallen while hiking and provide emergency rescue. It provides a location determination system using three drones equipped with a smart scanner to scan/detect the strength of the Wi-Fi signal of one or more terminals (smartphones) within the coverage area (WLAN) of the wireless AP module. It is transmitted to the location determination server, and the location determination server measures the location of the victim's or fall victim's terminal by nearest proximity survey or triangulation according to the strength of the signal from the victim's or fall victim's terminal and displays it on the map.

In mountainous terrain, forest fires, fall accidents, and disaster situations, the strength of the Wi-Fi signal of the victim or fall victim's terminal is scanned/detected by a smart scanner equipped with the AP module of three drones to save lives within the golden time. This is transmitted to the location determination server, and the location location server measures the location of the terminal (smart phone/tablet PC) of the person in distress or the person who fell in the accident using triangulation.

Figure 3a is a diagram showing the configuration of the main body and expansion pack of a Smart Scanner, which is an IoT device equipped with sensors from Toysmith Co., Ltd. (affiliated company), and is attachable and detachable by the Plug & Play method.

Smart scanner is an IoT device,

모듈), 확장팩(200)의 PoE 모듈(220)과 유선으로 연결되는 유선 통신부(130), 상기 제어부(101)에 연결되고 시리얼 포트를 통해 소프트웨어를 인스톨하기 위해 사용되는 사용자 입출력부(140), USB 모듈(141)을 구비하며, 예를 들면 Wi-Fi 커버리지 영역(WLAN) 내에 있는 하나 이상의 단말(스마트폰, 태블릿 PC)의 신호의 세기를 스마트 스캐너에 의해 스캐닝/측정하여 이를 서버로 전송하며, 센서 데이터를 서버로 전송하는 스마트 스캐너의 본체(100); 및 A wireless communication unit 110 having at least two Wi-Fi communication units and a Bluetooth communication unit, a control unit 101 used as a main controller equipped with a multimedia module 102, and a sensor unit 210 of the expansion pack 200. GPIO (UART module,

module), a wired communication unit 130 connected by wire to the PoE module 220 of the expansion pack 200, a user input/output unit 140 connected to the control unit 101 and used to install software through a serial port, Equipped with a USB module 141, for example, the signal strength of one or more terminals (smart phones, tablet PCs) within the Wi-Fi coverage area (WLAN) is scanned/measured by a smart scanner and transmitted to the server. , the main body of the smart scanner (100) that transmits sensor data to the server; and

It is attached and detachable to the main body 100 of the smart scanner in a plug-and-play manner, and, if necessary, includes a human body detection sensor (PIR sensor, IR sensor), a fire detection sensor, an air quality sensor 213, and a fine dust sensor ( 214), a PoE module 220 consisting of a sensor unit 210 in which sensors such as a temperature sensor/humidity sensor 212 are connected to the sensor hub 211, a power supply module 221, and a wired communication module 223. Includes an expansion pack (200) that includes.

In theory, smart scanners support fastening up to 127 sensors or actuators simultaneously.

The wireless communication unit 110 of a smart scanner equipped with a wireless AP module is equipped with an antenna, a Wi-Fi communication unit or an LTE 4G/5G modem, or a LoRa RF communication unit or an LTE NB-IoT communication unit.

The main body of the smart scanner equipped with an antenna and a wireless communication unit is detachably spaced or mounted on an expansion pack 200 equipped with sensors and a PoE module.

The wireless communication unit uses any one of a Wi-Fi communication unit, an LTE 4G/5G communication unit, a LoRa RF communication unit, or an LTE NB-IoT communication unit,

The expansion pack 200 is equipped with sensors to add functions to the smart scanner, and additionally includes a PoE module.

The expansion pack 200 includes a sensor unit equipped with sensors. Additionally, the expansion pack can be equipped with additional PoE modules.

One or more sensors are mounted on the expansion pack 200 as needed, and a human body detection sensor (PIR sensor, IR sensor) or a fire detection sensor can be used.

Figure 6 is an internal configuration diagram of a drone equipped with a smart scanner equipped with a wireless AP module.

A drone equipped with a smart scanner equipped with a wireless AP module can use an airplane-shaped fixed-wing drone or a rotary-wing drone with 4/6/8 propellers. In the embodiment, a rotary-wing drone is used as an example.

1) Rotary wing drone

The smart scanner (300) equipped with a wireless AP module basically includes four propellers (304, 306, 308, 310), motors (M1, M2, M3, M4), an electronic speed controller (ESC) (302), and a flight controller (FC). , Flight Controller (301), camera (317) and A/V image processing unit (319), communication unit (311) such as Wi-Fi or LTE 4G/5G or IoT communication network, GPS receiver (312), altimeter ( 313), INS (Inertial Navigation System) 314 including a gyroscope and an acceleration sensor, a storage unit 323, and a power supply unit 330,

It is connected to the flight controller (FC) 301 and further includes a smart scanner 327 equipped with a wireless AP module.

The drone is equipped with a smart scanner 327 equipped with a wireless AP module and transmits the signal strength of terminals within coverage.

It is connected to the flight controller (FC) 301 and includes an LED lighting unit 321 provided with a plurality of LED circuits that illuminate LED lighting at night.

The inertial navigation system (INS) is equipped with a gyro sensor and an acceleration sensor.

The power supply unit 330 of the drone 300 uses a battery or solar cell unit.

The drone's electronic speed controller (ESC) 302 controls the rotation speed of the drone's motors (M1, M2, M3, M4) according to the remote drone flight control signal from the ground terminal to perform speed control, position control, and altitude control. do.

A drone equipped with a smart scanner equipped with a wireless AP module

A ground terminal 100 equipped with a Wi-Fi communication unit, LTE 4G/5G communication unit, or IoT communication unit (LoRa RF, or LTE NB-IoT communication unit) and transmitting a remote drone flight control signal; and

A remote drone flight control signal is received from the ground terminal 100, and vertical takeoff and landing of the drone, vertical rise/descent, linear acceleration, direction control of the drone, altitude control of the drone, hovering (stop), landing and flight path control, and autonomy are performed. The flight path of the drone is controlled according to the flight path or the drone's Waypoint schedule path, where the position, speed and altitude are preset for each route section, and four or more propellers (204, 206, 208, 210) and motors (303, 305, 307, 309) , Equipped with an electronic speed controller (ESC) (302) and a flight controller (FC) (301), and a GPS receiver connected to a camera (317), an A/V image processing unit (319), and a flight controller (FC) (301). (312), an altimeter (313), an INS inertial navigation device (314) equipped with an acceleration sensor and a gyroscope, a storage unit (323), and a power supply unit (330).

It is connected to the flight controller (FC) and includes a smart scanner 327 equipped with a wireless AP module.

It is connected to the flight controller (FC) 301 and further includes an LED lighting unit 321 that illuminates LED lighting at night.

The flight controller (FC) 301 is connected to the electronic speed controller (ESC) 302, and is capable of controlling the drone's vertical takeoff and landing, vertical ascent/descent, direction control, linear acceleration, drone speed control, altitude control, hovering, and landing. and control the flight path, and control the speed, position, and altitude of the drone flying in the sky along the corresponding path of the drone's autonomous flight or scheduled path flight.

A drone (300) equipped with a smart scanner equipped with a wireless AP module

In the event of a forest fire/fire or mountaineering fall accident, the signal strength of the terminal owned by the victim or fall victim is transmitted to the location determination server, and the drone's camera image data is transmitted to the communication network (Wi-Fi, LTE 4G/5G, LoRa RF, NB) -Transmits to a video storage server (NVR server, VMS server, or video streaming server equipped with an encoder) in real time through an IoT communication network.

The video storage server is an RTSP server that uses the RTSP protocol and uses an NVR server, VMS server, or video streaming server equipped with an encoder. It receives and stores camera video data from the drone.

The ground terminal 100 is connected to an image storage server (RTSP server) that stores image data from the drone's camera, and outputs the image data from the drone's camera to a viewer (RTSP client) in real time using the RTSP protocol.

The ground terminal 100 uses a smartphone connected to a drone operator (RC Transmitter/Receiver (RC Tx/Rx)) and a control PC equipped with a wireless communication unit with the drone.

The wireless communication unit of the control PC with the drone uses one of Wi-Fi, LTE 4G/5G, or IoT communication networks. The IoT communication network can use LoRa RF or NB-IoT communication network.

The ground terminal 100 includes an operation unit 101 that remotely controls the drone; Flight control SW (102) that controls the drone's vertical takeoff and landing, vertical rise/descent, direction control, linear acceleration, drone speed control, altitude control, position control, hovering, landing, and flight path; A client (103) that connects to the video storage server and outputs video data from the drone's camera to the display unit (107) using an RTSP client; A control unit 104 that controls the drone to transmit a remote drone flight control signal; A communication unit 106 that transmits a remote drone flight control signal to the drone 300 through a communication network (RF, Wi-Fi, or LTE 4G/5G, LTE NB-IoT IoT communication network, etc.); A storage unit 105 that receives and stores camera image data received from the drone; and a display unit 107 that is connected to the control unit 104 and outputs image data from the drone's camera.

Flight control SW includes flight path planning software and flight control software.

Flight path planning software includes flight altitude, degree of overlap (longitudinal overlap, lateral overlap), setting the interval for the number of times a camera takes pictures according to the drone's flight altitude, emergency landing point (ERP), home location altitude (RTH), and safety circle ( Geofencing) Set the radius.

Flight control software is software that outputs and controls the drone's location, flight direction, speed, and altitude values in real time using wireless communication technology.

The drone (300) equipped with a smart scanner equipped with a wireless AP module

4 or more propellers (304, 306, 308, 310) and motors (M1, M2, M3, M4);

An electronic speed controller (ESC) (302) connected to four or more propellers (304, 306, 308, 310) and motors (M1, M2, M3, M4) and connected to a flight controller (FC) (301);

It is connected to the electronic speed controller (ESC) 302, receives a remote drone flight control signal from the ground terminal 100 through the wireless communication unit 311, and controls the drone's vertical takeoff and landing, vertical ascent/descent, direction control, and speed. Controls control, altitude control, hovering (stop), landing and flight path, controls data transmission and reception with ground terminals/media servers, and provides position control and speed for each route section according to the drone's autonomous flight or scheduled flight path settings. A flight controller (FC) 301 that performs control, altitude control, and transmits the signal strength of the terminal of the person in distress or the person who fell and/or the camera image data of the drone to the server;

It is connected to the flight controller (FC) 301, receives a remote drone flight control signal from the ground terminal 100, and has one of the communication units such as RF, Wi-Fi, LTE 4G/5F, and IoT communication networks. Wireless Communication Department (311);

A GPS receiver (312) connected to the flight controller (FC) (301) and providing GPS location information of the drone;

An altimeter (313) connected to the flight controller (FC) (301) and providing altitude information of the drone;

It is connected to the flight controller (FC) 301, and controls the attitude of the drone 300 by measuring the angular velocity of the four propellers (304, 306, 308, and 310) rotating about the z axis to control yaw, roll, and pitch. A gyroscope (gyro sensor) that maintains the left and right horizontal balance of the drone; and an INS inertial navigation device (314) connected to the flight controller (FC) (301) and including an acceleration sensor that measures the acceleration of the drone moving along the flight path;

A camera 317 capable of PTZ control provided at the bottom of the drone;

An A/V image processing unit 319 connected to the flight controller (FC) 301 and encoding the image of the camera 317;

A storage unit (hard disk) 323 that records video data from the camera and the location, altitude, speed, and acceleration data of the drone at each time;

A power supply unit 330 connected to the flight controller (FC) 301 and supplying power to the drone;

A smart scanner (327) connected to the flight controller (FC) (301) and equipped with a wireless AP module;

An LED lighting unit 321 connected to the flight controller (FC) 301 and emitting LED lighting at night; and

It includes a mechanism frame having an upper body of the drone 300 and a lower vertical takeoff and landing part.

The altimeter used a GPS altimeter that measures the altitude above sea level, which indicates the height of the terminal of the person in distress or the person who fell, based on the horizon or sea level as 0. The altitude was measured using a triangulation method using a satellite.

For reference, an altimeter measures altitude above sea level, and if a GPS receiver is used, it cannot be used in places blocked by terrain features, canyons, or underground, so mountaineering-related equipment uses a relative altimeter.

The drone 300 is connected to the flight controller (FC) 301 and further includes an LED lighting unit 321 that illuminates LED lighting at night.

The drone 300 may further include a timer connected to the flight controller (FC) 301.

The drone 300 may further include a USB memory connection connected to the flight controller (FC) 301.

The drone 300 may further include an SD card connection in addition to the USB memory connection, and the drone's camera images, flight records, and inertial navigation data can be recorded on the SD card through the SD Card Slot.

Figure 4 is a configuration diagram of a location determination system using three drones equipped with smart scanners according to the present invention.

The location determination system using three drones equipped with smart scanners,

A drone equipped with a smart scanner (main body + expansion pack) equipped with a wireless AP module that scans/detects the coverage area (WLAN) of the drone's wireless AP module and transmits the signal strength and camera image data of the terminal of the victim or fall victim. ; and

The signal strength of the terminal of the victim or the fall victim and the camera image data are collected from a smart scanner equipped with a wireless AP module of one or more drones and stored in a database, and the location determination server is configured according to the signal strength of the terminal. Location positioning that measures the location of the terminal of the person in distress or the person who fell by using closest measurement of one drone or triangulation of three drones, and displays the location of the terminal on a map in conjunction with the GIS server 310. Includes servers.

Figure 5 is a flow chart showing a location determination method using three drones equipped with smart scanners according to the present invention.

The location determination system using three drones equipped with smart scanners

The main body 100 of a smart scanner (IoT device) equipped with antennas is detachably mounted on the expansion pack 200, which includes a sensor unit 210 for mounting a sensor and a PoE module 220. The MAC address of one or more terminals (smartphone, tablet PC) within the coverage area (WLAN, 100m) of the wireless AP (Access Point) is scanned/detected by the smart scanner of the local drone to detect the signal of the terminal of the victim or fall victim. Drone equipped with a smart scanner (main body + expansion pack) equipped with a wireless AP module that transmits the intensity of the camera, image data of victims or fall victims, and sensor data when sensors are installed; and

From the smart scanner of one or more drones, the signal strength of the victim's or fall victim's terminal, camera image data of the victim or fall victim, and sensor data are collected to the server according to optionally equipped sensors and stored in the server's database, and location location is determined. When the server uses the wireless AP module of one drone's smart scanner, depending on the signal strength of the victim or fall victim's terminal, the victim or the victim is identified by nearest proximity survey or triangulation of the wireless AP modules of three drones' smart scanners. It includes a server 300 that measures the location of the fall victim's terminal, displays the location of the terminal on a map in conjunction with the GIS server 310, and displays detected sensor data when necessary.

The smart scanner equipped with the wireless AP module is

모듈을 구비하는 GPIO(120), 유선통신부(130), 상기 제어부(101)에 연결되고 시리얼 포트를 통해 소프트웨어를 인스톨하기 위해 사용되는 사용자 입출력부(140), USB 인터페이스부(141), 전원 공급부(170)가 구비된 스마트 스캐너(IoT 디바이스)의 본체(100); 및 Antennas, a wireless communication unit 110, and a multimedia module 102 are embedded and connected to the control unit 101 used as a control controller, the memory 103, and the sensor unit 210 of the expansion pack 200, and the UART module and

GPIO (120) with a module, a wired communication unit (130), a user input/output unit (140) connected to the control unit (101) and used to install software through a serial port, a USB interface unit (141), and a power supply unit. A main body (100) of a smart scanner (IoT device) equipped with (170); and

An expansion pack ( 200),

The main body 100 of the smart scanner (IoT device) is detachably spaced apart or mounted on an expansion pack 200 equipped with sensors. The expansion pack 200 basically includes sensors and a power supply module, and can additionally include a PoE module in the expansion pack.

The main body 100 of the smart scanner equipped with antennas and a wireless communication unit is detachably spaced or mounted on an expansion pack 200 equipped with sensors, power supply modules, and a PoE module.

A smart scanner equipped with a wireless AP module

A main body 100 of a smart scanner (IoT device) equipped with antennas, a wireless communication unit, a control unit, a memory, and a GPIO connected to a sensor unit, a wired communication unit, a user input/output unit, a USB interface unit, and a power supply unit; and

It includes an expansion pack 200 including a sensor unit for mounting a sensor and a PoE module additionally including a power supply module and a wired communication module,

The main body 100 of the smart scanner (IoT device) may have sensors detachably spaced apart or mounted on the expansion pack 200.

Drones equipped with a smart scanner equipped with a wireless AP module use fixed-wing drones or rotary-wing drones, and use one drone or three drones.

The drone's camera uses an RGB camera, NIR camera, or thermal imaging camera.

The sensor installed in the expansion pack of the smart scanner equipped with the AP (Access Point) module mounted on the drone can be equipped with a human body detection sensor (PIR sensor, IR sensor).

The drone is connected to a flight controller (FC) and further includes an LED lighting unit that illuminates at night.

The location determination server receives the signal strength of the victim's or fall victim's terminal from a smart scanner equipped with a wireless AP module of one or three drones and determines the location of the victim's or fall victim's terminal by nearest proximity survey or triangulation. Measure,

The location determination server links with the GIS server 310 to provide the location of the terminal of the person in distress or the person who fell, and displays it on the map.

When using one drone, the nearest survey uses the transmission time of the wireless transmitter of the victim or fall victim's terminal and the reception time TOA (Time Of Arrival) when the wireless reception signal arrives at the wireless communication unit of the drone. = Based on distance/time, the 3-dimensional distance (x, y, z-altitude coordinate system) between the drone and the terminal of the person in distress or the person who fell at the current time is calculated and measured with reference to the current location of the drone's GPS receiver.

When using three drones, triangulation is a point-to-multipoint communication-based location recognition technique that uses the transmission time of the wireless transmitter of the victim or fall victim's terminal and the reception time when the wireless reception signal arrives at the wireless communication unit of the drone. TOA (Time Of Arrival) is used to calculate the 3D distance between the current drone and the victim's or fall victim's terminal, and the location information of the victim's or fall victim's terminal and the three drone nodes is used in triangulation to reach the victim or fall victim. Recognizes the location of the fall victim's terminal.

In addition, the positioning method using three drones equipped with a smart scanner equipped with a wireless AP module of the present invention is a method of positioning using three drones equipped with a smart scanner (a) a drone equipped with a wireless AP module A smart scanner is installed, scanning/detecting the coverage area (WLAN) of the wireless AP module, transmitting the signal strength of the terminal of the person in distress or the person who fell, and the drone's camera image data to a server and storing them in a database; and (b) collecting the signal strength of the terminal of the person in distress or the person who has fallen due to a fall from a smart scanner equipped with the wireless AP module of one or more drones and the camera image data and storing it in a database, and the location determination server in the server determines the signal of the terminal Depending on the intensity, it includes measuring the location of the terminal of the person in distress or the person who fell by using closest measurement in the case of one drone or triangulation in the case of three drones and displaying it on a map through a GIS server.

The method transfers video data of a person in distress or a fall victim captured by the drone's camera from the drone's transmitting buffer (sender) to the server's receiving buffer (receiver) using the RTP/RTCP protocol. Transmitting to and storing a server through a wired or wireless communication network (Wi-Fi, LTE 4G/5G, LoRa RF, LTE NB-IoT communication unit) using; and

Video data of the person in distress or a fall victim is stored in the receive buffer of the video storage server (NVR server or VMS server) of the server, and a user terminal (PC, smart phone) linked to the video storage server (RTSP server role) is stored. It further includes the step of outputting video data of a person in distress or a person who has fallen by decoding A/V by a decoder of an A/V codec using the RTSP protocol using a viewer (RTSP client) of a phone or tablet PC.

The server includes a web server, a location determination server linked to the GIS server, a data collection unit, a database, and an image storage server (NVR server or VMS server).

The video storage server uses an NVR server, a VMS server, or an encoder and a video streaming server, and is connected to a user terminal through a wired or wireless communication network, and the user terminal uses a PC, laptop, smartphone, or tablet PC.

Figure 7 is a diagram explaining the RTSP protocol of the viewer (RTSP client) of the user terminal and the video storage server (RTSP server).

The viewer (RTSP client) of the user terminal uses the RTSP protocol to play the camera image data of the drone of the victim or fall victim stored in the video storage server (RTSP server) through a wired or wireless communication network. Output data.

- Setup, Play, Forward, Rewind, Pause,

- Stop, Resume, Record, Teardown

Figure 8 shows the structure of the protocol stack of the viewer of the user terminal.

Video data of a person in distress or a fall victim captured by the drone's camera is transferred from the drone's transmitting buffer (sender) to the server's receiving buffer (receiver) using RTP/RTCP protocol using RTP/UDP/IP or UDP/IP socket. Transmitting to a server and storing it through a communication network (Wi-Fi, LTE 4G/5G communication unit, LoRa RF communication unit, or LTE NB-IoT communication unit); and

Video data is stored in the receive buffer of the server's video storage server (NVR server or VMS server), and the user terminal (PC, smartphone, tablet PC) linked to the video storage server (RTSP server role) The viewer (RTSP client) uses the RTSP protocol to output camera image data of a person in distress or a person who has fallen through A/V decoding by the decoder of the A/V codec using the viewer of the user terminal.

For reference, RTP (real-time transport protocol) is a session layer protocol that transmits and receives voice/video packet data in real time along with RTCP (RTP control protocol). It is a session layer protocol that uses optical cables (SMF, single mode fiber), RTP packets (video and audio data of RTP payload) are transmitted and received on the UDP/IP socket on the Ethernet, Wi-Fi, and WLAN data link layers.

An RTP session is a logical unidirectional connection session formed between the sending and receiving sides through the RTP protocol. In an RTP session, destination confirmation is identified with one IP address and one pair of RTP/RTCP numbers, and the IP address is unique. Use a cast address or multicast address.

RTP is a media packet transmission protocol that transmits video and voice packet data over UDP/IP and consists of a 20-byte IP header, an 8-byte UDP header, a 12-byte RTP header, and RTP payload (audio and video data). UDP payload consists of a 12-byte RTP header and RTP payload (audio and video data).

RTP packets are classified into RTP header and RTP payload (video and voice data).

When using a single drone, the location determination server connects the wireless AP and the terminal of the smart scanner of one drone according to the signal strength of the terminal of the scanned/detected victim or fall victim within the coverage area (WALN) of the wireless AP module. Measures the closest proximity and determines the location of the terminal by triangulation of wireless APs of a smart scanner mounted on a drone adjacent to the terminal of the person in distress or who has fallen.

The location determination server of the server 300 can display the location of the corresponding terminal on a map by linking with the GIS server 310.

Server 300 is a web server; A location determination server that provides an LBS location service for a terminal that determines the location by triangulation and displays it on a map based on the strength of the signal of the terminal of the person in distress or the person who has fallen in danger transmitted from three drones; A data collection unit that collects camera image data or sensor data from a drone and stores it in a database; It includes an image storage server that receives and stores drone camera images.

The video storage server uses an NVR server or VMS server that stores video data from the drone's camera, or a video streaming server equipped with an encoder, and a viewer (RTSP client) on the user terminal (PC, smartphone, tablet PC) and RTSP protocol. It acts as an RTSP server using .

In mountainous terrain, one or three drones are used in the event of a disaster or fall accident during fire/wildfire or mountaineering, and the strength of the Wi-Fi signal of the victim or fall victim's terminal is monitored by the wireless AP module of the three drones. It is scanned/detected by a smart scanner equipped with a device and transmitted to the location determination server, and the location location server detects the location of the terminal (smart phone/tablet PC) of the person in distress or the person who fell in the process of nearest survey (one drone) or triangulation ( Measured by 3 drones, the location of the victim or injured fall victim is displayed on a map on the user terminal, and the drone camera video data is stored through the video storage server using the user terminal (PC, smartphone, tablet PC). By printing the , emergency rescue became possible.

Embodiments according to the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, and data structures alone or in combination. Computer-readable recording media include storage, magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Hardware devices configured to store and execute program instructions in optical media and storage media such as ROM, RAM, flash memory, etc. may be included. Examples of program instructions may include those produced by compilers, machine language code, as well as high-level language code that can be executed by a computer using an interpreter. The hardware device may be configured to operate as one or more software modules to perform the operations of the present invention.

As described above, the method of the present invention is implemented as a program and can be stored on a recording medium (CD-ROM, RAM, ROM, memory card, hard disk, magneto-optical disk, storage device, etc.) in a form that can be read using computer software. ) can be stored in .

Although the present invention has been described with reference to specific embodiments of the present invention, the present invention is not limited to the same configuration and operation as the specific embodiments to illustrate the technical idea as described above, and is not limited to the technical idea and scope of the present invention. It can be implemented with various modifications, and the scope of the present invention should be determined by the claims described later.

100: Smart scanner 101: Control unit
102: Multimedia module 103: Memory
110: wireless communication unit 120: GPIO
130: wired communication unit 140: user input/output unit
141: USB interface unit 170: power supply unit
200: Expansion pack 210: Sensor unit
211: sensor hub 212: temperature sensor/humidity sensor
213: Air quality sensor 214: Fine dust sensor
220: PoE module 221: Power supply module
223: wired communication module 230: plug

Claims (12)

A drone equipped with a smart scanner equipped with a wireless AP module that scans/detects the coverage area (WLAN) of the drone's wireless AP module and transmits the signal strength of the terminal of the person in distress or a fall victim and camera image data; and
The signal strength of the terminal of the victim or the fall victim and the camera image data are collected from a smart scanner equipped with a wireless AP module of one or more drones and stored in a database, and the location determination server is configured according to the signal strength of the terminal. A server provided with a location determination server that measures the location of the terminal of the person in distress or the person who fell by using closest measurement of one drone or triangulation of three drones, and displays it on a map;
A location determination system using three drones equipped with smart scanners. According to paragraph 1,
The smart scanner is
It includes the main body of a smart scanner (IoT device) equipped with an antenna, wireless communication unit, control unit, memory, GPIO connected to the sensor unit, user input/output unit, USB interface unit, and power supply unit,
The wireless communication unit uses any one of a Wi-Fi communication unit, an LTE 4G/5G communication unit, a LoRa RF communication unit, or an LTE NB-IoT communication unit,
A location determination system using three drones equipped with smart scanners, where the main body of the smart scanner (IoT device) is detachably spaced or mounted on an expansion pack equipped with a sensor and a power supply module. According to paragraph 1,
Drones equipped with a smart scanner equipped with the wireless AP module use fixed-wing drones or rotary-wing drones, and use one drone or three drones,
A location determination system using three drones equipped with smart scanners that use RGB cameras, NIR cameras, or thermal imaging cameras. According to paragraph 1,
The sensor mounted on the expansion pack of the smart scanner equipped with the wireless AP module mounted on the drone further includes a human body detection sensor,
The drone is connected to a flight controller (FC), and a location determination system using three drones equipped with a smart scanner, further including an LED lighting unit that illuminates at night. According to paragraph 1,
The location determination server receives the signal strength of the terminal of the victim or the fall victim from a smart scanner equipped with one or three wireless AP modules of the drone and detects the victim or the fall victim by nearest proximity survey or triangulation. Measures the location of the fall victim's terminal,
The location determination server links with the GIS server to provide the location of the terminal of the person in distress or the person holding the terminal of the fall victim, and displays the location of the terminal on a map, using three drones equipped with smart scanners. Positioning system. According to paragraph 1,
The server includes a web server, a location determination server linked to a GIS server, a data collection unit, a database, and an image storage server,
The video storage server uses an NVR server, a VMS server, an encoder, and a video streaming server, and is connected to the user terminal through a wired or wireless communication network.
The user terminal is a location determination system using three drones equipped with a smart scanner, using a PC, laptop, smartphone, or tablet PC. (a) A smart scanner equipped with a wireless AP module is installed on the drone, and it scans/detects the coverage area (WLAN) of the wireless AP module to determine the signal strength of the victim or fall victim's terminal and sends the drone's camera image data to the server. transmitting and storing in a database; and
(b) From a smart scanner equipped with the wireless AP module of one or more drones, the strength of the signal of the terminal of the person in distress or the person who has suffered a fall accident and the camera image data are collected and stored in a database, and the location determination server within the server is the strength of the signal of the terminal. Accordingly, measuring the location of the terminal of the person in distress or the person who fell by using closest measurement of one drone or triangulation of three drones, and displaying it on a map;
Location determination and air quality environmental information measurement method using smart scanners and sensors, including. In clause 7,
The smart scanner is
It includes the main body of a smart scanner (IoT device) equipped with an antenna, wireless communication unit, control unit, memory, GPIO connected to the sensor unit, user input/output unit, USB interface unit, and power supply unit,
The wireless communication unit uses any one of a Wi-Fi communication unit, an LTE 4G/5G communication unit, a LoRa RF communication unit, or an LTE NB-IoT communication unit,
A location determination method using three drones equipped with smart scanners, where the main body of the smart scanner (IoT device) is detachably spaced or mounted on an expansion pack equipped with a sensor and a power supply module. In clause 7,
Drones equipped with a smart scanner equipped with the wireless AP module use fixed-wing drones or rotary-wing drones, and use one drone or three drones,
A location determination method using three drones equipped with smart scanners that use RGB cameras, NIR cameras, or thermal imaging cameras. In clause 7,
The location determination server receives the signal strength of the terminal of the victim or the fall victim from a smart scanner equipped with one or three wireless AP modules of the drone and detects the victim or the fall victim by nearest proximity survey or triangulation. Measures the location of the fall victim's terminal,
The location determination server links with the GIS server to provide the location of the terminal of the person in distress or the person holding the terminal of the fall victim, and displays the location of the terminal on a map, using three drones equipped with smart scanners. Positioning method. In clause 7,
The server includes a web server, a location determination server linked to a GIS server, a data collection unit, a database, and an image storage server,
The video storage server uses an NVR server, a VMS server, an encoder, and a video streaming server, and is connected to the user terminal through a wired or wireless communication network.
A location determination method using three drones equipped with smart scanners, where the user terminal uses a PC, laptop, smartphone, or tablet PC. In clause 7,
Transmitting and storing video data of a person in distress or a fall victim captured with a drone's camera to a server through a wired or wireless communication network using RTP/UDP/IP or UDP/IP; and
The video data of the person in distress or the person who has fallen has been stored in the video storage server of the server, and the viewer (RTSP client) of the user terminal linked to the video storage server (RTSP server) uses the RTSP protocol to view the person in distress or the person who has fallen. A location determination method using three drones equipped with smart scanners, further comprising the step of outputting image data of a fall victim.

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