KR20240038571A - Firefighting system using autonomous mobile robot equipped with thermal imaging camera and robot arm and method thereof - Google Patents

Abstract

The present invention relates to a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robotic arm, which creates an environmental map of a place divided into a plurality of sites, and when a fire alarm motion is detected, the created environmental map A self-driving robot that creates a movement path from the current location to the relevant site and drives autonomously. At this time, each site is equipped with a fire alarm; and instruct the self-driving robot to drive autonomously by creating a movement path from the current location to the relevant site within the created environment map, and upon arriving at the site, use the thermal imaging camera of the self-driving robot to provide actual images or heat of the relevant site. It includes a server that controls the robot arm of the self-driving robot to obtain image images and temperature-related information, and determines whether a fire has occurred based on the obtained temperature-related information and takes fire-fighting and disaster prevention measures. This allows for more accurate fire detection and initial response remotely.

Description

Firefighting and disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robot arm {FIREFIGHTING SYSTEM USING AUTONOMOUS MOBILE ROBOT EQUIPPED WITH THERMAL IMAGING CAMERA AND ROBOT ARM AND METHOD THEREOF}

The present invention relates to a fire-fighting and disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm, and more specifically, to an environmental map created by an autonomous robot and an actual image or heat acquired using a thermal imaging camera. It relates to a fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm, capable of accurate fire detection and initial response using video images and temperature-related information.

The composition and problems of the previous fire-fighting disaster prevention system are problems such as flood damage caused by malfunction of fire detectors, increased social costs due to erroneous dispatch, and gaps in disaster prevention when managers arbitrarily turn off the detector power to prevent malfunction of detectors. There was a disadvantage in that problems arose and problems that caused insensitivity to safety occurred repeatedly.

In order to overcome these limitations of the prior art, methods of installing cameras that can capture thermal imaging and real-time video information at multiple fixed points or operating a system that collects and monitors the video information are also appearing on the market. As the size of the applicable location, such as a factory or warehouse, increases, another disadvantage arises: the cost of building and managing the equipment increases.

J.P. 2020-144582 A KR 1760101 B1

Accordingly, the purpose of the present invention is to enable more accurate fire detection and initial response remotely by using the environmental map created by the self-driving robot, the actual image or thermal image acquired using a thermal imaging camera, and temperature-related information. The purpose is to provide a fire-fighting disaster prevention system and method using an autonomous robot equipped with a camera and a robot arm.

Another object of the present invention is a fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm, which enables safety management by enabling fire detection and early response due to patrol using an autonomous robot. is to provide.

Another purpose of the present invention is to provide real-time images or thermal images captured by the self-driving robot as fire scene information so that firefighters dispatched to the fire scene can establish a fire suppression operation plan early and enable faster and more accurate initial response. The goal is to provide a fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm that can be provided through streaming.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

The above object is, according to the first aspect of the present invention,

In a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm,

A self-driving robot that creates an environmental map of a place divided into multiple sites, and when fire alarm movement is detected, creates a movement path from the current location to the site within the created environmental map and drives autonomously. At this time, each site has a fire alarm. is installed; and

Instruct the self-driving robot to create a movement path from the current location to the relevant site within the created environmental map, arrive at the relevant site, and obtain temperature-related information of the relevant site using the thermal imaging camera of the self-driving robot. A server that controls the robot arm of the self-driving robot and determines whether a fire has occurred based on the obtained temperature-related information and takes fire-fighting and disaster prevention measures,

This is achieved by a fire-fighting disaster prevention system.

Furthermore, the robot arm further includes a digestive fluid injection device,

To determine whether a fire has occurred and to take fire prevention measures,

When it is determined that a fire has occurred, the fire extinguishing liquid spray device is operated to spray fire extinguishing liquid.

At this time, operating the fire extinguishing liquid spray device to spray fire extinguishing liquid is characterized by being achieved through operation of a remote control device or operation using a display screen.

In addition, the self-driving robot,

During autonomous driving by creating a travel route from a first location to a second location, temperature-related information for each site is periodically or aperiodically acquired; and

The obtained temperature-related information for each site is transmitted to the server or stored in the self-driving robot.

Meanwhile, the fire-fighting disaster prevention system further includes a fire department situation room PC that oversees the area divided into the plurality of sites,

To determine whether a fire has occurred and to take fire prevention measures,

When it is determined that a fire has occurred, the acquired actual or thermal image and temperature-related information for each site are transmitted from the server to the fire department situation room PC or the autonomous robot or the thermal imaging camera of the autonomous robot. It is characterized by real-time streaming from.

The above object is, according to the second aspect of the present invention,

In a fire-fighting disaster prevention method applicable to a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm,

Creating an environmental map of a place divided into a plurality of sites using the self-driving robot, where a fire alarm is installed at each site;

When detecting a fire alarm operation, using the self-driving robot to create a travel route from the current location to the site within the created environment map and then autonomously drive it;

Arriving at the relevant site and obtaining temperature-related information of the relevant site using the robotic arm and thermal imaging camera of the self-driving robot; and

Based on the obtained temperature-related information, determining whether a fire has occurred and taking fire-fighting disaster prevention measures,

This is achieved by fire-fighting and disaster prevention methods.

Furthermore, the robot arm further includes a digestive fluid injection device,

The steps to determine whether a fire has occurred and take fire-fighting disaster prevention measures are:

If it is determined that a fire has occurred, the step of operating the fire extinguishing liquid spray device to spray fire extinguishing liquid may be further included.

At this time, the step of operating the fire extinguishing liquid spray device to spray fire extinguishing liquid is characterized by being achieved through operation of a remote control device or operation using a display screen.

In addition, generating a movement path from a first location to a second location using the self-driving robot and periodically or aperiodically acquiring temperature-related information for each site while autonomously driving the robot; and

It may further include transmitting the obtained temperature-related information for each site to a server or storing it in the self-driving robot.

Meanwhile, the fire-fighting disaster prevention system further includes a fire department situation room PC that oversees the area divided into the plurality of sites,

The steps to determine whether a fire has occurred and take fire-fighting disaster prevention measures are:

When it is determined that a fire has occurred, the acquired actual or thermal image and temperature-related information for each site are transmitted from the server to the fire department situation room PC or the autonomous robot or the thermal imaging camera of the autonomous robot. It may further include a step of allowing real-time streaming from.

In addition, the above object is also, according to the third aspect of the present invention,

This is achieved by a computer-readable recording medium on which a program for performing the above method is recorded.

Furthermore, the above object is also, according to the fourth aspect of the present invention,

This is achieved by a computer program stored in a medium for executing the above method through combination with hardware.

According to the fire-fighting and disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm of the present invention as described above, the environmental map created by the autonomous robot and the actual image or thermal image acquired using the thermal imaging camera The advantage is that more accurate fire detection and initial response can be performed remotely using video and temperature-related information.

In addition, according to the fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robot arm of the present invention, fire detection and early response are possible through patrol using an autonomous robot, enabling safety management. There is an advantage.

In addition, according to the fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robotic arm of the present invention, real-time images or thermal imaging images captured by the autonomous robot as fire scene information are provided through real-time streaming, The advantage is that firefighters dispatched to the scene of a fire can establish a fire suppression operation plan early on, enabling a more rapid and accurate initial response.

Figure 1 is a configuration diagram of a fire-fighting disaster prevention system 1 using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.
Figure 2 is a flowchart of a fire-fighting disaster prevention method using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.
Figures 3 and 4 are examples showing the environmental map and the autonomous driving movement path within the environmental map.
Figure 5 is an exemplary diagram for explaining manipulation using a display screen according to the present invention.
Figure 6 is a flowchart showing an example of autonomous driving among fire-fighting and disaster prevention methods using a self-driving robot equipped with a thermal imaging camera and a robotic arm.
FIG. 7 is a diagram showing an example of autonomous driving among the fire-fighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention of FIG. 6.
Figure 8 is a flowchart showing another example of patrolling among the firefighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.
Figure 9 is a diagram showing fire occurrence judgment and action taken among the fire-fighting disaster prevention method using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.
Figure 10 is a flowchart showing an example of patrolling among the firefighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.
FIG. 11 is a diagram showing another example of patrol among the fire-fighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention of FIG. 8.
Figure 12 is another configuration diagram of a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents depicted in the attached drawings. However, the present invention is not limited or limited by the exemplary embodiments. The same reference numerals in each drawing indicate members that perform substantially the same function.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component without departing from the scope of the present invention, and similarly, the second component may also be named a first component. The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

The terms used in the present invention are general terms that are currently widely used as much as possible while considering the function in the present invention, but this may vary depending on the intention or precedent of a person working in the art, the emergence of new technology, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the relevant invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than simply the name of the term.

When it is said that a part "includes" a certain element throughout the specification, this means that, unless specifically stated to the contrary, it does not exclude other elements but may further include other elements.

Figure 1 is a configuration diagram of a fire-fighting disaster prevention system 1 using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.

In the present invention, an autonomous robot equipped with a thermal imaging camera and a robotic arm creates an environment map, and when detecting the motion of a fire alarm, it performs autonomous driving within the environment and moves the robotic arm mounted on the autonomous robot to use a thermal imaging camera. It is structured to collect and transmit necessary temperature-related information. Temperature-related information collected using a thermal imaging camera during autonomous driving is transmitted to the server, and the server can use the information to determine whether a fire has occurred and control the autonomous robot to issue commands related to fire-fighting and disaster prevention measures. there is.

To this end, the fire-fighting and disaster prevention system (1) using an autonomous robot equipped with a thermal imaging camera and a robotic arm according to the present invention essentially includes an autonomous robot (10), a server (20), and a network (30) connecting them. It consists of

The self-driving robot 10 is composed of an architecture based on ROS (Robot Operating System), and basically includes at least an IMU sensor that can determine the robot's posture, as well as an ultrasonic sensor, an infrared sensor, a 2D lidar, and a 3D camera. It is provided with a sensor unit 13 including sensors for detecting the environment of the autonomous robot 10, and an encoder 14 capable of calculating the rotation speed of the left and right driving wheels.

In addition, the self-driving robot 10 is equipped with an environmental map creation unit 11 and an autonomous driving control unit 12 to create an environmental map and autonomously drive within the created environmental map.

The environment map creation unit 11 of the self-driving robot 10 implements SLAM using the sensor unit 13 and the encoder 14 and provides the function of creating an environment map using the SLAM.

SLAM (Simultaneous Localization and Mapping) refers to a technique used especially in autonomous robots to create a map of the surrounding environment and at the same time recognize the robot's current location within the created environment map. At this time, self-driving robots are moving objects that can move on their own through autonomous driving, and collectively refer to vehicles, robots, electronic devices, etc.

Robot localization technology, which determines the robot's current location, is the most important technology in SLAM-based mobile robot autonomous navigation, and various sensors are used within an environment map created using various sensors and related auxiliary information. and related auxiliary information, and may be implemented by an encoder. In general, the current position of a mobile robot follows the position/posture (odometry) of the robot using information from encoders installed on the driving wheels.

Referring to Figures 3 and 4, which show the environmental map and the autonomous driving path within the environmental map, first, the autonomous robot performs grid mapping using, for example, one or more LiDARs in the environmental map creation stage. Save the acquired map. Next, the self-driving robot retrieves the saved map in the self-driving stage and, when a command is given to move to a specific point, creates a movement path and drives autonomously. The general functions of a self-driving robot creating an environment map and driving autonomously are already known and will not be described in detail here, except for specific details unique to the present invention.

The self-driving robot according to the present invention is based on 2D SLAM using 2D lidar. Of course, it is possible to implement 3D SLAM using 3D lidar and perform autonomous driving based on the corresponding 3D environment map, but since the 3D environment map itself has a large capacity, it is necessary to secure space to store the environment map or load the environment map. It is not recommended because the process takes a lot of time. However, it is fully usable if appropriate additional technology is provided to compensate for these shortcomings. The SLAM environment map using 2D lidar is created before the start of autonomous driving, but of course it can be modified at any time as needed even during autonomous driving. In addition, the self-driving robot used in the example is non-holonomic, but a holonomic mobile robot can also be applied depending on the application environment.

Figure 8 is a diagram showing an example of creating an environment map for firefighting and disaster prevention using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.

First, a grid map created through SLAM using, for example, at least one 2D lidar mounted on an autonomous robot is transmitted to the server 20 connected to, for example, a fire control center. The server 20 provides an intuitive understanding of the environment and configures a GUI corresponding to the location divided into a plurality of sites (A to P) where fire alarms are installed for each site, so that a fire can occur at any site. Site-related information can be displayed on the screen so that you can determine whether something has occurred in real time. At this time, the site-related information is information related to each site divided into a plurality of sites, and may include, for example, site-specific location information on an environmental map, site-specific fire alarm location information, etc., and may include at least one of the site-related information. Some may be shown on prepared environmental maps. Furthermore, all information that displays site-related information within a given location in a GUI can be viewed as an environmental map.

Here, site-related information, that is, information related to site-specific location information on the environmental map, is the starting point of the movement route during autonomous driving, a way point as a point on the movement route, or an end point, as a reference for movement, and coordinates. It may be stored on the server 20 in this format.

The self-driving control unit 12 of the self-driving robot 10 provides a function of autonomous driving by creating a movement path from a first location to a second location within a created environment map.

Figure 6 is a flow chart showing an example of autonomous driving among the fire-fighting and disaster prevention methods using a self-driving robot equipped with a thermal imaging camera and a robot arm according to the present invention. FIG. 7 is a diagram showing an example of autonomous driving among the fire-fighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention of FIG. 6.

Referring to the drawings, for a scenario in which an autonomous robot performs autonomous driving from the current location to the site where fire alarm operation is detected according to the present invention, for example, autonomous driving from site A to site B along the generated movement path When moving, there may be a case where there are no obstacles on the movement path (see (a) of FIG. 7) and a case where there is an obstacle or person 50 on the movement path ((b) of FIG. 7). At this time, the current location and the location representing the site where the fire alarm operation was detected may be denoted as site A and site B, respectively, and site A and site B are predefined locations within sites A and B according to predetermined rules. It may be a point of

First, when a fire alarm operation is detected at site B (S610), the server collects the location information and sends a location movement command to the autonomous robot along with coordinate information corresponding to the site in the environmental map, so that the autonomous robot can reach its target. A travel route (P) to site B, which is a point, is created and autonomous driving is performed (S620). At this time, when an obstacle is detected on the movement path (S630), the self-driving robot avoids the obstacle and regenerates the path (P') to site B (S640) and performs autonomous driving on the modified path again (S640) S620). When autonomous driving to site B is successfully performed and it is confirmed that site B, the final destination, has been arrived at (S650), the location movement ends (S660). Afterwards, the self-driving robot stops moving and waits until the next position movement command is given.

Figure 9 is a flowchart showing an example of patrolling among the firefighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention. FIG. 10 is a diagram showing an example of patrolling among the fire-fighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention of FIG. 9.

At this time, predefined rules that are applied when the self-driving robot patrols multiple sites periodically or aperiodically create a movement route plan for each site within the environmental map created in advance on the server, This can be transmitted to the driving robot. Although not necessarily limited herein, it may be, for example, moving sequentially from the A site to the P site, as indicated by the arrows in Figure 10, or alternatively or additionally, some of the sites of interest from the A to P sites. Of course, it can be configured to move and patrol sequentially only.

Referring to the drawings, for example, a scenario in which a self-driving robot performs autonomous driving to patrol a plurality of sites according to predefined rules, independently of fire alarm operation detection, is generated according to the present invention. When patrolling from site A to site P begins (S910) according to the travel route plan, the vehicle will first move autonomously along the route from site A to site B. At this time, when an obstacle is detected on the movement path (S920), the self-driving robot avoids the obstacle, regenerates the path to site B (S930), and performs autonomous driving on the modified path again. When autonomous driving to site B is successfully performed and arrival at site B, the final destination, is confirmed (S940), the thermal imaging camera image and/or temperature-related information are saved and the location is moved to the next site (S950), and When steps S950 are repeated and patrolling is completed for all sites (S960), the autonomous mobile robot moves to the origin position (starting position) if necessary, and then location movement and patrolling are completed (S970).

In addition, as mentioned above, an example that can be configured to sequentially move and patrol only some sites of interest among sites A to P will be described with reference to FIGS. 8 and 11.

Figure 8 is a flowchart showing another example of patrolling among the firefighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention. FIG. 11 is a diagram showing another example of patrol among the fire-fighting and disaster prevention methods using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention of FIG. 8.

In this example, as shown in FIG. 11, it is assumed that among sites A to P, site A, site F, site N, and site P are selected as sites of interest. Here, the selection as a site of interest can be implemented, for example, by selecting sites where the temperature-related information of the thermal image obtained by patrolling the entire site (initial patrol) is greater than the standard value, as shown in FIG. 9. These selected sites can be created and saved as route points and managed as a route point list. Based on the list of route points created and stored in this way, the possibility of fire occurrence can be separately managed and notified by additionally performing patrols (secondary patrols) as shown in FIG. 8 or immediately.

Referring to the drawings, first, as shown in FIGS. 9 and 10, thermal imaging camera images and/or temperature-related information stored for each of all sites from site A to site P are compared with a predetermined standard, for example, a reference temperature. Thus, sites where temperatures higher than that are confirmed are created as route points (S810). Next, as the target sites for the second patrol, a list of route points is created using these route points, and first, the robot avoids obstacles from the robot's current location (here, site A) and regenerates the path to the next site (here, site F). Afterwards, it drives autonomously (S820), arrives at site F, and collects thermal camera images and/or temperature-related information of the site (S830). The steps S820 and S830 above are similarly applied to the N site and P site (S840 to S870). Thermal imaging camera images and/or temperature-related information of sites of interest re-collected in this way may be reported as sites where fire may occur.

At this time, thermal imaging camera images and/or temperature-related information acquired while the robot is moving to the designated destination are transmitted to the server through wireless communication, and the server stores and manages the information in the DB.

Returning to FIG. 1, the autonomous robot 10 according to the present invention includes a robot arm connected to or mounted on the autonomous robot 10 during or after autonomous driving along the movement path created or regenerated as described above. (17) and the thermal imaging camera (18) can be used to additionally perform the function of collecting temperature-related information, which is the basis for detecting a fire occurrence. For this purpose, the robot arm control unit (15) and the temperature-related information storage unit (16) can be used. ) may further be included.

The robot arm 17 is equipped with a thermal imaging camera 18 and a digestive fluid injection device to acquire at least one of an actual image, a thermal image, and temperature-related information at the end of a collaborative robot that satisfies the ISO-10218 standard. There may be. As a result, an environmental map is created for the inside of a factory or warehouse, and autonomous driving is performed within the environment. A thermal imaging camera mounted on the end of the robot arm is used to check whether a fire has occurred, and when a fire occurs, the situation is reported on the server. After checking, it is possible to take initial action remotely using a fire extinguishing liquid spray device. Here, to check whether a fire has occurred, for example, the robot arm 17 is operated according to a control command transmitted from the robot arm control unit 24 on the server 20 side to the robot arm control unit 15 on the self-driving robot 10 side. For example, x, y, z, roll. It can also be performed by moving in the yaw and pitch directions and viewing the scene in three-dimensional directions from multiple angles using a thermal imaging camera.

Here, the control command remotely transmitted from the robot arm control unit 24 on the server 20 side to the robot arm control unit 15 on the self-driving robot 10 side is, for example, a joystick such as a gamepad, a 3D mouse, This can be achieved through manipulation of a remote control device on the server side, such as a keyboard, clicking a control button, etc., or manipulation using a screen (GUI) corresponding to the display unit 21 on the server side. For example, referring to FIG. 5, which is an exemplary diagram for explaining an operation using a display screen according to the present invention, a screen (A) schematically showing that the self-driving robot 10 is driving autonomously, and The operation can be achieved by clicking on a point judged to require fire suppression among the screen B that displays the image of the thermal imaging camera 18, which is displayed separately or overlapping with it. In the case of manipulation using screen clicks, coordinate conversion is required between the origin coordinates of the image and the coordinates of the robot arm, and the calculation method for implementing the function is already known, so it will not be explained further here.

Next, the fire occurrence determination and action unit 25 on the server 20 transmits a command to the autonomous robot 10 to operate the fire extinguishing liquid spray device to spray fire extinguishing liquid when it is confirmed that a fire has occurred. Here, the injection of digestive fluid is performed by, for example, the robot arm 17 according to a control command transmitted from the robot arm control unit 24 on the server 20 side to the robot arm control unit 15 on the self-driving robot 10 side. x, y, z, roll. It can be performed by moving in the yaw and pitch directions and accurately determining the injection position.

In addition to the control command remotely transmitted from the robot arm control unit 24 to the robot arm control unit 15 on the autonomous robot 10 and the command for operating the fire extinguishing liquid spray device to spray fire extinguishing liquid, the self-driving robot 10 Thermal image camera data and/or temperature-related information and patrol information transmitted to the server 20 to be stored in the temperature-related information DB 22 are stored in the self-driving robot 10 and the server 20 through a wireless device. They are transmitted to each other through a communication device (not shown) and the network 30. At this time, wireless communication that the wireless communication device can use includes at least one of existing communication networks including 2G, 3G, LTE, 5G, etc.

Figure 12 is another configuration diagram of a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.

The fire-fighting disaster prevention system 1' of FIG. 12 is the same as that of FIG. 1, except that it further includes a situation room PC 40 of a fire department that has jurisdiction over a place divided into a plurality of sites.

In this case, the fire occurrence judgment and action unit 25 on the server 20 side, when it is confirmed that a fire has occurred above, the actual image or thermal image acquired by the situation room PC 40 of the fire department in charge, and each Temperature-related information for each site is transmitted or a command to operate to stream in real time from the self-driving robot 10 or the thermal imaging camera 18 of the self-driving robot 10 is transmitted to the self-driving robot 10. At this time, the location information of the self-driving robot 10, that is, the robot movement coordinates based on the environmental map stored by the self-driving robot, can also be transmitted, so that the location of the fire point can also be confirmed.

At this time, the fire department in charge of the place divided into the plurality of sites may be determined as the closest or predetermined fire station to the place where a 119 call is automatically made when a fire is confirmed to have occurred.

In particular, in order for the actual image or thermal image to be streamed in real time from the thermal imaging camera 18 to the situation room PC 40 of the fire station, a web browser or specific viewer software must be installed on the situation room PC 40 of the fire department. And, the thermal imaging camera 18 must be an IP camera capable of sending and receiving video information through the network 30. Furthermore, the thermal imaging camera 18 uses methods such as port forwarding or assigning a private IP so that the fire scene, which is a location belonging to the internal network, can be accessed via the Internet from the situation room PC of the fire department belonging to the external network. You may need to use .

Figure 2 is a flowchart of a fire-fighting disaster prevention method using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention.

Referring to the drawings, the fire-fighting and disaster prevention method according to the present invention begins with creating an environmental map of a place divided into a plurality of sites using the self-driving robot 10 in step S100.

Next, in step S200, when the operation of a fire alarm installed at each site is detected, a movement path is created from the current location to the site within the created environment map using the self-driving robot 10, and autonomous driving is performed. Then (S300), arrive at the site, obtain temperature-related information of the site using the robot arm and thermal imaging camera of the self-driving robot 10 (S400), and based on the temperature-related information thus obtained, Determine whether a fire has occurred and take fire-fighting and disaster prevention measures (S500).

Among the fire-fighting and disaster prevention methods using a self-driving robot equipped with a thermal imaging camera and a robotic arm according to the present invention, a description of environmental map creation, autonomous driving, fire occurrence judgment and action, and patrol is provided, including the thermal imaging camera and the robotic arm according to the present invention. The description of the fire-fighting and disaster prevention system using an autonomous robot equipped with a robotic arm can be applied as is.

In this way, when using the fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention, each camera is installed at sites where fire alarms are already installed, or each camera is installed at the site. Instead of using the method of deploying patrol agents, robots can directly conduct unmanned patrols in areas at risk of fire outbreaks, and use robot arms and thermal imaging cameras to check for abnormal signs in the field, respond first, and manage safety through patrol information. There is an advantage to having it. In addition, the fire-fighting disaster prevention system and method using an autonomous robot equipped with a thermal imaging camera and a robot arm according to the present invention are not only used in manufacturing plants and warehouses, but also in the retail fashion (product management in clothing stores) industry and food (food material warehouses). It can also be applied to the food management) industry and the publishing (library/study management) industry.

Meanwhile, methods according to embodiments of the present invention may be implemented at least partially in the form of program instructions and recorded on a computer-readable recording medium. For example, implemented with a program product comprised of a computer-readable medium containing program code, which can be executed by a processor to perform any or all steps, operations, or processes described.

The computer may be a computing device, such as a desktop computer, laptop computer, notebook, smart phone, or the like, or any device that may be integrated. A computer is a device that has one or more alternative, special-purpose processors, memory, storage, and networking components (either wireless or wired). The computer may run an operating system such as, for example, Microsoft's Windows-compatible operating system, Apple's OS X or iOS, a Linux distribution, or Google's Android OS.

The program instruction form may be collectively referred to as software, which may include a computer program, code, instructions, or a combination of one or more of these, and may include a processing device to operate as desired. It can configure and command processing units independently or collectively. Software and/or data may be used by any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. It can be embodied permanently or temporarily. Software may be distributed over networked computing devices and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include 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. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

In general, terms used herein, and particularly in the claims (e.g., in the body of the claims), are generally intended to be “open-ended” terms (e.g., “including” means “including but not limited to”). , “to have” should be construed as “to have at least more,” and “to include” as “including, but not limited to.”) If a specific number is intended for the introduced claim recitation, this intention is to be construed as “having at least more than that.” It is explicitly recited in the claims, and in the absence of such recitation, it is understood that such intent does not exist.

Only certain features of the invention have been shown and described herein, and various modifications and variations will occur to those skilled in the art. It is therefore understood that the claims are intended to cover changes and modifications that fall within the spirit of the invention.

10: Self-driving robot 11: Environmental mapping department
12: Autonomous driving control unit 13: Sensor unit
14: Encoder 15: Robot arm control unit
16: Temperature-related information storage unit 20: Server
21: Display unit 22: Temperature-related information DB
23: Robot control unit 24: Robot arm control unit
25: Fire occurrence judgment & action department 30: Network
40: Situation room PC

Claims (14)

In a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm,
A self-driving robot that creates an environmental map of a place divided into multiple sites, and when fire alarm movement is detected, creates a movement path from the current location to the site within the created environmental map and drives autonomously. At this time, each site has a fire alarm. is installed; and
Instruct the self-driving robot to create a movement path from the current location to the relevant site within the created environment map and drive autonomously, and upon arriving at the relevant site, use the thermal imaging camera of the self-driving robot to capture the actual image or thermal image of the relevant site. A server that controls the robot arm of the self-driving robot to obtain images and temperature-related information, and determines whether a fire has occurred based on the obtained temperature-related information and takes fire-fighting and disaster prevention measures,
Fire protection system. According to claim 1,
The robot arm further includes a digestive fluid injection device,
To determine whether a fire has occurred and to take fire prevention measures,
When it is determined that a fire has occurred, the fire extinguishing liquid spray device is operated to spray fire extinguishing liquid.
Fire protection system. According to claim 2,
Operating the fire extinguishing liquid spray device to spray fire extinguishing liquid is characterized in that it is achieved through operation of a remote control device or operation using a display screen.
Fire protection system. The method of claim 3, wherein the self-driving robot:
During autonomous driving by creating a travel route from a first location to a second location, temperature-related information for each site is periodically or aperiodically acquired; and
Characterized in that the obtained temperature-related information for each site is transmitted to the server or stored in the autonomous robot,
Fire protection system. In a fire-fighting disaster prevention method applicable to a fire-fighting disaster prevention system using an autonomous robot equipped with a thermal imaging camera and a robot arm,
Creating an environmental map of a place divided into a plurality of sites using the self-driving robot, where a fire alarm is installed at each site;
When detecting a fire alarm operation, using the self-driving robot to create a travel route from the current location to the site within the created environment map and then autonomously drive it;
Arriving at the relevant site, using the robot arm and thermal imaging camera of the self-driving robot to obtain an actual image or thermal image of the relevant site and temperature-related information; and
Based on the obtained temperature-related information, determining whether a fire has occurred and taking fire-fighting disaster prevention measures,
Firefighting and disaster prevention methods. According to claim 5,
The robot arm further includes a digestive fluid injection device,
The steps to determine whether a fire has occurred and take fire-fighting disaster prevention measures are:
If it is determined that a fire has occurred, further comprising operating the fire extinguishing liquid spray device to spray fire extinguishing liquid.
Firefighting and disaster prevention methods. According to claim 6,
The step of operating the fire extinguishing liquid injection device to spray fire extinguishing liquid is characterized in that it is achieved through operation of a remote control device or operation using a display screen.
Firefighting and disaster prevention methods. According to claim 7,
generating a movement path from a first location to a second location using the self-driving robot and periodically or aperiodically acquiring temperature-related information for each site while autonomously driving; and
Further comprising transmitting the obtained temperature-related information for each site to a server or storing the obtained temperature-related information in the self-driving robot,
Firefighting and disaster prevention methods. A computer-readable recording medium recording a program for performing the method of any one of claims 5 to 8. A computer program stored in a medium for executing the method of any one of claims 5 to 8 through combination with hardware. The method according to any one of claims 1 to 4,
The fire-fighting disaster prevention system further includes a fire department situation room PC that oversees a location divided into the plurality of sites,
To determine whether a fire has occurred and to take fire prevention measures,
When it is determined that a fire has occurred, the acquired actual or thermal image and temperature-related information for each site are transmitted from the server to the fire department situation room PC or the autonomous robot or the thermal imaging camera of the autonomous robot. Characterized by allowing real-time streaming from,
Fire protection system. The method according to any one of claims 5 to 8,
The fire-fighting disaster prevention system further includes a fire department situation room PC that oversees a location divided into the plurality of sites,
The steps to determine whether a fire has occurred and take fire-fighting disaster prevention measures are:
When it is determined that a fire has occurred, the acquired actual or thermal image and temperature-related information for each site are transmitted from the server to the fire department situation room PC or the autonomous robot or the thermal imaging camera of the autonomous robot. Further comprising the step of allowing real-time streaming from,
Firefighting and disaster prevention methods. A computer-readable recording medium recording a program for performing the method of claim 12. A computer program stored in a medium for executing the method of claim 12 through combination with hardware.

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