KR101912096B1 - Reconnoitering robot fire/disaster situation - Google Patents

Abstract

The present invention relates to a robot to reconnoiter fire and disaster situations. According to the present invention, a fireman or a rescue member personally throws reconnaissance robots (R1) and a relay robot (R) to a site in disasters, such as fire or earthquake, such that the reconnaissance robots (R1) and the relay robots (R2) perform a multi-hop networking wireless communications (a schema for performing wireless networking communications through a mesh type network between the reconnaissance robots (R1)) with each other under control of a command control unit (J) to collect and transmit site information to a main server (V), and quickly check a site situation. Accordingly, the degree of life damage is quickly and correctly checked in a fire and disaster site, and thus life rescuing can be quickly and thoroughly realized.

Description

{RECONNOITING ROBOT FIRE / DISASTER SITUATION}

FIELD OF THE INVENTION The present invention relates to a fire / disaster situation reconnaissance robot, and more particularly, to a fire / disaster situation reconnaissance robot, in which a firefighter or a rescue person throws a reconnaissance robot and a relay robot in a disaster such as a fire or an earthquake, The present invention relates to a fire / disaster situation reconnaissance robot that collects on-site information by radio communication between a reconnaissance robot and a relay robot, and transmits the same to a main server, .

In general, disasters such as fire and earthquakes are short-lived, quick-response measures. Especially, it is necessary to be able to quickly and accurately grasp the situation in a building, so that life sciences can be thoroughly resolved.

1 is a perspective view showing a fire fighting robot 100 for fire suppression according to the prior art document 1 (Korean Registered Patent No. 1304529).

1, the fire fighting robot 100 for fire fighting according to the prior art document 1 is provided with a fire extinguisher 20 on the upper part of the mobile robot 10 and a fire extinguisher 20 And the cooling liquid is sprayed to suppress the fire.

The fire fighting robot 100 for fire fighting according to the prior art document 1 is capable of directly suppressing the fire, not proposed so as to quickly and accurately grasp the situation in the building when a fire occurs.

FIG. 2A is a perspective view showing a throwing-type spherical reconnaissance robot according to the prior art document 2 (Korean Patent Registration No. 1407114), and FIG. 2B is a sectional view showing a cross-section of a throwing-type spherical reconnaissance robot according to the prior art document.

As shown in FIGS. 2A and 2B, the throwing-type spherical reconnaissance robot 1 according to the prior art document 2 has a spherical separable body portion 10 and a body portion 10 which is provided on the body portion 10 and has a repulsive force An environment information collecting unit 30 provided in the body 10 and collecting external environmental information, and a control unit 20 for controlling the operation of the body 20 by using the moving unit 20, And an attitude control unit (not shown) for measuring and controlling the attitude of the body 10 according to the inclination angle of the body 10.

The moving part 20 is provided in the body part 10 and the leg unit 22 is opened and closed by the driving device 21 of the moving part 20. The moving part 20 is rotated by the repulsive force with the ground generated when the leg unit 22 is unfolded The body portion 10 can be moved.

The spherical reconnaissance robot 1 according to the prior art document 2 is proposed to allow the body unit 10 to move while the leg unit 22 is unfolded by the drive unit 21 so that the posture of the body unit 10 It is difficult to catch correctly.

FIG. 3A is a perspective view of a throwing type reconnaissance robot according to the prior art document 3 (Korean Patent Registration No. 1226261), FIG. 3B is a top view and a rear view of a throwing type reconnaissance robot according to the prior art document, FIG. 2 is a perspective view illustrating a state of assembling a drive unit of a throwing type reconnaissance robot according to the technical literature. FIG.

The throwing-type reconnaissance robot according to the prior art document 3 includes a main body 100 including a camera 121 and two wheels 270 individually disposed on both sides of the main body 100, 10 includes an impact absorbing portion 300 capable of absorbing an omnidirectional shock to the wheel 270. The body 100 is an outer cylinder 110 and an inner cylinder 210, The motor 410 is mounted on the outer cylinder 110 and the inner cylinder 210 is controlled by the motor 410 while the inner cylinder 210 is moved into and out of the outer cylinder 110.

However, in the throwing type reconnaissance robot according to the prior art document 3, the main body 100 exposed between the two wheels 270 has a problem that building debris is caught and can not move quickly.

Korean Registered Patent No. 1304529 Korean Patent Registration No. 1407114 Korean Registered Patent No. 1226261

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fire fighting robot and a rescue fire fighting robot that are equipped with reconnaissance robots and relay robots, The present invention provides a fire / disaster situation reconnaissance robot that collects field information by wireless communication and transmits it to a main server, and quickly and accurately grasps the situation of the site and supports lifesaving.

An object of the present invention is to provide a fire / disaster situation reconnaissance robot that enables quick and accurate identification of the degree of human injury in the field of fire and disasters, thereby realizing quicker response to the rescue structure more thoroughly.

The object of the present invention is to provide a robot and a relay robot that are directly connected to a fire or a disaster scene and communicate with each other by multi-hop mesh networking, The robot can send information to the main server via the command controller so as to accurately grasp the life and environment of the fire or the disaster site at an early stage.

An object of the present invention is to provide a fire / disaster state reconnaissance robot capable of precisely controlling a path to a destination together with the position of the reconnaissance robots and the relay robot.

It is an object of the present invention to provide a multi-hop wireless communication system capable of collecting on-site information while controlling the position and attitude of the reconnaissance robots and relaying robots under the control of the command controller unit so as to perform multi-hop mesh networking wireless communication, And to provide a fire / disaster state reconnaissance robot capable of ensuring more accurate image capturing.

An object of the present invention is to provide a fire / disaster situation reconnaissance robot that transmits on-site information to a command controller through WiFi wireless communication and controls reconnaissance robots and relaying robots in LoRa wireless communication.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wireless local area network (WIFI) module that receives field information of a reconnaissance robot and a relay robot as a WiFi module through a router, And to provide a fire / disaster situation reconnaissance robot capable of more thoroughly realizing a response in the field of fire and disaster.

An object of the present invention is to provide a robot control system that directly throws reconnaissance robots and relay robots at a fire and disaster site and controls reconnaissance robots around the relay robot as control of a command controller unit, The present invention provides a fire / disaster state reconnaissance robot that can receive a multi-hop mesh networking wireless communication through a communication network and store it on a main server.

An object of the present invention is to provide an under-weight body having an under-weight (autonomic center-of-gravity restoration function), a battery and a motor, and at the same time, an upper and a lower under wheel, And a fire / disaster situation reconnaissance robot which is built in point contact with the under half ball and the upper half ball so that the posture can be corrected like a crosswalk.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a hydraulic control apparatus and a control method thereof, in which when one side under wheel and another side under wheel are actively rotated by a motor, one upper wheel and the other upper wheel rotate in a passive manner (passively rotated in point contact with rotation of under half ball and upper half ball) It is possible to roll the under half ball and the upper half ball of the dustproof waterproof thermal insulation material in the state that the attitude is caught. When it is thrown to the fire and disaster scene, it is controlled by the LoRa module as control of the command controller, And a fire / disaster situation reconnaissance robot for accurately capturing a fire / disaster situation.

An object of the present invention is to provide an upper posture control body which is fitted to one side cylindrical rod and other side cylindrical rod which are erected on both sides of an under weight body and is mounted on an under weight body, And the upper posture control body can be easily inserted into the one cylindrical rod and the other cylindrical rod in a state in which the main circuit board is fixed on the underweight body after being separated from the other cylindrical rod, To provide a reconnaissance robot.

An object of the present invention is to provide a main circuit board with a WiFi module, a LoRa module, a camera module, and a power module mounted on a main circuit board in a multi-hop mesh network, A fire / disaster situation reconnaissance robot capable of performing a fire / disaster.

An object of the present invention is to provide a fire / disaster state reconnaissance robot in which a camera module is positioned on an under-weight body to more accurately photograph fire and disaster scene.

An object of the present invention is to provide a radar module that is mounted on a main circuit board and receives power from a power module, senses an external motion, and transmits it as field information through a WiFi module in multi-hop mesh networking wireless communication, It detects the movement of people or animals in the field, that is, detects external motion, selects the direction of camera module shooting, and recognizes the number of people or life or death through external motion, / Providing a disaster situation reconnaissance robot.

An object of the present invention is to further include a sensor module which is mounted on a main circuit board and senses temperature, humidity and atmospheric pressure by being supplied with power from a power module, and transmits the sensed temperature information as field information through a WiFi module to a multi-hop mesh networking wireless communication And to provide a fire / disaster situation reconnaissance robot capable of safeguarding the security of life along with rescue personnel or firefighters upon their arrival.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fire / disaster state reconnaissance robot capable of grasping the position of reconnaissance robots and more precisely controlling a route to a destination.

SUMMARY OF THE INVENTION An object of the present invention is to provide a fire / disaster situation reconnaissance system capable of freely moving while avoiding obstacles caused by driving, turning, straightening, turning or reversing by rotation of one side under wheel and another side under wheel by a differential motion mechanism To provide a robot.

An object of the present invention is to provide an upper posture control body in which an upper posture control body is sandwiched between a first side bar and a second side bar which are erected on both sides of the under weight body with one side middle bar and the other side bar and then fitted as one side supporter and the other side supporter, And then one middle rod and the other middle rod are fitted to the one cylindrical rod and the other cylindrical rod to secure the right position of the main circuit board and then the one cylindrical rod and the other cylindrical rod are inserted into the one cylindrical supporter and the other cylindrical supporter And the upper control body including the main circuit board can be assembled together so that the productivity can be further improved.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an underfoot wheel which is capable of minimizing the impact between one under wheel and one under wheel, And a fire / disaster state reconnaissance robot capable of smoothly performing a rolling motion of the reconnaissance robot in accordance with the rotation of the under wheel.

According to an aspect of the present invention,

A fire / disaster situation reconnaissance system in which scene information is transmitted to a main server while grasping and conducting a fire or a disaster site situation,

Multi-hop mesh networking between fire and disaster sites and reconnaissance robots collecting on-

A relay robot for relaying the field information collected from the reconnaissance robots,

And a command controller for transmitting the field information of the relay robot to the main server and controlling the reconnaissance robots and the relay robot.

According to an aspect of the present invention,

Throwing reconnaissance robots and relay robots at a fire or disaster site,

A step of spawning the reconnaissance robots around the relay robot,

And receiving the field information collected by the reconnaissance robots through the relay robot in a multi-hop mesh networking wireless communication and storing the received field information in a server.

According to an aspect of the present invention,

An under weight body having one under wheel and another under wheel rotated by a motor driven by a power source of the battery while having an under weight,

An upper posture control body having one side cylindrical bar that is erected on both sides of the under weight body and one upper wheel that is held by the other side cylindrical bar and holds the posture and the other upper wheel;

A main circuit board mounted on the under weight body,

A camera module mounted on the main circuit board for capturing an image;

A WiFi module mounted on the main circuit board and transmitting the field information by the camera module through multi-hop mesh networking wireless communication;

A LoRa module mounted on the main circuit board for controlling the motor and the camera module,

A power module mounted on the main circuit board to convert the power of the battery into a power source and supply the power to the motor main circuit board camera module WiFi module LoRa module,

An under half ball and an upper half ball which make point contact with the one side under wheel, the one side upper wheel and the other upper wheel while incorporating the under weight body, the upper posture control body, the main circuit board, the camera module, the WiFi module and the LoRa module The following features of the technical construction include the half ball.

In the present invention, a firefighter or rescue crew is thrown directly at the scene in the event of a disaster such as a fire or an earthquake in the presence of a reconnaissance robot and a relay robot, and the reconnaissance robots and the relay robot mutually perform multi-hop mesh networking wireless communication , It is possible to collect the site information and transmit it to the main server, and at the same time, it is possible to grasp the situation of the site quickly and accurately, thereby realizing more prompt response to the life structure.

The present invention relates to a method and apparatus for controlling the temperature, humidity, and air pressure of an image and a sensor module through a camera module and external motion (movement of a person or an animal) through a multi-hop mesh networking wireless communication between a reconnaissance robot and a relay robot, Can be transmitted to the main server via the command controller, so that the life and environment of the fire or disaster site can be grasped accurately at an early stage, thereby realizing the life structure more effectively.

The present invention has an effect of controlling the path to a destination more precisely, in addition to the position of the reconnaissance robots and the relay robot.

According to the present invention, by collecting on-site information while coordinating the position and posture between the reconnaissance robots and relaying robots under the control of the command controller unit, the multi-hop mesh networking wireless communication can be performed to perform mutual wireless communication, It is possible to provide more accurate collateral.

The present invention has the effect of transmitting field information to the command controller unit through WiFi wireless communication and controlling the reconnaissance robots and the relay robot in the LoRa wireless communication.

The present invention is a WiFi module through a router, which receives field information of reconnaissance robots and relay robots and promptly transmits them to the main server quickly and accurately, and also enables quick and precise control of reconnaissance robots and relay robots through the LoRa module of the controller by using a joystick Thereby making it possible to more fully realize the response in the field of fire and disaster.

The present invention relates to a method and system for locating reconnaissance robots and relaying robots directly at fire and disaster sites and controlling reconnaissance robots around the relaying robot by controlling the command controller unit, Through multi-hop mesh networking, it can be received by wireless communication and stored in the main server, so that it can be grasped and responded to the situation more quickly and accurately.

The present invention has the effect of checking the degree of damage of the reconnaissance robots and the relay robot due to a fire or a disaster to recover and recycle them.

The present invention is characterized in that an under weight body is provided with an under weighting function, a battery and a motor, and at the same time, an upper and a lower under wheel and an upper and lower upper wheels, The ball and upper half ball are built in point contact so that the posture can be adjusted like a cross.

In the present invention, when one side under wheel and the other side under wheel are actively rotated by a motor, one side upper wheel and the other side upper wheel rotate in passive rotation (passively rotated in point contact with rotation of under half ball and upper half ball) It is possible to roll the under half ball and the upper half ball of the dustproof waterproof and heat-dissipating material in the state of being caught and controlled by the LoRa module as control of the command controller section in case of fire or disaster, So that it can be photographed.

The upper posture control body is fitted to one side cylindrical rod and the other side cylindrical rod that are erected on both sides of the under weight body so that when the main circuit board is mounted on the under weight body, And the upper posture control body can be easily inserted into the one cylindrical rod and the other cylindrical rod in a state where the main circuit board is separated from the other cylindrical rod and the main circuit board is fixed on the underweight body.

In the present invention, a WiFi module, a LoRa module, a camera module, and a power module for performing multi-hop mesh networking wireless communication are mounted on the main circuit board in advance, and the main circuit board is mounted on the under weight body. There is an effect that can be.

The present invention has the effect that the camera module is positioned on the under weight body, so that the fire and the scene of a disaster can be photographed more accurately.

The present invention further includes a radar module that is mounted on a main circuit board and receives power from a power module, senses an external motion, and transmits it as field information through a WiFi module to multi-hop mesh networking wireless communication. It is possible to detect the movement of a person or an animal, that is, an external motion, to select the shooting direction of the camera module, and to recognize the number of people or life or death through external motion, .

The present invention further includes a sensor module that is mounted on a main circuit board and senses temperature, humidity, and air pressure by receiving power from the power module, and transmits the sensed temperature information to the multi-hop mesh networking wireless communication through a WiFi module as field information, And firefighters, it has the effect of being able to plan safety together with the life-saving structure.

The present invention has an effect of controlling the path to the destination more precisely in addition to the position of the reconnaissance robots.

The present invention is advantageous in that it is possible to freely move while avoiding obstacles such as traveling, turning, straightening, changing direction and backward by rotation of each of the one under wheel and the other under wheel by the differential motion mechanism.

The upper posture control body is sandwiched between the one middle rod and the other middle rod in one cylindrical rod and the other cylindrical rod erected on both sides of the under weight body and then inserted as one side supporter and the other side supporter, And then one middle rod and the other middle rod are fitted to the one cylindrical rod and the other cylindrical rod so that the one cylindrical rod and the other cylindrical rod can be fitted with the one cylindrical supporter and the other cylindrical supporter So that the assemblability of the upper posture control body including the main circuit board can be assured together with the effect of further improving the productivity.

The present invention relates to a one-way under-wheel and a second under-wheel which are in point contact with an inner periphery of an under half ball and an upper half ball at the time of throwing a reconnaissance robot, The swinging motion of the reconnaissance robot can be smoothly performed.

1 is a perspective view showing a fire fighting robot for fire suppression according to the prior art document 1;
FIG. 2A is a perspective view showing a throwing spherical reconnaissance robot according to the prior art document 2. FIG.
FIG. 2B is a sectional view showing a cross section of a throwing spherical reconnaissance robot according to the prior art document. FIG.
FIG. 3A is a perspective view of a throwing type reconnaissance robot according to the prior art document 3; FIG.
3B is a top view and a rear view of a throwing type reconnaissance robot according to the prior art document.
FIG. 3C is a perspective view illustrating a state of assembling a driving unit of a throwing type reconnaissance robot according to the prior art document. FIG.
4A is a conceptual diagram showing a fire / disaster situation reconnaissance system according to the present invention.
4b is a block diagram illustrating a fire / disaster situation reconnaissance system in accordance with the present invention;
4C is a block diagram showing a reconnaissance robot / relay robot applied to a fire / disaster situation reconnaissance system according to the present invention.
5 is a flowchart illustrating a fire / disaster situation reconnaissance method according to the present invention.
6A is a perspective view showing a fire / disaster situation reconnaissance robot according to the present invention.
FIG. 6B is a perspective view of a fire / disaster situation reconnaissance robot with an under half ball and an upper half ball removed according to the present invention, viewed from above; FIG.
FIG. 6C is a perspective view of a fire / disaster situation reconnaissance robot with an under half ball and an upper half ball removed according to the present invention as viewed from below. FIG.
FIG. 6D is a front view of an assembly of an underweight body and an upper posture control body applied to a fire / disaster situation reconnaissance robot according to the present invention. FIG.
FIG. 6E is a perspective view of an assembly of an under-weight body and an upper posture control body applied to a fire / disaster situation reconnaissance robot according to the present invention. FIG.
FIG. 6F is a perspective view illustrating a state in which the other middle rod and the other side spring are removed from the assembled state of the under weight body and the upper posture control body applied to the fire / disaster situation reconnaissance robot according to the present invention. FIG.

A fire / disaster situation reconnaissance system, a reconnaissance method thereof, and a preferred embodiment of the reconnaissance robot according to the present invention will be described with reference to the drawings, and there can be a plurality of embodiments thereof. Features, and advantages of the present invention.

FIG. 4A is a conceptual diagram showing a fire / disaster situation reconnaissance system according to the present invention, FIG. 4B is a block diagram showing a fire / disaster situation reconnaissance system according to the present invention, Fig. 2 is a block diagram showing a reconnaissance robot R1 and a relay robot R2 applied to the present invention.

The fire / disaster situation reconnaissance system according to the present invention is designed to promptly transmit the field information to the main server (V) while grasping and directing the situation of the fire or disaster scene as shown in FIG. 4A.

It is important to be able to quickly and accurately identify the situation on the spot within the first 20 to 30 minutes of a fire or disaster, in order to save lives. On the other hand, the longer the time, the less likely it is to survive a fire or disaster.

The fire / disaster situation reconnaissance system according to the present invention includes a reconnaissance robot (R1) for collecting on-the-spot information while communicating with each other through a multi-hop mesh networking communication between fire and disaster sites, A relay robot R2 for collecting on-site information while wirelessly communicating with the scouting robots R1 through multi-hop mesh networking and for relaying the site information collected from the scouting robots R1 together, R2 to the main server V and controls the reconnaissance robots R1 and the relay robot R2 as a core configuration.

A firefighter or rescue crew is directly thrown to a scene in the event of a fire or an earthquake in the state of holding the reconnaissance robots R1 and the relay robot R2 so that the reconnaissance robots R1 Multi-Hop Mesh Networking Wireless Communications [Multi Hop Mesh Networking Wireless Communications; The scouting robots R1 and the scouting robot R1 communicate with the mesh network in a wireless networking manner while collecting and transmitting the site information to the main server V so as to quickly grasp the situation of the site It is a quick and precise understanding of the degree of damage caused by fire and disasters, so that more rapid response to the rescue is achieved.

More specifically, the scouting robots Rl and the relaying robot R2 transmit scene information of a scene of a fire or a disaster scene to a camera module C (as shown in FIGS. 4A to 4C) for performing multi-hop mesh networking wireless communication , And further includes a sensor module (S) that wirelessly communicates field information that senses temperature, humidity, and atmospheric pressure of a fire or disaster site in a multi-hop mesh networking manner.

The temperature of the image through the camera module C and the temperature of the sensor module S through the multi-hop mesh networking wireless communication between the reconnaissance robots R1 and the relay robot R2, Temperature via the thermopile sensor [the humidity through the Temp / HUMI sensor of FIG. 4C] and the atmospheric pressure (the atmospheric pressure through the PRESSURE sensor of FIG. 4C) to the main server V via the command controller J, So that the life history and environment of the fire or disaster area can be accurately grasped at an early stage, thereby realizing the life structure more effectively. [Guide light not shown in FIG. 4C means LED lamp indicating operation state] .

At this time, the scouting robots R1 and the relaying robot R2 further include a GPS module G for determining the current position through the satellite, so that, together with the position of the scouting robots R1 and the relaying robot R2 The path to the destination is controlled more precisely.

More specifically, the scouting robots Rl and the relaying robot Rs collect position information and position information by controlling the command controller unit J so as to be able to perform multi-hop mesh networking wireless communication, Not only the wireless communication of the camera module C but also the image capturing of the camera module C can be secured more accurately.

Preferably, the scouting robots R1 and the relaying robot R2 transmit the field information to the command controller unit J by WiFi wireless communication, and the command controller unit J transmits the field information to the commanding controller unit J through the LoRa wireless communication, And the relay robot R2.

The field information such as image, temperature, humidity and atmospheric pressure has a large amount of data, so that it can be smoothly transmitted to the command controller (J) by WiFi wireless communication, and the reconnaissance robot (R1) The control of the robot R2 is carried out quickly by LoRa wireless communication so that the dual band can quickly and accurately grasp the situation of the fire and the disaster.

At this time, the command controller unit J includes a router J1 having a WiFi module W for transmitting the field information through the reconnaissance robots R1 and the relay robot R2 to the main server V, And a controller J2 having a LoRa module L for controlling the relay robot R1 and the relay robot R2 with the joystick J3.

The command controller unit J includes a router having a WiFi module (Wireless Fidelity Module) W for receiving the field information from the scouting robots R1 and the relay robot R2 and transmitting the field information to the main server V. [ J1 and includes a controller J2 having a LoRa module (Long Range Module) L for quickly controlling the reconnaissance robots R1 and the relay robot R2 with the joystick J3 .

The command controller unit J receives the field information of the reconnaissance robots R1 and the relay robot R2 as the WiFi module W via the router J1 to promptly transmit the field information to the main server V quickly, The joystick J3 enables quick and precise control of the reconnaissance robots R1 and the relay robot R2 through the LoRa module L of the controller J2 to more precisely respond to fire and disaster situations do.

5 is a flowchart showing a fire / disaster situation reconnaissance method according to the present invention.

The fire / disaster situation reconnaissance method according to the present invention is a fire / disaster situation reconnaissance method in which the reconnaissance robots R1 and the relay robot R2 are thrown at a fire or disaster site (S100) as shown in FIGS. 4A to 5, The field information collected by the scouting robots R1 and the relaying robot R2 is transmitted through the relay robot R2 through the multi-hop mesh networking wireless communication while the scouting robots R1 are surrounding (S200) And a step S300 of allowing the server V to recognize the information while it is being stored.

In the present invention, the reconnaissance robots R1 and the relay robot R2 are thrown directly at the fire and disaster site, and the relay robot R2 is used as the control of the command controller J, The multi-hop mesh networking radio communication between the reconnaissance robots R1 and R1 is performed to transmit the field information collected by the reconnaissance robots R1 to the multi-hop mesh networking wireless communication through the relay robot R2 (V), so that they can grasp the situation more quickly and accurately.

At this time, the scene condition of the step S300 may be the image, temperature, humidity or air pressure collected by the reconnaissance robots R1 and the relay robot R2, So that it can be confirmed more thoroughly.

The method further includes a step S400 of recovering the scouting robots R1 and the relaying robot R2 after the step S300 so that the degree of deterioration of the scouting robots R1 and the relaying robot R2 Check to recover and recycle.

6A is a perspective view showing a fire / disaster situation reconnaissance robot R1 according to the present invention. FIG. 6B is a view showing a fire / disaster situation reconnaissance robot FIG. 6C is a bottom perspective view of the fire / disaster state reconnaissance robot R1 from which the under half ball H1 and the upper half ball H2 are removed according to the present invention.

The fire / disaster state reconnaissance robot R1 according to the present invention is rotated by the motor M driven by the power source of the battery B with the under weight Q1 as shown in Figs. 6A to 6C Weight body Q having one side under wheel T1 and the other side under wheel T2 and one side cylindrical bar Qa and the other side cylindrical bar Qb standing upright on both sides of the under weight body Q An upper posture control body Z having one upper wheel Z1 and the other upper wheel Z2 for holding the posture, a main circuit board A mounted on the under weight body Q, A WiFi module W mounted on the main circuit board A for transmitting the on-site information by the multi-hop mesh networking wireless communication, a camera module C mounted on the main circuit board A, A LoRa module L mounted on the main circuit board A to control the motor M and the camera module C, A power module P for converting the power source of the motor B into a power source and supplying the converted power to the motor M main circuit board A camera module C WiFi module W LoRa module L, (T1), the other under wheel (T1), and the other under wheel (T1) while incorporating the upper posture control body (Z), the upper posture control body (Z), the main circuit board (A), the camera module (C), the WiFi module T2 and an under half ball H1 and an upper half ball H2 that make point contact with one upper wheel Z1 and the other upper wheel Z2.

Underside body (Q) under weight [autonomous center of gravity restoration function; (B1), the battery (B), and the motor (M), and is provided with the upper posture control body Z and the one side under wheel T1 and the other side under wheel T2, the one upper wheel Z1, (Z2) is built in point contact with the under half ball (H1) and the upper half ball (H2) so that the posture of the under wheel T2 rotate reciprocally while being in point contact with the rotation of the under half ball H1 and the upper half ball H2 of one upper wheel Z1 and the other upper wheel Z2, The under half ball H1 and the upper half ball H2 of the dustproof and waterproof heat dissipation material can be rolled in the state of being caught by the LoRa module L as a control of the command controller J It is possible to take an image through the camera module C at a desired position, (J) and the main server (V) via the WiFi module (W). [Making it easier to throw and hold in a size of 15 cm or less in diameter].

In the present invention, the WiFi module (W) is classified into a LoRa module (L), but the present invention is not limited thereto, and any wireless communication module capable of short-range wireless communication or long-range wireless communication can be applied.

Currently, the low-power wide area (LPWA) communication technology in the domestic license-exempted band is weaker than the foreign companies that have been engaged in various types of commercialization and technology diffusion for many years, and the LoRa WAN and Ingenu (Old On-Ramp) It is trying to commercialize low-power, long-distance communication technology by relying on foreign companies.

In this process, the case of Sigfox, which is one of representative LPWA communication technologies, has been abandoned due to serious platform dependency and restriction due to the company policy.

ETRI has been working on the development of marine radio identification technology and radar-based maritime monitoring system to secure maritime sovereignty, which has characteristics of low-speed long-distance communication technology similar to LPWA. And Sub-GHz broadband sensor node chip, SoC chip development, MAC technology, nano operating system, and ZigBee technology.

In addition, the international standard for IEEE 802.15.4g and 4k MAC / PHY technology was secured in 2012, and related chips are being developed and commercialized.

Low-power long-distance communication service (LPWA) utilizes the license-free frequency band rather than the existing mobile communication network, and builds a proprietary low-power internet communication network.

It is generally known that Europe is using the 868MHz band and the US is using the 915MHz band. Currently available services are SigFox of SigFox and LoRaWAN (Long Range Wide Area Network) provided by LoRa Alliance, and evolved to be suitable for Internet service, unlike ZigBee, Wi-Fi and Bluetooth SIGFOX, 2015).

Low-power long-haul communication services generally utilize bandwidths below 1 GHz to ensure stable coverage. Under 1GHz band, it is easier to provide service in a living industrial environment where there are many obstacles due to high diffraction property compared to a high frequency band, and it is possible to reduce the construction cost of the object network by broadening the coverage compared to the high band .

Global Things Internet device companies are aware of the need for LPWA IoT services early on and will be able to use Sigfox, LoRaWAN, Ingenu (RPMA), Weightless Sig. And is expanding various types of commercialization and technology. Based on proprietary and non-standard technologies, we are commercializing various business strategies that are advantageous to them, such as platform dependency, monopoly on chip technology, and application-specific business model.

A summary of overseas LPWA technology standards is as follows.

In the absence of a leading standard for PHY / MAC technology that determines the characteristics of LPWA technology, IEEE802 has traditionally standardized on the PHY / MAC domain. In the case of IEEE802.15.4k for low power long distance communication, LECIM service standard and IEEE802.11ah standard for extension of WiFi area in sub-GHz band, but it is not applied to LPWA market.

Unlike the low-cost, license-exempt band LPWA service, standardization based on high-quality mobile communication technology such as 3GPP LTE technology is underway for high value-added low power long distance service. Standardization of LTE-MTC technology specification for supporting low power MTC (Machine Type Communication) (NB-LTE) based on 3GPP LTE technology and GSM-based NB-LTE (NB-LTE) based on their respective technologies have not been applied to LPWA service as the existing low- cIoT (Narrow Band cellular IoT) camps agreed to standardize 3GPP Rel.13 with NB-IoT (Narrow band IoT) and standardization is proceeding.

LPWA's share of IoT is expected to increase steadily due to the low power consumption of LPWA, low cost IoT device construction, and ease of coping with large area coverage and mobility of objects.

Sigfox technology uses ultra low-cost, long-range communication technology with a very small message size in the 868MHz / 915MHz ISM band, using UNF (Ultra Narrow Band) wireless technology,

LoRaWAN uses LoRa, a physical layer technology that uses Semtech's Chirped Spread Spectrum (CSS) modulation scheme, to increase communication radius at low power and to be resistant to interference.

Ingenu RPMA uses On-RampWireless's RPMA technology, and there are limitations on general commercialization through telecommunication companies by applying application-specific business model.

The WiFi module (W) or the LoRa module (L) is proposed in the present invention in accordance with the development of the technology, but is not limited thereto.

On the other hand, the upper posture control body Z is sandwiched between the one side cylindrical bar Qa and the other side cylindrical bar Qb which are erected on both sides of the under weight body Q, so that the main circuit board A is connected to the underbody body Q After separating the upper posture control body Z from the one side cylindrical bar Qa and the other side cylindrical bar Qb of the under weight body Q and attaching the main circuit board A to the underbody body Q, The upper posture control body Z can be easily inserted into the one cylindrical rod Qa and the other cylindrical rod Qb, thereby assuring the assembling performance.

Furthermore, the main circuit board A is mounted on the main circuit board A in advance after the WiFi module W, the LoRa module L, the camera module C, and the power module P, which wirelessly communicate with the main circuit board A through multi- The camera module C can be placed on the underweight body Q to more accurately capture the fire and the scene of the disaster. .

The fire / disaster state reconnaissance robot Rl according to the present invention is mounted on the main circuit board A and receives power from the power module P to sense the external motion to detect the WiFi module W And a radar module (D) for transmitting the multi-hop mesh networking wireless communication through the multi-hop mesh networking wireless communication. The camera module (C) At the same time, awareness of the number of people or life or death through external motions is provided to further ensure the accuracy of the rescue activities.

Further, it is mounted on the main circuit board A, receives the power source of the power module P, senses temperature, humidity, and atmospheric pressure, and transmits it as field information to the multi-hop mesh networking wireless communication through the WiFi module (W) (S), which can be used for firefighting and rescue operations.

The system further includes a GPS module (G) mounted on the main circuit board (A) and supplied with power from the power module (P) to determine the current position through the satellite, In addition, the path to the destination is controlled more precisely.

6D is a front view of the assembly of the under-weight body Q and the upper posture control body Z applied to the fire / disaster situation reconnaissance robot R1 according to the present invention. FIG. 6E is a perspective view of the fire / FIG. 6F is a perspective view of a fire / disaster state reconnaissance robot R1 according to the present invention, and FIG. 6F is a perspective view of an assembly of the underwater body Q and the upper posture control body Z applied to the disaster situation reconnaissance robot R1. In which the other middle rod Z4 and the other spring Z9 are removed from the assembled state of the under weight body Q and the upper posture control body Z applied to the lower posture control body Z. [

6A to 6F, the motor M includes a one side motor M1 for driving one side under wheel T1 and another side motor M2 for driving the other side under wheel T2 , The individual under wheel T 1 and the other under wheel T 2 are rotated by the differential motion mechanism through the IMU in FIG. 4C to move freely while avoiding obstacles such as traveling, turning, straightening, .

The upper posture control body Z further includes a middle rod Z3 and the other middle rod Z4 which are detachably fitted to the one cylindrical rod Qa and the other cylindrical rod Qb, One side supporter Z6 and another side supporter Z6 which are detachably fitted to the one middle rod Z3 and the other middle bar Z4 so as to be detachable from the horizontal bar Z5 mounted on both sides of the other upper wheel Z2, Z7).

The upper posture control body Z is fitted to one side middle rod Z3 and the other side intermediate rod Z4 to one side cylindrical rod Qa and the other side cylindrical rod Qb which are erected on both sides of the under weight body Q, The main circuit board A is mounted on the under weight body Q by sandwiching the main circuit board A as the supporter Z6 and the other supporter Z7 so that the one middle rod Z3 and the other middle rod Z4 are connected to the one side cylindrical rod Qa One side supporter Z6 and the other side supporter Z7 are attached to one side cylindrical bar Qa and the other side cylindrical bar Qb in a state in which the main circuit board A and the other side barrel Qb are fitted first, So that the assemblability of the upper posture control body Z including the main circuit board A and the upper posture control body Z can be ensured at the same time, thereby further improving the productivity.

The upper posture control body Z is provided with one side spring Z6 and the other side spring Z9 which are respectively fitted to one middle rod Z3 and the other middle rod Z4 to elastically support the horizontal bar Z5 One under wheel T1 and one other under wheel T2 which make point contact with the inner periphery of the under half ball H1 and the upper half ball H2 when the scouting robot R1 is thrown, The recoil operation of the reconnaissance robot R1 according to the rotation of the one-side under-wheel T1 and the other under-wheel T2 can be performed more smoothly while minimizing the impact between the other upper wheel Z2 .

The present invention can be used in an industrial field that enables quick and accurate identification of field information in a fire or disaster site.

V: main server R1: reconnaissance robot
R2: relay robot J: command controller section
J1: Router J2: Controller
J3: Joystick Q: Underweight body
Q1: Under weight Qa: One side cylindrical rod
Qb: the other side rod B: battery
M: Motor M1: One side motor
M2: the other motor T1: one side under wheel
T2: the other under wheel Z: upper posture control body
Z1: One upper wheel Z2: The other upper wheel
Z3: one middle rod Z4: the other middle rod
Z5: Horizontal bar Z6: One side supporter
Z7: Other supporter Z8: One side spring
Z9: other side spring A: main circuit board
C: Camera module W: WiFi module
L: LoRa module P: Power module
H1: Under half ball H2: Upper half ball
D: Radar module S: Sensor module
G: GPS module

Claims (17)

delete delete delete delete delete delete delete delete delete delete An under weight body Q having one under wheel T1 and another under wheel T2 rotated by a motor M driven by a power source of the battery B while having an under weight Q1,
An upper posture control including one side upper wheel Z1 and the other upper side wheel Z2 that are held by the one side cylindrical rod Qa and the other side cylindrical rod Qb which are erected on both sides of the under weight body Q, The body Z,
A main circuit board A mounted on the under weight body Q,
A camera module (C) mounted on the main circuit board (A) for capturing an image;
A WiFi module (W) mounted on the main circuit board (A) for transmitting the field information by the camera module (C) through multi-hop mesh networking wireless communication,
A LoRa module (L) mounted on the main circuit board (A) for controlling the motor (M) and the camera module (C)
A main circuit board A, a camera module C, a WiFi module W, a LoRa module A, a main circuit board A, A power supply module P for supplying power to the power supply L,
Wheel T1 while incorporating the under-weight body Q, the upper posture control body Z, the main circuit board A, the camera module C, the WiFi module W and the LoRa module L, , An under half ball (H1) and an upper half ball (H2) that make point contact with the other upper wheel (Z1) and the other upper wheel (Z2) robot. 12. The method of claim 11,
A radar module mounted on the main circuit board A to receive power from the power module P to sense external motion and transmit the sensed information as field information to the multi-hop mesh networking wireless communication through the WiFi module W. [ (D). ≪ / RTI > 12. The method of claim 11,
A sensor mounted on the main circuit board A to receive a power source of the power module P to sense the temperature and humidity atmospheric pressure and to transmit the sensed temperature and humidity as field information through the WiFi module W in a multi- Further comprising a module (S). 12. The method of claim 11,
Further comprising a GPS module (G) mounted on the main circuit board (A) and configured to receive current power of the power module (P) and determine its current position through a satellite . 15. The method according to any one of claims 11 to 14,
Wherein the motor M comprises a one side motor M1 for driving the one side under-wheel T1 and another side motor M2 for driving the other side under-wheel T2. . 15. The method according to any one of claims 11 to 14,
The upper posture control body (Z)
One intermediate rod Z3 and the other intermediate rod Z4 that are detachably fitted to the one cylindrical rod Qa and the other cylindrical rod Qb,
And one lower supporter Z1 which is detached from the horizontal bar Z5 mounted on both sides of the one upper wheel Z1 and the other upper wheel Z2 and is detachably fitted to the one middle rod Z3 and the other middle bar Z4, (Z6) and the other supporter (Z7). 17. The method of claim 16,
The upper posture control body Z is inserted into the one middle rod Z3 and the other middle rod Z4 and is provided with one side spring Z6 and the other side spring Z9 for resiliently supporting the horizontal bar Z5 Wherein the fire / disaster situation reconnaissance robot further comprises a fire / disaster situation reconnaissance robot.

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