KR102635900B1 - Patrol systme and method for controlling unmanned aerial vehicle using unmanned ground vehicle - Google Patents

Abstract

A patrol system and method for controlling a UAV using a UGV are disclosed. A beach/coastal BLE device installed on a beach or on the coast to periodically transmit a BLE location signal; Receive a BLE location signal from the Dunchi/Coastal BLE device to calculate a real-time UGV location, use the calculated real-time UGV location to perform autonomous driving in the Dunchi Park or the coast to detect abnormal motions or abnormal phenomena, and When motion or abnormalities are detected, an automatic report is made, a UAV call signal is generated and transmitted, and when a UGV call signal is received, the UGV autonomously drives and moves to the corresponding UGV call point according to the UGV call signal; A dune/coastal patrol monitoring server that receives an automatic report performed by the UGV and transmits it to a fire department terminal or police station terminal, transmits the UGV call signal to the UGV, and receives and transmits the UAV call signal from the UGV; A UAV that receives a UAV call signal from the berm/coast patrol monitoring server and performs autonomous flight to the abnormal point; Configure a mobile terminal that generates the UGV call signal and transmits it to the dunchi/coastal patrol monitoring server.

Description

Patrol system and method for controlling UAV using UGV {PATROL SYSTME AND METHOD FOR CONTROLLING UNMANNED AERIAL VEHICLE USING UNMANNED GROUND VEHICLE}

The present invention relates to a patrol system and method, and more specifically, to a patrol system and method for controlling an unmanned aerial vehicle (UAV), and more specifically, to controlling a UAV using an unmanned ground vehicle (UGV). It relates to a patrol system and method.

CCTV cameras cannot be installed in riverside parks or coastal areas because dangerous situations such as flooding, coastal tsunamis, and submergence frequently occur due to heavy rain, monsoon rain, and typhoons.

This is because CCTV further aggravates the risk of accidents due to short circuits.

Riverside parks or coastal areas are deserted places or are easily exposed to various crimes during night time.

Accordingly, patrol personnel are focusing on preventing accidents and crimes by directly patrolling.

However, the number of patrol personnel is limited, and not all patrol areas can be monitored 24 hours a day.

Accordingly, there is a need for methods to prevent accidents/crimes or monitor flooding and submergence using robots.

Registered Patent Publication 10-2447519 Public Patent Publication 10-2023-0021863

The purpose of the present invention is to provide a patrol system that controls UAVs using UGVs.

Another object of the present invention is to provide a patrol method for controlling a UAV using a UGV.

The patrol system for controlling a UAV using a UGV according to the object of the present invention described above includes a UGV that performs autonomous driving in a park or on the coast and autonomously drives and moves to the corresponding UGV calling point according to a UGV calling signal; It may be configured to transmit the UGV call signal to the UGV and include a berm/coast monitoring server that transmits the UAV call signal.

Here, it may be configured to further include a UAV that receives a UAV call signal from the berm/coast patrol monitoring server and performs autonomous flight to the corresponding abnormal point.

The patrol method for controlling a UAV using a UGV according to another object of the present invention described above includes the steps of having the UGV perform autonomous driving in a beach park or on the coast; A beach/coast monitoring server transmitting a UGV call signal to the UGV; The UGV may be configured to receive a UGV call signal and autonomously drive to a corresponding UGV call point.

Here, the beach/coast monitoring server transmitting a UAV call signal to the UAV; The UAV receiving the UAV call signal from the berm/coast monitoring server; The UAV may be configured to further include performing autonomous navigation to an abnormal point according to the received UAV call signal.

According to the patrol system and method for controlling a UAV using the above-described UGV, it is configured to detect and monitor abnormal movements or abnormal phenomena while autonomously driving in Dunchi Park or the coast using the UGV, so that it can be used to detect and monitor abnormal movements or abnormal phenomena in Dunchi Park or coastal areas where CCTV cannot be installed. It is effective in monitoring and preventing accidents and crimes along the coast in real time.

Also, if the place where abnormal behavior or abnormal phenomenon occurred is a place where the UGV cannot go, or is too far away, the coordinates of the abnormal point are calculated based on the current UGV location, and the UAV is called and guided to the abnormal point. It has the effect of identifying the exact location of abnormal points and automatically taking urgent action even in places where UVG cannot go, such as on bridges where UGVs cannot go, rivers, the sea, or hills without roads.

In particular, it is configured to measure the location of UGV or UAV by triangulation using BLE signals transmitted from beach/coastal BLE devices installed throughout Dunchi Park or the coast, thereby compensating for the inaccuracy of location calculation by GPS signals and providing precise location. There is an effect of being able to calculate and utilize .

And by being configured to allow anyone to call the UGV using a mobile terminal at Dunchi Park or the coast, there is the effect of being able to immediately respond to abnormal movements or abnormal phenomena that the UGV cannot detect.

And by being configured to generate and analyze wide-angle/downward view images from the UAV, it is configured to accurately identify river flooding or coastal submergence and set a control area, thereby accurately identifying the flooding or submerged area and preventing the expansion of the accident. There is an effect that can be done.

Figure 1 is a block diagram of a patrol system that controls a UAV using a UGV according to an embodiment of the present invention.
Figure 2 is a flowchart of a patrol method for controlling a UAV using a UGV according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and detailed descriptions will be given for carrying out the invention. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be 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, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

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. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a block diagram of a patrol system that controls a UAV using a UGV according to an embodiment of the present invention.

Referring to FIG. 1, a patrol system that controls a UAV using a UGV according to an embodiment of the present invention includes a berm/coastal BLE (bluetooth low energy) device 100, an unmanned ground vehicle (UGV) 200, and a berm/coast BLE (bluetooth low energy) device 100. / It may be configured to include a coastal patrol monitoring server 300, an unmanned aerial vehicle (UAV) 400, and a mobile terminal 500.

Hereinafter, the detailed configuration will be described.

The beach/coastal BLE device 100 may be installed on a beach or on the coast and configured to periodically transmit a BLE location signal. The beach/coastal BLE device 100 is installed in various places on the beach or along the coast, and can be configured to transmit location information of the installed location in a BLE signal.

The berm/coast BLE device 100 may be configured to include a reference coordinate storage module 101, a GPS reference time acquisition module 102, a berm/coast BLE module 103, and a BLE synchronization module 104.

Hereinafter, the detailed configuration will be described.

The reference coordinate storage module 101 may be configured to store in advance the coordinates of the installation location of the beach park or the coast as the reference coordinates of the corresponding beach/coast BLE device.

The GPS reference time acquisition module 102 may be configured to receive a GPS signal and acquire the GPS reference time in real time.

The berm/coast BLE module 103 performs BLE communication with the UGV (200) or UAV (300) and may be configured to receive a BLE synchronization signal from the UGV (200) or UAV (300). The BLE synchronization signal is a signal for synchronizing the BLE location signal transmission of each berm/coast BLE module 103 based on GPS time.

The BLE synchronization module 104 uses the BLE signal including the reference coordinates stored in the reference coordinate storage module 101 with reference to the GPS reference time acquired in real time by the GPS reference time acquisition module 102 to synchronize the berm/coast BLE module 103. It can be controlled to transmit periodically according to the BLE synchronization signal received from .

The UGV 200 may be configured to receive a BLE location signal from the coastal/coastal BLE device 100 and calculate a real-time UGV location. When synchronized BLE location signals are received from several beach/coastal BLE devices 100, an accurate location can be measured using triangulation.

The UGV 200 may be configured to detect abnormal motions or abnormal phenomena by performing autonomous driving in Dunchi Park or the coast using the real-time UGV location calculated above.

When an abnormal operation or abnormal phenomenon is detected, the UGV (200) performs an automatic report, generates a UAV call signal and transmits it to the Dunchi/Coastal Patrol Monitoring Server (300), and detects the UGV from the Dunchi/Coastal Patrol Monitoring Server (300). When a call signal is received, it can be configured to autonomously drive and move to the corresponding UGV call point according to the UGV call signal.

UGV (200) includes a GPS module (201), UGV BLE module (202), BLE synchronization control module (203), real-time location detection module (204), radar sensor (205), ultrasonic sensor (206), and infrared sensor (207). ), multiple complementary metal-oxide semiconductor (CMOS) cameras (208), simultaneous localization and mapping (SLAM) module (209), berm/coast map storage module (210), autonomous driving module (211), berm/coast full map Interlocking module (212), video storage module (213), real-time video analysis module (214), abnormal motion learning module (215), abnormal motion recognition module (216), abnormal phenomenon learning module (217), abnormal phenomenon recognition module ( 218), image object marking module (219), compass module (220), azimuth measurement module (221), laser distance measurement module (222), automatic focus adjustment module (223), abnormal point location calculation module (224), above Action/phenomenon automatic reporting module (225), abnormal point driving control module (226), UAV automatic calling module (227), UGV calling signal receiving module (228), UGV calling point search module (229), UGV calling point driving control It may be configured to include a module 230, a controlled area signal reception module 231, a controlled area driving control module 232, and an access control output module 233.

Hereinafter, the detailed configuration will be described.

The GPS module 201 may be configured to receive a GPS signal and obtain a GPS reference time in real time.

The UGV BLE module 202 may be configured to transmit a BLE signal in real time to the beach/coast BLE device 100 and receive the BLE signal from the beach/coast BLE module 103 of the beach/coast BLE device 100. .

The BLE synchronization control module 203 generates a BLE synchronization signal based on the GPS reference time acquired in real time from the GPS module 201 so that the UGV BLE module 202 is connected to the berm/coast BLE module of the berm/coast BLE device 100. It can be controlled to transmit to (103).

The real-time location detection module 204 analyzes the BLE signal received from the UGV BLE module 202 using triangulation, and determines the real-time UGV location of the UGV using the analysis result and the GPS signal received from the GPS module 201. It can be configured to understand.

Radar sensor 205 may be configured to perform radar detection in a beach park or on the coast.

The ultrasonic sensor 206 may be configured to perform ultrasonic sensing at a beach or beach.

Infrared sensor 207 may be configured to generate infrared images at a beach or beach.

The multiple CMOS cameras 208 are linked to the shooting direction of the infrared sensor 207 and can be configured to generate CMOS images in a beach or beach.

The SLAM module 209 may be configured to generate and update a berm/coast map of the berm park or the coast in real time using the real-time UGV location identified in the real-time positioning module 204.

The berm/coast map storage module 210 may be configured to store the berm/coast map that is created and updated in real time in the SLAM module 209.

The autonomous driving module 211 includes radar detection performed by the radar sensor 205, ultrasonic detection performed by the ultrasonic sensor 206, and infrared sensor ( It can be configured to perform autonomous driving in a beach park or on the coast using the infrared image generated by 207) and the CMOS image generated by the multiple CMOS camera 208.

The dunchi/coast entire map linking module 212 uploads the dunchi/coast map stored in the dunchi/coast map storage module 210 to the dunchi/coast patrol monitoring server 300, and uploads the dune/coast patrol monitoring server 300 to the dune/coast patrol monitoring server 210. It can be configured to synchronize in conjunction with the entire berm/coast map.

The UGV (200) generates a map while autonomously driving in various places, and the entire berm/coast map linking module 212 can link the maps of several UGVs (200) to create a berm/coast map.

The image storage module 213 may be configured to store the CMOS image generated by the multiple CMOS camera 208 and the infrared image generated by the infrared sensor 207.

The real-time image analysis module 214 may be configured to analyze the CMOS image and the infrared image stored in the image storage module 213 in real time.

The abnormal motion learning module 215 may be configured to learn abnormal motions in real time based on the real-time analysis results of the real-time video analysis module 214. Here, abnormal movements may include fainting, fainting, falling, jumping, falling into water, fighting, bicycle accidents, etc.

The abnormal behavior recognition module 216 may be configured to recognize abnormal behavior in real time based on the real-time learning results of the abnormal behavior learning module 215.

The anomaly learning module 217 may be configured to learn anomalies in real time using the real-time analysis results of the real-time image analysis module 214. Here, abnormal phenomena may include road collapse, falling trees, flooding, tent installation in a tent installation prohibited area, fire, etc.

The anomaly recognition module 218 may be configured to recognize an anomaly in real time based on the real-time learning results of the anomaly learning module 217.

The image object marking module 219 may be configured to mark abnormal motions recognized by the abnormal motion recognition module 216 or abnormal phenomenon objects recognized by the abnormal phenomenon recognition module 217 in the CMOS image and infrared image. Here, objects may include people, trees, tents, bicycles, etc.

The compass module 220 may be configured to detect the direction at the current location.

The azimuth measurement module 221 uses the direction detected by the compass module 220 and uses multiple CMOS cameras 208 and an infrared sensor 207 to point at the object of abnormal motion or abnormal phenomenon marked by the image object marking module 219. It can be configured to measure the azimuth in real time.

The laser distance measurement module 222 may be configured to measure the distance toward an object of abnormal motion or phenomenon marked in the image object marking module 219 in real time using a laser. In other words, the distance to the object of abnormal motion or abnormal phenomenon can be precisely measured.

The auto-focusing module 223 may be configured to automatically adjust the focus of the multiple CMOS cameras 208 and the infrared sensor 207 according to the distance measured in real time by the laser distance measurement module 222. The autofocus module 119 can accurately enlarge and capture an object in a CMOS image or an infrared image through hyperfocus adjustment.

When an abnormal motion is recognized by the abnormal motion recognition module 216 or an abnormal phenomenon is recognized by the abnormal phenomenon recognition module 218, the abnormal point location calculation module 224 calculates the real-time UGV location identified by the real-time location detection module 204. Based on the distance measured in real time by the laser distance measurement module 222 and the azimuth measured in real time by the azimuth measurement module 221, the location of the abnormal point can be calculated in real time.

Here, the location of the abnormal point can be determined by specifying the azimuth and distance based on the robot position.

The abnormal operation/phenomenon automatic reporting module 225 reports the abnormal operation recognized by the abnormal operation recognition module 216 or the abnormal phenomenon recognized by the abnormal phenomenon recognition module 218 into a corresponding position calculated in real time by the abnormal point location calculation module 224. It can be configured to perform automatic reporting by adding the location of an abnormal point.

The abnormal point driving control module 226 may control the autonomous driving module 211 to perform autonomous driving to the corresponding abnormal point location calculated in real time by the abnormal point location calculation module 224.

The UAV automatic call module 227 generates a UAV call signal for the autonomous driving module 211 to call the UAV 400 to the abnormal point location calculated in real time by the abnormal point location calculation module 224 to patrol the berm/coast. It may be configured to transmit to the monitoring server 300.

The UGV call signal reception module 228 may be configured to receive a UGV call signal from the beach/coast patrol monitoring server 300.

The UGV call point search module 229 refers to the berm/coast map stored in the berm/coast map storage module 210 and uses a UGV call signal receiving module based on the real-time UGV location identified in real time by the real-time location determination module 204 ( 228) may be configured to search in real time for the UGV call point according to the UGV call signal received.

The UGV call point driving control module 230 may control the UGV 200 to perform autonomous driving to the UGV call point searched in real time by the UGV call point search module 229.

The control area signal reception module 231 may be configured to receive a control area signal from the beach/coast patrol monitoring server 300.

The control area driving control module 232 may control the UGV 200 to perform autonomous driving in the control area according to the control area signal received from the control area signal reception module 231.

Here, the control area signal may include information about the control area established based on the berm/coast map of the UAV 400. The control area may be, for example, an area where Dunchi Park and the roads within Dunchi Park are submerged due to overflow of a river or lake, or it may be an area where a road caves in or a fire occurs.

The access control output module 233 may be configured to output an access control guidance voice for the restricted area in real time when arriving at the zone under the control of the restricted area driving control module 232.

The berm/coastal patrol monitoring server 300 receives the automatic report made by the UGV 200 and delivers it to the fire department terminal 10 or the police station terminal 20, transmits the UGV call signal to the UGV 200, and transmits the UAV call signal to the UGV 200. It may be configured to receive and transmit a call signal from the UGV (200).

The berm/coast patrol monitoring server (300) includes a berm/coast entire map database (301), a report reception/delivery module (302), a UAV call signal transmission module (303), a UGV call signal transmission module (304), and a wide angle/downward angle. It may be configured to include a view map update module 305, a wide-angle/downward view map database 306, a water level change confirmation module 307, and a control area remote setting module 308.

Hereinafter, the detailed configuration will be described.

The entire berm/coast map database 301 may be configured to store the berm/coast map uploaded by the berm/coast entire map linking module 212.

The report reception/delivery module 302 may be configured to receive an automatic report performed by the abnormal operation/phenomenon automatic reporting module 225 and transmit it to the fire department terminal 10 or the police station terminal 20 in real time.

The UAV call signal transmission module 303 may be configured to receive a UAV call signal from the UAV automatic call module 227 and transmit it to the UAV 400 in real time.

The UGV call signal transmission module 304 may be configured to receive a UGV call signal from the mobile terminal 500 and transmit it to the UGV 200 in real time.

The wide-angle/downward view map update module 305 may be configured to receive a wide-angle/downward view image uploaded from the UAV 400 and synchronize and update the wide-angle/downward view map.

The wide angle/downward view map database 306 may be configured to store the wide angle/downward view map that is updated by the wide angle/downward view map update module 305.

The water level change confirmation module 307 may be configured to check the change history of the wide-angle/downward view map stored in the wide-angle/downward view map database 306 in real time to check the water level change of the corresponding berm/coast map in real time.

The control area remote setting module 308 automatically sets the control area according to the water level change confirmed in real time in the water level change confirmation module 307, generates the corresponding control area signal, and transmits it to the control area signal reception module 231. It can be configured.

The UAV 400 may be configured to receive a UAV call signal from the berm/coastal patrol monitoring server 300 and perform autonomous flight to the corresponding abnormal point.

The UAV (400) includes a wireless communication module (401), a GPS module (402), a UAV BLE module (403), a BLE synchronization control module (404), a real-time location measurement module (405), and a UAV call signal-based UAV driving module (406). ), a front camera module 407, a speaker module 408, a microphone module 409, a wide-angle camera module 410, and a wide-angle/downward view image upload module 411.

Hereinafter, the detailed configuration will be described.

The wireless communication module 401 performs wireless communication with the beach/coastal patrol monitoring server 300, receives the UAV call signal from the UAV call signal transmission module 304 through wireless communication, and receives the UAV call signal from the fire department terminal 10 and the police station. It may be configured to perform wireless communication with the terminal 20.

The GPS module 402 may be configured to receive a GPS signal and obtain a GPS reference time in real time.

The UAV BLE module 403 may be configured to transmit a BLE signal in real time to the beach/coast BLE device 100 and receive the BLE signal from the beach/coast BLE module 103 of the beach/coast BLE device 100. .

The BLE synchronization control module 404 generates a BLE synchronization signal based on the GPS reference time acquired in real time from the GPS module 402 so that the UGV BLE module 201 is connected to the berm/coast BLE module of the berm/coast BLE device 100. It can be controlled to transmit to (103).

The real-time location detection module 405 analyzes the BLE signal received from the UGV BLE module 403 using triangulation, and uses the analysis result and the GPS signal received from the GPS module 402 to determine the real-time location of the UGV 200. It can be configured to determine the UGV location.

The UAV call signal-based UAV driving module 406 can be driven to autonomously fly to an abnormal point according to the UAV call signal received through the wireless communication module 401.

The front camera module 407 may be configured to generate a front image.

The speaker module 408 may be configured to receive and output voice from the fire department terminal 10 and the police station terminal 20 through the wireless communication module 401.

The microphone module 409 may be configured to collect field voices and field sounds from abnormal points.

The wide-angle camera module 410 may be configured to generate a wide-angle/downward view image.

The wide-angle/downward view image upload module 411 may be configured to upload the wide-angle/downward view image generated by the wide-angle camera module 410 to the berm/coast patrol monitoring server 300.

At this time, the wireless communication module 401 will be configured to transmit the front image generated by the front camera module 407 and the field voice and field sound collected by the microphone 409 to the fire department terminal 10 or the police station terminal 20. You can.

And the wireless communication module 401 may be configured to receive voice from the fire department terminal 10 or the police station terminal 20.

And the wireless communication module 401 may be configured to transmit the wide-angle/downward view image uploaded by the wide-angle/downward view image upload module 411 to the berm/coast patrol monitoring server 300.

The mobile terminal 500 may be configured to generate a UGV call signal and transmit it to the dunchi/coastal patrol monitoring server 300.

The mobile terminal 500 may be configured to include a GPS module 501 and a UGV calling module 502.

Hereinafter, the detailed configuration will be described.

The GPS module 501 may be configured to receive a GPS signal and obtain a GPS reference time in real time.

The UGV call module 502 may be configured to generate a UGV call signal using the terminal location identified in real time by the GPS module 501 and transmit the generated UGV call signal to the UGV call signal transmission module 304.

Figure 2 is a flowchart of a patrol method for controlling a UAV using a UGV according to an embodiment of the present invention.

Referring to FIG. 2, UGV 200 performs autonomous driving in Dunchi Park or the coast (S101).

Next, the beach/coast monitoring server 300 transmits a UGV call signal to the UGV 200 (S102).

Next, the UGV 200 receives the UGV call signal and autonomously drives to the corresponding UGV call point (S103).

Next, the beach/coast monitoring server 300 transmits a UAV call signal to the UAV 400 (S104).

Next, the UAV 400 receives a UAV call signal from the beach/coast monitoring server 300 (S105).

Next, the UAV 400 performs autonomous navigation to an abnormal point according to the received UAV call signal (S106).

Although the description has been made with reference to the above examples, those skilled in the art can understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. There will be.

100: Berea/Coastal BLE device
101: Reference coordinate storage module
102: GPS reference time acquisition module
103: Berries/Coastal BLE module
104: BLE synchronization module
200: UGV
201: GPS module
202: UGV BLE module
203: BLE synchronization control module
204: Real-time positioning module
205: radar sensor
206: ultrasonic sensor
207: Infrared sensor
208: Multiple CMOS camera
209: SLAM module
210: Berries/coast map storage module
211: Autonomous driving module
212: Dungeon/coast entire map linkage module
213: Video storage module
214: Real-time video analysis module
215: Abnormal behavior learning module
216: Abnormal operation recognition module
217: Anomaly learning module
218: Anomaly recognition module
219: Video object marker module
220: Compass module
221: Azimuth measurement module
222: Laser distance measurement module
223: Autofocus module
224: Abnormal point location calculation module
225: Abnormal operation/phenomenon automatic reporting module
226: Abnormal point driving control module
227: UAV automatic calling module
228: UGV call signal reception module
229: UGV call point search module
230: UGV call point driving control module
231: Control area signal reception module
232: Control area driving control module
233: Access control output module
300: Dungeon/Coastal Patrol Monitoring Server
301: Berries/coastal full map database
302: Report reception/forwarding module
303: UAV call signal transmission module
304: UGV call signal transmission module
305: Wide angle/downward view map update module
306: Wide angle/downward view map database
307: Water level change confirmation module
308: Control area remote configuration module
400: UAV
401: wireless communication module
402: GPS module
403: UAV BLE module
404: BLE synchronization control module
405: Real-time position measurement module
406: UAV driving module based on UAV calling signal
407: Front camera module
408: Speaker module
409: Microphone module
410: Wide-angle camera module
411: Wide angle/downward view image upload module
500: mobile terminal
501: GPS module
502: UGV call module

Claims (4)

A UGV that performs autonomous driving in a beach park or on the coast and autonomously drives to the corresponding UGV calling point according to the UGV calling signal;
A dune/coastal patrol monitoring server that transmits the UGV call signal to the UGV and transmits a UAV call signal;
A UAV that receives a UAV call signal from the berm/coast patrol monitoring server and performs autonomous flight to the abnormal point;
It includes a beach/coastal BLE device that is installed throughout the beach or coastal area and periodically transmits the location information of the installed location in a BLE signal,
The berm/coastal BLE device,
A reference coordinate storage module configured to store in advance the coordinates of the installation location of the beach park or the coast as reference coordinates of the corresponding beach/coast BLE device;
A GPS reference time acquisition module configured to receive a GPS signal and acquire a GPS reference time in real time;
A berm/coastal BLE module configured to perform BLE communication with the UGV or the UAV and receive a BLE synchronization signal from the UGV or the UAV;
Controlled to periodically transmit a BLE signal including the reference coordinates stored in the reference coordinate storage module according to the BLE synchronization signal received from the berm/coast BLE module with reference to the GPS reference time acquired in real time by the GPS reference time acquisition module. It is configured to include a BLE synchronization module;
The UGV is configured to receive a BLE location signal from the beach/coast BLE device and calculate the UGV location by triangulation, and perform autonomous driving in the beach park or coast using the calculated real-time UGV location to detect abnormal behavior or abnormalities. It is configured to detect the phenomenon,
When an abnormal phenomenon is recognized, the UGV calculates the location of the abnormal point in real time using the measured distance and azimuth to the abnormal point based on the UGV location, and calls the UAV to the calculated abnormal point location. A patrol system that controls a UAV using a UGV, characterized in that it is configured to generate a call signal and transmit it to the berm/coast patrol monitoring server.
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