KR20190138076A - System and method for tracking location of rescue worker in disaster building - Google Patents

Abstract

According to one embodiment of the present invention, provided is a system for tracking a position of a rescue member in a disaster building, which comprises: a position detector outputting blinking light having a light blinking frequency which is distinguishable toward at least one light transmitting window present in the disaster building, and detecting a light arrival point position corresponding to an arrival point in the disaster building of the blinking light; a member terminal carried by a rescue member and photographing a ray image formed at the position of the ray arrival point in the disaster building by the blinking ray, and transmitting the photographed ray image; and a position tracking server using the arrival point position of the ray for the blinking ray received from the position detector and a light blinking frequency calculated from the received ray image, and determining an indoor position of the rescue member carrying the member terminal.

Description

System and method for tracking location of rescue worker in disaster building}

The present invention relates to a rescue related technology used in a disaster relief site, and more particularly, a technology for tracking the location of rescue workers entering a disaster building.

Recently, as the social environment is rapidly diversified, the frequency of occurrence of various disasters and accidents such as fires, explosions, and collapses has also increased dramatically. As a result, human lives in disaster facilities (or disaster areas) The status of disaster relief workers, such as firefighters, police officers, and paramedics, who are rescued and rescued and suppressed disasters, is also expanding.

Typically, under such a conventional system, disaster relief workers put into the disaster facilities are scattered throughout the disaster facilities, search for the rescue targets isolated from them, and evacuate them to a safe area, such as a disaster situation such as fire, fire The main activities will be to suppress them.

However, disaster facilities in which disasters and accidents occur are generally forcibly cut off of electricity and are very dark, and there are a wide range of risk factors such as flames and gas in many places. Serious situations can arise that will put the crew at risk.

Because it is very difficult for each disaster relief team to know exactly where they are, their route, location, etc., they are not able to search through the disaster facilities effectively, and it is unreasonable that many disaster rescuers are in one place. Even if there is no choice but to move, or even have fellow disaster rescue workers in danger, they are inevitably placed in an irrational situation, such as failing to timely rescue them.

The problem to be solved by the present invention is a system for tracking the location of the rescuer in the disaster building to track the position of the rescuer in accordance with the detection of the flashing light beams corresponding to the light beam image formed in the disaster building through the light transmission window and It is about a method.

In the disaster building according to the present invention for solving the above problems, the position tracking system of the rescuer outputs a blinking light having a light blinking frequency that is distinguishable toward at least one light transmitting window existing in the disaster building, the blinking A position detector for detecting a ray arrival point position corresponding to an arrival point in the disaster building of the ray; A crew terminal which is carried by a rescue team member and photographs a ray image formed at the position of the ray arrival point in the disaster building by the blinking ray, and transmits the photographed ray image; And an indoor position of the rescuer carrying the member terminal using the light ray arrival point position with respect to the blinking ray received from the position detector and the light blinking frequency calculated from the ray image received from the member terminal. Location tracking server.

The position detector may include a light output unit configured to output a blinking light beam having a light blinking frequency that is distinguishable toward the light transmitting window; A ray position detection unit for detecting the position of the ray arrival point with respect to the blinking ray passing through the ray transmitting window based on an angle and a direction of the blinking ray output toward the ray transmitting window and an absolute coordinate corresponding to a current position ; And a location detection communication unit configured to transmit information on the detected location of the ray arrival point to the location tracking server.

The light output unit is characterized in that for outputting any one of a high power laser and a high output illumination light.

The light output unit may output a plurality of flashing light beams having different light blinking frequencies, light colors, or cross-sectional shapes toward the plurality of light transmitting windows when there are a plurality of light transmitting windows.

The light beam position detection unit may detect the light beam arrival point position using a measuring instrument that measures a distance, an altitude, and an azimuth angle with respect to the light transmission window based on the absolute coordinates.

The member terminal is characterized in that for transmitting the ray image to the location tracking server using a wireless communication network.

The position tracking server includes: a position tracking communication unit for receiving the position information of the ray arrival point with respect to the blinking ray provided from the position detector and the ray image provided from the member terminal; A blinking frequency calculator configured to calculate a light blinking frequency of the received ray image; A crew position determining unit determining a blinking ray corresponding to the calculated light blinking frequency and determining the position of the ray reaching point corresponding to the determined blinking ray as the indoor position of the rescuer using the received ray reaching point position; A database unit for storing data for operation of the blinking frequency calculator and the far-end position determiner; And a control unit for controlling the operation of the blinking frequency calculator, the remote positioning unit, and the database unit.

The flashing frequency calculator may calculate a light on / off period through image processing of the received light ray image, calculate a light blink frequency corresponding to the light ray image according to the calculated light on / off period, and calculate the calculated light on / off period. A blinking light beam corresponding to the light blinking frequency is detected.

The blinking frequency calculating unit detects the light color or the light cross-sectional shape through image processing of the received light ray image, and detects the light blinking light corresponding to the detected light color or light cross-sectional shape. .

The location tracking server further includes a map generator configured to generate a three-dimensional internal map of the disaster building using the determined indoor location of the rescuer and the internal image of the disaster building photographed by the member of the rescuer. It is characterized by.

In the disaster building according to the present invention for solving the above problems, the location tracking method of the rescuer outputs a blinking light having a light blinking frequency that the position detector is distinguishable toward at least one light transmitting window present in the disaster building and Detecting a ray arrival point location corresponding to an arrival point in the disaster building of the blinking ray; Photographing a ray image formed at the position of the ray arrival point in the disaster building by the flashing ray by the flash terminal, and transmitting the photographed ray image to the location tracking server; And the rescuer carrying the member terminal using the light blinking frequency calculated from the light ray arrival point position for the blinking ray received from the position detector and the ray image received from the member terminal. Determining the indoor location of the;

The detecting of the position of the ray arrival point may include: outputting a blinking ray having a light blinking frequency that is distinguishable toward the light transmitting window; Detecting the position of the ray arrival point with respect to the blinking ray passing through the ray transmitting window based on an angle and a direction with respect to the blinking ray output toward the ray transmitting window and an absolute coordinate corresponding to a current position; And transmitting information about the detected ray arrival point location to the location tracking server.

The outputting the blinking light beam may include outputting a plurality of blinking light beams having different light blinking frequencies, light colors, or light cross-sections toward the plurality of light transmitting windows when there are a plurality of light transmitting windows. It features.

The detecting of the position of the ray arrival point may include detecting the position of the ray arrival point by using a measuring instrument that measures a distance, an altitude, and an azimuth angle with respect to the light transmission window based on the absolute coordinate.

Determining the indoor position relative to the rescuer includes: receiving information about the ray arrival point position for the blinking ray provided from the position detector and the ray image provided from the crew terminal; Calculating a light blink frequency of the received ray image; And determining a blinking light beam corresponding to the calculated light blinking frequency and using the received light beam arrival point position to determine a light beam arrival point position corresponding to the determined blinking light beam as an indoor position of the rescuer. It features.

The calculating of the light blinking frequency may include calculating a light on / off period through image processing of the received light ray image, and calculating a light blink frequency corresponding to the light ray image according to the calculated light on / off period. And detecting a blinking light beam corresponding to the calculated light blinking frequency.

The calculating of the light blinking frequency may include detecting the light color or the light cross-sectional shape through image processing of the received light ray image, and detecting the light blinking light corresponding to the detected light color or light cross-sectional shape. It is characterized by.

And generating a three-dimensional interior map of the disaster building by using the determined indoor location of the rescuer and the internal image of the disaster building photographed from the crew terminal.

According to the present invention, a ray image formed in a disaster building by passing through a ray transmitting window is photographed and transmitted through a terminal of a rescue member, and the position of the rescuer can be tracked according to the detection of a blinking ray corresponding to the transmitted ray image. By doing so, even in a disaster building where 3D map information does not exist, the exact position of the rescuer can be confirmed, and the movement route of the rescuer can be accurately identified.

In addition, since the 3D internal map corresponding to the location can be generated based on the exact location of the rescuer, the rescue operation can be performed smoothly even in the building in which the disaster occurred.

1 is a block diagram of an embodiment for explaining a system for tracking the location of rescuers within a disaster building according to the present invention.
FIG. 2 is a block diagram illustrating an exemplary embodiment for explaining the position detector illustrated in FIG. 1.
3 is a reference diagram illustrating a plurality of flashing light rays output from a light output unit included in each of the plurality of position detectors.
FIG. 4 is a block diagram illustrating an exemplary embodiment for explaining the location tracking server illustrated in FIG. 1.
FIG. 5 is a reference diagram illustrating a situation in which a crew terminal photographs a ray image formed at a position of a ray arrival point in a disaster building by a blinking ray output from a position detector.
FIG. 6 is a reference diagram illustrating a photographed image of flashing rays of each of a plurality of position detectors transmitted into light transmitting windows of a disaster building.
7 is a flowchart of an embodiment for explaining a method for tracking the location of rescuers in a disaster building according to the present invention.
FIG. 8 is a flowchart of an exemplary embodiment for explaining a step of detecting a ray arrival point position illustrated in FIG. 7.
FIG. 9 is a flowchart of an embodiment for explaining a step of determining an indoor position of the rescuer shown in FIG. 7.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of an embodiment for explaining a system for tracking the location of rescuers within a disaster building according to the present invention.

Referring to FIG. 1, the rescuer's location tracking system includes at least one or a plurality of detectors 10, a communication network 20, one or a plurality of member terminals 30, a location tracking server 40, and a manager terminal 50. It may include.

The position detector 10 outputs a blinking light having a light blinking frequency that is distinguishable towards at least one or more light transmitting windows present in the disaster building, and detects the light arrival point position corresponding to the arrival point of the blinking light in the disaster building. do. The position detector 10 may be one, or may be a plurality. The location detector 10 may transmit / receive data with the location tracking server 40 via wire or wirelessly through the communication network 20. Details of the position detector 10 will be described later with reference to FIG. 2.

The communication network 20 may include a wired communication network or a wireless communication network. The wired communication network may include a computer network (eg, LAN or WAN), the Internet, or a telephone network. The wireless communication network may be at least one communication network such as LTE, LTE-A, CDMA, WCDMA, UMTS, WiBro, or GSM, and may include a wireless communication network such as WiFi, Bluetooth, and Zigbee.

The crew terminal 30 photographs the ray image formed at the position of the ray arrival point in the disaster building by the blinking ray, and transmits the photographed ray image to the location tracking server 40. In addition, the crew terminal 30 may transmit voice information to the location tracking server 40 in addition to the ray image. One or more crew terminals 30 may be provided. The crew terminal 30 may transmit and receive data to or from the location tracking server 40 through the communication network 20 in a wired or wireless manner. In particular, the member terminal 30 may transmit the ray image to the location tracking server 40 using a wireless communication network. Crew terminal 30 is a terminal that can be carried by the rescuer, mobile communication terminal, camera device, wearable device (wearable device), smart glasses, head-mounted-device (HMD), electronic clothing, electronic bracelet, electronic Necklaces, smart mirrors, smart watches, and the like.

The position tracking server 40 carries the crew terminal 30 by using the light blinking frequency calculated from the ray arrival point position for the blinking ray received from the position detector 10 and the ray image received from the crew terminal 30. Determine the indoor location of the rescuer. To this end, the location tracking server 40 is connected to the communication network 20 to exchange data by wire or wirelessly. In addition, the location tracking server 40 is connected to the manager terminal 50 and the communication network 20 for remote control of the rescuer. Details of the location tracking server 40 will be described with reference to FIG. 4 to be described later.

The manager terminal 50 may be connected to the location tracking server 40 to output video or audio information for identifying the location of the rescuer and the situation in the disaster building, or instruct a remote control command for the rescuer. . To this end, the manager terminal 50 is connected to the location tracking server 40 by wire or wirelessly through the communication network 20. The manager terminal 50 includes a smartphone, a tablet personal computer, a mobile phone, a video phone, an e-book reader, a desktop personal computer, a laptop PC. (laptop personal computer), netbook computer (workstation), workstation (workstation), server, personal digital assistant (PDA), portable multimedia player (PMP) and the like.

FIG. 2 is a block diagram illustrating an embodiment for describing the position detector 10 shown in FIG. 1.

Referring to FIG. 2, the position detector 10 may include a light output unit 100, a light position detection unit 110, and a position detection communication unit 120.

The light output unit 100 outputs a blinking light beam having a distinguishable light blinking frequency toward at least one light transmitting window existing in the disaster building. The light transmitting window corresponds to a structure having good light transmittance such that the light output from the light output unit 100 can reach the inside of the disaster building, and examples thereof include windows and veranda doors provided in the disaster building. can do. However, the windows and veranda doors mentioned herein are merely exemplary, and may include various structures through which light rays may pass.

The blinking light beam refers to a light beam generated as light emission is turned on and off in a period corresponding to the light blinking frequency. Here, the light blinking frequency may be defined as the on / off number of light rays blinking per unit time.

The light output unit 100 may include a light source capable of outputting a high output laser or a high output illumination light. However, the light source outputting the high power laser or the high output illumination light is exemplary, and in addition, the light output unit 100 may include a light source for outputting various blinking light rays having a distinguishable light blinking frequency.

The light ray output unit 100 may include a plurality of light sources for outputting a plurality of flashing rays. The plurality of light sources may output light beams having different light blink frequencies. In addition, the plurality of light sources may be different in light color or light cross-sectional shape, in addition to different light blinking frequencies.

FIG. 3 is a reference diagram illustrating a plurality of flashing rays output from a light output unit included in each of the plurality of position detectors 1 and 2 (10-1 and 10-2).

Referring to FIG. 3, the light output part included in the position detector 1 (10-1) includes flashing light rays L ₁ , L ₂ , L ₃ , L ₄ , L ₅ , and L ₆ in each of the disaster buildings. It shows output to the light transmission windows (W ₁ , W ₂ , W ₃ , W ₄ , W ₅ , W ₆ ), the light output of the position detector 2 (10-2) is flashing light (L ₇ , L ₈ , L ₉ , L ₁₀ , L _{11 are} shown for output to respective light transmission windows W ₇ , W ₈ , W ₉ , W ₁₀ , W ₁₁ provided in the disaster building.

Each of the flashing light rays L ₁ , L ₂ , L ₃ , L ₄ , L ₅ , L ₆ , output from the plurality of light sources L ₇ , L ₈ , L ₉ , L ₁₀ , and L ₁₁ have a light blinking period in which the light blinking frequencies can be distinguished from each other, thereby causing the blinking rays L ₁ , L ₂ , L ₃ , L ₄ , L ₅ , L ₆ , Each of L ₇ , L ₈ , L ₉ , L ₁₀ , and L ₁₁ may be distinguished through image processing of the location tracking server 40. In addition, these flashing rays L ₁ , L ₂ , L ₃ , L ₄ , L ₅ , L ₆ , L ₇ , L ₈ , L ₉ , L ₁₀ , and L ₁₁ ) may be different in light color or cross-sectional shape, respectively, in addition to different light flashing frequencies. Thus, the plurality of light transmission windows W ₁ , W ₂ , W ₃ , W ₄ , W ₅ , W ₆ , In the case where W ₇ , W ₈ , W ₉ , W ₁₀ , and W ₁₁ are present, the light output unit provided in each of the position trackers has flashing rays L ₁ different in light blinking frequency, light color, or light cross-section. , L ₂ , L ₃ , L ₄ , L ₅ , L ₆ , L ₇ , L ₈ , L ₉ , L ₁₀ , L ₁₁ may be applied to the plurality of light transmission windows W ₁ , W ₂ , W ₃ , W ₄ , W ₅ , W ₆ , W ₇ , W ₈ , W ₉ , W ₁₀ , W ₁₁ ).

The light output unit 100 may adjust the angle and direction of the light source to output the blinking light toward the light transmission window. In particular, in order to output different flashing light rays to each of the plurality of light transmitting windows, the light output unit 100 has an angle with respect to the light sources corresponding to the flashing light rays such that the flashing light rays are directed to the plurality of light transmitting windows, respectively. And direction can be adjusted.

The ray position detection unit 110 detects the position of the ray arrival point with respect to the blinking ray passing through the ray transmitting window by using the angle and direction of the blinking ray output toward the ray transmitting window and the absolute coordinate corresponding to the current position. do. The light beam position detector 110 may be equipped with a measuring instrument (not shown) for measuring the distance, altitude, and azimuth angle with respect to the light transmission window. The measuring instrument is a device used for a survey operation, and may be a device for measuring the distance, altitude, or azimuth of the target object by measuring a phase difference between incident light and reflected light of the target object using light waves such as a laser. Such a measuring device, that is, the ray position detecting unit 110 may store data and program information for detecting the ray arrival position of the blinking ray by synthesizing information on the distance, altitude, and azimuth of the blinking ray passing through the light transmitting window. have.

The ray position detector 110 may detect a ray arrival point position regarding a light transmission window based on an absolute coordinate corresponding to the current position of the position detector 10, for example, GPS position information, DGPS position information, and LTE position information. Can be. The ray position detector 110 may receive absolute coordinate information on the current position where the position detector 10 is disposed from a satellite or GPS information providing module, an LTE base station, or the like through a wired or wireless communication network. Accordingly, the ray position detection unit 110 synthesizes information on the distance, altitude, and azimuth of the ray transmission window based on the provided current position, that is, the absolute coordinate information, and thus the ray arrival point position corresponding to the geographical coordinates of the ray transmission window. Can be detected.

The position detection communication unit 120 transmits information on the position of the ray arrival point detected by the ray position detection unit 110 to the position tracking server 40. The position detection communication unit 120 may transmit information on the location of the light beam arrival point in a wired communication method or a wireless communication method. The location detection communication unit 120 may transmit information about a ray arrival point location through a computer network (for example, a LAN or WAN), the Internet, or a telephone network through a wired communication method. The wireless communication method may include LTE, LTE-A, Information about the location of the ray arrival point can be transmitted via CDMA, WCDMA, UMTS, WiBro, GSM, WiFi, Bluetooth, and Zigbee.

FIG. 4 is a block diagram of an embodiment for describing the location tracking server 40 shown in FIG. 1.

Referring to FIG. 4, the location tracking server 40 includes a location tracking communication unit 200, a blinking frequency calculation unit 210, a crew location determination unit 220, a map generator 230, a database unit 240, and a controller. 250.

The position tracking communication unit 200 receives information on the ray arrival point position for the blinking ray provided from the position detector 10 or information on the ray image provided from the crew terminal 30. The location tracking unit 200 may receive the information on the location of the light beam arrival point in a wired communication method or a wireless communication method. In addition, the location tracking communication unit 200 may receive information on the ray image in a wireless communication method. To this end, the location tracking communication unit 200 may include a wired communication module for supporting a computer network (for example, a LAN or WAN), the Internet, or a telephone network as a wired communication method, and for wireless communication, LTE, LTE- It may include a wireless communication module that supports A, CDMA, WCDMA, UMTS, WiBro, GSM, WiFi, Bluetooth, Zigbee and the like.

FIG. 5 is a reference diagram illustrating a situation in which the crew terminal 30 photographs a ray image formed at a position of a ray arrival point within a disaster building by a blinking ray output from the position detector 10.

Referring to FIG. 5, the blinking light beam L output from the position detector 10 may pass through the light transmission window W to form a light beam image I at a light beam arrival point location in a disaster building. That is, the blinking light beam L may reach a wall, a ceiling, or the like in the disaster building to form the light beam image I. At this time, the crew terminal 30 (for example, HMD) provided to the rescuer who is put into the disaster building and performs rescue work may photograph the ray image I formed in the disaster building, and the photographed ray image ( I) may be transmitted to the location tracking server 40 through a wireless communication network. In this case, the member terminal 30 may photograph the internal image of the disaster building itself, and may transmit the captured internal image of the disaster building to the location tracking server 40 through a wireless communication network. Accordingly, the location tracking communication unit 200 of the location tracking server 40 receives the ray image I transmitted from the crew terminal 30 or the internal image of the disaster building through the wireless communication network. The location tracking communicator 200 transmits the received ray image to the blinking frequency calculator 210 and transmits information on the internal image of the disaster building to the database unit 240 under the control of the controller 250.

The blinking frequency calculating unit 210 calculates the light blinking frequency of the ray image received from the position tracking communication unit 200. The blinking frequency calculator 210 calculates a light on / off period by image processing of the received ray image. To this end, the flashing frequency calculator 210 may include an image processing module for calculating the light on / off period. The blinking frequency calculating unit 210 drives the image processing module to detect a frame in which the light is turned on or off in the ray image, and calculates a frame unit time regarding the frame in which the light is turned on and the frame in which the light is turned off. Accordingly, the blinking frequency calculator 210 may calculate the light on / off period, and calculate the light blinking frequency per unit time for the ray image from the calculated light on / off period.

The member position determiner 220 determines a blinking light beam corresponding to the light blinking frequency calculated by the blinking frequency calculator 210, and determines the indoor position of the rescue team member from the determined blinking light beam.

First, the member position determining unit 220 determines the blinking light beam corresponding to the light blinking frequency. The remote positioning unit 220 may detect the blinking light corresponding to the currently calculated light blinking frequency based on the light blinking frequency corresponding to the blinking light output from the position detector 10 described above. In addition, the far-field positioning unit 220 may detect the light color or the light cross-sectional shape through image processing on the received light ray image, and detect the blinking light beam corresponding to the detected light color or the light cross-sectional shape. have.

In order to detect the blinking rays, table information on the blinking rays mapped to the light blinking frequencies is stored in advance in the database unit 240, which will be described later, and the far-positioning unit 220 is connected to the light blinking frequencies corresponding to the ray images. By comparing the information on the table and the table information on the flashing light output from the position detector 10, it is possible to detect the flashing light corresponding to the mutually identical light flashing frequency. That is, the far-field positioning unit 220 may obtain information on which light transmission window the flashing light beams output from the respective light sources of the position detector 10 are output. Therefore, the far-field position determiner 220 detects the detected blinking light beam from the light source of the position detector 10 based on the information stored in the database unit 240 and the information obtained from the position detector 10. The output can be detected.

Thereafter, the member position determining unit 220 determines the position of the ray arrival point at which the blinking ray is photographed as the indoor position of the rescuer. To this end, the position detector 10 provides the far-field positioning unit 220 with information on the light arrival position for each blinking light beam. The remote positioning unit 220 may recognize which of the light transmission windows is a flashing light beam detected from the light beam image, and the flashing light beam is output from the position of the light arrival point provided from the position detector 10. It is possible to detect the light ray arrival point position corresponding to. The crew position determiner 220 may determine the detected ray arrival point position as the indoor position of the rescuer photographed with respect to the blinking ray.

The map generator 230 generates a 3D internal map of the disaster building by using the determined indoor location of the rescuer and the internal image of the disaster building provided from the crew terminal 30. The map generator 230 may generate a 3D image by using drawing information including a 3D model of the internal image and appearance attribute information indicating an external appearance among the internal image of the disaster building.

The map generator 230 may map the indoor location of the rescuer's disaster building to the 3D image as coordinate information on the map. The map generator 230 may generate a 3D map of the interior of the disaster building based on accurate coordinate information by mapping the 3D image of the internal image of the disaster building and the indoor location of the rescuer as coordinate information on the map. have.

The database unit 240 stores data for the operation of the blinking frequency calculator 210, data for the operation of the remote positioning unit 220, and data for the operation of the controller 250. In addition, the database unit 240 stores ray information about blinking rays output from the position detector 10. For example, the database unit 240 may store light blinking frequency information of blinking rays, attribute information of blinking rays, color or cross-sectional shape information of blinking rays, identification information of blinking rays, and the like. In addition, the database unit 240 may store program information for performing image processing on the ray image in the far-field positioning unit 220. That is, the database unit 240 detects a frame in which the light is turned on or off in the ray image, calculates a light on / off period from the frame unit time for the frame on which the light is turned on and the frame at which the light is turned off, and calculates the calculated light on. Data or program information for calculating the light blinking frequency from the off period may be stored. In addition, the database unit 240 stores table information on the light blinking frequency corresponding to the blinking light output from the position detector 10, and the data for detecting the blinking light corresponding to the corresponding light blinking frequency from the table information. Or program information can be stored. In addition, the database unit 240 may store data or program information for detecting whether the corresponding flashing light is output from which position detector 10 to which light transmission window based on the information provided from the position detector 10. . In addition, the database unit 240 stores drawing information including a three-dimensional model of the internal image, appearance attribute information indicating an external attribute among the internal image of the disaster building, and the like to generate the three-dimensional map.

The database unit 240 may include volatile and / or nonvolatile memory. In addition, the database unit 240 may include a kernel, middleware, an application programming interface, and / or an application program.

The controller 250 controls operations of the location tracking communication unit 200, the blinking frequency calculating unit 210, the crew positioning unit 220, the map generating unit 230, and the database unit 240. To this end, the controller 250 may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). . The controller 250 extracts the data stored in the database unit 240 and uses the extracted data to track the location tracking unit 200, the blinking frequency calculator 210, the member location determiner 220, and the map generator. Operations or data processing for the operation of 230 may be performed.

On the other hand, the location tracking system of the rescuer of the present invention, as described above, by having a plurality of position detectors, it is possible to determine the position of the rescuer using the information collected from the plurality of position detectors. For example, a plurality of location detectors may be placed surrounding the disaster building, with each location detector outputting blinking rays to the light transmitting windows of the disaster building. Each of the plurality of position detectors transmits information regarding the ray arrival point position for the blinking rays to the positioning server, which synthesizes the position of the rescuer by synthesizing the ray arrival point positions received from the respective position detectors. You can decide.

FIG. 6 is a reference diagram illustrating a photographed image of flashing rays of each of a plurality of position detectors transmitted into light transmitting windows of a disaster building.

6, the position detector 1 100-1 flashing light 1 (L ₁₎ and the position detector 2 100-2 blinking light 2 (L _2), each emergency construction of the light-transmitting window 1 (the W ₁ ) and transmitted into the light transmitting window 2 (W ₂ ). At this time, the flashing light ₁ (L 1) a light image ₁ (I 1) and a flashing light ₂ (L 2) light images ₂ (I 2) corresponding to the corresponding to illustrate that formed on each inner wall building disaster. A photographed image of the inside of the disaster building including these ray images I ₁ and I ₂ may be photographed through the crew terminal 30 of the rescuer.

In FIG. 6, the flashing rays L ₁ and L ₂ irradiated to the respective light transmission windows W ₁ and W ₂ are respectively output from the different position detectors 100-1 and 100-2. Corresponds to Accordingly, each of the position detectors 100-1 and 100-2 detects and provides the position of the ray arrival point to the position tracking server 40 with respect to the blinking ray irradiated by the position tracking server 40. The indoor position of the rescuer may be determined in consideration of the light arrival point position provided from the position detectors 100-1 and 100-2. At this time, the indoor position of the rescuer determined based on the information provided from the respective position detectors 100-1 and 100-2 should theoretically be the same value. However, since there is an actual error value, the location tracking server 40 may determine the average value for each ray arrival point position provided from each of the position detectors 100-1 and 100-2 as the indoor position of the rescuer. .

7 is a flowchart of an embodiment for explaining a method for tracking the location of rescuers in a disaster building according to the present invention.

The position detector outputs a blinking light beam having a light blinking frequency that is distinguishable toward at least one or more light transmitting windows present in the disaster building, and detects the light arrival point position corresponding to the arrival point of the blinking light in the disaster building (S300). step). There may be one position detector or a plurality of position detectors. The location detector may transmit and receive data to or from the location tracking server through a communication network.

FIG. 8 is a flowchart of an exemplary embodiment for explaining a step of detecting a ray arrival point position illustrated in FIG. 7.

The location detector outputs a blinking light having a light blinking frequency that is distinguishable toward at least one or more light transmitting windows present in the disaster building (S400). The position detector may output a high power laser or high power illumination light.

The position detector outputs a plurality of flashing rays having different light flashing frequencies toward the plurality of light transmitting windows when there are a plurality of light transmitting windows. The plurality of flashing rays have a light blinking period in which the light blinking frequencies can be distinguished from each other. In addition, these flashing light rays may be light colors or light cross-sectional shapes, respectively, in addition to different light flashing frequencies. The position detector may adjust the angle and direction of the corresponding light source to output the blinking light toward the light transmitting window. In particular, in order to output different flashing rays respectively to the plurality of light transmitting windows, the position detector adjusts the angle and direction with respect to the light sources corresponding to the flashing light rays such that the flashing light rays are respectively directed to the plurality of light transmitting windows. Can be. In addition, a plurality of position detectors may be provided.

After the step S400, the position detector detects the position of the light arrival point of the flashing light transmitted through the light transmission window based on the angle and direction with respect to the blinking light output toward the light transmission window and the absolute coordinate corresponding to the current position. (S402 step).

The position detector transmits light based on absolute coordinates corresponding to the current position, for example, GPS position information, DGPS position information, LTE position information, etc., by using an instrument for measuring the distance, altitude, and azimuth angle with respect to the light transmission window. The ray arrival point position relative to the window can be detected. The location detector may receive absolute coordinate information on the current location from a satellite or GPS information providing module, an LTE base station, or the like through a wired or wireless communication network. Accordingly, the position detector may detect the light arrival position corresponding to the geographical coordinates of the light transmission window by synthesizing information on the distance, altitude, and azimuth of the light transmission window based on the provided absolute coordinate information.

After step S402, the position detector transmits the information about the detected ray arrival point position to the location tracking server (step S404). The location detector can transmit information about the location of the light arrival point via a computer network (e.g. LAN or WAN), the Internet, or a telephone network in a wired communication manner, and wirelessly, LTE, LTE-A, CDMA, WCDMA It can transmit information about the location of the ray arrival point via UMTS, WiBro, GSM, WiFi, Bluetooth, and Zigbee.

After step S300, the crew terminal photographs the ray image formed at the position of the ray arrival point in the disaster building by the blinking ray, and transmits the photographed ray image to the location tracking server (step S302). In addition to the ray image, the crew terminal may transmit internal image information or voice information to the location tracking server. One or more crew terminals may be provided. The flashing light output from the position detector may penetrate the light transmitting window to form a light beam image in the disaster building. At this time, the crew terminal provided by the rescuer who is put into the disaster building to perform a rescue operation can take a ray image formed in the disaster building, and transmit the taken ray image to the location tracking server through a wireless communication network. In addition, the crew terminal may photograph the internal image of the disaster building itself, and may transmit the captured internal image of the disaster building to the location tracking server through a wireless communication network.

After step S302, the location tracking server carries the member terminal using the light blinking frequency calculated from the position of the ray arrival point with respect to the blinking ray received from the position detector and the ray image received from the member terminal. Determine the indoor position of the rescuer (step S304).

FIG. 9 is a flowchart of an embodiment for explaining a step of determining an indoor position of the rescuer shown in FIG. 7.

The location tracking server receives the information on the ray arrival point position for the blinking ray provided from the position detector and the ray image provided from the member terminal (step S500). The location tracking server may receive information about the ray arrival point location in a wired or wireless communication manner. Also, the location tracking server may receive a ray image, an internal image of a disaster building, or voice information through a wireless communication method.

After step S500, the location tracking server calculates a light blinking frequency of the received ray image (step S502). The location tracking server calculates a light on / off period through image processing on the received light ray image, and calculates a light blinking frequency corresponding to the light ray image according to the calculated light on / off period. The location tracking server may drive a mounted image processing module to detect a frame in which the light is turned on or off in the ray image, and calculate a frame unit time for the light on and off frames, thereby calculating the light on / off. The period may be calculated, and the light blinking frequency per unit time for the ray image may be calculated from the calculated light on / off period.

After step S502, the location tracking server determines the blinking light beam corresponding to the calculated light blinking frequency, and determines the light beam arrival point position corresponding to the determined blinking light beam as the indoor position of the rescuer using the received light beam arrival point position. (Step S504).

The location tracking server may detect the blinking ray corresponding to the currently calculated light blinking frequency based on the information on the light blinking frequency corresponding to the blinking ray. To this end, the location tracking server has previously stored table information on the blinking rays mapped to the light blinking frequency. Accordingly, the location tracking server may compare the information on the light blinking frequency corresponding to the light ray image with the table information about the blinking light, and detect the blinking light rays corresponding to the coincidence light blinking frequencies.

The position tracking server then checks which light transmission window the blinking light detected from the ray image is a flashing light output toward, and from among the information about the light arrival point position provided from the position detector, the light ray arrival point position corresponding to the blinking light. Can be detected. The position tracking server determines the detected ray arrival point position as the indoor position of the rescuer who photographed the flashing ray.

After the step S504, the location tracking server generates a three-dimensional internal map of the disaster building using the determined indoor location of the rescuer and the internal image of the disaster building taken from the crew terminal (step S506).

The location tracking server may generate a 3D image by using drawing information including a 3D model of the internal image and appearance attribute information indicating an external attribute among the internal image of the disaster building. The location tracking server may map the location information in the disaster building of the rescuer to the 3D image as coordinate information on the map. Accordingly, the location tracking server may generate a 3D map of the interior of the disaster building by mapping the 3D image of the internal image of the disaster building and the location information of the rescuer as coordinate information on the map.

The present invention can be applied to a variety of playback devices by implementing a software program and recording it on a computer-readable predetermined recording medium. Various playback devices may be PCs, laptops, portable terminals, and the like. For example, the recording medium may be a hard disk, a flash memory, a RAM, a ROM, or the like as an internal type of each playback device, or an optical disc such as a CD-R or a CD-RW, a compact flash card, a smart media, a memory stick, or a multimedia card as an external type. have.

While the embodiments of the present invention have been described as described above, the embodiments disclosed in the specification of the present invention do not limit the present invention. The scope of the present invention should be construed by the claims below, and all techniques within the scope equivalent thereto will be construed as being included in the scope of the present invention.

10: position detector
20: network
30: crew terminal
40: location tracking server
50: manager terminal
100: light output unit
110: ray position detection unit
120: position detection communication unit
200: location tracking communication unit
210: flashing frequency calculator
220: crew positioning unit
230: map generator
240: database
250: control unit

Claims (18)

A position detector for outputting a blinking light beam having a light blinking frequency that is distinguishable toward at least one light transmitting window present in the disaster building and detecting a light arrival point location corresponding to an arrival point in the disaster building of the blinking light;
A crew terminal which is carried by a rescue team member and photographs a ray image formed at the position of the ray arrival point in the disaster building by the blinking ray, and transmits the photographed ray image; And
Determining an indoor position of the rescuer carrying the member terminal by using the light ray arrival point position with respect to the blinking ray received from the position detector and the light blinking frequency calculated from the ray image received from the member terminal. Rescuer's location tracking system in a disaster building, comprising a location tracking server. The method according to claim 1,
The position detector,
A light output unit configured to output a flashing light having a light blinking frequency that is distinguishable toward the light transmitting window;
A ray position detection unit for detecting the position of the ray arrival point with respect to the blinking ray passing through the ray transmitting window based on an angle and a direction of the blinking ray output toward the ray transmitting window and an absolute coordinate corresponding to a current position ; And
And a location detection communication unit for transmitting the information about the detected location of the ray arrival point to the location tracking server. The method according to claim 2,
The light output unit,
A system for locating rescuers within a disaster building, characterized by outputting either a high power laser or a high power light beam. The method according to claim 2,
The light output unit
Rescuers in a disaster building, wherein when there are a plurality of light transmitting windows, a plurality of blinking light rays having different light blinking frequencies, light colors, or light cross-sections are output toward the plurality of light transmitting windows. Location tracking system. The method according to claim 2,
The light beam position detection unit,
The position tracking system of the rescuer within the disaster building, characterized in that for detecting the position of the light arrival point using a measuring instrument for measuring the distance, altitude and azimuth with respect to the light transmission window based on the absolute coordinates. The method according to claim 1,
The crew terminal,
Rescuer's location tracking system within the disaster building, characterized in that for transmitting the ray image to the location tracking server using a wireless communication network. The method according to claim 1,
The location tracking server,
A position tracking communication unit for receiving the position of the ray arrival point with respect to the blinking ray provided from the position detector and the information on the ray image provided from the member terminal;
A blinking frequency calculator configured to calculate a light blinking frequency of the received ray image;
A crew position determining unit determining a blinking ray corresponding to the calculated light blinking frequency and determining a position of the ray reaching point corresponding to the determined blinking ray as the indoor position of the rescuer using the received ray reaching point position;
A database unit for storing data for operation of the blinking frequency calculator and the far-end position determiner; And
And a control unit for controlling the operation of the blinking frequency calculator, the member position determining unit, and the database unit. The method according to claim 7,
The blinking frequency calculator,
Calculating a light on / off period through image processing on the received light ray image, calculating a light blink frequency corresponding to the light ray image according to the calculated light on / off period, and corresponding to the calculated light blink frequency Positioning system of rescuers within a disaster building, characterized by detecting flashing light rays. The method according to claim 7,
The blinking frequency calculator,
Rescuers in the disaster building, characterized in that for detecting the light color or the light cross-sectional shape through the image processing for the received light ray image, and detects the blinking light corresponding to the detected light color or light cross-sectional shape. Location tracking system. The method according to claim 1,
The location tracking server,
Disaster building further comprising a map generator for generating a three-dimensional internal map of the disaster building using the determined indoor location for the rescuer and the internal image of the disaster building taken from the crew terminal Rescuer's location tracking system. The position detector outputs a blinking light having a light blinking frequency that is distinguishable towards at least one or more light transmitting windows present in the disaster building, and detecting a light arrival point position corresponding to the point of arrival of the blinking light in the disaster building;
Photographing a ray image formed at the position of the ray arrival point in the disaster building by the flashing ray by the flash terminal, and transmitting the photographed ray image to the location tracking server; And
The position tracking server of the rescuer carrying the member terminal using the light blinking frequency calculated from the light ray arrival point position with respect to the blinking ray received from the position detector and the ray image received from the member terminal. Determining the location of the interior of the rescuer in a disaster building. The method according to claim 11,
Detecting the ray arrival point position,
Outputting a blinking light beam having a light blinking frequency that is distinguishable toward the light transmitting window;
Detecting the position of the ray arrival point with respect to the blinking ray passing through the ray transmitting window based on an angle and a direction of the blinking ray output toward the ray transmitting window and an absolute coordinate corresponding to a current position; And
And transmitting the information about the detected location of the ray arrival point to the location tracking server. The method according to claim 12,
Outputting the blinking light rays,
Rescuers in a disaster building, wherein when there are a plurality of light transmitting windows, a plurality of blinking light rays having different light blinking frequencies, light colors, or light cross-sections are output toward the plurality of light transmitting windows. Location tracking method. The method according to claim 12,
Detecting the ray arrival point position,
The position tracking method of the rescuer within the disaster building, characterized in that for detecting the position of the light arrival point using a measuring instrument for measuring the distance, altitude and azimuth with respect to the light transmission window based on the absolute coordinates. The method according to claim 11,
Determining the indoor location for the rescuer,
Receiving information about the ray arrival point position for the blinking ray provided from the position detector and the ray image provided from the crew terminal;
Calculating a light blink frequency of the received ray image; And
Determining a blinking light beam corresponding to the calculated light blinking frequency, and determining a light beam arrival point location corresponding to the determined blinking light beam as an indoor position of the rescuer using the received light beam arrival point position. A method for tracking the position of rescue workers within a disaster building. The method according to claim 15,
The step of calculating the light blinking frequency,
Calculating a light on / off period through image processing on the received light ray image, calculating a light blink frequency corresponding to the light ray image according to the calculated light on / off period, and corresponding to the calculated light blink frequency A method for tracking the position of rescuers in a disaster building, comprising detecting blinking light rays. The method according to claim 15,
The step of calculating the light blinking frequency,
Rescuers in the disaster building, characterized in that for detecting the light color or the light cross-sectional shape through the image processing for the received light ray image, and detects the blinking light corresponding to the detected light color or light cross-sectional shape. Location tracking method. The method according to claim 11,
And generating a three-dimensional interior map of the disaster building using the determined indoor location of the rescuer and the internal image of the disaster building taken from the crew terminal. How to track the position of rescuers.

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