Disaster rescue system using remote control based on haptic and operation method thereof

Abstract

A disaster rescue system using haptic-based remote control and a method of operation thereof according to one embodiment of the present invention allows a user to remotely control a disaster rescue device among a plurality of disaster rescue devices by connecting the haptic-based remote control device to the disaster rescue device to be remotely controlled, thereby enabling the user to remotely control the disaster rescue device regardless of the platform through the haptic-based remote control device even if the plurality of disaster rescue devices are composed of different platforms. Additionally, by designating the location to be controlled for each component capable of controlling the movement of the disaster rescue device by user operation, the user can match the control location for each component through the haptic-based remote control device even if the plurality of disaster rescue devices are composed of different platforms and the components capable of controlling the movement are different, thereby enabling the user to remotely control all disaster rescue devices through the haptic-based remote control device regardless of the type of disaster rescue device.

Description

Technology Field

[0001] The present invention relates to a disaster rescue system using haptic-based remote control and a method of operating the same, and more specifically, to a system for remotely controlling a disaster rescue device and a method of operating the same. Background Technology

[0002] Incidents and accidents occur due to various reasons, including weather, environmental factors, and war. Major accidents are taking place due to diverse causes, such as the explosion at a nuclear power plant in Japan, earthquakes, and the Daegu subway disaster. In major accidents, situations arise where rescue teams find it difficult to carry out rescue operations (situations where deploying personnel is difficult due to anticipated radiation leaks or the collapse of additional structures).

[0003] Although intelligent disaster rescue robots are currently under development for deployment in disaster situations, there are challenges in assessing the site conditions to rescue the injured or perform missions at unconventional accident sites. Consequently, there is a concern that a gap in disaster rescue operations may occur until robots capable of smooth mission execution are developed, necessitating the development of systems capable of rescuing lives semi-automatically or remotely during disasters. Prior art literature

[0004] Korean Patent Publication No. 10-2411665 B1 (June 16, 2022) The problem to be solved

[0005] The objective of the present invention is to provide a disaster rescue system using haptic-based remote control and a method of operation thereof, wherein a haptic-based remote control device connects to a disaster rescue device to be remotely controlled among a plurality of disaster rescue devices, and a user remotely controls the disaster rescue device through the haptic-based remote control device, and designates the location to be controlled for each user by user operation of each component capable of controlling the movement of the disaster rescue device.

[0006] Other unspecified objects of the present invention may be further considered to the extent that they can be easily inferred from the following detailed description and effects. means of solving the problem

[0007] A haptic-based remote control device according to a preferred embodiment of the present invention for achieving the above objective comprises: a wireless communication unit that transmits and receives data with a plurality of disaster rescue devices through a wireless communication network; an information input unit that receives connection information for a disaster rescue device to be remotely controlled among the plurality of disaster rescue devices; a connection processing unit that requests a connection by transmitting the connection information input through the information input unit to the disaster rescue device to be remotely controlled through the wireless communication unit, receives connection approval information from the disaster rescue device to be remotely controlled through the wireless communication unit, and processes the connection completion when the connection approval information approves the connection; a command input unit that includes a haptic-based input module in the form of a plurality of joints, and receives command information based on joint operation of the haptic-based input module by a user after the connection completion is processed through the connection processing unit; and a command processing unit that requests command execution by transmitting the command information input through the command input unit to the disaster rescue device to which the connection completion is processed through the wireless communication unit.

[0008] Herein, the system further includes a matching unit that receives component identification information for a plurality of motion-controllable components constituting a disaster rescue device that has completed connection processing from the disaster rescue device that has completed connection processing via the wireless communication unit, and obtains haptic matching information by matching at least one joint among a plurality of joints constituting the haptic-based input module according to the user's operation for each of the plurality of components according to the component identification information; and the command input unit can receive command information based on the joint operation of the haptic-based input module by the user based on the haptic matching information obtained through the matching unit.

[0009] Here, the above-mentioned motion-controllable component may be at least one of a robot forward / backward movement module, a robot up / down movement module, a robot left / right rotation module, a robot arm movement module, and a joint module equipped on the robot arm when the disaster rescue device is of a robot type; at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module when the disaster rescue device is of a ship type; and at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module when the disaster rescue device is of an aircraft type.

[0010] Here, the disaster rescue device may include an image capturing module for capturing images of the surroundings of the disaster rescue device, a temperature sensing module for sensing the internal temperature of the disaster rescue device or the surrounding temperature of the disaster rescue device, a pressure sensing module for sensing pressure applied to the disaster rescue device, and an illuminance sensing module for sensing the surrounding illuminance of the disaster rescue device.

[0011] Herein, it may further include an information output unit that includes a display module and outputs images, temperature, pressure, and illuminance received from a disaster rescue device that has completed connection processing through the wireless communication unit, and haptic matching information obtained through the matching unit through the display module.

[0012] Here, the disaster rescue device may further include a fuzzy control module that fuzzy-controls the operation of the drive module based on the current temperature of the drive module of the disaster rescue device and a preset reference temperature.

[0013] Here, the wireless communication unit can transmit and receive data with a disaster rescue device through a packet consisting of platform identification information, component identification information, component identification information sequence number, data, and packet termination identification information of the disaster rescue device.

[0014] Here, the haptic-based input module may be in the form of a glove.

[0015] A method of operation of a disaster rescue system using haptic-based remote control according to a preferred embodiment of the present invention for achieving the above objective comprises: a method of operation of a disaster rescue system including a plurality of disaster rescue devices and a haptic-based remote control device connected to the plurality of disaster rescue devices through a wireless communication network, wherein the haptic-based remote control device receives connection information for a disaster rescue device to be remotely controlled among the plurality of disaster rescue devices; the haptic-based remote control device requests a connection by transmitting the connection information to the disaster rescue device to be remotely controlled through the wireless communication network, receives information on whether the connection is approved from the disaster rescue device to be remotely controlled through the wireless communication network, and processes the connection completion when the information on whether the connection is approved; the haptic-based remote control device receives command information based on joint operation of a haptic-based input module, which is in the form of a plurality of joints, by a user after the connection completion processing; and the haptic-based remote control device requests the execution of a command by transmitting the command information to the disaster rescue device to which the connection completion processing has been processed through the wireless communication network.

[0016] Herein, the haptic-based remote control device further includes the step of receiving component identification information for a plurality of motion-controllable components constituting a disaster rescue device that has been connected through the wireless communication network, and acquiring haptic matching information by matching at least one joint among a plurality of joints constituting the haptic-based input module according to the user's operation for each of the plurality of components according to the component identification information; and the command information input step may be performed by receiving command information based on the acquired haptic matching information and the joint operation of the haptic-based input module by the user.

[0017] Here, the disaster rescue device may include an image capturing module for capturing images of the surroundings of the disaster rescue device, a temperature sensing module for sensing the internal temperature of the disaster rescue device or the surrounding temperature of the disaster rescue device, a pressure sensing module for sensing pressure applied to the disaster rescue device, and an illuminance sensing module for sensing the surrounding illuminance of the disaster rescue device.

[0018] Here, the method may further include the step of outputting the image, temperature, pressure, and illuminance received from the disaster rescue device that has completed connection processing through the wireless communication network, and the acquired haptic matching information through a display module.

[0019] A computer program according to a preferred embodiment of the present invention for achieving the above technical problem is stored on a computer-readable recording medium and executes any one of the operation methods of a disaster rescue system using the above-described haptic-based remote control on a computer. Effects of the invention

[0020] According to a disaster rescue system using haptic-based remote control and a method of operation thereof according to an embodiment of the present invention, a haptic-based remote control device connects to a disaster rescue device to be remotely controlled among a plurality of disaster rescue devices, and by a user remotely controlling the disaster rescue device through the haptic-based remote control device, even if the plurality of disaster rescue devices are composed of different platforms, the user can remotely control the disaster rescue device regardless of the platform through the haptic-based remote control device.

[0021] In addition, by designating the control location for each of the movement-controllable components of the disaster rescue device through user operation, even if multiple disaster rescue devices are composed of different platforms and their movement-controllable components are different, the user can match the control location for each component through a haptic-based remote control device, thereby allowing all disaster rescue devices to be remotely controlled through a haptic-based remote control device regardless of the type of disaster rescue device.

[0022] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0023] FIG. 1 is a block diagram illustrating a disaster rescue system using haptic-based remote control according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating the configuration of the haptic-based remote control device illustrated in FIG. 1. FIG. 3 is a diagram illustrating a packet structure according to an embodiment of the present invention. FIG. 4 is a diagram illustrating an example of implementation of a haptic-based input module according to one embodiment of the present invention. FIG. 5 is a diagram illustrating an example of haptic matching information for a user according to an embodiment of the present invention. FIG. 6 is a drawing for explaining an example of information output according to an embodiment of the present invention. FIG. 7 is a block diagram illustrating the configuration of the disaster rescue device illustrated in FIG. 1. FIG. 8 is a diagram illustrating a fuzzy control operation according to an embodiment of the present invention, where FIG. 8 (a) represents a membership function for the current temperature, FIG. 8 (b) represents a membership function for the temperature difference, and FIG. 8 (c) represents a membership function for the work index. FIG. 9 is a flowchart illustrating the operation method of a disaster rescue system using haptic-based remote control according to an embodiment of the present invention. FIG. 10 is a diagram illustrating one of the packet structures according to an embodiment of the present invention. FIGS. 11 and FIGS. 12 are drawings for explaining fuzzy control operation according to an embodiment of the present invention. FIG. 13 is a drawing for exemplarily illustrating a platform equipped with a disaster rescue device or operating as a disaster rescue device according to one embodiment of the present invention. FIG. 14 is a diagram illustrating an exemplary interface provided to a user for the user to adjust or change the configuration between a haptic-based input module and a disaster rescue device according to one embodiment of the present invention. Specific details for implementing the invention

[0024] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the attached drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0025] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning that is commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0026] In this specification, terms such as "first," "second," etc. are used to distinguish one component from another, and the scope of rights shall not be limited by these terms. For example, the first component may be named the second component, and similarly, the second component may be named the first component.

[0027] In this specification, identification symbols (e.g., a, b, c, etc.) for each step are used for convenience of explanation and do not indicate the order of the steps; the steps may occur differently from the specified order unless the context clearly indicates a specific order. That is, the steps may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

[0028] In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, operations, or components such as parts) and do not exclude the presence of additional features.

[0029] Additionally, the term “part” as used in this specification refers to software or hardware components such as field-programmable gate arrays (FPGAs) or ASICs, and the “part” performs certain roles. However, the “part” is not limited to software or hardware. The “part” may be configured to reside in an addressable storage medium or may be configured to run one or more processors. Thus, by example, the “part” includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data structures, and variables. The functions provided within the components and “parts” may be combined into a smaller number of components and “parts” or further separated into additional components and “parts.”

[0030] An embodiment of a disaster rescue system using haptic-based remote control and a method of operation thereof according to the present invention will be described in detail below with reference to the attached drawings.

[0031] First, a disaster rescue system using haptic-based remote control according to an embodiment of the present invention will be described with reference to FIG. 1.

[0032] FIG. 1 is a block diagram illustrating a disaster rescue system using haptic-based remote control according to an embodiment of the present invention.

[0033] Referring to FIG. 1, a disaster rescue system using haptic-based remote control according to one embodiment of the present invention includes a haptic-based remote control device (100) and a plurality of disaster rescue devices (200). The haptic-based remote control device (100) is connected to a plurality of disaster rescue devices (200) through a wireless communication network.

[0034] A haptic-based remote control device (100) connects to a disaster rescue device (200) that a user wants to remotely control among a plurality of disaster rescue devices (200), and remotely controls the operation of the connected disaster rescue device (200) according to the operation of a haptic-based input module by the user.

[0035] At this time, the haptic-based remote control device (100) matches each component of the connected disaster rescue device (200) to the joints of the haptic-based input module by means of user operation, and can remotely control the operation of the connected disaster rescue device (200) according to the operation of the haptic-based input module by the user based on the matched information. Details regarding this are explained below.

[0036] In addition, the haptic-based remote control device (100) can display images captured by the connected disaster rescue device (200), information sensed through the connected disaster rescue device (200), and matching information between the connected disaster rescue device (200) and the haptic-based input module so that the user can check the status of the connected disaster rescue device (200) in real time.

[0037] The disaster rescue device (200) performs operations according to the remote control of the haptic-based remote control device (100) at the location where the disaster occurred. Here, the disaster rescue device (200) can be made in various forms such as a robot type, a ship type, an aircraft type, etc.

[0038] At this time, when a connection request is received from the haptic-based remote control device (100), the disaster rescue device (200) can determine whether to approve the connection and provide the result to the haptic-based remote control device (100). And, if the connection is approved, the disaster rescue device (200) can perform the corresponding operation according to the remote control command received from the haptic-based remote control device (100). In addition, the disaster rescue device (200) can provide captured video, sensed information, etc., to the haptic-based remote control device (100) in real time.

[0039] Wireless communication networks can include data communication networks such as local area networks (LAN), metropolitan area networks (MAN), wide area networks (WAN), and the Internet, as well as short-range wireless communication networks such as telephone networks, WiFi (Wireless Fidelity), and Bluetooth, and it does not matter which wireless communication method is used.

[0040] More specifically, wireless communication networks may include the latest mobile communication technologies such as 5G (5th generation mobile communication) and may utilize ultra-high-speed data transmission, ultra-low latency, and large-scale Internet of Things (IoT) connectivity. In addition, they may include next-generation wireless network technologies such as LTE (Long-Term Evolution), Wi-Fi 6, and Wi-Fi 7, as well as low-power long-range wireless communication technologies such as LPWAN-based LoRa and NB-IoT (Narrowband IoT). Furthermore, satellite communication networks, wireless technologies utilizing mmWave (millimeter wave) and Sub-6GHz bands, and vehicle-to-vehicle communication technologies such as V2X (Vehicle-to-Everything) also fall under the category of wireless communication networks, enabling wireless data transmission in various environments regardless of the specific communication method.

[0041] Then, a haptic-based remote control device according to an embodiment of the present invention will be described in more detail with reference to FIGS. 2 to 6.

[0042] FIG. 2 is a block diagram for explaining the configuration of a haptic-based remote control device illustrated in FIG. 1, FIG. 3 is a diagram for explaining a packet structure according to an embodiment of the present invention, FIG. 4 is a diagram for explaining an example of implementation of a haptic-based input module according to an embodiment of the present invention, FIG. 5 is a diagram for explaining an example of haptic matching information for a user according to an embodiment of the present invention, and FIG. 6 is a diagram for explaining an example of information output according to an embodiment of the present invention.

[0043] Referring to FIG. 2, a haptic-based remote control device (100) may include a wireless communication unit (110), an information input unit (120), a connection processing unit (130), a matching unit (140), a command input unit (150), a command processing unit (160), and an information output unit (170).

[0044] The wireless communication unit (110) can transmit and receive data with at least one of the multiple disaster rescue devices (200) through a wireless communication network.

[0045] At this time, the wireless communication unit (110) can transmit and receive data with the disaster rescue device (200) through a packet consisting of platform identification information, component identification information, component identification information sequence number, data, and packet termination identification information of the disaster rescue device (200). Here, the platform identification information of the disaster rescue device (200) refers to unique information such as an ID (identification) that can identify the platform mounted on the disaster rescue device (200). The component identification information refers to unique information such as an ID that can identify the component mounted on the disaster rescue device (200). The component identification information sequence number refers to a sequence number that can identify each mounted component when multiple identical components are mounted on the disaster rescue device (200). The packet termination identification information refers to a pre-set termination message indicating the termination of the corresponding packet. For example, the wireless communication unit (110) can exchange various information with the disaster rescue device (200) through a packet having a form as shown in FIG. 3 or FIG. 10.

[0046] The information input unit (120) can receive connection information for a disaster rescue device (200) to be remotely controlled among a plurality of disaster rescue devices (200) through user operation. Here, the connection information may include an ID, password, etc., that can identify the user.

[0047] When connection processing unit (130) receives connection information for a disaster rescue device (200) to be remotely controlled through the information input unit (120), it can connect to the disaster rescue device (200) to be remotely controlled based on the connection information. That is, the connection processing unit (130) can request a connection by transmitting the connection information received through the information input unit (120) to the disaster rescue device (200) to be remotely controlled through the wireless communication unit (110). Additionally, the connection processing unit (130) can receive information regarding whether the connection is approved from the disaster rescue device (200) to be remotely controlled through the wireless communication unit (110).

[0048] At this time, if the connection approval information received from the disaster rescue device (200) to be remotely controlled approves the connection, the connection processing unit (130) can process the connection completion. On the other hand, if the connection approval information received from the disaster rescue device (200) to be remotely controlled rejects the connection, the connection processing unit (130) can notify the user of this by outputting a connection rejection message, etc.

[0049] In this way, the haptic-based remote control device (100) can connect to the disaster rescue device (200) that the user wants to remotely control among the multiple disaster rescue devices (200), thereby enabling the user to remotely control the disaster rescue device (200). Accordingly, even if the multiple disaster rescue devices (200) are composed of different platforms, the user can remotely control the disaster rescue device (200) regardless of the platform through the haptic-based remote control device (100).

[0050] The matching unit (140) can match each component of the disaster rescue device (200) that has completed connection processing to the joints of the haptic-based input module (151) by user operation. That is, the matching unit (140) can receive component identification information for a plurality of motion-controllable components constituting the disaster rescue device (200) that has completed connection processing from the disaster rescue device (200) that has completed connection processing through the wireless communication unit (110).

[0051] Here, the component capable of controlling movement refers to a component that controls the movement of the disaster rescue device (200) itself, the movement of a module mounted on the disaster rescue device (200), etc. For example, if the disaster rescue device (200) is a robot type, the component may be at least one of a robot forward / backward movement module that moves the robot forward / backward, a robot vertical movement module that moves the robot itself up and down or adjusts the size of the robot itself up and down, a robot left / right rotation module that rotates the robot left and right, a robot arm movement module that moves the arm mounted on the robot left and right, up and down, etc., and a joint module equipped in the robot arm that controls the movement of each joint when the arm mounted on the robot consists of multiple joints.

[0052] If the disaster rescue device (200) is of the ship type, the component may be at least one of a ship forward / backward movement module that moves the ship forward and backward, a ship up / down movement module that moves the ship up or down over the sea, and a ship direction change module that controls the ship's direction of travel. If the disaster rescue device (200) is of the aircraft type, the component may be at least one of an aircraft forward / backward movement module that moves the aircraft forward and backward, an aircraft up / down movement module that moves the aircraft up and down in the air, and an aircraft direction change module that controls the aircraft's direction of travel.

[0053] And, the matching unit (140) can obtain haptic matching information for the user by matching at least one joint among the plurality of joints constituting the haptic-based input module (151) according to the user's operation for each of the plurality of components according to the component identification information.

[0054] For example, assuming that the haptic-based input module (151) consists of a total of 16 joints as shown in FIG. 4, User A can match a robot forward-backward movement module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 5 of the haptic-based input module (151) as shown in FIG. 5. Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of User A's joint 5 to the disaster rescue device (200) so that the disaster rescue device (200) moves forward and backward according to the command information.

[0055] In contrast, User B can match a robot forward and backward movement module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 8 of the haptic-based input module (151), as illustrated in FIG. 5. Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of User B's joint 8 to the disaster rescue device (200) so that the disaster rescue device (200) moves forward and backward according to the command information.

[0056] User C can match a robot left / right rotation module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 10 of the haptic-based input module (151), as illustrated in FIG. 5. Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of joint 10 of User D to the disaster rescue device (200) to cause the robot to rotate left and right.

[0057] In contrast, User D can match a robot up-and-down movement module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 12 of the haptic-based input module (151), as illustrated in FIG. 5. Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of User E's joint 12 to the disaster rescue device (200) so that the robot can move up and down according to the command information.

[0058] User E can match the aircraft vertical movement module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 9 of the haptic-based input module (151), as shown in FIG. 5. Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of joint 9 by User H to the disaster rescue device (200) so that the aircraft can ascend or descend in the air.

[0059] Additionally, as illustrated in FIG. 5, User F can match the ship vertical movement module, which is one of the components capable of controlling the movement of the disaster rescue device (200), to joint 8 of the haptic-based input module (151). Subsequently, the haptic-based remote control device (100) can transmit command information based on the operation of User L's joint 8 to the disaster rescue device (200) to cause the ship to rise above the water surface or dive underwater.

[0060] In this way, the haptic-based remote control device (100) can designate a location to control each of the movement-controllable components of the disaster rescue device (200) (i.e., at least one joint among the joints of the haptic-based input module (151)) for each user through user operation. Accordingly, even if multiple disaster rescue devices (200) are made of different platforms and their movement-controllable components are different, the user can match the control location for each component through the haptic-based remote control device (100) and use it, so that all disaster rescue devices (200) can be remotely controlled through the haptic-based remote control device (100) regardless of the type of disaster rescue device (200).

[0061] The command input unit (150) includes a haptic-based input module (151) in the form of a plurality of joints, and after the connection is completed through the connection processing unit (130), it can receive command information based on the joint operation of the haptic-based input module (151) by the user. Here, the haptic-based input module may be in the form of a glove having a plurality of joints made of variable resistors or servo motors.

[0062] At this time, the command input unit (150) can receive command information based on the joint operation of the haptic-based input module (151) by the user, based on the haptic matching information for the user obtained through the matching unit (140).

[0063] A glove-shaped haptic-based input module (151) may include variable resistance sensors or servo motors in each finger joint or in the bendable or foldable part of the palm to detect the movement of the user's fingers or palm. Additionally, it may be configured to enable more precise operation by incorporating a force sensor to measure the pressure applied by the user (the force or speed of bending the fingers or palm). For example, when operating a gripper of a structural robot, it can be configured so that a light bend of the fingers results in a weak grip, and a strong grip results in a firm grip. The glove-shaped haptic-based input module (151) may also include a haptic feedback module (not shown). By using a vibration motor, a low-frequency current device, or an air pressure feedback system, the user can tactilely feel when the robot hits an obstacle or receives a specific force.

[0064] A haptic feedback module is a component designed to allow a user to tactilely perceive the response of a device operated remotely. This allows the user to feel the movement of a robot or equipment directly through their hands and fingers in real time, rather than simply operating it through a visual screen. The haptic feedback module can provide this tactile information by utilizing various technologies. For example, a haptic-based input module (151) in the form of a glove may have a vibration motor built in, which can transmit subtle vibrations to the user when the robot hits an obstacle or comes into contact with a specific surface.

[0065] In addition, by utilizing a low-frequency current device, users can perceive contact pressure or resistance through minute electrical stimulation, and by applying an air pressure feedback system, the intensity of force can be transmitted to the finger area through minute changes in air pressure.

[0066] Haptic feedback modules go beyond simply transmitting physical contact information to precisely calibrate the user's sense of operation and enable more intuitive control through feedback. For example, when a structural robot lifts a heavy object, it can reproduce the pressure or resistance applied to the user's fingers, allowing them to feel as if they are actually gripping the object. Additionally, when operating an aircraft, it can be designed to transmit changes in airflow or wind resistance to the palm, allowing users to experience environmental changes more realistically. Through this, users can quickly adapt to various variables that occur during remote operation, and precise control becomes possible through tactile feedback.

[0067] The command processing unit (160) can request the execution of a command by transmitting command information input through the command input unit (150) to the disaster rescue device (200) that has completed connection processing through the wireless communication unit (110). Then, the disaster rescue device (200) that has completed connection processing performs an operation corresponding to the command information.

[0068] The information output unit (170) includes a display module (171) and can output images, temperature, pressure, and illuminance received from a disaster rescue device (200) that has completed connection processing through a wireless communication unit (110), and haptic matching information about a user obtained through a matching unit (140) through the display module (171).

[0069] For example, as illustrated in FIG. 6, the information output unit (170) can display images received in real time from the disaster rescue device (200), sensing information (temperature, pressure, illuminance), etc. received in real time from the disaster rescue device (200) so that the user can check the status of the disaster rescue device (200) that has completed connection processing in real time. In addition, as illustrated in FIG. 6, the information output unit (170) can also display haptic matching information about the user obtained through the matching unit (140) so that the location controlling the movement of the disaster rescue device (200) can be checked.

[0070] Then, a disaster rescue device according to an embodiment of the present invention will be described in more detail with reference to FIGS. 7 and 8.

[0071] FIG. 7 is a block diagram for explaining the configuration of a disaster rescue device illustrated in FIG. 1, and FIG. 8 is a diagram for explaining a fuzzy control operation according to an embodiment of the present invention, where FIG. 8 (a) represents a membership function for the current temperature, FIG. 8 (b) represents a membership function for the temperature difference, and FIG. 8 (c) represents a membership function for the work index.

[0072] Referring to FIG. 7, the disaster rescue device (200) may include a wireless communication unit (210), an image capturing unit (220), a sensing unit (230), and a driving control unit (240).

[0073] The wireless communication unit (210) can transmit and receive data with the haptic-based remote control device (100) through a wireless communication network.

[0074] At this time, the wireless communication unit (210) can transmit and receive data with the haptic-based remote control device (100) through a packet consisting of platform identification information, component identification information, component identification information sequence number, data, and packet termination identification information of the disaster rescue device (200).

[0075] The video recording unit (220) includes a video recording module (221), and can record surrounding images of the disaster rescue device (200) through the video recording module (221).

[0076] The sensing unit (230) includes a temperature sensing module (231), a pressure sensing module (232), and an illuminance sensing module (234). It can sense the internal temperature of the disaster rescue device (200) or the ambient temperature of the disaster rescue device (200) through the temperature sensing module (231), sense the pressure applied to the disaster rescue device (200) through the pressure sensing module (232), and sense the ambient illuminance of the disaster rescue device (200) through the illuminance sensing module (234).

[0077] The drive control unit (240) includes a drive module (241) and a fuzzy control module (242) and can control the overall operation of the disaster rescue device (200).

[0078] That is, when a connection request is received from a haptic-based remote control device (100), the driving control unit (240) determines whether to approve the connection based on the connection information (ID, password, etc.) received from the haptic-based remote control device (100), and transmits the resulting connection approval information to the haptic-based remote control device (100) through the wireless communication unit (210).

[0079] Additionally, when the connection is approved, the drive control unit (240) can transmit component identification information for a plurality of motion-controllable components constituting the disaster rescue device (200) to the haptic-based remote control device (100) via the wireless communication unit (210). For example, if the disaster rescue device (200) is a robot type, the component may be at least one of a robot forward / backward movement module, a robot up / down movement module, a robot left / right rotation module, a robot arm movement module, and a joint module equipped on the robot arm. If the disaster rescue device (200) is a ship type, the component may be at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module. If the disaster rescue device (200) is an aircraft type, the component may be at least one of an aircraft forward / backward movement module, an aircraft up / down movement module, and an aircraft direction change module.

[0080] And, when the connection is approved, the driving control unit (240) can perform the corresponding operation according to the remote control command provided by the haptic-based remote control device (100). For example, the driving control unit (240) can control the video capturing unit (220) according to the remote control command to perform video capturing-related operations such as starting and ending video capturing. The driving control unit (240) can control the sensing unit (230) according to the remote control command to perform sensing-related operations such as starting and ending sensing. The driving control unit (240) can control the driving module (241) according to the remote control command to control the movement of the disaster rescue device (200) itself or the components mounted on the disaster rescue device (200). Here, the driving module (241) may be the components capable of movement control described above.

[0081] In addition, the drive control unit (240) can provide the image captured through the image capturing unit (220), the information (temperature, pressure, illuminance) sensed through the sensing unit (230), etc., to the haptic-based remote control device (100) in real time.

[0082] And, the drive control unit (240) can fuzzy control the operation of the drive module (241) based on the current temperature of the drive module (241) of the disaster rescue device (200) and a preset reference temperature through the fuzzy control module (242).

[0083] For example, the drive control unit (240) can fuzzy control the temperature of the drive module (241) based on the current temperature of the drive module (241) using a membership function for the current temperature shown in FIG. 8 (a), a membership function for the temperature difference shown in FIG. 8 (b), a membership function for the work index shown in FIG. 8 (c), and a work index fuzzy control rule as shown in [Table 1] below.

[0084]

[0085] Here, NH (negative high), NM (negative medium), NL (negative low), PH (positive high), PM (positive medium), and PL (positive low) represent control variables. And, temperature difference ( The absolute value of ) can be calculated using [Equation 1] below.

[0086]

[0087] Here, α represents a preset reference temperature. B represents the current temperature.

[0088] For example, if the current temperature of the drive module (241) is PL (high) and the temperature difference is PL (low), the drive module (241) is currently overheated, so the drive control unit (240) can control the drive module (241) to lower its temperature according to the fuzzy control rules through the fuzzy control module (242).

[0089] Then, with reference to FIG. 9, a method of operation of a disaster rescue system using haptic-based remote control according to an embodiment of the present invention will be described.

[0090] FIG. 9 is a flowchart illustrating the operation method of a disaster rescue system using haptic-based remote control according to an embodiment of the present invention.

[0091] Referring to FIG. 9, the haptic-based remote control device (100) receives connection information for a disaster rescue device (200) to be remotely controlled among a plurality of disaster rescue devices (200) (S105). Here, the connection information may include an ID, password, etc., that can identify the user.

[0092] Then, the haptic-based remote control device (100) requests a connection while transmitting connection information to the disaster rescue device (200) (S110).

[0093] Then, the disaster rescue device (200) determines whether to approve the connection based on the connection information (S115).

[0094] Then, the disaster rescue device (200) transmits information on whether the connection is approved to the haptic-based remote control device (100) (S120).

[0095] Afterwards, the haptic-based remote control device (100) performs a connection completion process when the connection approval information received from the disaster rescue device (200) approves the connection (S125). On the other hand, if the connection approval information rejects the connection, the haptic-based remote control device (100) can notify the user of this by outputting a connection rejection message, etc.

[0096] And, when the haptic-based remote control device (100) receives component identification information from the disaster rescue device (200) (S130), it obtains haptic matching information for the user by matching at least one joint among the plurality of joints constituting the haptic-based input module (151) according to the user's operation for each of the plurality of components according to the component identification information (S135).

[0097] Here, the motion-controllable component refers to a component that controls the movement of the disaster rescue device (200) itself, the movement of a module mounted on the disaster rescue device (200), etc. For example, if the disaster rescue device (200) is a robot type, the component may be at least one of a robot forward / backward movement module, a robot up / down movement module, a robot left / right rotation module, a robot arm movement module, and a joint module equipped on the robot arm. If the disaster rescue device (200) is a ship type, the component may be at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module. If the disaster rescue device (200) is an aircraft type, the component may be at least one of an aircraft forward / backward movement module, an aircraft up / down movement module, and an aircraft direction change module.

[0098] Afterwards, the haptic-based remote control device (100) receives command information based on the joint operation of the haptic-based input module (151) by the user, based on haptic matching information for the user (S140).

[0099] Then, the haptic-based remote control device (100) requests the disaster rescue device (200) to perform a command while transmitting command information (S145).

[0100] Then, the disaster rescue device (200) executes a command according to the command information received from the haptic-based remote control device (100) (S150).

[0101] For example, the disaster rescue device (200) can perform video recording-related operations, such as starting and ending video recording, according to a remote control command. The disaster rescue device (200) can perform sensing-related operations, such as starting and ending sensing, according to a remote control command. The disaster rescue device (200) can control the movement of the disaster rescue device (200) itself or components mounted on the disaster rescue device (200) according to a remote control command.

[0102] At this time, the disaster rescue device (200) can fuzzy control the operation of the drive module (241) based on the current temperature of the drive module (241) of the disaster rescue device (200) and a preset reference temperature.

[0103] And, the disaster rescue device (200) can transmit the captured video and sensing information (temperature, pressure, illuminance) in real time to the haptic-based remote control device (100) (S155).

[0104] Then, the haptic-based remote control device (100) can output video and sensing information received from the disaster rescue device (200) and haptic matching information about the acquired user (S160).

[0105] FIG. 10 is a diagram illustrating one of the packet structures according to an embodiment of the present invention.

[0106] FIGS. 11 and FIGS. 12 are drawings for explaining fuzzy control operation according to an embodiment of the present invention.

[0107] FIG. 11 is a block diagram illustrating the schematic flow of a fuzzy control operation according to an embodiment of the present invention. A temperature sensing module measures the current temperature of a driving module (241) and calculates the difference by comparing it with a reference temperature. The difference is analyzed through a processor (e.g., a fuzzy control module (242)), and an optimal operation command is generated through a control system that combines PD (Proportional-Derivative) control and fuzzy control. The fuzzy control module (242) generates an appropriate motor driver signal according to the temperature difference to control the operation of the driving module (241), thereby enabling the stable operation of the disaster rescue device (200).

[0108] FIG. 12 illustrates a more detailed control process utilizing a fuzzy control module. A temperature sensor mounted on the joint measures the current joint temperature (Tj), and this value is converted into a filtered temperature (Tf) through a temperature filter. Subsequently, a temperature (Tc) calculated by comparing it with a reference temperature (Ts) is produced, and fuzzy control and PD control are performed based on this. Fuzzy control generates a corrected angle error (Aco), and PD control calculates an optimal angle error (Aje) to finally perform motor control calculations. Through motor control calculations, an angle output (Ao) and a speed output (Vo) are determined and transmitted to a motor driver to adjust the operation of the drive module (241). Through this process, the fuzzy control-based temperature correction system ensures the stability of the joint and maintains optimal drive performance.

[0109] FIG. 13 is a drawing for exemplarily illustrating a platform equipped with a disaster rescue device or operating as a disaster rescue device according to one embodiment of the present invention.

[0110] FIG. 13 (a) is a drawing showing a robot-type disaster rescue device, FIG. 13 (b) is a drawing showing a ship-type disaster rescue device, and FIG. 13 (c) is a drawing showing an aircraft-type disaster rescue device.

[0111] In robotic disaster rescue devices, in addition to the previously mentioned locomotion and rotation modules, various components may exist to enable more sophisticated movements. There may be gyroscope-based stabilization modules to maintain the robot's balance and enable movement over unstable terrain, as well as leg-type locomotion modules for overcoming complex obstacles or moving in rough terrain. Furthermore, specialized work tools such as gripper modules, suction modules, and cutter modules may be attached to the ends of the robot arms to interact more precisely with the rescue target. This enables the device to perform tasks such as rescuing survivors, removing obstacles, and transporting equipment at disaster sites.

[0112] In ship-type disaster rescue devices, in addition to existing modules for forward / backward movement, vertical movement, and directional change, wave compensation and automatic balance maintenance modules may be included to perform more precise control in rough marine environments. For example, a gyro stabilization system may be utilized to maintain the vessel's balance when encountering high waves or being affected by currents, and a Dynamic Positioning System (DPS) may be added to help the vessel stay precisely at a specific point. Furthermore, a crane module for lifting people or equipment at the disaster site, a robotic arm module capable of remotely cutting structures or assembling parts, and a propulsion augmentation module for rapid response in emergency situations may be considered.

[0113] In disaster rescue devices of the aircraft type, in addition to basic movement and steering modules, an autonomous flight correction module may be included for more sophisticated flight. This is essential to maintain stable flight even in strong winds or sudden weather changes. Additionally, there may be a tilt rotor module for vertical take-off and landing (VTOL), a fine-tuning propulsion module capable of precise movement in confined spaces, and a cargo loading and unloading module for transporting people or objects from the aircraft. In particular, if a reconnaissance and search module equipped with high-resolution cameras and sensors is included, it helps to accurately locate the rescue target and analyze the situation.

[0114] FIG. 14 is a diagram illustrating an exemplary interface provided to a user for the user to adjust or change the configuration between a haptic-based input module and a disaster rescue device according to one embodiment of the present invention.

[0115] FIG. 14 is a diagram showing an interface provided to allow a user to adjust or change the configuration between a haptic-based input module (151) and a disaster rescue device (200) according to an embodiment of the present invention. In FIG. 14, each circle represents a specific component of the disaster rescue device (200), and the user can match a specific joint of the haptic-based input module (151) with a desired component by touching the corresponding circle through the display module (171). Through this, the user can intuitively set or modify the connection between the haptic input module and the disaster rescue device.

[0116] For example, as can be seen in FIG. 5, the joints of the haptic-based input module (151) are each numbered, and the user can select a specific joint and connect it to a specific component of the disaster rescue device (200). FIG. 14 provides a button-type interface to allow this matching operation to be performed intuitively, and the user can set the desired matching and then modify it in real time.

[0117] This interface allows the user to directly set the linkage between the operation of the haptic-based input module (151) and the disaster rescue device (200), and to change what function each joint performs according to the user's operation method. For example, just as in FIG. 5, user A and user B can be set to control the same robot forward and backward movement module using different joints, through the screen of FIG. 14, the user can adjust the matching between the haptic input module and the components of the disaster rescue device to suit their operation style and convenience.

[0118] For example, if User A feels uncomfortable operating the joint 5 of the haptic input module (151) that is currently matched with the robot's forward and backward movement module, they can select the corresponding circle on the screen of FIG. 14 and change it to another joint, such as joint 7 or 9. Similarly, User B can also reset the joint 8 to another joint while it is matched with the robot's forward and backward movement module, or, if necessary, newly connect it to other functions of the robot (e.g., arm movement module, left and right rotation module, etc.). In this way, users can freely set and change each joint of the haptic-based input module (151) in real time, taking into account their personal operating style and convenience.

[0119] The haptic-based input module (151) may further include an artificial intelligence (AI)-based processing module (not shown). The artificial intelligence (AI)-based processing module enables precise control by analyzing the user's hand movement data in real time and correcting fine tremors and unnecessary movements.

[0120] Various machine learning and signal processing techniques may be applied to the AI-based processing module to correct for minute shaking, trembling, or unnecessary movements of the user's hand. To this end, the AI-based processing module operates by collecting user movement data in real time, analyzing it, calculating an optimal correction value, and modifying the command of the haptic-based input module (151). This process can be broadly divided into four main steps: data acquisition, model training, real-time prediction and correction, and corrected output delivery.

[0121] In order for the AI-based processing module to correct hand shaking and tremors, it must first acquire user movement data in real time. To this end, the haptic-based input module (151) may include a hand tremor detection sensor comprising at least one selected from a group consisting of an IMU (Inertial Measurement Unit) sensor, an accelerometer, a gyroscope, an electromyography (EMG) sensor, and a pressure sensor. These sensors can acquire hand tremor data such as the position of the fingers and hand (X, Y, Z coordinates), acceleration and angular velocity (detection of fine hand tremors), changes in pressure of the fingers and hand (detection of unnecessary movements), and muscle signal data (detection of abnormal muscle contractions). The acquired hand tremor data is provided as input to an AI model after removing unnecessary environmental interference by applying noise filtering techniques such as a Kalman filter or a low-pass filter.

[0122] The AI-based processing module may utilize artificial intelligence models based on deep learning or reinforcement learning to learn user movement patterns and identify shaking and unnecessary movements. These AI models may be based on Convolutional Neural Networks (CNNs), Long Short-Term Memory (LSTMs), or Transformer models, as well as reinforcement learning-based control models (such as DQN and PPO). CNN models learn by visualizing finger and hand movement patterns, distinguishing between shaking and normal movements, and filtering out unnecessary vibration patterns. LSTM or Transformer models learn from time-series data to predict future movements based on past ones, and perform the function of distinguishing between the user's intended movements and involuntary shaking to correct for them. Reinforcement learning-based control models learn from the inputs and haptic feedback data actually manipulated by the user to generate optimal correction values ​​in real time, and can build a user-customized correction model through continuous learning.

[0123] The AI-based processing module analyzes and corrects user input in real time based on a learned model. When the user moves their finger, the AI ​​analyzes sensor data in real time to distinguish between normal movement and shaking. If shaking is detected, the AI ​​refers to the user's previous movement pattern to generate an optimal movement value that eliminates unnecessary shaking. Additionally, it outputs a value that has been corrected in advance before the finger reaches a target position to maintain natural movement. Through this, while reflecting the user's input, excessive shaking or abnormal movement can be smoothly controlled and transmitted to the joints of the haptic-based input module (151). For example, when a user attempts to operate a robot arm by moving a specific joint of the haptic-based input module (151), if the hand shakes, the AI ​​detects this and performs appropriate filtering to generate a smooth command without shaking.

[0124] The AI-based processing module transmits the corrected values ​​to the haptic-based input module (151) and the disaster rescue device (200). The output values ​​may include the corrected finger position and angle values ​​(A'), finger speed and acceleration (V'), and haptic feedback adjustment values ​​(Haptic Feedback Intensity). These output values ​​are applied by communicating with the internal control system of the haptic-based input module (151), and help the user operate the disaster rescue device (200) more precisely without shaking or unnecessary movements.

[0125] The AI-based processing module acquires user hand movement data in real time and uses deep learning and reinforcement learning models to correct tremors and unnecessary movements. Through this, the joints of the haptic-based input module (151) operate more precisely, and the user can perform more stable and intuitive operations. This AI-based correction function can be effectively utilized for remote control of a disaster rescue device (200) that requires rapid response and precise operation, especially in emergency situations.

[0126] The AI-based processing module may be turned ON to operate or turned OFF to not operate depending on the environment in which the disaster rescue device (200) operates. The AI-based processing module may be turned ON to perform operations when the disaster rescue device (200) is in a situation where it is rescuing or recovering a person or object trapped under a collapsed building or a heavy object. The AI-based processing module may be turned OFF to not perform operations when the disaster rescue device (200) is operating underwater or when it needs to move quickly away from flames or smoke at a fire scene.

[0127] More specifically, the AI-based processing module analyzes the operating environment of the disaster rescue device (200) in real time and can determine whether precise control is required in that environment, or whether it is ON or OFF. The AI-based processing module is in the ON state mainly in the first environment where precise manipulation and stable operation are required. For example, when performing rescue operations inside a collapsed building, the disaster rescue device (200) must safely rescue survivors while avoiding obstacles in a confined space. In such an environment, even a small mistake in the user's hand operation can lead to rescue failure; therefore, the AI-based processing module operates in the ON state to correct hand tremors or minute errors, enabling smoother and more precise operation. Additionally, even in situations where a robot arm must carefully lift heavy debris to rescue survivors, the AI ​​can ensure safety by maintaining force distribution and balance and minimizing unnecessary vibrations.

[0128] On the other hand, it is desirable for the AI-based processing module to be in an OFF state in a second environment where a fast and immediate response is important. For example, in a situation where the disaster rescue device (200) must quickly move away from an area where strong flames or toxic gases are spreading at a fire scene, the AI ​​correction function intervening to make the operation smoother may actually slow down the response speed. In such cases, it is advantageous to keep the AI-based processing module in an OFF state and reflect the user's input as is, allowing the operator to make intuitive and quick decisions. Additionally, when the disaster rescue device (200) operates underwater, immediate force control and direction change may be more important than precise AI correction due to the presence of physical factors such as fluid resistance in the water. Therefore, it is desirable to keep the AI ​​correction in an OFF state and apply the operator's input as is to enable real-time response.

[0129] Environments classified as the first category are situations requiring precise manipulation and stable operation, such as when the rescue target is trapped in a confined space or when even small changes in force can cause danger. For example, in a situation where survivors are being rescued from inside a collapsed building, debris must be removed carefully, and unnecessary vibrations or sudden movements can cause damage. Additionally, when a robotic arm needs to lift heavy structures or carefully move survivors, it is crucial for the AI-based processing module to maintain precise force control and balance. Furthermore, rescue operations at high altitudes in strong winds, industrial disaster situations requiring the manipulation of precision machinery or electronic devices, and areas with chemical or radioactive leaks requiring careful operation may also be included in the first category.

[0130] The environments belonging to the second environment are situations where a fast and immediate response is important, and include cases where immediate operation is required without time delay. For example, in a situation where flames are spreading rapidly at a fire scene, the disaster rescue device (200) must move as quickly as possible to evacuate the rescue target and the operator to a safe place. Also, in underwater disaster situations such as floods or tsunamis, when a rescue drone or robot needs to move quickly to avoid currents, intuitive operation by the user may be more effective than fine correction by AI. In addition, the second environment may include cases where the disaster rescue device (200) needs to withdraw quickly while a building is collapsing, or where immediate evasive maneuvers are required in a place with dangerous creatures or a risk of explosion.

[0131] That is, the first environment may refer to an environment where correction of the AI-based processing module is required, and the second environment may refer to an environment where correction of the AI-based processing module is not required. The first environment may refer to an environment where fine force control and stable operation are required because the rescue target or work target consists of a narrow space, an unstable structure, or an object requiring precise manipulation, and the second environment may refer to an environment where the disaster rescue device (200) must immediately reflect the operator's input in a situation where rapid movement, immediate response, and rapid danger avoidance are required.

[0132] Although it is described that all components constituting the embodiments of the present invention described above are combined or operate in combination, the present invention is not necessarily limited to such embodiments. That is, within the scope of the purpose of the present invention, all such components may be selectively combined in one or more ways to operate. Furthermore, while all such components may each be implemented as a single independent piece of hardware, they may also be implemented as a computer program having a program module that performs some or all of the combined functions in one or more pieces of hardware by selectively combining some or all of the components. Additionally, such a computer program may be stored on a computer-readable media such as a USB memory, CD disk, or flash memory, and read and executed by a computer to implement the embodiments of the present invention. Magnetic recording media, optical recording media, etc., may be included as recording media for the computer program.

[0133] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications, changes, and substitutions within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments and accompanying drawings. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0134] 100 : Haptic-based remote control device, 110 : Wireless communication unit, 120 : Information input section, 130 : Connection processing unit, 140 : Matching part, 150 : Command input section, 151 : Haptic-based input module, 160 : Command processing unit, 170 : Information output section, 171 : Display module, 200 : Disaster rescue device, 210 : Wireless Communications Unit, 220 : Video Recording Department, 221 : Video recording module, 230 : Sensing unit, 231 : Temperature sensing module, 232 : Pressure sensing module, 234 : Illumination sensing module, 240 : Drive control unit, 241 : Drive module, 242 : Fuzzy Control Module

Claims

Claim 1 A haptic-based remote control device comprising: a wireless communication unit that transmits and receives data with a plurality of disaster rescue devices via a wireless communication network; an information input unit that receives connection information for a disaster rescue device to be remotely controlled among the plurality of disaster rescue devices; a connection processing unit that requests a connection by transmitting the connection information input via the information input unit to the disaster rescue device to be remotely controlled via the wireless communication unit, receives connection approval status information from the disaster rescue device to be remotely controlled via the wireless communication unit, and processes the connection completion when the connection approval status information approves the connection; a command input unit that includes a haptic-based input module in the form of a plurality of joints, and receives command information based on joint operation of the haptic-based input module by a user after the connection completion is processed via the connection processing unit; and a command processing unit that requests command execution by transmitting the command information input via the command input unit to the disaster rescue device to which the connection completion has been processed via the wireless communication unit. Claim 2 A haptic-based remote control device according to claim 1, further comprising: a matching unit that receives component identification information for a plurality of motion-controllable components constituting a disaster rescue device that has completed connection processing from the disaster rescue device that has completed connection processing via the wireless communication unit, and obtains haptic matching information for a user by matching at least one joint among a plurality of joints constituting the haptic-based input module according to the user's operation for each of the plurality of components according to the component identification information; wherein the command input unit receives command information according to the joint operation of the haptic-based input module by the user based on the haptic matching information for the user obtained through the matching unit. Claim 3 In paragraph 2, the above-mentioned motion-adjustable component is at least one of a robot forward / backward movement module, a robot up / down movement module, a robot left / right rotation module, a robot arm movement module, and a joint module equipped on the robot arm when the disaster rescue device is a robot type; at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module when the disaster rescue device is a ship type; and at least one of a ship forward / backward movement module, a ship up / down movement module, and a ship direction change module when the disaster rescue device is an aircraft type. A haptic-based remote control device. Claim 4 In paragraph 2, the disaster rescue device comprises a video capturing module for capturing images of the surroundings of the disaster rescue device, a temperature sensing module for sensing the internal temperature of the disaster rescue device or the surrounding temperature of the disaster rescue device, a pressure sensing module for sensing pressure applied to the disaster rescue device, and an illuminance sensing module for sensing the surrounding illuminance of the disaster rescue device, a haptic-based remote control device. Claim 5 A haptic-based remote control device according to claim 4, further comprising: an information output unit that includes a display module and outputs, through the display module, images, temperature, pressure, and illuminance received from a disaster rescue device that has completed connection processing through the wireless communication unit, and haptic matching information for the user obtained through the matching unit. Claim 6 In paragraph 4, the disaster rescue device further comprises a fuzzy control module that fuzzy-controls the operation of the driving module based on the current temperature of the driving module of the disaster rescue device and a preset reference temperature, a haptic-based remote control device. Claim 7 In claim 1, the wireless communication unit is a haptic-based remote control device that transmits and receives data with a disaster rescue device through a packet consisting of platform identification information of the disaster rescue device, component identification information, component identification information sequence number, data, and packet termination identification information. Claim 8 In claim 1, the haptic-based input module is a haptic-based remote control device in the form of a glove. Claim 9 A haptic-based remote control device according to claim 1, wherein the haptic-based input module further comprises an artificial intelligence-based processing module that analyzes user's hand movement data in real time and corrects hand tremors and movements. Claim 10 A haptic-based remote control device according to claim 9, wherein the artificial intelligence-based processing module acquires hand tremor data including finger and hand position, acceleration and angular velocity, changes in pressure of the finger and hand, and muscle signal data; receives said hand tremor data and removes noise by applying a Kalman filter or a low-pass filter; receives said noise-removed hand tremor data and distinguishes between normal user movement and tremor using a deep learning model or a reinforcement learning model, calculates a correction value; modifies the user's hand movement data based on said correction value; and reflects the modified hand movement data in the joint control of said haptic-based input module. Claim 11 A method of operation of a disaster rescue system comprising a plurality of disaster rescue devices and a haptic-based remote control device connected to the plurality of disaster rescue devices via a wireless communication network, the method comprising: a step in which the haptic-based remote control device receives connection information for a disaster rescue device to be remotely controlled among the plurality of disaster rescue devices; a step in which the haptic-based remote control device requests a connection by transmitting the connection information to the disaster rescue device to be remotely controlled via the wireless communication network, receives connection approval status information from the disaster rescue device to be remotely controlled via the wireless communication network, and processes the connection completion if the connection approval status information approves the connection; a step in which, after the connection completion is processed, the haptic-based remote control device receives command information based on joint manipulation of a haptic-based input module, which is in the form of a plurality of joints, by a user; and a step in which the haptic-based remote control device requests command execution by transmitting the command information to the disaster rescue device to which the connection completion has been processed via the wireless communication network. Claim 12 In claim 11, the method of operation of a disaster rescue system using haptic-based remote control further comprises the step of: the haptic-based remote control device receiving component identification information for a plurality of motion-controllable components constituting a disaster rescue device that has completed connection processing from the disaster rescue device that has completed connection processing via the wireless communication network, and acquiring haptic matching information for a user by matching at least one joint among a plurality of joints constituting the haptic-based input module according to the user's operation for each of the plurality of components according to the component identification information; and the command information input step is performed by receiving command information according to the joint operation of the haptic-based input module by the user based on the acquired haptic matching information for the user. Claim 13 In claim 11, the disaster rescue device comprises a video capturing module for capturing images of the surroundings of the disaster rescue device, a temperature sensing module for sensing the internal temperature of the disaster rescue device or the surrounding temperature of the disaster rescue device, a pressure sensing module for sensing pressure applied to the disaster rescue device, and an illuminance sensing module for sensing the surrounding illuminance of the disaster rescue device, a method of operation of a disaster rescue system using haptic-based remote control. Claim 14 A method of operation of a disaster rescue system using haptic-based remote control, further comprising the step of outputting, through a display module, images, temperature, pressure, and illuminance received from a disaster rescue device that has completed connection processing through the wireless communication network, and haptic matching information for the acquired user. Claim 15 A computer program stored on a computer-readable recording medium for executing on a computer the method of operation of a disaster rescue system using haptic-based remote control as described in any one of paragraphs 11 to 14.

Images