Unmanned driving control system for sand buggies and unmanned driving control method for sand buggy unmanned driving control system

Abstract

To provide comprehensive and mobile support for rescue operations in disaster-stricken areas with poor road conditions, by searching for injured people and those trapped in collapsed buildings, day or night, transporting necessary supplies to residents isolated by natural disasters, and transporting those needing rescue on stretchers. [Solution] The system is characterized by a configuration in which, via a predetermined communication medium, the driving status of a sand buggy equipped with an FPV camera CAM is monitored on a display connected to a control device that receives video data transmitted from the FPV camera CAM, and off-road driving control signals are sent to the sand buggy to remotely control its driving functions, thereby allowing the sand buggy to drive on rough terrain unmanned.

Description

Technical Field

[0001] The present invention relates to an unmanned driving control system for a sand buggy that wirelessly controls a sand buggy traveling on a rough road to support rescue and relief activities on a rough road, and an unmanned driving control method for the unmanned driving control system of the sand buggy.

Background Art

[0002] Conventionally, a sand buggy has been put into practical use as a mobile vehicle traveling on a rough road.

[0003] Here, as the use of the sand buggy, in order to utilize the characteristics of a vehicle mainly used to improve the efficiency of movement on sandy land and dune terrain, it is assumed that it will be used for military purposes, for example, rapid movement and material transportation in a combat area.

[0004] Also, as a use for desert exploration, for example, it is assumed that it will be used for scientific investigations and explorations in desert areas.

[0005] Furthermore, as a use for disaster relief, for example, it is assumed that it will be used to ensure access to the disaster area during natural disasters such as sandstorms and floods.

[0006] Also, taking the tourism industry as an example, when the sand buggy is used for a sightseeing tour in a dune area, it is assumed that it will be used for a service that safely guides tourists.

[0007] In particular, the sand buggy has a high running performance on sandy land and can utilize a certain running ability even on many rough roads.

[0008] Therefore, originally, in a disaster area where manual driving cannot be expected, it is expected to be used for disaster relief activities by mounting an FPV camera and traveling unmanned.

[0009] Patent Document 1 discloses a method of using a sand buggy as a means of moving surveying equipment, stating that "in order to provide a ground surveying method and apparatus that can easily move over uneven ground, measure the height of the ground, and is applicable to poor working environments with many uneven surfaces, a jig for mounting a personal computer and an RTKGPS antenna is attached to the handle of a sand buggy, and a box containing a personal computer that operates on flash memory and is operated by a touch panel, with the hard disk and cooling fan removed, and an RTKGPS receiver housed in a state where the touch panel can be operated, an RTKGPS antenna and an inclinometer are attached to the jig, which has space to maintain a temperature at which it can operate even with the heat generated by the computer itself, and the box has space to maintain a temperature at which the touch panel can be operated, and the sand buggy is driven along a survey line displayed on the computer's screen, and three-dimensional coordinates are measured while correcting with the inclinometer." [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] Japanese Patent Publication No. 2003-130643 [Overview of the project] [Problems that the invention aims to solve]

[0011] However, when using sand buggies for surveying or other purposes in high-altitude, steep mountainous areas, entrusting the operation of the sand buggy to a driver is dangerous. Therefore, a system is needed that remotely controls the sand buggy's movement and its driving state, including posture recovery.

[0012] Furthermore, thanks to its highly maneuverable body structure, the Sand Buggy can easily climb slopes and maneuver in situations where debris is scattered, such as during floods (including those caused by floods and tsunamis), earthquakes, landslides, and disaster sites (including large-scale fires), making it the best all-weather mobile vehicle available. While these characteristics allow for deployment in a wide range of applications, including surveys, relief, and rescue in disaster areas, a challenge remains: it cannot be quickly deployed to extremely dangerous rough roads or fire scenes with a driver on board.

[0013] The present invention was made to solve the above problems, and provides an unmanned driving control system for a sand buggy and an unmanned driving control method for a sand buggy, which enable rapid rescue and relief operations in mountainous areas and disaster areas where rubble is scattered and terrain changes occur, by mounting an FPV camera on the sand buggy body to turn it into a drone, and by having a remote operator control the starting and stopping of the power supply to the sand buggy, the direction of travel and attitude recovery by operating a control device. [Means for solving the problem]

[0014] The unmanned driving control system for a sand buggy according to the present invention, which achieves the above objective, has the following configuration.

[0015] The unmanned driving control system for a sand buggy according to the present invention is characterized by a configuration that allows the sand buggy to travel on rough terrain unmanned by visually observing the driving status on a display connected to a control device that receives video data transmitted from a sand buggy equipped with an FPV camera via a predetermined communication medium, and transmitting driving control signals to the sand buggy to remotely control the driving functions of the sand buggy. [Effects of the Invention]

[0016] According to the present invention, by mounting an FPV camera on the sand buggy body to turn it into a drone, and by operating a control device remotely to control the start and stop of the sand buggy's power supply, its direction of travel, and attitude recovery, it is possible to provide rapid rescue and relief support in areas affected by landslides and other disasters where debris is scattered and the terrain is uneven. [Brief explanation of the drawing]

[0017] The drawings show specific embodiments of the present invention and include not only essential configurations of the invention but also optional and preferred embodiments. [Figure 1] Perspective view explaining an example of a sand buggy to which the present invention is applied. [Figure 2] Block diagram explaining the configuration of an unmanned driving control system for a sand buggy showing this embodiment. [Figure 3] (a) is a block diagram explaining the configuration of the first to fourth control devices connected to the center server shown in FIG. 2, and (b) is a diagram explaining the program developed in the RAM shown in (a). [Figure 4] Block diagram explaining the configuration of an unmanned sand buggy drone remotely controlled by the first to fourth control devices shown in FIG. 2. [Figure 5] Block diagram explaining the configuration of the center server shown in FIG. 2. [Figure 6] Flowchart explaining the remote control processing method of the unmanned driving control system for a sand buggy showing this embodiment. [Figure 7] Flowchart explaining the remote control processing method of the unmanned driving control system for a sand buggy showing this embodiment. [Figure 8] Flowchart explaining the remote control processing method of the unmanned driving control system for a sand buggy showing this embodiment. [Figure 9] Flowchart explaining the remote control processing method of the unmanned driving control system for a sand buggy showing this embodiment. [Figure 10] Flowchart explaining the remote control processing method of the unmanned driving control system for a sand buggy showing this embodiment.

Embodiments for Carrying Out the Invention

[0018] Next, the best mode for carrying out the present invention will be described with reference to the drawings.

[0019] <Explanation of System Configuration> 〔First Embodiment〕 Figure 1 is a perspective view illustrating an example of a sand buggy to which the present invention is applied. In this embodiment, the drive belt for traveling on rough terrain is configured to transmit rotational force via a rotating gear driven by a gasoline engine, but it may also be configured with an electric motor or a hybrid of an electric motor and a gasoline engine.

[0020] Furthermore, the engine's fuel may be hydrogen or oil extracted from plants.

[0021] Furthermore, while the basic driving area for sand buggies does not, in principle, include public roads, in the event of a sudden disaster, if a rescue request is approved by the Cabinet Office, they may flexibly drive on public roads (for example, roads with fallen trees, roofing materials, or other debris).

[0022] Furthermore, sand buggies deployed at support bases in each region (intended to be maintained by firefighters) can be used with this system.

[0023] Therefore, each sand buggy is assigned an identification number, and information on whether or not it is available for deployment is managed in a way that can be updated on the center server 1 described later.

[0024] Furthermore, each sand buggy used in this system is configured to be usable in training mode in preparation for disasters. For example, it is envisioned that personnel can freely train on operating procedures and obstacle avoidance driving so that rescue operations can be quickly initiated by gathering at the Fuji training ground.

[0025] Furthermore, while the sand buggy is generally designed for unmanned operation, it is also configured to allow a crew member to operate it in areas away from dangerous zones.

[0026] In Figure 1, 102 is a battery that supplies 24V or 12V DC power. 105 is a fuse box that detects overcurrents entering the Sand Buggy's electrical circuit and cuts off the power supply.

[0027] Furthermore, the engine's rotational force is transmitted to the wheels, providing the driving force (switchable between 2-drive and 4-drive) to propel the sand buggy forward. 108 is the steering wheel; moving it counterclockwise or clockwise within a predetermined angle range causes the skis located at the front lower part to move in conjunction.

[0028] 109 is the rear storage compartment, which is located separately in the rear storage compartment on the rear side of the main vehicle body.

[0029] Furthermore, the rear storage compartment 109 is configured to accommodate specified rescue materials such as a thermal blanket, a foldable stretcher, bone fixation devices for fixing fractured bones, and joint fixation devices for fixing the cervical or lumbar vertebrae.

[0030] Furthermore, the rear storage compartment 109 is equipped with a GPS transmitter that transmits location information to identify the rescue location.

[0031] Furthermore, the rear storage compartment 109 is configured to accommodate a floodlight, emergency radio communication equipment, a battery, and flares.

[0032] In this embodiment, although not specifically shown, the vehicle is configured to have a rear carrier that can secure equipment. Additionally, the taillights are used to alert sand buggies following behind that the vehicle is braking.

[0033] The 115 is a suspension system that absorbs vibrations caused by the up-and-down movement of the vehicle. The Sand Buggy is equipped with puncture-proof tires (NPT) and features extremely high climbing ability, allowing it to easily move through gaps and passages in dilapidated buildings (including collapsed block walls and fallen roofs). Furthermore, the NPT puncture-proof tire has a double-layered structure that allows for the storage of bundled ropes, cloth materials, or first-aid kits in a circular shape within the circumferential space extending from the inner diameter to the outer diameter of the axle. The storage components can be inserted or removed by attaching or detaching the cap on the tire wheel.

[0034] Furthermore, the front of the unit is equipped with a headlight (FL), and an engagement member is provided for attaching and detaching a floodlight as a secondary light source. This makes it possible to spot rescuers 500-600m away, who would not be visible with the headlight (FL) alone.

[0035] Furthermore, in this embodiment, the headlight FL has a parabolic hood covering the left and right lens portions, with a ring-shaped loudspeaker fixed to the right side and a ring-shaped sound collector fixed to the left side. This allows for the collection of screams and words emitted by survivors who need rescue, and enables the rescuer to communicate with them verbally, thereby quickly confirming the survivor's survival and obtaining their requests, which can then be reflected in rescue operations.

[0036] In this case, a configuration may be adopted in which a sound collection function and a sound amplification function are incorporated into a single headlight (FL). Furthermore, the headlight FL may be configured to be movable at a predetermined angle relative to the ground, allowing the vehicle to expand its search area while moving over rough terrain.

[0037] Furthermore, the headlight FL has multiple lighting patterns, and in search mode, it is configured so that the FPV camera CAM can capture a wide range of images of rescuers waiting for help on a collapsed roof by enabling a first swivel function that distributes the light's direction left and right, or a second swivel function that distributes the light's direction up and down. Furthermore, the headlight FL has multiple lighting patterns, and in position indicator mode, it can function as a red light or a flashing light, allowing the supporter to identify the person in need of assistance without further action. Additionally, a retractable lighting system (not shown) may be moved upwards to indicate the rescue operation location.

[0038] Furthermore, the lens of the FPV camera CAM is equipped with a mechanism that moves it horizontally or vertically relative to the ground via a rotor (not shown), enabling remote zoom-in and zoom-out shooting according to camera positioning instructions from the first to fourth control devices.

[0039] Furthermore, the FPV camera CAM's lens is configured to accommodate filters based on night mode and day mode, particularly an infrared filter that detects specific temperatures to detect human body heat at night. This makes it possible to quickly detect surviving people awaiting rescue, even at night, thereby increasing the survival rate.

[0040] Furthermore, the vehicle body is equipped with a winch at the rear or front for towing a foldable stretcher used to transport rescued individuals. In this embodiment, a four-wheel independent suspension sand buggy is shown as an example of a sand buggy drone, but a three-wheel drive sand buggy may also be used.

[0041] 120 is an antenna that performs bidirectional communication with the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N using a predetermined communication protocol.

[0042] The CAM is an FPV camera that transmits captured video data via antenna 120 to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0043] Here, the operators and monitors who control the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N remotely control the direction of travel, travel speed, stopping, and turning on / off the headlights of the first to fourth sand buggy drones SB1 to SB4, while viewing the video data of the first to fourth sand buggy drones SB1 to SB4 displayed on the monitor.

[0044] Figure 2 is a block diagram illustrating the configuration of the unmanned driving control system for the sand buggy shown in this embodiment.

[0045] In Figure 2, 1 is the central server, which coordinates communication with the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N. It also aggregates information from the first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4, which constitute the search team, via the network 21, and comprehensively controls data processing for sharing search activity information.

[0046] Here, the first control devices 3-1 to 3-N communicate bidirectionally with the first sand buggy drone SB1, which is equipped with the FPV camera CAM shown in Figure 1, via the network 21.

[0047] Similarly, the second control devices 4-1 to 4-N communicate bidirectionally with the second sand buggy drone SB2, which is equipped with the FPV camera CAM shown in Figure 1, via the network 21.

[0048] Similarly, the third control devices 5-1 to 5-N communicate bidirectionally with the third sand buggy drone SB3, which is equipped with the FPV camera CAM shown in Figure 1, via the network 21.

[0049] Similarly, the fourth control devices 2-1 to 2-N communicate bidirectionally with the fourth sand buggy drone SB4, which is equipped with the FPV camera CAM shown in Figure 1, via the network 21.

[0050] Furthermore, the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N are configured to be connectable to data terminals equipped with screens for displaying video data captured by the FPV camera CAM mounted on the sand buggy body, or to goggle systems for displaying 3D images.

[0051] D1-D4 are drones equipped with FPV cameras and configured to fly over designated search areas in disaster zones, receiving GPS signals, while transmitting captured video data to the central server 1. SP1-SP4 are search setting areas, individually configured by the central server 1 located at the search team headquarters.

[0052] Figure 3 is a block diagram illustrating the configuration of the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, which are connected to the central server 1 shown in Figure 2.

[0053] The first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N are envisioned to be devices such as a tablet, a PC, or a smartphone.

[0054] In Figure 3(a), 301 is the CPU, which executes various applications by loading the OS and control programs stored in ROM 302 into RAM 303 and running them. 304 is the communication unit, which controls communication for connecting to the center server 1 connected to network 21.

[0055] The display and keyboard may be configured as a single unit, a touch panel display 311A.

[0056] In the RAM 303 shown in Figure 3(b), the login unit 303-1 performs a process to authenticate the ID and password of the user performing the terminal operation.

[0057] 303-3 is a UI control unit that executes browser function processing and performs control to display on the touch panel display 311A ​​provided by the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, from the platform 1A provided by the central server 1 shown in Figure 2.

[0058] 303-4 is the route selection unit, which executes the process of selecting the desired search route from the list of search routes displayed on the service screen provided by the central server 1.

[0059] The flight routes are configured to allow for the addition of optimal search routes based on multiple flight conditions, such as season, weather conditions, and the position of the sun, by AI analysis of aerial video data captured by drones D1 to D4.

[0060] Furthermore, when drones D1 to D4 fly at night, they shall be configured to automatically fly while recognizing red (flashing) lights that indicate obstacles and avoiding obstacles at high altitudes.

[0061] 303-5 is the receiving unit, which receives AI-edited rough terrain video data transmitted from one of the corresponding first sand buggy drones SB1, second sand buggy drone SB2, third sand buggy drone SB3, or fourth sand buggy drone SB4.

[0062] Here, the receiving unit 303-5 receives audio data from the disaster area collected by the sound collection units installed in the headlights FL of the first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4.

[0063] Furthermore, the receiving unit 303-5 transmits response data in response to the received audio to the first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4, thereby amplifying the sound at 70 dB from the sound amplification unit to an area surrounding the disaster site, for example, within a 2 km radius.

[0064] This allows for prompting evacuation actions requested by relief headquarters to people waiting for aid in disaster areas, and for effectively communicating important messages about extinguishing fires inside homes.

[0065] This allows for clearer image processing and visualization of the search area video data to be provided to operators of the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, as well as to monitors assisting with the search.

[0066] Specifically, by relaying the data to a data terminal (not shown) operated by a monitor assisting the search, visually useful search information can be obtained at the front lines of rescue operations at the search site.

[0067] This allows for the rapid development of rescue operation plans and enables agile support for wide-area operations, from the rescue of those in need to their transport to hospitals.

[0068] The driving command unit 303-6 sets a rescue activity mode to support rescue activities for people stranded on rough terrain when the first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4 are driving at night, controls the on / off switching of the lighting means, and controls the unmanned driving of the first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4 on rough terrain along a search route identified by terrain information pre-stored in the search video database 14B of the center server 1, while acquiring GPS signals.

[0069] Furthermore, the first control devices 3-1 to 3-N control the process of receiving video footage captured by the FPV camera CAM, which is transmitted from the transmitting / receiving antenna AT of the first sand buggy drone SB1 via antenna AT1. Furthermore, antenna AT1 transmits the driving control signal issued from the driving command unit 303-6 to the first sand buggy drone SB1. Furthermore, the video output unit 303-7 displays the video data captured by the FPV camera CAM, transmitted from the transmitting / receiving antenna AT of the first sand buggy drone SB1, on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0070] The second control devices 4-1 to 4-N control the process of receiving video captured by the FPV camera CAM, which is transmitted from the transmitting / receiving antenna AT of the second sand buggy drone SB2 via antenna AT2. Furthermore, antenna AT2 transmits the driving control signals issued from the driving command unit 303-6 to the second sand buggy drone SB2. Furthermore, the video output unit 303-7 displays the video data captured by the FPV camera CAM, transmitted from the transmitting / receiving antenna AT of the second sand buggy drone SB2, on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0071] The third control devices 5-1 to 5-N control the process of receiving video captured by the FPV camera CAM, which is transmitted from the transmitting / receiving antenna AT of the third sand buggy drone SB3 via antenna AT3. Furthermore, antenna AT3 transmits the driving control signals issued from the driving command unit 303-6 to the third sand buggy drone SB3. Furthermore, the video output unit 303-7 displays the video data captured by the FPV camera CAM, transmitted from the transmitting / receiving antenna AT of the third sand buggy drone SB3, on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0072] The fourth control devices 2-1 to 2-N control the process of receiving video captured by the FPV camera CAM, which is transmitted from the transmit / receive antenna AT of the fourth sand buggy drone SB4 via antenna AT4. Furthermore, antenna AT4 transmits the driving control signals issued from the driving command unit 303-6 to the fourth sand buggy drone SB4. Furthermore, the video output unit 303-7 displays the video data captured by the FPV camera CAM, transmitted from the transmit / receive antenna AT of the fourth sand buggy drone SB4, on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0073] Figure 4 is a block diagram illustrating the configuration of the first to fourth unmanned sand buggy drones SB1 to SB4, which are remotely controlled by the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N shown in Figure 2.

[0074] In Figure 4, SB1 to SB4 are sand buggy drones, each comprising a communication unit DR1, an FPV camera unit DR2, a GPS unit DR3, a driving control unit DR4, a main unit control unit DR5 that comprehensively controls these, an imaging memory unit DR6, a power supply unit DR7, a reception unit DR8, an unmanned sand buggy control data storage unit DR9, a lighting control unit DR10, a first storage unit DR11, a second storage unit DR12, a third storage unit DR13, a fourth storage unit DR14, and an audio processing unit DR15. When the communication unit DR1 receives a driving instruction from the center server 1 via the network 21, it reads the search route information pre-stored in the driving control unit DR4, thereby controlling the engine start and engine stop of the first to fourth sand buggy drones SB1 to SB4.

[0075] The main control unit DR5 controls the start of shooting by the FPV camera unit DR2, which has a 360-degree adjustable imaging direction, and the transmission of aerial data to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0076] Furthermore, the driving control unit DR4 has a function to acquire location information received by the GPS unit DR3 and determine whether or not the vehicle is traveling along a pre-stored search route.

[0077] Furthermore, the reception unit DR8 executes the process of receiving one of the exploration courses stored in the unmanned sand buggy control data storage unit DR9 from the center server 1.

[0078] The imaging memory unit DR6 temporarily stores the imaging data captured by the FPV camera unit DR2 from the air, and, while synchronizing with the communication unit DR1, transmits the imaging data, which consists of a predetermined number of frames per second, to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N according to a 4G or 5G communication protocol.

[0079] The DR7 power unit primarily supplies power to the headlights, engine spark plugs, and heater, and also supplies power to other components as needed.

[0080] The AT is a transmitting and receiving antenna and is configured to transmit captured video data (off-road driving video data) to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N via an access point (not shown) using a wireless protocol, and to receive driving control information (standby instructions, route driving instructions, return instructions) from the center server 1.

[0081] However, the driving control instructions based on the registered search route may be configured to be stored in the sand buggy itself as a control program in advance.

[0082] Furthermore, the driving control unit DR4 normally circles along a stored search route, but through communication with the center server 1, if the center server 1 determines that the local weather conditions in the first to fourth search setting areas SP1 to SP4 exceed a threshold when compared with the wind speed forecast values ​​along the land route obtained from a weather site, the first alert to cancel the land search drive is sent to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0083] Therefore, when the main control unit DR5 receives the first alert from the center server 1, it notifies the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N of the reason for the search to be aborted.

[0084] The first sand buggy drone SB1, the second sand buggy drone SB2, the third sand buggy drone SB3, and the fourth sand buggy drone SB4 are equipped with a transmitting / receiving antenna AT that receives off-road driving control signals transmitted from the corresponding first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N, and also transmits video captured by the FPV camera CAM to the first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N.

[0085] The driving control unit DR4 includes: a first control means that controls the driving direction by analyzing rough road driving control information received from the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N to control the direction of travel by controlling the rotation direction and amount of rotation of the rotation mechanism that rotates the direction control sled; a second control means that analyzes the rough road driving control information to control the rotation start, rotation stop and rotation speed of the crawler for circulating drive of the track belt provided at the lower part of the rear of the frame at the rear of the main body of the sand buggy; and a third control means that analyzes the rough road driving control information to control the start and stop of the engine that drives the crawler.

[0086] Furthermore, the audio processing unit DR15 simultaneously performs audio processing, which includes a microphone M (located on the headlight FL) that collects the voices of rescuers emitted from around the main body of the sand buggy, and a speaker SP (located on the headlight FL) that amplifies and outputs the voices transmitted from the first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control devices 5-1~5-N, and the fourth control devices 2-1~2-N; control to transmit the audio information collected by the microphone M via the transmitting and receiving antenna AT to the first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control devices 5-1~5-N, and the fourth control devices 2-1~2-N; and control to amplify the audio information received from the first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control devices 5-1~5-N, and the fourth control devices 2-1~2-N via the transmitting and receiving antenna AT through the speaker SP.

[0087] Furthermore, the main body of the vehicle is equipped with a first storage compartment DR11 for storing predetermined rescue materials. Here, the predetermined rescue materials include a thermal blanket, a folding stretcher, a bone fixation device for fixing fractured bones, and a joint fixation device for fixing the cervical or lumbar vertebrae.

[0088] Furthermore, the main vehicle unit may be configured to include a GPS transmitter that transmits location information for identifying the rescue location.

[0089] The main body of the vehicle is equipped with a floodlight, emergency radio communication equipment, a battery, and a second storage compartment DR12 for accommodating flares.

[0090] Furthermore, the main body of the vehicle is equipped with a third storage compartment DR13 for housing flares and fireplace materials. In addition, the main body of the vehicle is equipped with a fourth storage compartment DR14 for housing a winch DR16 for towing a foldable stretcher for transporting rescued persons.

[0091] Furthermore, the fourth containment section DR14 may be configured to accommodate containers filled with special containers (e.g., cylinders) containing, as an example of fire extinguishing agents handled by a Class 4 fire equipment technician, such as halogen compounds (chlorine, bromomethane, formaldehyde, etc.), carbon dioxide, and hydrocarbons (propane, butane, etc.), assuming a fire scene.

[0092] Figure 5 is a block diagram illustrating the configuration of the center server 1 shown in Figure 2. In Figure 5, 11 is the communication unit, which controls the communication processing connected to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, which are connected to the network 21 as a communication medium.

[0093] 13 is the CPU, which starts the operating system (OS) stored in external memory 18 connected to the internal bus 12, and starts various applications installed via APIs. It also executes the processing of various programs deployed on RAM 16.

[0094] 14A is a point cloud database that stores image editing applications and procedures generated by the AI ​​support unit 19 on the search and photography video data captured by the FPV camera CAM when the first to fourth sand buggy drones SB1 to SB4 travel along the search and photography route via the network 21. Here, the first to fourth sand buggy drones SB1 to SB4 may have different targets to rescue based on their rescue attributes.

[0095] Specifically, the first sand buggy drone SB1 is designed to support medical assistance, the second sand buggy drone SB2 is designed to support firefighting efforts in fire-affected areas, the third sand buggy drone SB3 is designed to support the distribution of food (food, drinking water, etc.) to disaster victims, and the fourth sand buggy drone SB4 can also be used to tow trailers carrying rescued victims.

[0096] Furthermore, these first to fourth sand buggy drones, SB1 to SB4, can be coordinated to form a single rescue team that comprehensively supports rescue operations.

[0097] 14B is a search video database that temporarily stores search video data captured by the FPV camera CAM when the drone travels along a search route set adjacent to the rough terrain search area transmitted via network 21 from one of the first to fourth sand buggy drones SB1 to SB4.

[0098] Specifically, when one of the first to fourth sand buggy drones SB1 to SB4 takes pictures along the exploration route selected by the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N, the captured video data received is learned and stored in the exploration video database 14B, which functions as an external memory 18.

[0099] 16 is expandable RAM, which stores the basic program of platform 1A installed in external memory 18.

[0100] Here, the RAM16 contains the AI ​​editing unit 16-1, the transmission unit 16-2, the first alert unit 16-3, the second alert unit 16-4, and the proposal unit 16-5. The CPU 13 executes these functions as appropriate according to the flowchart described later, thereby realizing various rough road exploration video editing processes.

[0101] Specifically, AI editing unit 16-1 receives rough terrain exploration video data from one of the first to fourth sand buggy drones SB1 to SB4 and performs AI editing.

[0102] In this embodiment, the AI ​​editing unit 16-1 is configured to learn from search footage already taken at the disaster site and to assist in guiding the movement direction of the first to fourth sand buggy drones SB1 to SB4, which should be the target of the search, to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0103] Furthermore, the AI ​​Editorial Department 16-1 is configured to learn from search and rescue footage already taken at disaster sites and, based on past rescue records, recognize rubble shapes in which injured people can hide, and then assist in guiding the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0104] The first alert unit 16-3, based on the rescue conditions set for any of the first to fourth sand buggy drones SB1 to SB4, determines that in a scorched-earth fire area, the temperature may exceed the temperature at which travel is permitted, and that the site where travel cannot be secured is difficult to grasp on a flat surface. It then processes the aerial footage of the site by flying the drone and determines whether it is possible to freely support the travel route, or whether it is impossible to secure any travel route. In such cases, it executes a process to issue a first alert to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N to stop traveling on rough terrain, as necessary.

[0105] Furthermore, the second alert unit 16-4 compares the exploration route traveled by the first to fourth sand buggy drones SB1 to SB4 with the stored exploration route, and if it determines that the difference in relation to scattered obstacles exceeds a threshold, it executes a process to issue a second alert to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, instructing them to correct the course of the exploration route.

[0106] The proposal unit 16-5 compares the travel route of any of the first to fourth sand buggy drones SB1 to SB4 with the amount of debris accumulated around the search spot areas SP1 to SP4, and if it determines that rescue travel is not possible, it executes a process to propose a change of search route to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0107] 17 is a touch panel display that shows the program's startup status through various non-illustrated UI screens.

[0108] Furthermore, the collection of topographic information using point cloud measurements will proceed according to the following procedure.

[0109] Specifically, in the data acquisition process, point cloud data of the ground surface is collected using technologies such as laser scanning and LiDAR (Light Detection and Ranging). This allows detailed information about the elevation and shape of the terrain to be stored in the point cloud database 14A shown in Figure 5.

[0110] Next, in the data processing stage, the CPU 13 analyzes the collected point cloud data and extracts topographic features. At this stage, noise reduction and data interpolation are performed.

[0111] Next, in the terrain modeling process, CPU13 creates a 3D model of the terrain based on the processed data. This model visually represents the topography and features of the terrain.

[0112] Next, in the analysis and utilization process, the CPU 13 can use the created terrain model to analyze the terrain and, in conjunction with a Geographic Information System (GIS), determine a safe route for the first to fourth sand buggy drones SB1 to SB4 to travel on rough terrain, even at night.

[0113] Furthermore, by using multiple cameras and FPV camera CAM mounted on the first to fourth sand buggy drones SB1 to SB4 to visually inspect the unevenness of the rough terrain and perform AI image processing in conjunction with the AI ​​support unit 19, the unevenness can be processed to appear more three-dimensional and easier to view on the display devices connected to the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N.

[0114] As a result, operators controlling the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, which are capable of executing functional programs such as those for the transmitter, can remotely control the rough terrain driving of the first to fourth sand buggy drones SB1 to SB4 while monitoring the FPV image on a monitor.

[0115] Furthermore, a goggle system capable of communicating with the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N may be configured so that the operator wears goggles that display a screen in front of their face, thereby allowing them to view a 3D video image instead of the above-mentioned monitor.

[0116] Furthermore, by attaching altimeters to the first to fourth sand buggy drones SB1 to SB4, the following effects can also be expected.

[0117] The first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N can constantly monitor which high-temperature areas (fire sites) the first to fourth sand buggy drones SB1 to SB4 are traveling through by having the CPU 13 process information acquired from thermometers installed on the first to fourth sand buggy drones SB1 to SB4 in real time.

[0118] This allows for the detection of buildings or obstacles that have not yet been extinguished, thus preventing accidents.

[0119] Figures 6 to 8 are flowcharts illustrating the remote control processing method for the unmanned driving control system of the sand buggy shown in this embodiment. This example corresponds to the remote control processing example on the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N shown in Figure 2. (1) to (20) indicate each step, and each step is realized by the CPU 301 executing a stored program.

[0120] First, the CPU 301 on the side of the first control device 3-1~3-N, the second control device 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N performs pre-run checks (including engine start, steering operation, brake operation, and headlight on / off confirmation) with the corresponding first to fourth sand buggy drones SB1~SB4 (1).

[0121] Next, the CPU 301 on the first control device 3-1~3-N, the second control device 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N determines whether the communication response with the corresponding first to fourth sand buggy drones SB1~SB4 is normal (2). If it determines that there is an abnormality in communication, this process is terminated in order to avoid danger due to driving abnormalities.

[0122] Meanwhile, in step (2), if the CPU 301 determines that there is no abnormality in communication, the CPU 301 on the side of the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N set the travel route and rescue activity mode for the corresponding first to fourth sand buggy drones SB1 to SB4 (3).

[0123] Next, the CPU 301 determines whether each operator has given a longitudinal movement instruction to the first to fourth sand buggy drones SB1 to SB4 (4). If it determines that a longitudinal movement instruction has been given, the CPU 301 determines whether each operator has given a lateral movement instruction to the first to fourth sand buggy drones SB1 to SB4 (5). If it determines that a lateral movement instruction has been given, the CPU 301 transmits rough terrain driving control information to the corresponding first to fourth sand buggy drones SB1 to SB4 (6).

[0124] Next, the CPU 301 determines whether it has received driving videos captured by each FPV camera CAM mounted on the first to fourth sand buggy drones SB1 to SB4 (7). If the CPU 301 determines that it has received driving videos captured by each FPV camera CAM, it returns to step (4) and repeats the process.

[0125] On the other hand, if in step (4) the CPU 301 determines that no instruction for vertical movement has been given, the CPU 301 determines whether the operator has given an instruction to stop moving (8). If the CPU 301 determines that it has given an instruction to stop moving, it determines the stopping position using the GPS signal received at the stopping position of the first to fourth sand buggy drones SB1 to SB4 (10). On the other hand, if the CPU 301 determines in step (8) that it is not a command to stop driving, it proceeds to step (9). Next, the CPU 301 sends GPS information corresponding to the stopping position to the center server 1 (11).

[0126] At this point, the center server 1 issues an instruction for the first to fourth sand buggy drones SB1 to SB4, which are currently in motion, to gather at the aforementioned stopping position.

[0127] Next, once CPU 301 confirms that all of the first to fourth sand buggy drones SB1 to SB4 have gathered at their stopping positions (12), CPU 301 instructs the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N to each take on the role of joint rescue (13).

[0128] Next, when the microphone M and speaker SP equipped in the first control device 3-1~3-N, the second control device 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N are activated and voices are made to the surrounding area, it is determined whether or not there is a response for assistance by detecting voices requesting assistance from injured persons or others awaiting assistance (14).

[0129] At this point, if CPU 301 determines that there is a rescuer response, it proceeds to step (17).

[0130] On the other hand, in step (14), if the CPU 301 determines that there is no voice response from the person being rescued in the audio data collected from microphone M, the CPU 301 issues an instruction from the operator to change the search area (15) and notifies the center server 1 of the change in the search area (16).

[0131] On the other hand, if CPU301 determines that there is a rescuer response, in step (17), CPU301 confirms that the injured person has been rescued by video using one of the FPV cameras CAM mounted on the first to fourth sand buggy drones SB1 to SB4 (18), and then CPU301 instructs them to return to the base camp at the foot of the mountain (not shown) (19).

[0132] Then, once it is confirmed by any of the FPV cameras (CAM) that all of the first to fourth sand buggy drones SB1 to SB4 have returned to base camp (20), this process is terminated.

[0133] Furthermore, it is envisioned that the injured persons who are rescued will receive care using medical equipment sets equipped by the first to fourth sand buggy drones SB1 to SB4, as well as care to protect them from the cold, and then be towed by the first to fourth sand buggy drones SB1 to SB4 while secured to a deployed stretcher.

[0134] Furthermore, when returning to base camp, team members can switch the driving modes of the first to fourth sand buggy drones (SB1 to SB4) and drive back themselves through rough terrain.

[0135] On the other hand, in step (8), if the CPU 301 determines that it is not a command to stop driving, it determines whether to continue the search being conducted by the first to fourth sand buggy drones SB1 to SB4 (9). If it determines to continue the search, it returns to step (4); if it determines not to continue the search, it proceeds to step (10).

[0136] As mentioned above, it is also possible to smoothly control the driving status of the first to fourth sand buggy drones SB1 to SB4 in conjunction with the regular drones D1 to D4.

[0137] Figures 9 and 10 are flowcharts illustrating the remote control processing method for the unmanned driving control system of the sand buggy shown in this embodiment. In this example, in order to enable driving assistance for the first to fourth sand buggy drones SB1 to SB4 by the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N shown in Figure 2, the system corresponds to a driving area registration process in which the first to fourth sand buggy drones SB1 to SB4 are driven in a pre-set mountainous area to prompt avoidance of danger.

[0138] (21) to (39) indicate the respective steps, which are realized by the driving control unit DR4 executing the stored control program.

[0139] First, the operators of the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N shown in Figure 2 repeatedly drive and stop the first to fourth sand buggy drones SB1 to SB4 by a predetermined distance over a pre-set search area (assuming a search area determined from the location of the distress) during the summer (21).

[0140] Next, the CPU 301 obtains information on the current stopping position and altitude from the center server 1 each time the first to fourth sand buggy drones SB1 to SB4 stop (22). Next, the CPU 301 broadcasts a loudspeaker SP installed in the headlight FL based on the search and rescue operation (23).

[0141] If the CPU 301 determines that the engine noise makes it difficult to detect the faint voice of the rescuer, it will execute a control to stop the engine in a step not shown in the diagram.

[0142] In this situation, the CPU 301 analyzes the audio data collected by microphone M to extract the voice emitted by the rescuer, that is, to determine whether or not there was a response (24). If the CPU 301 determines that there was a response from the rescuer, it notifies the first to fourth control devices 2-1 to 2-N, 3-1 to 3-N, 4-1 to 4-N, and 5-1 to 5-N of a request to gather the other first to fourth sand buggy drones SB1 to SB4 at the scene (25).

[0143] On the other hand, if in step (24) the CPU 301 determines that there is no response from the rescuer, it moves the first to fourth sand buggy drones SB1 to SB4 within the designated search area (26) and proceeds to step (27).

[0144] Next, CPU301 determines whether the first to fourth sand buggy drones SB1 to SB4 have located the exact location of the injured person in the direction they are advancing (27).

[0145] At this point, if CPU 301 determines that it has located the exact location of the injured person, it notifies Center Server 1 to request a rescue team (28). Next, CPU 301 queries Center Server 1 regarding the video data of the scene it is sending to determine whether it is possible to remove the scattered debris, and the AI ​​determines from the response notified by Center Server 1 whether it is possible to remove the debris (29).

[0146] If the CPU 301 determines that the center server 1 has notified that the rubble cannot be removed, it returns to step (28). On the other hand, if the CPU 301 determines in step (29) that the center server 1 has notified that the rubble can be removed, the CPU 301 instructs the first to fourth sand buggy drones SB1 to SB4 to approach the rescuer (target) in the rubble based on instructions from the first control devices 3-1 to 3-N, the second control devices 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N shown in Figure 2 (30).

[0147] Next, the CPU 301 determines whether the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the northern edge of the planned search area (31). If the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the northern edge of the planned search area, the CPU 301 determines the northern side of the operation area (35) and proceeds to step (39).

[0148] On the other hand, in step (31), if the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are not at the northern edge of the search area, the CPU 301 determines whether the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the southern edge of the search area (32). If the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the southern edge of the search area, the CPU 301 confirms the southern side of the search area (37) and proceeds to step (39).

[0149] On the other hand, in step (32), if the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are not at the southern end of the search area, the CPU 301 determines whether the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the western end (33). If the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the western end of the search area, the CPU 301 confirms the western side of the search area (36) and proceeds to step (39).

[0150] On the other hand, in step (33), if the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are not at the western edge of the planned search area, the CPU 301 determines whether the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the eastern edge of the planned search area (34). If the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are at the eastern edge of the planned search area, it determines the eastern side of the search area (38) and proceeds to step (39).

[0151] On the other hand, if the CPU 301 determines that the current positions of the first to fourth sand buggy drones SB1 to SB4 are not at the eastern edge of the planned search area, it registers the safe driving area in which the first to fourth sand buggy drones SB1 to SB4 can safely drive during nighttime searches in the search video database 14B of the center server 1 (39), and then terminates this process.

[0152] This allows the operators of the first to fourth sand buggy drones, SB1 to SB4, to avoid giving incorrect operating instructions even when a whiteout occurs on rough terrain and they cannot determine whether the direction of travel is towards a cliff or not.

[0153] Furthermore, the safe driving areas stored in the point cloud database 14A can be made freely available to relevant parties, which can be useful for search and rescue operations in areas where mountain accidents frequently occur.

[0154] [Effects of the First Embodiment] According to this embodiment, a sand buggy is equipped with an FPV camera to become a drone, and a remote operator controls the start and stop of the sand buggy's power supply, its direction of travel, speed, stopping, turning the headlights on and off, sound collection processing to collect ambient sound information, and loudspeaker processing to send messages to disaster victims. This makes it possible to transport necessary supplies to residents isolated by natural or man-made disasters at night, transport rescued people on stretchers, and provide comprehensive support for rescue operations in disaster areas with rough terrain in a mobile and rapid manner.

[0155] [Second Embodiment] In the above embodiment, the operator operating the first control devices 3-1~3-N, the second control devices 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N has been shown in detail to operate the first to fourth sand buggy drones SB1~SB4 moving along rough terrain in the disaster area. However, assuming a daytime search, the so-called normal search mode using drones D1~D4 may be prioritized to quickly determine the location of the injured, and then the operator operating the first control devices 3-1~3-N, the second control device 4-1~4-N, the third control device 5-1~5-N, and the fourth control device 2-1~2-N may control the first to fourth sand buggy drones SB1~SB4 moving along rough terrain to expedite the search.

[0156] [Effects of the second embodiment] According to this embodiment, by using the first to fourth sand buggy drones SB1 to SB4 to rescue injured persons before sunset and descending the mountain quickly, it is possible to shorten the search time while supporting search operations that have a high life-extending effect.

[0157] The disclosure relating to the present invention described above can be summarized to at least the following:

[0158] (1) The configuration is characterized by transmitting driving control signals to a sand buggy equipped with an FPV camera via a predetermined communication medium, while visually observing the driving status on a display connected to a control device that receives video data transmitted from the FPV camera, thereby enabling the sand buggy to drive on rough terrain unmanned.

[0159] (2) The sand buggy is equipped with lighting means for illuminating the area ahead when traveling on rough roads at night, and the control device is characterized in that, when the sand buggy is traveling at night, it sets a rescue activity mode to support rescue activities for people stranded on rough roads, controls the turning on or off of the lighting means, and controls the unmanned travel of the sand buggy on rough roads along a search route identified by pre-stored terrain information while acquiring GPS signals.

[0160] (3) The sand buggy is characterized by comprising: a transmitting and receiving antenna that receives off-road driving control information transmitted from the control device and transmits video captured by the FPV camera to the control device; a first control means that controls the direction of travel by analyzing the off-road driving control information and controlling the rotation direction and amount of rotation of a rotation mechanism that rotates the direction control sled; a second control means that analyzes the off-road driving control information and controls the rotation start, rotation stop and rotation speed of a crawler for circulating drive of a track belt provided at the lower part of the rear of the frame at the rear of the main body of the sand buggy; and a third control means that analyzes the off-road driving control information and controls the start and stop of the engine that drives the crawler.

[0161] (4) The main body of the vehicle is characterized by having a first storage compartment for storing predetermined rescue materials.

[0162] The rescue materials in (5) are characterized by including a thermal blanket, a folding stretcher, bone fixation devices for fixing fractures in the human body, and joint fixation devices for fixing the cervical or lumbar vertebrae.

[0163] (6) The main vehicle body is characterized by being equipped with a GPS transmitter that transmits location information for identifying the rescue location.

[0164] (7) The main body of the vehicle is characterized by comprising a floodlight, emergency radio communication equipment, a battery, and a second storage compartment for accommodating flares.

[0165] (8) The front of the main body is characterized by having a third storage compartment for accommodating flares and fireplace materials.

[0166] (9) The sand buggy is equipped with a microphone that collects human voices generated around the body of the sand buggy and a speaker that amplifies and outputs sound transmitted from the control device, wherein the sound processing means simultaneously performs the following: control to cause the microphone to transmit sound information collected via the transmitting and receiving antenna to the control device, and control to amplify the sound information received from the control device via the transmitting and receiving antenna through the speaker.

[0167] (10) The system is characterized by comprising a video receiving unit that receives video images captured by the FPV camera transmitted from the transmitting and receiving antenna, and a video output means that outputs the video received by the video receiving unit to the display.

[0168] (11) The system is characterized by having an AI prediction means that analyzes the video received by the receiving unit using AI to predict the occurrence of secondary disasters.

[0169] (12) The present invention is characterized by comprising: an assessment means that uses AI to analyze a video received by a receiving unit to assess the state of collapse of a destroyed building; a determination means that automatically determines whether the building is usable as a residence based on the state of collapse assessed by the assessment means and the structure based on building standards; and an agency means that acts on behalf of the owner of a building whose usability is denied by the determination means to carry out administrative procedures.

[0170] (13) The administrative procedures are characterized by including procedures for applying for temporary housing, procedures for applying for subsidies based on availability, procedures for applying for support related to the demolition or removal of buildings, and procedures for applying for support for the owner's livelihood.

[0171] (14) The system is characterized by comprising: a surveying means that generates surveying data for restoration based on video data received by a receiving unit; and an estimation means that estimates the total amount of accumulated sediment by comparing the three-dimensional data surveyed by the surveying means with topographic data from before the disaster.

[0172] (15) The sediment is characterized by containing rubble, soil, rocks, and materials from collapsed buildings.

[0173] (16) The surveying means is characterized by receiving GNSS signals from multiple artificial satellites that are aggregated on a rover that moves together with the sand buggy body, and determining the XYZ coordinates.

[0174] (17) An unmanned driving control method for an unmanned driving control system in which a sand buggy equipped with an FPV camera and a control device that remotely controls the driving function of the sand buggy while viewing video data transmitted from the FPV camera on a display communicate via a predetermined communication medium, characterized in that, when the sand buggy is driving at night, a rescue activity mode is set to support rescue activities for people stranded on rough terrain, and a driving control step is provided to control the unmanned driving of the sand buggy on rough terrain along a search route identified by pre-stored terrain information while receiving GPS signals. [Industrial applicability]

[0175] In the above embodiment, a system was described that uses multiple sand buggy drones over a wide area to dynamically support search operations in rough terrain at night, but it can similarly support search operations during the daytime as well. Furthermore, the server device 1 shown in Figure 5 may be configured to predict the occurrence of secondary disasters by including an AI prediction unit that uses AI to analyze the video received by a receiving unit configured as a program and predict the occurrence of secondary disasters. Furthermore, the server device 1 shown in Figure 5 may be configured to facilitate administrative procedures by providing an assessment unit that uses AI to analyze the video received by the receiving unit to assess the state of collapse of the destroyed building, a determination unit that automatically determines whether the building is usable as a residence based on the state of collapse assessed by the assessment unit and the structure based on building codes, and a proxy unit that acts on behalf of the owner of a building whose usability is denied by the determination unit to carry out administrative procedures. Here, administrative procedures are assumed to include procedures for applying for temporary housing, procedures for applying for subsidies based on availability, procedures for applying for support related to the demolition or removal of the aforementioned building, and procedures for applying for support for the owner's livelihood. Furthermore, the server device 1 shown in Figure 5 may be configured to estimate the total amount of accumulated sediment by providing a surveying unit that generates surveying data for restoration based on video data received by the receiving unit, and an estimation unit that estimates the total amount of accumulated sediment by comparing the three-dimensional data surveyed by the surveying unit with the topographic data before the disaster. Here, we assume that the sediment includes rubble, soil, rocks, and materials from collapsed buildings. Furthermore, the surveying unit is expected to receive GNSS signals from multiple satellites, which are aggregated by the rover moving together with the sand buggy, to determine the XYZ coordinates. [Explanation of Symbols]

[0176] 1. Center Server 1A Platform 3-1~3-N First control device 4-1~4-N Second control device 5-1~5-N Third control device 2-1~2-N Fourth control device

Claims

1. An unmanned sand buggy driving control system characterized by a configuration that allows the sand buggy to drive on rough terrain unmanned by visually observing its driving status on a display connected to a control device that receives video data transmitted from an FPV camera via a predetermined communication medium, while transmitting driving control signals to the sand buggy to remotely control its driving functions.

2. The aforementioned sand buggy is Equipped with lighting means to illuminate the road ahead when driving on rough roads at night, The control device is The unmanned driving control system for a sand buggy according to claim 1, characterized in that, when the sand buggy is driving at night, a rescue activity mode is set to support rescue activities for people stranded on rough terrain, the lighting means is turned on or off, and the unmanned driving of the sand buggy on rough terrain is controlled on a search route identified by pre-stored terrain information while acquiring GPS signals.

3. The aforementioned sand buggy is A transmitting and receiving antenna that receives off-road driving control information transmitted from the control device and transmits video captured by the FPV camera to the control device, A first control means controls the direction of travel by analyzing the aforementioned rough road travel control information and controlling the rotation direction and amount of rotation of the rotation mechanism that rotates the directional control skid section, A second control means analyzes the aforementioned rough terrain driving control information and controls the rotation start, rotation stop, and rotation speed of the crawler for circulating drive of the track belt, which is installed at the lower part of the rear frame of the main body of the sand buggy. The unmanned driving control system for a sand buggy according to claim 1, further comprising a third control means for analyzing the aforementioned rough terrain driving control information and controlling the starting and stopping of the engine that drives the crawler.

4. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the main body of the vehicle is provided with a first storage compartment for storing predetermined rescue materials.

5. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the specified rescue materials include a thermal blanket, a folding stretcher, a bone fixation device for fixing fractures in the human body, and a joint fixation device for fixing the cervical or lumbar vertebrae.

6. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the main vehicle body is equipped with a GPS transmitter that transmits location information for identifying the rescue location.

7. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the main body of the vehicle comprises a floodlight, emergency wireless communication equipment, a battery, and a second storage compartment for accommodating flares.

8. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the front of the main body of the vehicle is provided with a third storage compartment for storing flares and fireplace materials.

9. The aforementioned sand buggy is The system includes a microphone that collects human voices generated around the main body of the sand buggy, and a speaker that amplifies and outputs the sound transmitted from the control device, and an audio processing means that controls the microphone. The unmanned driving control system for a sand buggy according to claim 3, characterized in that the voice processing means simultaneously performs the control to transmit voice information collected by the microphone via the transmitting and receiving antenna to the control device, and the control to amplify the voice information received from the control device via the transmitting and receiving antenna through the speaker.

10. A video receiving unit that receives video captured by the FPV camera transmitted from the transmitting and receiving antenna, A video output means that outputs the video received by the video receiving unit to the display, The unmanned driving control system for a sand buggy according to claim 2, characterized by comprising the above.

11. The unmanned driving control system for a sand buggy according to claim 2, characterized in that it includes an AI prediction means that uses AI to analyze video received by the receiving unit to predict the occurrence of secondary disasters.

12. An assessment means that uses AI to analyze the video received by the receiving unit to assess the state of collapse of the destroyed building, A determination means that automatically determines the feasibility of use as a residence based on the collapse state assessed by the aforementioned assessment means and the structure based on building standards, A means of acting on behalf of the owner of a building whose usability is denied by the determination means, The unmanned driving control system for a sand buggy according to claim 2, characterized by comprising the above.

13. The unmanned driving control system for a sand buggy according to claim 2, characterized in that the administrative procedures include procedures for applying for temporary housing, procedures for applying for subsidies based on availability, procedures for applying for support related to the demolition or removal of the said building, and procedures for applying for support for the owner's livelihood.

14. A surveying means that generates surveying data for recovery based on video data received by the receiving unit, An estimation means for estimating the total volume of accumulated sediment by comparing the three-dimensional data measured by the aforementioned surveying means with the topographic data from before the disaster, The unmanned driving control system for a sand buggy according to claim 2, characterized by comprising the above.

15. The unmanned driving control system for a sand buggy according to claim 14, characterized in that the sediment includes rubble, soil, rocks, and materials from collapsed buildings.

16. The unmanned driving control system for a sand buggy according to claim 14, characterized in that the surveying means receives GNSS signals from a plurality of artificial satellites that are aggregated on a rover moving together with the sand buggy body to determine the XYZ coordinates.

17. An unmanned driving control method for an unmanned driving control system, wherein a sand buggy equipped with an FPV camera and a control device that remotely controls the driving functions of the sand buggy while viewing video data transmitted from the FPV camera on a display communicate via a predetermined communication medium, An unmanned driving control system and method for unmanned driving, characterized by comprising a driving control step that, when the sand buggy is driving at night, sets a rescue activity mode to support rescue activities for people stranded on rough terrain, and controls the unmanned driving of the sand buggy on rough terrain along a search route identified by pre-stored terrain information while receiving GPS signals.

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