Unmanned snow bike driving control system and unmanned snow bike driving control method

Abstract

To provide comprehensive support for rescue efforts in snow-covered disaster areas in a mobile and rapid manner, even at night in snowy regions in winter, by searching for climbers waiting for rescue, transporting necessary supplies to residents isolated by natural disasters, and transporting rescuers on stretchers. [Solution] A snow bike equipped with an FPV camera and a control device that receives video data transmitted from the FPV camera can be viewed on a display connected to the control device via a specified communication medium, and a snow driving control signal that remotely controls the driving functions of the snow bike can be sent to the snow bike, allowing the snow bike to drive on snow unmanned.

Description

[Technical field]

[0001] The present invention relates to an unmanned snow bike driving control system and an unmanned driving control method for a snow bike that wirelessly controls a snow bike that travels on snowy roads to assist in rescue operations on snow. [Background technology]

[0002] Snow bikes have been used as mobile vehicles that run on snow.

[0003] Now, to operate a snow bike, you don't need to get a special driver's license, since you're not planning to ride it on public roads.

[0004] Furthermore, when driving a snow bike on snow, the rider performs the basic operations of starting the engine, operating the accelerator and brake to move forward, and operating the brake to stop the snow bike. Snow bikes are used in snowy regions as a means of transportation in limited snowy areas.

[0005] On the other hand, climbers who climb in winter must be able to respond to sudden changes in the weather and keep a close eye on their location, otherwise they may stray from the climbing route and get lost in the snowy mountains.

[0006] The following patent document has been published as an example of a typical snow bike that runs on a gasoline engine.

[0007] In order to make snow bikes autonomous, a technology has been disclosed that combines GPS and an IMU (inertial measurement unit) to constantly monitor the position and attitude of the snowmobile. Here, the unmanned snow bike is equipped with a means to detect and avoid obstacles in the vicinity using visual sensors and laser scanning. In addition, as a communication system, a wireless communication system is provided for remote operation and data transmission.

[0008] Furthermore, to operate the snowmobile remotely, a controller is required to drive the snowmobile automatically based on autopilot algorithms, GPS data and sensor information, as well as an efficient battery management system to support long-term operation.

[0009] Incidentally, the following Patent Document 1 discloses a technology relating to driving control of a snowmobile, as follows: "To provide a snowmobile with improved steering control, a snowmobile with improved steering control has a driving control system including an electric actuator coupled to a steering system having a user-operated steering element, the device applying torque to the steering system, the electric actuator, a throttle, a plurality of sensors including a torque sensor and at least one additional sensor for generating terrain data and driving data, and at least one controller coupled to the device and the sensor. The at least one controller selects a terrain condition mode using the generated terrain conditions and the generated driving data, determines a torque to apply in response to an angle and rate of rotation of the user-operated steering element, and actuates the electric actuator to apply the torque to the steering system, the torque being applied only by the electric actuator." [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Patent Publication No. 2021-172337 Summary of the Invention [Problem to be solved by the invention]

[0011] In order to quickly determine the location of the stranded victims and their bivouac location and transport rescue supplies, it is usually necessary to form teams of police and mountain rescue teams, then split up into multiple routes and move across the snow manually.In particular, rescue operations are not carried out at night to prevent secondary strandings, and as a result, there have been cases of people becoming unable to survive due to a drop in body temperature caused by hypothermia, and dying.

[0012] Therefore, there is a strong need for a system that can operate an unmanned snow bike at night and provide rescue to victims as quickly as possible.

[0013] In particular, conventional technology for autonomous snow bikes does not incorporate camera technology, and therefore systems for autonomous snow bikes equipped with FPV cameras in particular must be designed to suit the intended use, and must be equipped with equipment designed to provide care to rescuers. Flexible system design is required that takes into account rescue activities as well as autonomous driving.

[0014] The present invention has been made to solve the above-mentioned problems, and provides an unmanned snow bike driving control system and an unmanned driving control method for a snow bike unmanned driving control system, which mounts an FPV camera on a snow bike to turn it into a drone, and allows a remote operator to operate a control device to start and stop the power supply to the snow bike, as well as the driving direction, driving speed, driving stop, and turning the headlights on and off, thereby enabling the transport of necessary supplies to mountain climbers and residents isolated by natural disasters at night in snowy regions in winter, transporting rescuers on stretchers, and providing comprehensive support for rescue activities in snowy disaster areas in a mobile and rapid manner. [Means for solving the problem]

[0015] To achieve the above object, the unmanned snow bike control system of the present invention has the following configuration.

[0016] The unmanned snow bike driving control system of the present invention transmits a snow bike equipped with an FPV camera and a control device that receives video data transmitted from the FPV camera to the snow bike via a predetermined communication medium while visually viewing the snow bike on a display connected to the control device, and transmits a snow bike driving control signal to the snow bike for remotely controlling the driving function of the snow bike, thereby allowing the snow bike to drive on snow unmanned. An unmanned driving control system for a snow bike, wherein the snow bike comprises a transmitting / receiving antenna that receives the snow driving control signal transmitted from the control device and transmits video captured by the FPV camera to the control device, a first control means that analyzes the snow driving control information and controls the direction of rotation and the amount of rotation of a rotation mechanism that rotates a direction control sled to control the driving direction, a second control means that analyzes the snow driving control information and controls the start, stop, and rotation speed of a crawler for circulatingly driving a track belt provided on a lower part of a frame part of a main body of the snow bike, a third control means that analyzes the snow driving control information and controls the start and stop of an engine that drives the crawler, and an audio processing means that controls a microphone that collects human voices generated around the main body of the snow bike and a speaker that amplifies and outputs the voice transmitted from the control device, and the audio processing means simultaneously controls the transmission of audio information collected by the microphone via the transmitting / receiving antenna to the control device and the amplification of audio information received from the control device via the transmitting / receiving antenna from the speaker. It is characterized by: Effect of the Invention

[0017] According to the present invention, even at night in snowy regions in winter, it is possible to search for climbers waiting for rescue, transport necessary supplies to residents isolated by natural disasters, and transport rescuers on stretchers, thereby providing comprehensive support for rescue efforts in snowy disaster areas in a mobile and rapid manner. [Brief description of the drawings]

[0018] The drawings show specific embodiments of the present invention, including essential features of the invention as well as alternative and preferred embodiments. [Figure 1] 1 is a perspective view showing the appearance of a snow bike according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram illustrating the configuration of an unmanned snow bike driving control system according to an embodiment of the present invention. [Diagram 3] 2A is a block diagram illustrating the configuration of first to fourth control devices connected to the center server shown in FIG. 1, and FIG. 2B is a diagram illustrating the configuration of programs stored in a RAM shown in FIG. [Figure 4] 2 is a block diagram illustrating the configuration of an unmanned snow bike drone remotely controlled by the first to fourth control devices shown in FIG. 1. [Diagram 5] FIG. 2 is a block diagram illustrating the configuration of a center server shown in FIG. 1. [Figure 6] 4 is a flowchart illustrating a remote control processing method of the unmanned snow bike driving control system according to the embodiment. [Figure 7]4 is a flowchart illustrating a remote control processing method of the unmanned snow bike driving control system according to the embodiment. [Figure 8] 4 is a flowchart illustrating a remote control processing method of the unmanned snow bike driving control system according to the embodiment. [Figure 9] 4 is a flowchart illustrating a remote control processing method of the unmanned snow bike driving control system according to the embodiment. [Figure 10] 4 is a flowchart illustrating a remote control processing method of the unmanned snow bike driving control system according to the embodiment. [Figure 11] 3 is a schematic diagram showing an example of a driving guide icon displayed on the touch panel or 3D goggles of the first to fourth control devices shown in FIG. 2; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Next, the best mode for carrying out the present invention will be described with reference to the drawings.

[0020] <System configuration> [First embodiment] Fig. 1 is a perspective view showing the exterior of a snow bike to which the present invention is applied. Note that in this embodiment, the running belt for traveling on snow is configured so that rotational force is transmitted via a rotating gear driven by a gasoline engine, but it may also be configured using an electric motor or a hybrid of an electric motor and a gasoline engine. The engine may be fueled by hydrogen or oil extracted from plants.

[0021] In Figure 1, 101 is an air filter that purifies the air supplied to the engine. 102 is a battery that supplies 24V or 12V DC power. A fuse box (not shown) detects an overcurrent that enters the electrical circuit of the snow bike body and cuts off the current supply.

[0022] A V-belt (not shown) rotates to the engine drive gear to transmit the driving force that moves the snow bike forward. 108 is a handle lever, which, when moved left or right within a specified angle range, moves the ski part located at the front lower part in tandem. 109 is a storage section, which is divided into a front storage section and a rear storage section on the rear side of the main body.

[0023] In addition, the rear storage compartment is configured to be able to store predetermined rescue materials, such as cold protection sheets, folding stretchers, bone fixation devices for fixing fractured parts of human bones, and joint fixation devices for fixing the cervical or lumbar vertebrae. In addition, the front storage compartment is equipped with a GPS transmitter that transmits location information to identify the rescue location. The front storage compartment also includes a front storage section that houses a floodlight, emergency wireless communication equipment, and a battery. Furthermore, the front storage is provided with a front storage section for storing flares and fireplace materials.

[0024] Numeral 112 is a rear carrier that can be used to fix equipment. Numeral 114 is a tail lamp that warns the snow bikes behind that braking is in progress. Numeral 115 is a suspension that absorbs vibrations caused by the vertical movement of the main body.

[0025] In addition, a headlight is provided on the front of the main body, and an engagement member for attaching and detaching a floodlight as a sub-light is provided. This makes it possible to visually confirm rescuers 500 to 600 m away who cannot be confirmed by the headlight alone. Furthermore, a winch for towing a folding stretcher for transporting a rescuer is provided at the rear or front of the main vehicle body.

[0026] The storage unit 109 also includes a hot water tank that stores hot water at a predetermined temperature (40 to 42 degrees) to warm the affected area of ​​the rescuer, and a cardiopulmonary resuscitation kit (AED (Automated External Defibrillator)). This allows for prompt care of a frostbitten patient. Additionally, a heat source (powered by a lithium battery) is located inside the folding litter to maintain the patient's body temperature at a predetermined temperature.

[0027] The folding stretcher also includes a temperature controller that enables individual setting of the temperatures supplied from a specified heat source to the head side, upper body side, lower body side, and toe side of the stretcher.

[0028] Reference numeral 120 denotes an antenna which performs two-way 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.

[0029] CAM is an FPV camera that transmits captured video data via antenna 120 to first control devices 3-1 to 3-N, second control devices 4-1 to 4-N, third control devices 5-1 to 5-N, and fourth control devices 2-1 to 2-N.

[0030] Here, the pilots and observers operating 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 driving direction, driving speed, driving stop, headlights on and off, etc. of the snow bike drones SD1 to SD4 while watching the video data of the snow bike drones SD1 to SD4 displayed on the monitor.

[0031] FIG. 2 is a block diagram illustrating the configuration of the unmanned snow bike driving control system according to this embodiment.

[0032] In Figure 2, 1 is a center server that coordinates communications 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, and generally controls data processing to consolidate information with the first snow bike drone SD1, the second snow bike drone SD2, the third snow bike drone SD3, and the fourth snow bike drone SD4 that make up the search team via network 21 and share search activity information.

[0033] Here, the first control devices 3-1 to 3-N perform bidirectional data communication via a network 21 with a first snow bike drone SD1 equipped with an FPV camera CAM1.

[0034] Similarly, the second control devices 4-1 to 4-N perform bidirectional data communication via the network 21 with a second snow bike drone SD2 equipped with an FPV camera CAM2.

[0035] Similarly, the third control devices 5-1 to 5-N perform bidirectional data communication via the network 21 with a third snow bike drone SD3 equipped with an FPV camera CAM3.

[0036] Similarly, the fourth control devices 2-1 to 2-N perform bidirectional data communication via the network 21 with a fourth snow bike drone SD4 equipped with an FPV camera CAM4.

[0037] 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 a data terminal having a screen for displaying video data captured by the FPV camera CAM mounted on the snow bike body, or a goggle system for displaying 3D images. The search spot area will be described later.

[0038] D1 to D4 are drones equipped with an FPV camera CAM and configured to receive GPS signals and fly over a set snowy road search area while transmitting captured video data to the center server 1. SP1 to SP4 are search spot areas, which are set by the center server 1 provided at the search team headquarters.

[0039] FIG. 3 is a block diagram explaining 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 connected to the center server 1 shown in FIG.

[0040] It is assumed that 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 pad devices, PC devices, smartphones, and the like.

[0041] 3(a), reference numeral 301 denotes a CPU, which executes various applications by loading an OS and a control program stored in a ROM 302 into a RAM 303 and executing them. Reference numeral 304 denotes a communication unit, which controls communication for connecting to a center server 1 connected to a network 21.

[0042] The display and the keyboard may be integrated into a touch panel display 311A.

[0043] In the RAM 303 shown in FIG. 3B, a login unit 303-1 executes a process for authenticating an ID and a password from a user who operates a terminal.

[0044] 303-3 is a UI control unit that executes browser function processing, and executes control to display on the touch panel display 311A ​​equipped in the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N from the platform 1A provided by the center server 1 shown in FIG. 1.

[0045] In addition, the UI control unit 303-3 receives an aerial video file edited by the center server 1 and stores it in a non-volatile memory or non-volatile memory area (not shown), and can play the video by launching a video application that the download unit 303-2 downloads from an application site.

[0046] A route selection unit 303-4 executes a process of selecting a desired searched route from a list of searched routes displayed on a service screen provided by the center server 1.

[0047] The flight route is configured so that an optimal search route can be added based on multiple flight conditions such as season, weather conditions, and the position of the sun by performing AI analysis of the aerial video data captured by drones D1 to D4.

[0048] 303-5 is a receiving unit that receives AI-edited snow video data transmitted from a corresponding one of the first snow bike drone SD1, the second snow bike drone SD2, the third snow bike drone SD3, and the fourth snow bike drone SD4.

[0049] This allows video data of the search area that has been more clearly image-processed and visualized to be provided to operators who operate 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, and to observers assisting the search. Specifically, by relaying the data to a data terminal (not shown) operated by an observer assisting the search, visually useful search information can be obtained at the front line of rescue operations at the search site.

[0050] This will enable rapid formulation of rescue operation plans and agile support for wide-area rescue operations, including accommodating rescuers and transporting them to hospitals.

[0051] The driving command unit 303-6 sets a rescue operation mode to assist in rescue operations for people stranded on the snow when the first snow bike drone SD1, the second snow bike drone SD2, the third snow bike drone SD3, and the fourth snow bike drone SD4 are driving at night, controls the turning on or off of the lighting means, and controls the unmanned driving on snow of the first snow bike drone SD1, the second snow bike drone SD2, the third snow bike drone SD3, and the fourth snow bike drone SD4 on a search route specified by topographical information pre-stored in the search video database 14B of the center server 1 while acquiring GPS signals.

[0052] The first control devices 3-1 to 3-N also control the process of receiving video captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the first snow bike drone SD1 via the antenna AT1. The antenna AT1 transmits a driving control signal issued from the driving command unit 303-6 to the first snow bike drone SD1.

[0053] In addition, 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 snow bike drone SD1 on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0054] The second control devices 4-1 to 4-N control the process of receiving video captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the second snow bike drone SD2 via the antenna AT2. The antenna AT2 transmits a driving control signal issued from the driving command unit 303-6 to the second snow bike drone SD2. The video output unit 303-7 displays the video data captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the second snow bike drone SD2 on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0055] The third control devices 5-1 to 5-N control the process of receiving video captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the third snow bike drone SD3 via the antenna AT3. The antenna AT3 transmits a driving control signal issued from the driving command unit 303-6 to the third snow bike drone SD3. The video output unit 303-7 displays the video data captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the third snow bike drone SD3 on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0056] The fourth control devices 2-1 to 2-N control the process of receiving video captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the fourth snow bike drone SD4 via the antenna AT4. The antenna AT4 transmits a driving control signal issued from the driving command unit 303-6 to the fourth snow bike drone SD4. The video output unit 303-7 displays the video data captured by the FPV camera CAM and transmitted from the transmitting / receiving antenna AT of the fourth snow bike drone SD4 on the monitor screen of the touch panel display 311A ​​or the 3D goggles 311B.

[0057] FIG. 4 is a block diagram explaining the configuration of the first to fourth unmanned snow bike drones SD1 to SD4 remotely controlled 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 shown in FIG. 1.

[0058] In Figure 4, SD1 to SD4 are snow bike drones and include a communication unit DR1, an FPV camera unit DR2, a GPS unit DR3, a driving control unit DR4, a main body control unit DR5 that controls these overall, an imaging memory unit DR6, a power supply unit DR7, a reception unit DR8, an unmanned snow bike drone control data memory 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 driving instructions from the center server 1 via the network 21, it reads out search route information that has been pre-stored in the driving control unit DR4, thereby controlling the engine start and stop of the snow bike drone main body.

[0059] The main body control unit DR5 controls the start of shooting by the FPV camera unit DR2, whose imaging direction can be adjusted 360 degrees, and the transmission of aerial photography 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.

[0060] The driving control unit DR4 has a function of acquiring the position information received by the GPS unit DR3 and determining whether or not the vehicle is traveling along a searched route that has been stored in advance.

[0061] In addition, the reception unit DR8 executes a process of receiving from the center server 1 one of the search courses stored in the unmanned snow bike drone control data storage unit DR9.

[0062] The imaging memory unit DR6 temporarily stores imaging data captured from the air by the FPV camera unit DR2 and, in synchronization with the communication unit DR1, transmits the imaging data consisting 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 in accordance with a 4G or 5G communication protocol.

[0063] The power supply unit DR7 mainly supplies power to drive the headlights, engine ignition plugs, and heater section, and also supplies power required by each section.

[0064] The AT is a transmitting / receiving antenna, and is configured to transmit captured video data (snowy 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 (waiting instructions, route driving instructions, return instructions) from the center server 1.

[0065] However, the driving control instructions based on the registered snowy road search route may be stored in advance as a control program.

[0066] In addition, the driving control unit DR4 normally travels around a stored snowy road search route, but if the center server 1 determines through communication with the center server 1 that the local weather conditions in the first to fourth search spot areas SP1 to SP4 exceed a threshold value by comparing the amount of snow that can be traveled with the predicted wind speed on the snowy road travel route obtained from a weather site, a first alert 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 to stop snowy road search travel.

[0067] Therefore, when the main body control unit DR5 receives a 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 interruption.

[0068] The first snow bike drone SD1, the second snow bike drone SD2, the third snow bike drone SD3, and the fourth snow bike drone SD4 are equipped with a transmitting / receiving antenna AT that receives snow driving control signals transmitted from the corresponding first control device 3-1 to 3-N, second control device 4-1 to 4-N, third control device 5-1 to 5-N, and fourth control device 2-1 to 2-N, and transmits videos captured by the FPV camera CAM to the first control device 3-1 to 3-N, second control device 4-1 to 4-N, third control device 5-1 to 5-N, and fourth control device 2-1 to 2-N.

[0069] The driving control unit DR4 comprises a first control means which analyzes the snow 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 devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N, and controls the driving direction by controlling the rotation direction and rotation amount of the rotation mechanism that rotates the direction control sled, a second control means which analyzes the snow driving control information and controls the start, stop, and rotation speed of the crawler for circulatingly driving the track belt provided at the lower part of the rear frame at the rear of the main body of the snow bike, and a third control means which analyzes the snow driving control information and controls the start and stop of the engine that drives the crawler.

[0070] Furthermore, the audio processing unit DR15 includes an audio processing unit including a microphone M that collects the voice of the rescuer coming from around the body of the snow bike and a speaker SP that amplifies and outputs the voice transmitted from the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N, and simultaneously controls the transmission of the audio information collected by the microphone M to the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N via the transmitting / receiving antenna AT, and the control of amplifying the audio information received from the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N via the transmitting / receiving antenna AT from the speaker SP.

[0071] The main vehicle body also includes a first storage section DR11 for storing predetermined rescue materials. Here, the predetermined rescue materials include a cold protection sheet, a folding stretcher, a bone fixing device for fixing a fractured part of a human bone, and a joint fixing device for fixing a cervical vertebra or a lumbar vertebra.

[0072] Furthermore, the main body may be configured to include a GPS transmitter that transmits location information for identifying a rescue location. The main body includes a floodlight, an emergency wireless communication device, a battery, and a second storage section DR12 that stores flares.

[0073] The main body also includes a third storage section DR13 for storing flares and fireplace materials. The main body also includes a fourth storage section DR14 for storing a winch DR16 for pulling a folding stretcher for transporting rescuers.

[0074] Fig. 5 is a block diagram for explaining the configuration of the center server 1 shown in Fig. 1. In Fig. 5, 11 is a communication unit that controls communication processing for connecting 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, which are connected to a network 21 serving as a communication medium.

[0075] A CPU 13 starts an operating system (OS) stored in an external memory 18 connected to the internal bus 12, and starts various applications installed via an API. It also executes the processing of various programs deployed on the RAM 16.

[0076] 14A is a point cloud database that stores image editing applications and procedures generated by the AI ​​support unit 19 for exploration driving video data captured by the FPV cameras CAM1 to CAM4 when the first to fourth snow bike drones SD1 to SD4 travel along the exploration and photography driving route via the network 21.

[0077] 14B is an exploration video database that temporarily stores exploration video data captured by the FPV cameras CAM1 to CAM4 when traveling along an exploration driving route set adjacent to a snow search area transmitted from one of the first to fourth snow bike drones SD1 to SD4 via the network 21.

[0078] Specifically, the captured video data received when any of the first to fourth snow bike drones SD1 to SD4 captures images along the exploration driving route selected by the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N is learned and stored in the exploration video database 14B, which functions as an external memory.

[0079] Reference numeral 16 denotes an expandable RAM, which expands and stores the basic program of the platform 1A installed in the external memory 18.

[0080] Here, an AI editing unit 16-1, a transmission unit 16-2, a first alert unit 16-3, a second alert unit 16-4, and a suggestion unit 16-5 are deployed in the RAM 16, and various snow exploration video editing processes are realized by the CPU 13 appropriately executing in accordance with the flowchart described below.

[0081] Specifically, the AI ​​editing unit 16-1 receives the snow exploration video data received from any one of the first to fourth snow bike drones SD1 to SD4 and executes an AI editing process.

[0082] When the first alert unit 16-3 compares the wind speed value for driving with the predicted wind speed value along the flight route obtained from a weather site among the weather conditions set for any of the first to fourth snow bike drones SD1 to SD4 and determines that the wind speed value exceeds a threshold, it executes a process of issuing 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 devices 5-1 to 5-N, and the fourth control devices 2-1 to 2-N to stop driving on snow.

[0083] In addition, when the second alert unit 16-4 compares the search driving route traveled by the first to fourth snow bike drones SD1 to SD4 with the stored search driving route and determines that the difference exceeds a threshold value, it executes a process of issuing 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 to correct the course of the search route.

[0084] If the suggestion unit 16-5 compares the flight route of any of the first to fourth snow bike drones SD1 to SD4 with the amount of snowfall in the search spot areas SP1 to SP4 and determines that the drone will be traveling on a snowy road with more than 2m of snow, it executes a process of proposing a change to the 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.

[0085] Reference numeral 17 denotes a touch panel display which displays the program running status via various UI screens (not shown).

[0086] An example of the collection operation of the point cloud measurement data stored in the point cloud database 14A shown in FIG. 5 will be described below. Collecting topographical information using point cloud measurements involves the following steps:

[0087] Specifically, in the data collection step, point cloud data of the earth's surface is collected using technologies such as laser scanning and LiDAR (Light Detection and Ranging). This allows the height and shape of the terrain to be stored in a point cloud database 14A, the details of which are shown in FIG. 5. Next, in the data processing step, the CPU 13 analyzes the collected point cloud data and extracts the features of the terrain. At this stage, noise removal and data interpolation are performed.

[0088] Next, in a terrain modeling step, the CPU 13 creates a 3D model of the terrain based on the processed data. This model visually represents the undulations and characteristics of the terrain.

[0089] Next, in the analysis and utilization process, the CPU 13 uses the created terrain model to analyze the terrain and cooperate with a geographic information system (GIS) to determine driving routes for the first to fourth snow bike drones SD1 to SD4 to travel safely on snow, even at night.

[0090] In addition, the multiple cameras and FPV camera CAM mounted on the first to fourth snow bike drones SD1 to SD4 allow visual inspection of the unevenness of the snow and AI image processing in cooperation with the AI ​​support unit 19, making it possible to process the images into a more three-dimensional and easier to see image 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.

[0091] This allows operators operating 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 radio controls, to remotely control the first to fourth snow bike drones SD1 to SD4 as they travel on snow while checking FPV images on the monitor.

[0092] In addition, the 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 can wear the goggles so that the screen display is in front of the operator's face, allowing the operator to view the image as a 3D video image instead of the monitor.

[0093] In addition, by installing altimeters on the first to fourth snow bike drones SD1 to SD4, the following effects can be expected.

[0094] 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 always know at what height the first to fourth snow bike drones SD1 to SD4 are traveling by having the CPU 13 process information obtained from the altimeters provided on the first to fourth snow bike drones SD1 to SD4 in real time. This allows them to notice steep slopes and obstacles and prevent accidents.

[0095] In addition, 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 accurately determine the position of the snowmobile based on the altitude information obtained from the altimeter, enabling more accurate navigation.

[0096] 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 can obtain information from the altimeter, thereby enabling a more detailed understanding of the terrain's undulations and enabling more efficient route selection.

[0097] 6 to 8 are flow charts for explaining a remote control processing method of the unmanned snow bike driving control system according to this embodiment. This example corresponds to an example of remote control processing 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 shown in FIG. 2. Note that (1) to (20) indicate each step, and each step is realized by CPU 301 executing a stored program.

[0098] First, the CPU 301 on the side of the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N performs a pre-ride check (including engine start, handlebar operation, brake operation, and headlight on / off confirmation) with the corresponding first to fourth snow bike drones SD1 to SD4 (1).

[0099] Next, the CPU 301 on the side of the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N determines whether the communication response with the corresponding first to fourth snow bike drones SD1 to SD4 is normal (2), and if it determines that there is an abnormality in the communication, it terminates this processing in order to avoid danger due to abnormal driving.

[0100] On the other hand, if in step (2), the CPU 301 determines that there is no abnormality in communication, the CPU 301 on the first control device 3-1 to 3-N, second control device 4-1 to 4-N, third control device 5-1 to 5-N, and fourth control device 2-1 to 2-N side sets a driving route and a rescue operation mode for the corresponding first to fourth snow bike drones SD1 to SD4 (3).

[0101] Next, the CPU 301 determines whether or not each of the operators has given a vertical movement instruction to the first to fourth snow bike drones SD1 to SD4 (4), and if it determines that a vertical movement instruction has been given, it determines whether or not each of the operators has given a lateral movement instruction to the first to fourth snow bike drones SD1 to SD4 (5), and if it determines that a lateral movement instruction has been given, the CPU 301 transmits snow driving control information to the corresponding first to fourth snow bike drones SD1 to SD4 (6).

[0102] Next, the CPU 301 determines whether or not the driving video captured by each FPV camera CAM mounted on the first to fourth snow bike drones SD1 to SD4 is being received (7). If the CPU 301 determines that the driving video captured by each FPV camera CAM is being received, the CPU 301 returns to step (4) and repeats the process.

[0103] On the other hand, if the CPU 301 determines in step (4) that no vertical movement command has been issued, the CPU 301 determines whether or not the operator has issued an instruction to stop driving (8), and if the CPU 301 determines that an instruction to stop driving has been issued, the CPU 301 proceeds to step (10) and determines the stop positions of the first to fourth snow bike drones SD1 to SD4 based on the GPS signals received at the positions where the first to fourth snow bike drones SD1 to SD4 have stopped. Next, the CPU 301 reports the GPS information corresponding to the stop positions to the center server 1 (11).

[0104] Here, the center server 1 issues an instruction for the first to fourth snow bike drones SD1 to SD4 that are currently traveling to gather at the above-mentioned stopping position.

[0105] Next, when the CPU 301 confirms that all the snow bike drones SD1 to SD4 have gathered at the stopping positions (12), the 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 share the role of jointly carrying out rescue (13).

[0106] Next, when the microphone M and speaker SP equipped on the first control device 3-1 to 3-N, the second control device 4-1 to 4-N, the third control device 5-1 to 5-N, and the fourth control device 2-1 to 2-N are activated and a call is made to those around, a voice calling for rescue from a mountain climber or the like waiting for rescue is detected and it is determined whether or not there is a response from the rescuer waiting for rescue (14).

[0107] If the CPU 301 determines that there is a response from a rescuer, the process proceeds to step (17).

[0108] On the other hand, if the CPU 301 determines in step (14) that there is no response from a rescuer, the CPU 301 issues an instruction from the pilot to change the search area (15) and notifies the center server 1 of the change in search area (16).

[0109] On the other hand, if the CPU 301 determines that there has been a response from a rescuer, in step (17), it confirms from the video on any of the FPV cameras CAM mounted on the first to fourth snow bike drones SD1 to SD4 that rescue team members have arrived. If the CPU 301 confirms the video from any of the FPV cameras CAM mounted on the first to fourth snow bike drones SD1 to SD4 and determines that the stranded or injured person has been rescued (18), the CPU 301 instructs the drones to return to the base camp at the foot of the mountain (not shown) (19).

[0110] Then, when it is confirmed by one of the FPV cameras CAM that the first to fourth snow bike drones SD1 to SD4 have all returned to the base camp (20), this process ends.

[0111] In addition, it is expected that the injured people who are rescued will be cared for using the medical equipment sets equipped on the first to fourth snow bike drones SD1 to SD4, and will be protected from the cold by being secured to a deployed stretcher and towed by the first to fourth snow bike drones SD1 to SD4.

[0112] In addition, when returning to base camp, team members can switch the driving modes of the first to fourth snow bike drones SD1 to SD4 and drive on the snow themselves to return.

[0113] On the other hand, if in step (8) the CPU 301 determines that it has not received an instruction to stop traveling, then the CPU 301 determines (9) whether to continue the search in which the first to fourth snow bike drones SD1 to SD4 are traveling. If the CPU 301 determines to continue the search, it returns to step (4), and if the CPU 301 determines not to continue the search, it proceeds to step (10).

[0114] As described above, it is also possible to smoothly control the running state of the first to fourth snow bike drones SD1 to SD4 in cooperation with the normal drones D1 to D4.

[0115] 9 and 10 are flow charts for explaining a remote control processing method of the unmanned snow bike driving control system according to this embodiment. This example corresponds to a driving area registration process for driving the first to fourth snow bike drones SD1 to SD4 in a preset mountainous area to encourage them to avoid danger, in order to enable the first to fourth 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 FIG. 2 to assist the first to fourth snow bike drones SD1 to SD4 in driving.

[0116] Note that (21) to (39) indicate each step, which is realized by the driving control unit DR4 executing the stored control program.

[0117] First, a pilot operating the first control devices 3-1 to 3-N, second control devices 4-1 to 4-N, third control devices 5-1 to 5-N, and fourth control devices 2-1 to 2-N shown in FIG. 2 repeatedly drives and stops the first to fourth snow bike drones SD1 to SD4 for a predetermined distance in a pre-set search area (assuming the search area is determined from the location of the disaster) in summer (21).

[0118] Next, the CPU 301 acquires information on the current stopping position and altitude from the center server 1 each time the first to fourth snow bike drones SD1 to SD4 stop (22). Next, the CPU 301 determines and determines the difference between altitude information of the previous stopping position immediately before the drones stopped and altitude information of the current stopping position (23).

[0119] This makes it possible to determine the gradient in the direction in which the first to fourth snow bike drones SD1 to SD4 travel.

[0120] Specifically, CPU 301 determines whether the difference is + / - (24), and if CPU 301 determines that the gradient is -, it determines that the direction of travel is a downward gradient (downhill) (26) and proceeds to step (27).

[0121] On the other hand, in step (24), if the CPU 301 determines that the gradient is positive, it determines that the traveling direction is an upward gradient (uphill) (25). This gradient information is sequentially transmitted to the center server 1 as the first to fourth snow bike drones SD1 to SD4 travel, and even if a situation where only a white world can be seen on the touch panel displays 311A ​​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 during nighttime snow search is encountered, a driving gradient icon (described later) can be displayed on the touch panel display 311A, thereby making it possible to avoid piloting errors due to whiteout by the pilots 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.

[0122] Next, the CPU 301 determines whether the direction in which the first to fourth snow bike drones SD1 to SD4 are traveling is a cliff direction based on the stored terrain information (27). If the CPU 301 determines that the direction in which the first to fourth snow bike drones SD1 to SD4 are traveling is not a cliff direction based on the stored terrain information, the CPU 301 proceeds to step (30).

[0123] On the other hand, in step (27), if the CPU 301 determines that the direction in which the first to fourth snow bike drones SD1 to SD4 are traveling is toward a cliff based on the stored terrain information, the CPU 301 generates information to supplement the traveling route (28).

[0124] Next, the CPU 301 determines whether the direction in which the first to fourth snow bike drones SD1 to SD4 are moving is a direction of falling based on the stored topographical information (the falling danger area is assumed to be acquired from the mountain accident information database) (29). If the CPU 301 determines that the direction in which the first to fourth snow bike drones SD1 to SD4 are moving is a direction of falling, the process returns to step (28).

[0125] On the other hand, if the CPU 301 determines in step (29) that the direction in which the first to fourth snow bike drones SD1 to SD4 are traveling is not the direction of sliding downhill, it does not generate information supplementing the travel route (30) and proceeds to step (31). Next, the CPU 301 determines whether the current positions of the first to fourth snow bike drones SD1 to SD4 are at the northern end of the expected search area (31), and if the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are at the northern end of the expected search area, the CPU 301 determines the northern side of the operation area (35) and proceeds to step (39).

[0126] On the other hand, if in step (31), the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are not at the northern end of the expected search area, the CPU 301 determines whether the current positions of the first to fourth snow bike drones SD1 to SD4 are at the southern end of the expected search area (32), and if the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are at the southern end of the expected search area, the CPU 301 determines the southern side of the search area (37) and proceeds to step (39).

[0127] On the other hand, in step (32), if the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are not at the southern end of the expected search area, the CPU 301 determines whether the current positions of the first to fourth snow bike drones SD1 to SD4 are at the western end (33), and if the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are at the western end of the expected search area, the CPU 301 determines the western side of the search area (36) and proceeds to step (39).

[0128] On the other hand, if in step (33), the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are not at the western end of the expected search area, the CPU 301 determines whether the current positions of the first to fourth snow bike drones SD1 to SD4 are at the eastern end of the expected search area (34), and if the CPU 301 determines that the current positions of the first to fourth snow bike drones SD1 to SD4 are at the eastern end of the expected search area, it determines the eastern side of the search area (38) and proceeds to step (39).

[0129] On the other hand, if the CPU 301 determines that the current locations of the first to fourth snow bike drones SD1 to SD4 are not at the eastern end of the expected search area, it registers a safe driving area in which the first to fourth snow bike drones SD1 to SD4 can safely drive during nighttime searches of snowy mountains in the search video database 14B of the center server 1 (39), and terminates this process.

[0130] This allows the pilots of the first to fourth snow bike drones SD1 to SD4 to avoid erroneous operation instructions even in a situation where a whiteout occurs on the snow and they are unable to determine whether they are heading towards a cliff or not.

[0131] In addition, the safe driving areas stored in the point cloud database 14A can be managed so that they can be widely and freely used by related parties, thereby providing useful information for search activities in areas where mountain accidents occur frequently.

[0132] FIG. 11 is a schematic diagram showing an example of a driving guide icon displayed on the touch panel display 311A ​​and the 3D goggles 311B 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 FIG. 2.

[0133] In Fig. 11, the circle icons represent directions, with direction 0 being north, direction 90 being east, direction 180 being south, and direction 270 being west. The arrows in the figure indicate gradients, and the other objects visually represent cliff icons in hilly areas and downward and upward gradients.

[0134] As a result, when pilots operating 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 operate the first to fourth snow bike drones SD1 to SD4 moving on the snow of a winter mountain, even if they see images of a whiteout, they can visually see what kind of slope they will enter or what kind of cliff they are approaching if they continue forward, and can use this as auxiliary information to determine a safe driving route.

[0135] [Effects of the first embodiment] According to this embodiment, a snow bike is equipped with an FPV camera CAM to turn it into a drone, and a remote operator can operate a control device to start and stop the power supply to the snow bike, control the direction of travel, speed, and stopping of travel, and turn the headlights on and off. This makes it possible to transport necessary supplies to climbers and residents isolated by natural disasters at night in snowy areas in winter, transport rescuers on stretchers, and provide comprehensive support for rescue efforts in snowy disaster areas in a mobile and rapid manner.

[0136] Second Embodiment In the above embodiment, an example has been described in detail in which the pilots operating 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 drive the first to fourth snow bike drones SD1 to SD4 moving on the snow in the winter mountains. However, if a search is to be conducted during the day, the pilots operating 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 prioritize a search mode using so-called normal drones D1 to D4 to quickly determine the location of the injured person, and then control the first to fourth snow bike drones SD1 to SD4 moving on the snow in the winter mountains to rush to the scene.

[0137] [Effects of the second embodiment] According to this embodiment, the first to fourth snow bike drones SD1 to SD4 can provide rescue to injured people before sunset and quickly descend the mountain, thereby shortening the time required for the search and supporting search activities that are highly effective in extending lives.

[0138] The disclosure regarding the present invention described above can be summarized at least as follows.

[0139] (1) While viewing a snow bike equipped with an FPV camera and a display connected to a control device that receives video data transmitted from the FPV camera via a specified communication medium, a snow driving control signal that remotely controls the driving function of the snow bike is transmitted to the snow bike, thereby causing the snow bike to drive on snow unmanned. An unmanned driving control system for a snow bike, wherein the snow bike comprises a transmitting / receiving antenna that receives the snow driving control signal transmitted from the control device and transmits video captured by the FPV camera to the control device, a first control means that analyzes the snow driving control information and controls the direction of rotation and the amount of rotation of a rotation mechanism that rotates a direction control sled to control the driving direction, a second control means that analyzes the snow driving control information and controls the start, stop, and rotation speed of a crawler for circulatingly driving a track belt provided on a lower part of a frame part of a main body of the snow bike, a third control means that analyzes the snow driving control information and controls the start and stop of an engine that drives the crawler, and an audio processing means that controls a microphone that collects human voices generated around the main body of the snow bike and a speaker that amplifies and outputs the voice transmitted from the control device, and the audio processing means simultaneously controls the transmission of audio information collected by the microphone via the transmitting / receiving antenna to the control device and the amplification of audio information received from the control device via the transmitting / receiving antenna from the speaker. It is characterized by:

[0140] (2) The snow bike is: Main body and a lighting means for illuminating the road ahead when driving on snow at night. and,The control device sets a rescue mode for assisting rescue efforts for victims stranded on the snow when the snow bike is traveling at night, controls the turning on and off of the lighting means, and controls the unmanned traveling of the snow bike on snow along a search route specified by pre-stored topographical information while acquiring a GPS signal.

[0142] ( 3 ) The above The main vehicle body is characterized by having a first storage section for storing predetermined rescue materials.

[0143] ( 4 ) The specified rescue equipment is characterized by including a thermal sheet, a folding stretcher, a bone fixation device for fixing fractured parts of human bones, and a joint fixation device for fixing the cervical or lumbar vertebrae.

[0144] ( 5 ) The above The main vehicle body is characterized by being equipped with a GPS transmitter that transmits location information to identify the rescue location.

[0145] ( 6 ) The above The main vehicle body is characterized by having a second storage section that stores a floodlight, an emergency wireless communication device, a battery, and a flare.

[0146] ( 7 ) The main body part is characterized by having a third storage section for storing flares and fireplace materials.

[0148] ( 8 ) The control device is characterized by comprising a video receiving unit that receives video captured by the FPV camera and transmitted from the transmitting / receiving antenna, and a video output means that outputs the video received by the video receiving unit to the display.

[0149] ( 9 ) The main vehicle body is characterized by being equipped with a winch for towing a folding stretcher for transporting the rescuer.

[0150] ( 10 ) The main vehicle body is characterized by having a hot water tank that stores hot water at a predetermined temperature to warm the injured part of the rescuer.

[0151] ( 11 ) The above The folding stretcher is characterized in that a predetermined heat source is disposed inside the stretcher to maintain the patient's body temperature at a predetermined temperature.

[0152] ( 12 ) The above The folding stretcher is characterized in that the temperatures supplied from a predetermined heat source to the head side, upper body side, lower body side, and toe side of the folding stretcher can be individually set.

[0153] ( 13 ) A snow bike equipped with an FPV camera and video data transmitted from the FPV camera are connected via a specified communication medium. Connected to the receiving control device On display in While observing, Regarding the snow bike Remotely controlling the driving functions of the snow bike A control signal for driving on snow is transmitted to the snow bike so that the snow bike can be driven on snow without a driver. An unmanned driving control method for a snow bike, comprising: The snow bike is equipped with a transmitting / receiving antenna that receives the snow driving control signal transmitted from the control device and transmits video captured by the FPV camera to the control device, and is equipped with a first control step of analyzing the snow driving control information to control the direction of rotation and the amount of rotation of a rotation mechanism that rotates a direction control sled to control the direction of travel; a second control step of analyzing the snow driving control information to control the start, stop, and rotation speed of a crawler for circulatingly driving a track belt provided on a lower part of a frame part of the main body of the snow bike; a third control step of analyzing the snow driving control information to control the start and stop of an engine that drives the crawler; and an audio processing step of controlling a microphone that collects human voices generated around the main body of the snow bike and a speaker that amplifies and outputs the voice transmitted from the control device, and the audio processing step simultaneously controls to transmit the voice information collected by the microphone via the transmitting / receiving antenna to the control device and to amplify the voice information received from the control device via the transmitting / receiving antenna from the speaker. It is characterized by: [Industrial Applicability]

[0154] In the above embodiment, a system was described that utilizes multiple snow bike drones over a wide area to support search activities in a mobile manner during nighttime searches on snow. However, the system can also support search activities during the day in a similar manner. [Explanation of symbols]

[0155] 1. Central server 1A Platform 3-1 to 3-N First control device 4-1 to 4-N Second control device 5-1~5-N Third control device 2-1~2-N 4th control device

Claims

1. An unmanned snow bike driving control system for causing a driver to drive the snow bike on snow unmanned by transmitting a snow bike driving control signal to the snow bike for remotely controlling a driving function of the snow bike via a predetermined communication medium while visually viewing the snow bike on a display connected to a snow bike equipped with an FPV camera and a control device that receives video data transmitted from the FPV camera, The snow bike is A transmitting / receiving antenna that receives the snow driving control signal transmitted from the control device and transmits the video captured by the FPV camera to the control device; a first control means for controlling the running direction by analyzing the snow driving control information and controlling the direction and amount of rotation of a rotation mechanism that rotates the direction control sled; A second control means analyzes the snow driving control information and controls the start, stop and rotation speed of a crawler for driving a circulating track belt provided on a lower portion of a frame of a main body of the snow bike. a third control means for analyzing the snow driving control information and controlling starting and stopping of an engine that drives the crawler; a microphone for collecting human voices generated around the body of the snow bike and a sound processing means for controlling a speaker for amplifying and outputting the sound transmitted from the control device, The audio processing means simultaneously controls the transmission of audio information collected by the microphone to the control device via the transmitting / receiving antenna, and controls the amplification of audio information received from the control device via the transmitting / receiving antenna from the speaker.

2. The snow bike is The vehicle comprises a main body and a lighting means for lighting a road ahead when traveling on snow at night, The control device includes: The unmanned snow bike driving control system according to claim 1, characterized in that, when the snow bike is driven at night, a rescue operation mode is set to support rescue operations for victims stranded on the snow, the lighting means is controlled to be turned on or off, and the unmanned driving of the snow bike on snow along a search route specified by pre-stored topographical information is controlled while acquiring a GPS signal.

3. The unmanned driving control system for a snow bike as described in Claim 2, characterized in that the main body vehicle section is provided with a first storage section for storing specified rescue materials.

4. 3. The unmanned snow bike driving control system according to claim 2, wherein the predetermined rescue materials include a thermal sheet, a folding stretcher, a bone fixation device for fixing a fractured part of a human bone, and a joint fixation device for fixing the cervical vertebrae or lumbar vertebrae.

5. The unmanned driving control system for a snow bike as described in Claim 2, characterized in that the main body vehicle section is equipped with a GPS transmitter section that transmits location information for identifying a rescue location.

6. The unmanned driving control system for a snow bike as described in Claim 2, characterized in that the main body vehicle section is provided with a second storage section for accommodating a spotlight, an emergency wireless communication device, a battery, and a flare.

7. An unmanned driving control system for a snow bike as described in claim 2, characterized in that the main body vehicle section is provided with a third storage section for storing flares and fireplace materials.

8. The control device includes: A video receiving unit that receives the video captured by the FPV camera and transmitted from the transmitting / receiving antenna; a video output unit that outputs the video received by the video receiving unit to the display; 2. The unmanned snow bike driving control system according to claim 1, further comprising:

9. 3. The unmanned snow bike driving control system according to claim 2, wherein the main vehicle body is provided with a winch for towing a folding stretcher for transporting a rescuer.

10. 3. The unmanned snow bike driving control system according to claim 2, wherein the main vehicle body includes a hot water tank for storing hot water at a predetermined temperature for warming the injured part of the rescuer.

11. An unmanned snow bike driving control system as described in Claim 9, characterized in that a predetermined heat source is arranged inside the folding stretcher to maintain the patient's body temperature at a predetermined temperature.

12. The unmanned snowbike driving control system described in Claim 9, characterized in that the folding stretcher is configured so that the temperature supplied from a predetermined heat source to the head side, upper body side, lower body side, and toe side set on the folding stretcher can be individually set.

13. An unmanned driving control method for a snow bike, comprising: transmitting a snow driving control signal to the snow bike, which remotely controls a driving function of the snow bike, to the snow bike while visually viewing the snow bike on a display connected to a snow bike equipped with an FPV camera and a control device that receives video data transmitted from the FPV camera via a predetermined communication medium, thereby causing the snow bike to drive on snow unmanned, the method comprising: The snow bike is A transmitting / receiving antenna receives the snow driving control signal transmitted from the control device and transmits the video captured by the FPV camera to the control device, a first control step of controlling the running direction by analyzing the snow driving control information and controlling the rotation direction and the rotation amount of the rotation mechanism that rotates the direction control sled; A second control step of analyzing the snow driving control information and controlling the start, stop and rotation speed of a crawler for driving a circulating track belt provided on a lower portion of a frame of a main body of the snow bike; a third control step of analyzing the snow driving control information to control starting and stopping of an engine that drives the crawler; a sound processing step for controlling a microphone that collects human voices generated around the body of the snow bike and a speaker that amplifies and outputs the sound transmitted from the control device, An unmanned driving control method for a snow bike unmanned driving control system, characterized in that the audio processing step simultaneously performs control to transmit audio information collected by the microphone via the transmitting / receiving antenna to the control device, and control to amplify audio information received from the control device via the transmitting / receiving antenna from the speaker.

Images