Apparatus and method for managing smart road tunnel

Abstract

A management apparatus is provided. The management apparatus may comprise: an acquisition unit for acquiring environment information in a tunnel; an analysis unit for analyzing the environment information; and a management unit for managing the tunnel according to the analysis result of the environment information. A fixed camera fixedly installed in the tunnel and capturing an image of a vehicle driving on a road inside the tunnel may be provided. The analysis unit analyzes a fixed image captured by the fixed camera, and identifies, through the analysis of the fixed image, at least one of a vehicle passing amount, a falling object falling from a vehicle, reverse driving of a vehicle, lane change of a vehicle, speeding of a vehicle, parking of a vehicle, stopping of a vehicle, or failure to secure a safe distance of a vehicle. The management unit can display the identification result on a display by distinguishing same from a general situation or display an alarm.

Description

Smart road tunnel management device and method

[0001] The present invention relates to a device and method for managing a tunnel in which a road is provided.

[0002] Tunnels are gradually increasing due to securing the shortest possible distances, building new roads, and extending roads. As tunnels expand and expand, traffic accidents, fires, and traffic congestion within tunnels are becoming more frequent. This makes it difficult for drivers to perceive the situation ahead, leading to secondary accidents and potentially major accidents.

[0003] Typically, tunnel sections on roadways are dark and have limited visibility, making driving difficult. Traffic accidents inside tunnels are particularly frequent due to driver inattention, drowsy driving, failure to maintain a safe distance, speeding, lane changes, and driving against the road. In particular, drivers are preoccupied with looking ahead inside tunnels, making it difficult to accurately perceive vehicle speed. Consequently, the number of vehicle collisions caused by speeding is increasing every year. Furthermore, while lane changes are prohibited in tunnels, drivers frequently ignore this prohibition and cross the center line, resulting in rear-end collisions. These incidents are on the rise each year. Therefore, various safety features, such as signs, CCTV, lights, and warning lights, are installed at tunnel entrances and within the tunnels to provide drivers with a clearer understanding of the situation inside. These features monitor traffic conditions in real time, encourage safe driving, and provide guidance or warnings depending on the traffic situation.

[0004] The present invention provides a management device and method capable of ensuring safe passage of vehicles operating within a tunnel and managing tunnel-related facilities.

[0005] A management device according to one embodiment of the present invention is provided.

[0006] The above management device may include an acquisition unit that acquires environmental information within the tunnel; an analysis unit that analyzes the environmental information; and a management unit that manages the tunnel based on the analysis results of the environmental information.

[0007]

[0008] A fixed camera may be provided that is fixedly installed within the tunnel and photographs vehicles driving on the road within the tunnel.

[0009] The above analysis unit can analyze a fixed image captured by the above fixed camera.

[0010] The above analysis unit can identify at least one of the following: vehicle passing volume, fallen objects from the vehicle, vehicle driving in reverse, vehicle lane change, vehicle speeding, vehicle parking, vehicle stopping, and vehicle failure to secure a safe distance through analysis of the above fixed image.

[0011] The above management unit can display the results of the analysis on a display or display an alarm, distinguishing them from normal situations.

[0012]

[0013] Fixed cameras may be installed at set intervals within the tunnel.

[0014] The fixed camera may be installed so that the optical axis of the fixed camera is parallel to the direction of gravity.

[0015] A first fixed camera and a second fixed camera may be sequentially arranged along the extension direction of the road within the tunnel, and a fixed image captured by the first fixed camera may be defined as a first fixed image, and a fixed image captured by the second fixed camera may be defined as a second fixed image.

[0016] The first fixed camera and the second fixed camera may be installed so that a portion of the edge of the first fixed image and a portion of the edge of the second fixed image overlap each other.

[0017]

[0018] The above analysis unit can generate a single composite image by synthesizing the first fixed image and the second fixed image.

[0019] In the first fixed image, an area overlapping the second fixed image may be defined as a first overlapping area, and in the second fixed image, an area overlapping the first fixed image may be defined as a second overlapping area.

[0020] The above analysis unit can generate the composite image by combining the portion of the second fixed image from which the second overlapping area is excluded with the first fixed image.

[0021] The above management unit can display the composite image or display the first fixed image and the second fixed image separately.

[0022]

[0023] The first overlapping region not included in the composite image can be used to align the first fixed image and the second fixed image.

[0024] The above analysis unit can correct the alignment state between the first fixed image and the second fixed image so that the common fixed images that exist in the first overlapping area and the second overlapping area completely overlap.

[0025]

[0026] The above management unit can independently display the second fixed image separately from the composite image or the first fixed image.

[0027] The above management unit can display the second fixed image while maintaining the second overlapping area intact when the second fixed image is displayed independently.

[0028]

[0029] When a surveillance robot moving along a rail formed in the tunnel is provided, the acquisition unit can acquire a first moving image captured by the surveillance robot.

[0030] The above analysis unit can analyze the condition of the inner wall surface or facility of the tunnel included in the first moving image.

[0031] The above management unit can display the analysis results on a display or display an alarm, distinguishing them from normal situations, when the condition of the inner wall or the facility satisfies the set conditions.

[0032]

[0033] Surveillance robots, guidance robots and fire extinguishing robots may be provided to move along the above tunnel.

[0034] The above surveillance robot can photograph the accident site within the tunnel and generate a second moving image.

[0035] The above guide robot can provide information on the accident from a location a set distance away from the accident site.

[0036] The above fire extinguishing robot can spray fire extinguishing agent toward the fire that occurred at the accident site.

[0037] The commercial management unit can control the above surveillance robot, the above guidance robot, and the above fire extinguishing robot.

[0038]

[0039] Fixed cameras may be installed at set intervals within the tunnel.

[0040] The above analysis unit can analyze a fixed image captured by the above fixed camera.

[0041] The above analysis unit can detect the occurrence of a fire by analyzing fixed images captured from multiple fixed cameras.

[0042] The above management unit can move a fire extinguishing robot capable of extinguishing a fire to the location of a specific fixed camera that captured a specific fixed image in which the fire outbreak was detected.

[0043]

[0044] Fixed cameras may be installed at set intervals within the tunnel.

[0045] The above analysis unit can analyze a fixed image captured by the above fixed camera.

[0046] The above analysis unit can identify the occurrence of an accident by analyzing fixed images captured by multiple fixed cameras.

[0047] The above management unit can move the first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot to the location of a specific fixed camera that captured a specific fixed image in which the occurrence of the above accident was identified.

[0048] Rails may be formed in the above tunnel.

[0049] The first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot can move along the rail.

[0050] The above first guide robot can guide the occurrence of the above accident from the other side of the tunnel.

[0051] The above second guide robot can guide the occurrence of the above accident on one side of the tunnel.

[0052] The above surveillance robot can move to the location of the specific fixed camera and capture a second moving image including the accident scene.

[0053] The above digestive robot can first move to the location of the specific fixed camera.

[0054] The above management unit can control the fire extinguishing robot to spray fire extinguishing agent to extinguish the fire when a fire is detected through the second moving image captured by the surveillance robot that arrived at the location of the specific fixed camera before the fire extinguishing robot.

[0055]

[0056] The above first guide robot, the above surveillance robot, and the above second guide robot can move using the same rail.

[0057] The above management unit can park each robot on one side of the tunnel in the order of the first guide robot, the surveillance robot, and the second guide robot in a direction from the other side of the tunnel toward one side of the tunnel.

[0058] When the occurrence of an accident is identified by the analysis unit, the management unit can move the first guide robot, the surveillance robot, and the second guide robot to the accident location corresponding to the location of the specific fixed camera.

[0059] The above management unit can stop the first guide robot when the first guide robot passes the accident location and moves further to the other side of the tunnel by a first set distance.

[0060] The above management unit can stop the surveillance robot at the above accident location.

[0061] The above management unit can stop the second guide robot at a position where the second set distance remains until the accident location is reached.

[0062]

[0063] If a new accident occurs between the accident location and the other side of the tunnel before the accident at the above accident location is resolved, the management unit can move only the first guide robot toward the location where the new accident occurred while leaving the surveillance robot and the second guide robot at their current locations.

[0064] The above management unit can stop the first guide robot at a location spaced a first set distance away from the location where the new accident occurred toward the other side of the tunnel.

[0065] If a new accident occurs between the accident location and one side of the tunnel before the accident at the above accident location is resolved, the management unit can move only the second guide robot toward the location where the new accident occurred while leaving the surveillance robot and the first guide robot at their current locations.

[0066] The above management unit can stop the second guide robot at a location spaced a second setting distance from the location where the new accident occurred toward one side of the tunnel.

[0067]

[0068] When the above management unit determines that the accident at the above accident location has been resolved, it can move the surveillance robot and guide robot that were remaining based on the accident location to the location where the new accident occurred.

[0069]

[0070] The first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot can move using the same rail.

[0071] The above management unit can park each robot on one side of the tunnel in the order of the first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot in a direction from the other side of the tunnel toward one side of the tunnel.

[0072] When the occurrence of an accident is identified by the analysis unit, the management unit can move the first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot to the accident location corresponding to the location of the specific fixed camera.

[0073] The above first guide robot can pass the accident location, move further, and then stop to provide information on the accident.

[0074] The second guide robot can stop before reaching the accident location and provide information on the accident.

[0075] The above analysis unit can analyze the second moving image captured by the surveillance robot a third distance before the surveillance robot reaches the accident location.

[0076] The above analysis unit can identify the actual location corresponding to the exact location where the accident occurred through analysis of the second moving image.

[0077] The above analysis unit can determine the optimal spraying location of the fire extinguishing agent targeting the actual location when a fire is detected at the actual location.

[0078] When the above management unit detects an accident, it can also move the fire extinguishing robot placed between the above surveillance robot and the second guide robot toward the location of the accident, regardless of whether there is a fire.

[0079] When the optimal spraying location is identified due to a fire, the management unit can control the surveillance robot to pass through the optimal spraying location and move to the other side of the tunnel.

[0080] The above management unit can move the fire extinguishing robot to the optimal spraying position when the surveillance robot moves out of the optimal spraying position.

[0081] The above management unit can control the fire extinguishing robot to spray the fire extinguishing agent when the fire extinguishing robot reaches the optimal spraying position.

[0082]

[0083] A management method according to another embodiment of the present invention is provided.

[0084] The above management method may include an acquisition step of acquiring environmental information within a tunnel; an analysis step of analyzing the environmental information; and a management step of managing the tunnel based on the analysis results of the environmental information.

[0085] According to the management device of the present invention, an environment in which vehicles using roads within tunnels can operate safely can be provided. The management device can be installed on a management server that manages roads.

[0086] To ensure safe operation, the management device can check the condition of the tunnel itself or the condition of the road inside the tunnel.

[0087] Additionally, the management device can seamlessly monitor the operation information of vehicles running inside the tunnel.

[0088] Additionally, the management device may be equipped with means to promptly handle various accidents occurring within the tunnel. Furthermore, the management device may be equipped with additional means to prevent accidents occurring within the tunnel from spreading.

[0089] Accidents occurring within tunnels reach approximately 200 annually. These accidents carry a high risk of secondary collisions and have a high potential for major accidents. Maintenance of tunnel facilities is also inherently risky due to the high volume of vehicle traffic.

[0090] In the event of an accident within a tunnel, detailed monitoring of the accident situation and early fire suppression are essential. Furthermore, vehicle entry control, remote control of fire prevention facilities, and monitoring of emergency situations (such as sudden vehicle stops, reverse driving, pedestrians, and falling objects) are essential. Furthermore, a tunnel monitoring and initial response system is needed to detect early abnormalities in tunnel facilities (signs, lighting, ventilation systems, etc.).

[0091] A tunnel management system that includes a road can provide a system for managing the safe passage of vehicles and facilities within the tunnel. The management system can form a comprehensive control system that monitors vehicle operation within the tunnel, as well as road, structural, and facility conditions, and can provide initial response in the event of an accident.

[0092] According to the management device, a rail-type robot system can be provided.

[0093] Rail-type robots can move along rails installed on the side walls or ceilings of tunnels. Robots can be categorized into three types: surveillance robots, guidance robots, and fire-fighting robots.

[0094] Surveillance robots can move within tunnels during normal times, remotely monitoring facility conditions (smoke control equipment, lighting, signage, fire hydrants, etc.) and precisely monitoring structural conditions (cracks, leaks, contamination, etc.). Furthermore, in the event of an accident (vehicle breakdown, fire, falling objects, etc.), surveillance robots can precisely monitor the accident site and provide surveillance information to a control server or management device.

[0095] Guide robots can display warning messages restricting vehicle access to accident scenes in the event of an accident or other abnormality. Guide robots can be equipped with an electronic display board, broadcasting device, and alarm system that display warning messages.

[0096] A fire extinguishing robot is a robot for initial fire suppression in the event of a fire in a tunnel. It can automatically recognize the fire or flame source and perform fire extinguishing activities.

[0097] The management device can provide a continuous image display environment.

[0098] The management device can display video information of the entire section of the tunnel as a continuous panoramic video by installing fixed cameras at regular intervals within the tunnel to optimally monitor the driving conditions of vehicles within the tunnel.

[0099] The management device tracks and manages the vehicle traffic status in real time, and can automatically read the status of traffic volume, vehicle stops, lane changes, reverse driving, safe distance, speeding, pedestrians, and fallen objects.

[0100] The management device can use multiple fixed cameras to provide continuous video, such as a panoramic image, of the entire tunnel from entrance to exit. The manager receiving this continuous video can intuitively monitor the entire road area within the tunnel.

[0101] The management device can implement a digital twin system that projects tunnel information in three dimensions into a virtual reality world within a computer.

[0102] A management device can be provided that implements an environment in which information obtained through surveillance patrol by a surveillance robot moving along a rail and information obtained through a continuous image display system (using a fixed camera) are converted into data, the information is matched to a virtual reality 3D space, and the stored big data is managed using an artificial intelligence judgment algorithm.

[0103] Artificial intelligence algorithms that manage tunnels can be built to continuously provide intelligent management based on each situation by analyzing big data accumulated in digital twins.

[0104] The management device of the present invention utilizes fixed cameras and robotics to acquire environmental information within a tunnel. Using this environmental information, it can establish an environment capable of unmanned monitoring of tunnel facilities and vehicle safety. The management device can prevent accidents or their escalation through maintenance of tunnel facilities and rapid initial response in the event of an accident.

[0105] The management device can automatically detect various incidents using an analysis unit. This can reduce the workload of administrators involved in incident monitoring.

[0106] The management device can remotely monitor the status of tunnel equipment and tunnel facilities using a surveillance robot.

[0107] The management device can monitor the road conditions and vehicle operation status of the entire tunnel in real time and predict risk conditions, enabling accident prevention measures.

[0108] The management device can quickly identify accidents within the tunnel and provide an environment that can prevent secondary accidents through appropriate traffic guidance and initial response in case of fire.

[0109] During normal operation, the management device provides continuous, distortion-free panoramic video of the entire road section within the tunnel, enabling real-time tracking and management of vehicle traffic conditions. During this process, the device automatically analyzes conditions such as traffic volume, stopped vehicles, vehicle fires, lane changes, reverse driving, pedestrians, and fallen objects to analyze risk situations. The device can also store and manage individual vehicle operating conditions in a 3D map, digitizing them so that related systems can respond.

[0110] Additionally, surveillance robots can periodically patrol the tunnel and remotely monitor the status of facilities (smoke control equipment, lighting, signage, fire extinguisher status, etc.).

[0111] The management device can precisely monitor the structure status (cracks, leaks, contamination, etc.) using the first moving image captured by the surveillance robot, and can check and manage the status of the facility.

[0112] According to the present invention, when a broken vehicle is detected by a continuous video surveillance system (including a fixed camera) within a tunnel, a mobile surveillance robot can automatically be dispatched to the location of the broken vehicle.

[0113] Surveillance robots can transmit video information to enable precise observation of on-site conditions. Guide robots can be controlled to provide guidance or warnings to following vehicles of potential hazards ahead, preventing breakdowns and collisions.

[0114] If a vehicle fire is detected by the continuous video surveillance system within the tunnel, the surveillance robot and guidance robot can operate in the same manner as in the event of a vehicle breakdown. Additionally, firefighting robots can be deployed to extinguish the fire. These robots can be configured to wait at either end or the middle of the tunnel and deploy when a fire breaks out. The firefighting robots can utilize separate rails from the surveillance robots and guidance robots. If they utilize the same rails, the firefighting robots can be controlled to move together with the surveillance robots or guidance robots so as not to interfere with their movements.

[0115] The operational scenario of the management device can be summarized as follows, for example:

[0116] In the event of a vehicle fire, a fire alarm can be triggered when continuous video or a surveillance robot detects the fire. The fire zone can be identified on the digital twin, and guidance and firefighting robots can be dispatched. Firefighting robots can use their onboard sensors to identify the source of the fire and control their nozzles. The robots can automatically spray extinguishing fluid through the nozzles or activate it by pressing a button displayed on the management server.

[0117] In the event of a vehicle breakdown, an analysis unit that analyzes continuous video can recognize the vehicle breakdown and pinpoint the area where the breakdown occurred on a digital twin. A camera pop-up indicating the vehicle breakdown area can be displayed on the display, and a guide robot can be dispatched to the area. The guide robot can display guidance messages and make evacuation announcements via a management device. Firefighting robots can standby, and surveillance robots can be dispatched to the scene to obtain detailed information.

[0118] If a fallen object is detected on the road, an analysis unit that analyzes continuous video can recognize the object, identify the area where the object occurred on the digital twin, and display a camera menu for that area on the digital twin display. Guide robots and surveillance robots can be dispatched to the area, and firefighting robots can be placed on standby.

[0119] If a facility malfunction or anomaly is detected through analysis of images captured by a periodically operating surveillance robot, images captured by fixed cameras installed within the tunnel, or measurements from various sensors, a facility malfunction or anomaly alarm can be generated on the digital twin, and a surveillance robot can be dispatched to the affected area. Anomalies can include sudden temperature increases, sudden increases in humidity, or increases in the amount of a specific gas.

[0120] Analysis of continuous video footage can identify or detect various vehicle driving conditions (e.g., reverse driving, lane changes, speeding, illegal parking, stopping, failure to maintain a safe distance, black ice, etc.). The results can be displayed on a digital twin. Guide robots can be deployed as needed, displaying relevant guidance messages.

[0121] Surveillance robots photograph structures within the tunnel, and the images can be analyzed by an analysis unit. Using various image analysis techniques, the analysis unit can diagnose conditions such as water leaks, cracks, efflorescence, rebar corrosion, and delamination.

[0122] Fixed cameras may be installed at set intervals within the tunnel. The analysis unit may include a continuous imaging means for sequentially connecting fixed images captured by each fixed camera to create a single image. The continuous imaging means may sequentially connect a set number of fixed images, for example, four fixed images, to create a single composite image.

[0123] If a fixed camera films a 20m section along the length of the tunnel, a total of 20 fixed cameras can be installed at 20m intervals for a 400m tunnel.

[0124] The fixed images captured by each fixed camera can be provided as a continuous video stream via various wired and wireless communication methods. The continuous video stream can generate a long composite image by stitching the fixed images acquired from each fixed camera together according to their positions. Providing a 400-meter-long composite image would pose readability or visibility issues. Therefore, for the administrator's convenience, the continuous video stream can be configured to stitch a set number of fixed images, for example, four, to create a single composite image. A total of five composite images can be generated to cover a 400-meter-long tunnel.

[0125] Fixed images or synthetic images are analyzed by the analysis unit and can be used for object recognition such as vehicles, structures, falling objects, and recognition of preset regulations.

[0126] For tunnel management, surveillance robots that film the inside of the tunnel, guidance robots that display warning messages restricting vehicle access, and fire-fighting robots that spray fire extinguishing agents may be installed.

[0127] A surveillance robot can be controlled by a surveillance controller installed on a management server. The surveillance robot may be additionally equipped with a sensor that measures at least one of temperature, humidity, and carbon monoxide concentration. The measurement information and moving images captured by the surveillance robot can be acquired through the surveillance controller and provided to an analysis unit. Based on the analysis results of the analysis unit, the control unit generates a control signal or control information, and the control information can be provided to the surveillance controller. The surveillance controller can control the surveillance robot based on the control information. The surveillance controller can additionally acquire identification information and location information of the surveillance robot and use them for control purposes.

[0128] The guide robot can be controlled by a guide controller provided on the management server.

[0129] The guidance controller can control the guidance robot using the identification information and location information of the guidance robot, and can also control the guidance content.

[0130] The digestion robot can be controlled by a digestion controller provided on the management server.

[0131] The digestion controller can control the digestion robot using the identification information and location information of the digestion robot.

[0132] The management device can obtain information about each facility.

[0133] Facility information may include identification information, location information, inspection time or measurement time, and abnormality determination results of various facilities placed within the tunnel.

[0134] FIG. 1 is a block diagram showing a management device according to one embodiment of the present invention.

[0135] Figure 2 is a schematic diagram showing the installation state of a fixed camera according to one embodiment of the present invention.

[0136] Figure 3 is a schematic diagram showing a composite image generated by the analysis unit.

[0137] Figure 4 is a schematic diagram showing an image of a comparative example.

[0138] FIG. 5 is a schematic diagram showing a fixed image captured by a fixed camera according to one embodiment of the present invention.

[0139] Figure 6 is a schematic diagram showing a surveillance robot, a fire extinguishing robot, and a guidance robot deployed within a tunnel.

[0140] Figure 7 is a schematic diagram showing the movement status of each robot controlled by the management unit.

[0141] Figure 8 is a schematic diagram showing the data transmission and reception relationship of the management device.

[0142] Figure 9 is a schematic diagram showing the robot's operation in an environment where two rails are formed inside a tunnel.

[0143] Figure 10 is a flowchart illustrating a management method according to one embodiment of the present invention.

[0144] FIG. 11 is a drawing showing a computing device according to an embodiment of the present invention.

[0145] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention can be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description, and similar parts are designated with similar reference numerals throughout the specification.

[0146] In this specification, duplicate descriptions of identical components are omitted.

[0147] Additionally, when a component is referred to herein as being "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may be other components present in between. Conversely, when a component is referred to herein as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components present in between.

[0148] Additionally, the terms used herein are only used to describe specific embodiments and are not intended to limit the present invention (99).

[0149] Also, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0150] In addition, in this specification, it should be understood that terms such as “include” or “have” are intended to specify only the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0151] Also, in this specification, the term 'and / or' includes a combination of multiple listed items or any item among multiple listed items. In this specification, 'A or B' can include 'A', 'B', or 'both A and B'.

[0152] Additionally, in this specification, detailed descriptions of known functions and configurations that may obscure the gist of the present invention will be omitted.

[0153] FIG. 1 is a block diagram showing a management device (100) according to one embodiment of the present invention.

[0154] The management device (100) illustrated in FIG. 1 may include an acquisition unit (110), an analysis unit (130), and a management unit (150).

[0155] The acquisition unit (110) can acquire environmental information within the tunnel (90).

[0156] The analysis unit (130) can analyze environmental information.

[0157] The management unit (150) can manage the tunnel (90) based on the analysis results of environmental information.

[0158] As a result, the management device (100) can manage the tunnel (90) based on environmental information within the tunnel (90).

[0159] Environmental information within the tunnel (90) may include various types of information obtained within the tunnel (90).

[0160] Various sensors, including cameras, may be installed within the tunnel (90), and information acquired from these sensors may correspond to environmental information. The acquisition unit (110) may directly include a camera or sensor that generates environmental information. Alternatively, the acquisition unit (110) may include a communication module that communicates with the camera or sensor via wired or wireless communication. In this case, the acquisition unit (110) may receive environmental information from various sensors via the communication module.

[0161] The analysis unit (130) can analyze the environmental information acquired through the acquisition unit (110) and determine the meaning of the environmental information.

[0162] For example, if a flame is included in an image taken inside a tunnel (90), the analysis unit (130) can determine that a fire has occurred.

[0163] The management unit (150) can manage the tunnel (90) in a way that prevents various accidents based on the analysis results of the environmental information analyzed by the analysis unit (130).

[0164] At this time, tunnel (90) management may include displaying specific information through the administrator's terminal (157) or the display of the management server. For this purpose, the management unit (150) may be provided with an operation management unit (151) or a facility management unit (153).

[0165] The operation management unit (151) can display information on a vehicle (10) operating within a tunnel (90) and operation information or analysis results of operation information on a display of a management server, etc.

[0166] The facility management department (153) can display images taken of various facilities, such as the inner wall surface of a tunnel (90) or lighting (91), or the results of image analysis, on the display of the management server.

[0167] Alternatively, tunnel (90) management may include creating a digital twin that implements an environment matching the tunnel (90) in a three-dimensional virtual space using environmental information of the tunnel (90). For example, the digital twin may be created by the facility management unit (153), and information on a vehicle (10) currently in operation within the digital twin may be additionally created by the operation management unit (151).

[0168] Meanwhile, tunnel (90) management may include controlling robots operating within the tunnel (90). To this end, the management unit (150) may be provided with an accident management unit (155) that controls robots operating within the tunnel (90).

[0169] The accident management unit (155) can move the robot to the location of the accident when an accident occurs inside the tunnel (90) and perform the robot's own functions.

[0170] Fig. 2 is a schematic diagram showing the installation state of a fixed camera (108) according to one embodiment of the present invention. Fig. 3 is a schematic diagram showing a composite image generated by an analysis unit (130). Fig. 4 is a schematic diagram showing an image of a comparative example. Fig. 5 is a schematic diagram showing a fixed image captured by a fixed camera (108) according to one embodiment of the present invention.

[0171] The acquisition unit (110) may be equipped with a fixed camera (108). The fixed camera (108) may communicate with the management device (100) or management server via a wired line (107) in consideration of the characteristics of the tunnel space where wireless radio waves are difficult to transmit.

[0172] A fixed camera (108) is fixedly installed within a tunnel (90) and can capture images of a vehicle (10) driving on a road (99) within the tunnel (90). The fixed camera (108) does not move from a designated location within the tunnel (90), but it is possible for the fixed camera (108) itself to change its angle of view or optical axis.

[0173] The analysis unit (130) can analyze a fixed image captured by a fixed camera (108). At this time, the fixed image may mean an image captured by the fixed camera (108).

[0174] The analysis unit (130) can determine at least one of driving information, for example, the amount of vehicle (10) passing, objects falling from the vehicle (10), reverse driving of the vehicle (10), lane change of the vehicle (10), speeding of the vehicle (10), parking of the vehicle (10), stopping of the vehicle (10), and failure to secure a safe distance of the vehicle (10), through analysis of a fixed image.

[0175] The fixed image can be used as basic data for the operation management department (151).

[0176] The management unit (150) can display the detection results on a display or display an alarm, distinguishing them from normal situations. For example, a fallen object falling from a vehicle (10) can act as a factor causing an accident. Therefore, when the analysis unit (130) detects a fallen object, the management unit (150) can generate a warning message related to the fallen object. Alternatively, the management unit (150) can additionally generate a closed curve surrounding the fallen object and display it on the management server's display or the administrator's terminal (157).

[0177] A fixed camera (108) may be fixedly installed at set intervals within the tunnel (90). At this time, the fixed camera (108) may be installed so that its optical axis is parallel to the direction of gravity so that an intuitive image can be obtained by the administrator. Accordingly, a fixed image in a top-view manner, literally looking down from above, as shown in FIG. 3, can be obtained.

[0178] In order to fundamentally eliminate the so-called blind spot outside the field of view of the fixed camera (108), the angles of view of the fixed camera (108) may be arranged at overlapping intervals.

[0179] For example, a first fixed camera (108) and a second fixed camera (108) may be sequentially positioned along the extension direction of a road (99) within a tunnel (90). At this time, a fixed image captured by the first fixed camera (108) may be defined as a first fixed image. A fixed image captured by the second fixed camera (108) may be defined as a second fixed image.

[0180] The first fixed camera (108) and the second fixed camera (108) may be installed so that a portion of the edge of the first fixed image and a portion of the edge of the second fixed image overlap each other.

[0181] As a result, a part of the first fixed image captured by the first fixed camera (108) and a part of the second fixed image captured by the second fixed camera (108) may overlap with the same content.

[0182] When the analysis unit (130) synthesizes the first fixed image and the second fixed image to create a single composite image, overlapping content may cause various confusions for users recognizing the composite image. To prevent user confusion, it may be advantageous to exclude overlapping content.

[0183] For example, the area overlapping the second fixed image in the first fixed image is defined as the first overlapping area, and the area overlapping the first fixed image in the second fixed image is defined as the second overlapping area.

[0184] The analysis unit (130) can create a composite image by combining the portion of the second overlapping area excluded from the second fixed image with the first fixed image.

[0185] The management unit (150) can display a composite image as in FIG. 5, or can display the first fixed image and the second fixed image separately.

[0186] The first overlapping region not included in the composite image can be used for alignment of the first fixed image and the second fixed image.

[0187] The analysis unit (130) can correct the alignment state between the first fixed image and the second fixed image so that the common fixed images that exist in the first overlapping area and the second overlapping area completely overlap.

[0188] The management unit (150) can independently display the second fixed image, distinct from the composite image or the first fixed image. This can be determined by the manager's display menu selection.

[0189] The management unit (150) can display the second fixed image while maintaining the second overlapping area intact when the second fixed image is displayed independently.

[0190] When the first area A, the second area B, the third area C, and the fourth area D are distinguished within the tunnel (90), a fixed camera (108) that photographs each area can be provided.

[0191] By sequentially pasting fixed images captured by each fixed camera (108), a single composite image such as that shown in FIG. 5 can be formed.

[0192] A fixed image or composite image acquired through a fixed camera (108) can be formed in a top view manner.

[0193] In the comparative example, the shooting angle of a typical CCTV camera, i.e., the road (99) is shot obliquely. As a result, the image of the vehicle (10) included in the shooting images c1 and c2 contains a severe sense of perspective, which may result in a discontinuity that necessitates the use of additional information, such as vehicle type, to recognize a vehicle (10) approaching from an adjacent area.

[0194] In the case of Fig. 5, a vehicle (10) going back and forth between two images i1 and i2 that capture adjacent areas appears continuously in both images without perspective application, so intuitive tracking of a specific vehicle (10) is possible.

[0195] In addition, in the case of images in the top view format, errors due to perspective as well as the phenomenon of some vehicles (10) obscuring other vehicles (10) can be minimized. This can be helpful in diagnosing various accidents performed by the analysis unit (130) and can also be of great help to managers in intuitively understanding accidents.

[0196] Figure 6 is a schematic diagram showing a surveillance robot (103), a fire extinguishing robot (105), and a guidance robot placed within a tunnel (90). Figure 7 is a schematic diagram showing the movement status of each robot controlled by a management unit (150).

[0197] A surveillance robot (103) may be provided that moves along a rail (109) formed in a tunnel (90). Images captured by the surveillance robot (103) may be defined as moving images. The moving images may be divided into a first moving image acquired periodically and a second moving image acquired when an accident occurs. The first moving image may be utilized as basic data required for the operation of the facility management unit (153). The second moving image may be utilized as basic data required for the operation of the accident management unit (155).

[0198] The acquisition unit (110) can acquire the first moving image captured by the surveillance robot (103). The surveillance robot (103) can sense environmental information while periodically moving along the rail (109). For example, the first moving image may include the inner wall surface of the tunnel (90) or various facilities within the tunnel (90).

[0199] The analysis unit (130) can analyze the condition of the inner wall surface or facility of the tunnel (90) included in the first moving image.

[0200] The management unit (150) can display analysis results on a display or issue an alarm if the condition of an inner wall or facility satisfies set conditions, distinguishing the results from normal conditions. For example, if the length and width of a crack identified by the analysis unit (130) exceeds a set value, the management unit (150) can generate a warning message and display the warning message on the management server display.

[0201] A surveillance robot (103), a guide robot, and a fire extinguishing robot (105) that move along the tunnel (90) may be provided. At this time, the surveillance robot (103) can photograph the accident site within the tunnel (90) and generate a second moving image.

[0202] The guide robot can provide information on the accident from a location a set distance away from the accident site.

[0203] The fire extinguishing robot (105) can spray extinguishing agent toward the fire that occurred at the accident site.

[0204] The incident management unit (155) of the management unit (150) can control the surveillance robot (103), the guide robot, and the fire extinguishing robot (105). For example, when a surveillance controller (203) for controlling the surveillance robot (103), a guidance controller (201) for controlling the guide robot, and a fire extinguishing controller (205) for controlling the fire extinguishing robot (105) are provided, the incident management unit (155) can communicate with the surveillance controller (203), the guidance controller (201), and the fire extinguishing controller (205) and command or request each controller to control each robot.

[0205] Meanwhile, the initial situation of an accident can be captured by a fixed camera (108).

[0206] For example, fixed images captured by fixed cameras (108) installed at set intervals within a tunnel (90) can be analyzed in real time by an analysis unit (130).

[0207] The analysis unit (130) can detect fire occurrences by analyzing fixed images captured by multiple fixed cameras (108). The detection of fire occurrences or accidents can be performed using a machine-learned model (159). Of course, automatic detection can also be achieved using various image analysis techniques. The machine-learned model (159) can be installed in the analysis unit (130) or the management unit (150).

[0208] The management unit (150) can move a fire extinguishing robot (105) capable of extinguishing a fire to the location of a specific fixed camera (108) that has captured a specific fixed image where a fire has occurred. The fire extinguishing robot (105) that has moved to that location or has entered an area captured by the specific fixed camera (108) can identify the exact location of the fire through its own built-in camera or sensor and move to the identified location. From the final location to which it has moved, the fire extinguishing robot (105) can spray extinguishing agent toward the source of the fire.

[0209] Similar to determining the presence or absence of a fire, the analysis unit (130) can determine the occurrence of an accident through analysis of a fixed image.

[0210] The management unit (150) can move the first guide robot (101), the surveillance robot (103), the fire extinguishing robot (105), and the second guide robot (102) to the location of a specific fixed camera (108) that captured a specific fixed image where an accident has occurred.

[0211] In the tunnel (90), a rail (109) can be formed along the length of the tunnel (90).

[0212] The first guide robot (101), the surveillance robot (103), the fire extinguishing robot (105), and the second guide robot (102) can move along the rail (109). If two rails (109) are formed, the first guide robot (101), the surveillance robot (103), and the second guide robot (102) can use one rail (109) together, and the remaining rail (109) can be exclusively used by the fire extinguishing robot (105). If only one rail (109) exists, the first guide robot (101), the surveillance robot (103), the fire extinguishing robot (105), and the second guide robot (102) can all move together to the accident scene using a single rail (109).

[0213] The first guide robot (101) can guide an accident occurring on the other side of the tunnel (90), and the second guide robot (102) can guide an accident occurring on one side of the tunnel (90).

[0214] The surveillance robot (103) can move to the location of a specific fixed camera (108) and capture a second moving image including the accident scene.

[0215] The digestive robot (105) can first move to the location of a specific fixed camera (108).

[0216] The fixed camera (108) can be spaced apart from the rail (109) in the width direction or height direction of the tunnel (90) by the rail (109). Therefore, it is noted that each robot moving along the rail (109) has no possibility of colliding with the fixed camera (108). Each robot moving along the rail (109) can communicate with the analysis unit (130) or the management unit (150) using a communication line provided on the rail (109), or can communicate with the analysis unit (130) or the management unit (150) using the conductive rail (109) itself.

[0217] When a fire is detected through a second moving image captured by a surveillance robot (103) that arrives at the location of a specific fixed camera (108) before the fire extinguishing robot (105), the management unit (150) can control the fire extinguishing robot (105) to spray a fire extinguishing agent to extinguish the fire.

[0218] The first guide robot (101), the surveillance robot (103), and the second guide robot (102) can move using the same rail (109).

[0219] Normally, the management unit (150) can park each robot on one side of the tunnel (90) in the order of the first guide robot (101), the surveillance robot (103) and the second guide robot (102) in the direction from the other side of the tunnel (90) to one side of the tunnel (90).

[0220] When an accident is identified by the analysis unit (130), the management unit (150) can move the first guide robot (101), the surveillance robot (103), and the second guide robot (102) to the accident location x1 corresponding to the location of a specific fixed camera (108).

[0221] The management unit (150) can stop the first guide robot (101) when the first guide robot (101) passes the accident location x1 and moves further to the other side of the tunnel (90) by a first set distance d. The first set distance d can be determined within the range of the entire length of the tunnel (90).

[0222] As a result, the first guide robot (101) is positioned within the section from the accident location x1 to the other end of the tunnel (90), and can inform a vehicle (10) driving from the other end of the tunnel (90) toward the accident location x1 of the fact that an accident has occurred ahead.

[0223] The management unit (150) can stop the surveillance robot (103) at the accident location x1.

[0224] The management unit (150) can stop the second guide robot (102) at a position where the second set distance remains until the accident location is reached. The second set distance may be equal to the first set distance d. Alternatively, the second set distance may be determined independently of the first set distance within the range of the entire length of the tunnel (90).

[0225] As a result, the second guide robot (102) is positioned within the section from the accident location x1 to one end of the tunnel (90), and can inform a vehicle (10) driving from one side of the tunnel (90) toward the accident location x1 of the fact that an accident has occurred ahead.

[0226] If a new accident occurs between accident location x1 and the other side of the tunnel (90) before the accident at accident location x1 is resolved, the management unit (150) can move only the first guide robot (101) toward the location where the new accident occurred while leaving the surveillance robot (103) and the second guide robot (102) at their current locations.

[0227] The management unit (150) can stop the first guide robot (101) at a location spaced apart from the location where the new accident occurred by a first set distance d toward the other side of the tunnel (90).

[0228] If a new accident occurs between the accident location and one side of the tunnel (90) before the accident at the accident location is resolved, the management unit (150) can move only the second guide robot (102) toward the location x2 where the new accident occurred while leaving the surveillance robot (103) and the first guide robot (101) at their current locations.

[0229] The management unit (150) can stop the second guide robot (102) at a position spaced apart by a second setting d toward one side of the tunnel (90) from the position x2 where the new accident occurred.

[0230] According to this embodiment, if a new accident occurs at a location an additional distance k away from the existing accident location x1, the guide robot can also move an additional distance k. This prevents a situation where the following vehicle (10) does not receive guidance on the location x2 where the new accident occurred, and allows the following vehicle (10) to check a warning message through the guide robot before reaching the various locations where the accident occurred.

[0231] Meanwhile, if the management unit (150) determines that the accident at accident location x1 has been resolved, the surveillance robot (103) and the guide robot that were remaining based on accident location x1 can be moved based on the location where the new accident occurred.

[0232] Meanwhile, the number of rails (109) that can be used by the first guide robot (101), the second guide robot (102), the surveillance robot (103), and the fire extinguishing robot (105) within the tunnel (90) may be very limited due to issues such as space utilization.

[0233] For example, a first guide robot (101), a surveillance robot (103), a fire extinguishing robot (105), and a second guide robot (102) can all move using the same single rail (109). In this case, the issue of physical interference between each robot needs to be considered.

[0234] The management unit (150) can park each robot on one side of the tunnel (90) in the order of the first guide robot (101), the surveillance robot (103), the fire extinguishing robot (105), and the second guide robot (102) along the direction from the other side of the tunnel (90) toward one side of the tunnel (90).

[0235] When an accident is identified by the analysis unit (130), the management unit (150) can move the first guide robot (101), the surveillance robot (103), the fire extinguishing robot (105), and the second guide robot (102) toward the accident location corresponding to the location of a specific fixed camera (108).

[0236] The first guide robot (101) can pass the accident location, move further, and then stop to provide guidance on the accident. The guidance target at this time may include a vehicle (10) driving from the other side of the tunnel (90) toward the accident location x1.

[0237] The second guidance robot (102) can stop before reaching the accident location and provide guidance on the accident. The guidance target at this time may include a vehicle (10) driving from one side of the tunnel (90) toward the accident location x1.

[0238] The analysis unit (130) can analyze the second moving image captured by the surveillance robot (103) from a distance three before the surveillance robot (103) reaches the accident location x1.

[0239] The analysis unit (130) can identify the actual location corresponding to the exact location where the accident occurred through analysis of the second moving image.

[0240] The analysis unit (130) can determine the optimal spraying location of the extinguishing agent targeting the actual location when a fire is detected at the actual location.

[0241] When an accident is identified, the management unit (150) can also move the fire extinguishing robot (105) placed between the surveillance robot (103) and the second guide robot (102) toward the location of the accident, regardless of whether there is a fire.

[0242] When the optimal spraying location is identified due to a fire, the management unit (150) can control the surveillance robot (103) to pass through the optimal spraying location and move to the other side of the tunnel (90). Accordingly, the fire extinguishing robot (105) can be prevented from colliding with the surveillance robot (103) while moving toward the optimal spraying location.

[0243] The management unit (150) can move the fire extinguishing robot (105) to the optimal spraying position when the surveillance robot (103) deviates from the optimal spraying position.

[0244] The management unit (150) can control the fire extinguishing robot (105) to spray the fire extinguishing agent when the fire extinguishing robot (105) reaches the optimal spraying position.

[0245] Figure 8 is a schematic diagram showing the data transmission and reception relationship of the management device (100).

[0246] A fixed image captured by a fixed camera (108) is transmitted to a continuous image means (131) of an analysis unit (130), and the continuous image means (131) can synthesize a plurality of fixed images to create a single continuous composite image.

[0247] The surveillance robot (103) can communicate with the surveillance controller (203), and the guide robot can communicate with the guide controller (201). The fire extinguishing robot (105) can communicate with the fire extinguishing controller (205).

[0248] The management unit (150) may be provided with a generation unit (158) that generates a digital twin, and a display unit (156) that displays the digital twin of the tunnel (90) generated by the generation unit (158). The display unit (156) may include a display provided on the management server, etc.

[0249] The analysis unit (130) may be provided with an analysis unit (132) that collects information related to each robot along with information from various sensors, and collects and analyzes synthetic images from a continuous image means (131). The analysis results of the analysis unit (132) may enable the identification of various accident occurrences through a machine-learned model (159). The identification results of the model (159) may be displayed through a display unit (156) or a separate administrator terminal (157).

[0250] Figure 9 is a schematic diagram showing the robot's operation in an environment where two rails (109) are formed inside a tunnel (90).

[0251] When two separate rails (109) are formed, two guide robots can be placed together on one rail (109) with a surveillance robot (103) between them. A fire extinguishing robot (105) can be placed alone on the other rail (109). In this case, the fire extinguishing robot (105) can freely move back and forth in the tunnel (90) and perform processes such as replenishing fire extinguishing fluid.

[0252] Figure 10 is a flowchart illustrating a management method according to one embodiment of the present invention.

[0253] The management method of FIG. 10 can be performed by the management device (100) of FIG. 1.

[0254] The management method may include an acquisition step (S 510), an analysis step (S 520), and a management step (S 530).

[0255] The acquisition step (S 510) can acquire environmental information within a tunnel (90). The acquisition step (S 510) can be performed by an acquisition unit (110).

[0256] The analysis step (S 520) can analyze environmental information. The analysis step (S 520) can be performed by the analysis unit (130).

[0257] The management step (S 530) can manage the tunnel (90) based on the analysis results of environmental information. The management step (S 530) can be performed by the management unit (150).

[0258] FIG. 11 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device (TN100) of FIG. 11 may be a device described herein (e.g., a management device (100), etc.).

[0259] In the embodiment of FIG. 11, the computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). In addition, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), and the like. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0260] The processor (TN110) can execute program commands stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor in which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement procedures, functions, methods, etc. described in relation to embodiments of the present invention. The processor (TN110) may control each component of the computing device (TN100).

[0261] The memory (TN130) and the storage device (TN140) can each store various information related to the operation of the processor (TN110). The memory (TN130) and the storage device (TN140) can each be configured with at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) can be configured with at least one of a read-only memory (ROM) and a random access memory (RAM).

[0262] The transceiver (TN120) can transmit or receive wired or wireless signals. The transceiver (TN120) can be connected to a network to perform communication.

[0263] Meanwhile, the embodiments of the present invention are not implemented only through the devices and / or methods described so far, but may also be implemented through a program that realizes a function corresponding to the configuration of the embodiments of the present invention or a recording medium on which the program is recorded, and such implementation can be easily implemented by a person skilled in the art to which the present invention pertains based on the description of the embodiments described above.

[0264] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

Claims

1. An acquisition unit that acquires environmental information within the tunnel; An analysis unit that analyzes the above environmental information; A management unit that manages the tunnel based on the analysis results of the above environmental information; A management device including:

2. In paragraph 1, A fixed camera is provided that is fixedly installed within the tunnel and photographs vehicles driving on the road within the tunnel. The above analysis unit analyzes a fixed image captured by the above fixed camera, The above analysis unit determines at least one of the following through analysis of the fixed image: the number of vehicles passing, objects falling from the vehicle, reverse driving of the vehicle, lane change of the vehicle, speeding of the vehicle, parking of the vehicle, stopping of the vehicle, and failure to secure a safe distance of the vehicle. The above management unit is a management device that displays the results of the analysis on a display or displays an alarm, distinguishing them from general situations.

3. In paragraph 1, Fixed cameras are installed at set intervals within the above tunnel, The fixed camera is installed so that the optical axis of the fixed camera is parallel to the direction of gravity, When a first fixed camera and a second fixed camera are sequentially arranged along the extension direction of the road within the tunnel, and a fixed image captured by the first fixed camera is defined as a first fixed image, and a fixed image captured by the second fixed camera is defined as a second fixed image, A management device in which the first fixed camera and the second fixed camera are installed so that a portion of an edge of the first fixed image and a portion of an edge of the second fixed image overlap each other.

4. In paragraph 3, The above analysis unit synthesizes the first fixed image and the second fixed image to create one composite image, When defining the area overlapping the second fixed image in the first fixed image as the first overlapping area, and defining the area overlapping the first fixed image in the second fixed image as the second overlapping area, The above analysis unit generates the composite image by combining the portion of the second fixed image from which the second overlapping area is excluded with the first fixed image, The above management unit is a management device that displays the composite image or displays the first fixed image and the second fixed image separately.

5. In paragraph 4, The first overlapping region not included in the above composite image is used for alignment of the first fixed image and the second fixed image, The above analysis unit is a management device that corrects the alignment state between the first fixed image and the second fixed image so that the common fixed images that exist in the first overlapping area and the second overlapping area completely overlap.

6. In paragraph 4, The above management unit independently displays the second fixed image separately from the composite image or the first fixed image, The above management unit is a management device that displays the second fixed image while maintaining the second overlapping area intact when the second fixed image is displayed independently.

7. In paragraph 1, When a surveillance robot is provided that moves along the rail formed in the above tunnel, The above acquisition unit acquires the first moving image captured by the above surveillance robot, The above analysis unit analyzes the condition of the inner wall surface or facility of the tunnel included in the first moving image, The above management unit is a management device that displays the analysis results on a display or displays an alarm, distinguishing them from general situations, when the state of the inner wall surface or the facility satisfies the set conditions.

8. In paragraph 1, Surveillance robots, guide robots and fire extinguishing robots are provided to move along the above tunnel. The above surveillance robot photographs the accident site within the tunnel and creates a second moving image, The above guide robot provides information on the accident from a location set distance away from the accident site. The above fire extinguishing robot sprays fire extinguishing agent toward the fire that occurred at the above accident site. The commercial management unit is a management device that controls the above-mentioned surveillance robot, the above-mentioned guidance robot, and the above-mentioned fire extinguishing robot.

9. In paragraph 1 Fixed cameras are installed at set intervals within the above tunnel, The above analysis unit analyzes a fixed image captured by the above fixed camera, The above analysis unit identifies the occurrence of a fire by analyzing fixed images captured from multiple fixed cameras. The above management unit is a management device that moves a fire extinguishing robot capable of extinguishing a fire to the location of a specific fixed camera that captured a specific fixed image in which the above fire occurrence was detected.

10. In paragraph 1 Fixed cameras are installed at set intervals within the above tunnel, The above analysis unit analyzes a fixed image captured by the above fixed camera, The above analysis unit identifies the occurrence of an accident by analyzing fixed images captured from multiple fixed cameras. The above management unit moves the first guide robot, the surveillance robot, the fire extinguishing robot and the second guide robot to the location of a specific fixed camera that captured a specific fixed image where the above accident occurrence was identified. Rails are formed in the above tunnel, The above first guide robot, the above surveillance robot, the above digestion robot and the above second guide robot move along the rail, The above first guide robot guides the occurrence of the above accident from the other side of the tunnel, The above second guide robot guides the occurrence of the above accident on one side of the tunnel, The above surveillance robot moves to the location of the specific fixed camera and captures a second moving image containing the accident scene, The above digestive robot first moves to the location of the specific fixed camera, The above management unit is a management device that controls the fire extinguishing robot to spray fire extinguishing agent to extinguish the fire when a fire is detected through the second moving image captured by the surveillance robot that arrived at the location of the specific fixed camera before the fire extinguishing robot.

11. In paragraph 10, The above first guide robot, the above surveillance robot and the above second guide robot move using the same rail, The above management unit parks each robot on one side of the tunnel in the order of the first guide robot, the surveillance robot, and the second guide robot along the direction from the other side of the tunnel to one side of the tunnel. When the occurrence of an accident is detected by the analysis unit, the management unit moves the first guide robot, the surveillance robot, and the second guide robot to the accident location corresponding to the location of the specific fixed camera. The above management unit stops the first guide robot when the first guide robot passes the accident location and moves further to the other side of the tunnel by the first set distance. The above management unit stops the surveillance robot at the above accident location, The above management unit is a management device that stops the second guide robot at a position where the second set distance remains until the above accident location is reached.

12. In paragraph 11, If a new accident occurs between the accident location and the other side of the tunnel before the accident at the above accident location is resolved, the management unit moves only the first guide robot toward the location where the new accident occurred while leaving the surveillance robot and the second guide robot in their current locations. The above management unit stops the first guide robot at a location a first set distance away from the location where the new accident occurred toward the other side of the tunnel, If a new accident occurs between the accident location and one side of the tunnel before the accident at the above accident location is resolved, the management unit leaves the surveillance robot and the first guide robot in their current locations and moves only the second guide robot toward the location where the new accident occurred. The above management unit is a management device that stops the second guide robot at a location spaced apart by a second setting amount toward one side of the tunnel from the location where a new accident occurred.

13. In paragraph 12, The above management unit is a management device that moves the surveillance robot and guide robot that were remaining based on the above accident location to the location where a new accident occurred when it is determined that the accident at the above accident location has been resolved.

14. In paragraph 10, The above first guide robot, the above surveillance robot, the above digestion robot and the above second guide robot move using the same rail, The above management unit parks each robot on one side of the tunnel in the order of the first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot along the direction from the other side of the tunnel to one side of the tunnel. When the occurrence of an accident is detected by the analysis unit, the management unit moves the first guide robot, the surveillance robot, the fire extinguishing robot, and the second guide robot to the accident location corresponding to the location of the specific fixed camera. The above first guide robot passes the above accident location, moves further, then stops and provides information on the accident. The above second guide robot stops before reaching the accident location and provides information on the accident. The above analysis unit analyzes the second moving image captured by the surveillance robot a third distance before the surveillance robot reaches the accident location, The above analysis unit identifies the actual location corresponding to the exact location where the accident occurred through analysis of the second moving image, The above analysis unit determines the optimal spraying location of the extinguishing agent targeting the actual location when a fire is detected at the actual location. When the above management unit detects an accident, it also moves the fire extinguishing robot placed between the above surveillance robot and the second guide robot toward the location of the accident, regardless of whether there is a fire. When the optimal spraying location is identified due to a fire, the management unit controls the surveillance robot to pass through the optimal spraying location and move to the other side of the tunnel. The above management unit moves the fire extinguishing robot to the optimal spraying position when the surveillance robot deviates from the optimal spraying position. The above management unit is a management device that controls the fire extinguishing robot to spray the fire extinguishing agent when the fire extinguishing robot reaches the optimal spraying position.

15. In a management method performed by a management device, An acquisition step for acquiring environmental information within a tunnel; An analysis step for analyzing the above environmental information; A management step for managing the tunnel based on the analysis results of the above environmental information; A management method comprising:

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