KR102635887B1 - Waterfront park surveillance system and method using autonomous mobile robot - Google Patents

Abstract

A system and method for monitoring Dunchi Park using an autonomous robot are disclosed. Perform autonomous driving in Dunchi Park to detect abnormal motions or abnormal phenomena. If abnormal motions or abnormal phenomena are detected, perform an automatic report, generate and transmit a drone call signal, and call the robot when a robot call signal is received. A self-driving robot that autonomously drives and moves to the corresponding robot call point according to a signal, and when a control area signal is received, autonomously drives and moves to the relevant control area and controls the control area; An automatic report performed by the self-driving robot is received and transmitted to a fire department terminal or police station terminal, the robot call signal is transmitted to the self-driving robot, the drone call signal is received and transmitted from the self-driving robot, and the hot air balloon -Dunchi Park surveillance server that generates the control area signal based on the view image and transmits it to the autonomous driving robot; A drone that receives a drone call signal from the Dunchi Park surveillance server and performs autonomous flight to the corresponding drone call point; A mobile terminal that generates the robot call signal and transmits it to the Dunchi Park monitoring server; Construct a hot air balloon that generates the hot air balloon-view image and uploads it to the Dunchi Park monitoring server.

Description

Wandering park surveillance system and method using an autonomous robot {WATERFRONT PARK SURVEILLANCE SYSTEM AND METHOD USING AUTONOMOUS MOBILE ROBOT}

The present invention relates to a tunnel park monitoring system and method, and more specifically, to a field park surveillance system and method using an autonomous robot.

Because CCTV cameras cannot be installed in riverside berm parks due to berm flooding, etc., there is the problem of being easily exposed to various accidents and crimes.

There is no choice but for patrol personnel to patrol directly to prevent accidents or crimes.

However, there are limitations to the patrol personnel's ability to patrol, and there is the problem of not being able to confirm accidents or crimes in real time or leave objective evidence.

Because accidents and crimes are exposed 24 hours a day, a means to efficiently patrol and monitor accidents and crimes 24 hours a day is needed.

Public Patent Publication 10-2019-0048059 Registered Patent Publication 10-2447369

The purpose of the present invention is to provide a park surveillance system using an autonomous robot.

Another object of the present invention is to provide a method for monitoring a veranda park using an autonomous robot.

The Dunchi park surveillance system using a self-driving robot according to the object of the present invention described above includes an autonomous driving robot that performs autonomous driving in the Dunchi park and detects abnormal motions or abnormal phenomena; It may be configured to include a park monitoring server that determines and monitors whether abnormal motion or abnormal phenomenon is detected in the self-driving robot.

At this time, the Dunchi Park monitoring server may be configured to automatically report to a fire department terminal or police station terminal when abnormal operation or abnormal phenomenon is detected as a result of determining whether abnormal operation or abnormal phenomenon is detected in the self-driving robot.

The method for monitoring a hillside park using a self-driving robot according to another object of the present invention described above includes the steps of having a self-driving robot perform autonomous driving in a hillside park; A step in which the self-driving robot detects an abnormal motion or abnormal phenomenon in Dunchi Park; The Dunchi Park monitoring server may be configured to include the step of determining and monitoring whether abnormal motion or abnormal phenomenon is detected in the self-driving robot.

Here, when abnormal operation or abnormal phenomenon is detected as a result of determining whether abnormal operation or abnormal phenomenon is detected in the self-driving robot, the Dunchi Park monitoring server is configured to further include the step of automatically reporting to the fire department terminal or police station terminal. It can be.

According to the above-described Dunchi Park surveillance system and method using an autonomous robot, it is configured to detect and monitor abnormal movements or abnormal phenomena while autonomously driving through Dunchi Park using an autonomous robot, thereby preventing accidents in Dunchi Park where CCTV cannot be installed. It is effective in monitoring and preventing crimes in real time.

The self-driving robot is configured to store an emergency kit and a defibrillator, detect when the emergency kit storage box and a defibrillator storage box are opened, and output a voice guidance for use of the emergency kit and a defibrillator when opened, so that anyone can use it in an emergency situation. It is effective in providing emergency treatment using an emergency kit and a cardioverter-defibrillator.

And if the place where abnormal behavior or abnormal phenomenon occurred is a place where the autonomous robot cannot go or is too far away, the drone is configured to call and guide it to the abnormal point, so that emergency measures are automatically taken even in places where the autonomous robot cannot go. There is an effect that can be done.

In addition, when an abnormal phenomenon or abnormal motion is detected in the image, it is configured to automatically adjust the focus to the relevant object and automatically measure the distance to the relevant object, which has the effect of calculating the exact location of the abnormal point.

And when anyone calls the robot using a mobile terminal in Dunchi Park, the self-driving robot is configured to autonomously drive to the robot call point, provide an emergency kit or a defibrillator, and record video, so that it can respond to urgent calls in the event of an emergency. It has the effect of being able to respond immediately.

In addition, by generating a hot-air balloon-view image from a hot air balloon, the river overflow or water level is accurately detected and a control area is automatically set, and an autonomous robot is configured to drive to the control area and control access to the control area, thereby reducing the public's safety. It has the effect of preventing accidents caused by entering and exiting the park.

Figure 1 is a schematic diagram of the operation of a park surveillance system using a self-driving robot according to the present invention.
Figure 2 is a block diagram of a park surveillance system using a self-driving robot according to an embodiment of the present invention.
Figure 3 is a flowchart of a method for monitoring a berm park using a self-driving robot according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and detailed descriptions will be given for carrying out the invention. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a schematic diagram of the operation of a park surveillance system using a self-driving robot according to the present invention.

Referring to FIG. 1, the self-driving robot 100 is configured to monitor abnormal actions or abnormal phenomena such as falls, floods, jumping, and bicycle accidents while autonomously driving in Dunchi Park, and transmits images or detections to the Dunchi Park monitoring server. (200), it can be configured to not only monitor this in real time at the Dunchi Park surveillance center, but also immediately report it to the fire department terminal 10 or the police station terminal 20.

Figure 2 is a block diagram of a park surveillance system using a self-driving robot according to an embodiment of the present invention.

Referring to FIG. 2, the Dunchi park surveillance system using a self-driving robot according to an embodiment of the present invention includes an autonomous driving robot 100, a Dunchi park monitoring server 200, a drone 300, a mobile terminal 400, It may be configured to include a hot air balloon 500.

Hereinafter, the detailed configuration will be described.

The self-driving robot 100 performs autonomous driving in Dunchi Park to detect abnormal motions or abnormal phenomena, and when abnormal motions or abnormal phenomena are detected, performs an automatic report and generates a drone call signal to Dunchi Park surveillance server ( 200).

When the self-driving robot 100 receives a robot call signal, it autonomously drives and moves to the robot call point according to the robot call signal, and when it receives a control area signal from the Dunchi Park surveillance server 200, it autonomously moves to the control area. It can be configured to drive and move and control the corresponding control area.

The self-driving robot 100 includes a radar sensor 101, an ultrasonic sensor 102, an infrared sensor 103, a multiple complementary metal-oxide semiconductor (CMOS) camera 104, and a position measurement module ( 105), SLAM (simultaneous localization and mapping) module 106, Dunchi Park map storage module 107, autonomous driving module 108, Dunchi Park entire map linking module 109, video storage module 110, real-time video Analysis module 111, abnormal motion learning module 112, abnormal motion recognition module 113, abnormal phenomenon learning module 114, abnormal phenomenon recognition module 115, image object marker module 116, azimuth measurement module ( 117), laser distance measurement module (118), automatic focus adjustment module (119), abnormal point location calculation module (120), abnormal operation/phenomenon automatic reporting module (121), abnormal point driving control module (122), drone call Module 123, robot call signal reception module 124, robot call point search module 125, robot call point travel control module 126, control area signal reception module 127, control area travel control module 128 , access control output module (129), emergency kit storage box (130), emergency kit storage box open sensor (131), cardioverter defibrillator storage box (132), cardioverter defibrillator storage box open sensor (133), first aid guidance output module (134) ) may be configured to include.

Hereinafter, the detailed configuration will be described.

Radar sensor 101 may be configured to perform radar detection in the berm park.

The ultrasonic sensor 102 may be configured to perform ultrasonic sensing in the berm park.

The infrared sensor 103 may be configured to generate infrared images in the park.

The multiple CMOS cameras 104 are linked to the shooting direction of the infrared sensor 103 and can be configured to generate CMOS images in the berm park.

The position measurement module 105 may be configured to measure the robot position in real time using a GPS signal and a Dunchi Park map of Dunchi Park.

The SLAM module 106 may be configured to generate and update a map of Dunchi Park in real time using the robot position measured in real time by the position measurement module 105.

The Dunchi Park map storage module 107 may be configured to store the Dunchi Park map that is created and updated in real time in the SLAM module 106.

The autonomous driving module 108 may be configured to perform autonomous driving within Dunchi Park using the Dunchi Park map stored in the Dunchi Park map storage module 107.

The Dunchi Park entire map linking module 109 uploads the Dunchi Park map stored in the Dunchi Park map storage module 107 to the Dunchi Park monitoring server 200, and links it with the entire Dunchi Park map of the Dunchi Park monitoring server 200. Can be configured to synchronize.

The image storage module 110 may be configured to store a CMOS image generated by the multiple CMOS camera 104 and an infrared image generated by the infrared sensor 103.

The real-time image analysis module 111 may be configured to analyze the CMOS image and the infrared image stored in the image storage module 110 in real time.

The abnormal motion learning module 112 may be configured to learn abnormal motions in real time based on the real-time analysis results of the real-time image analysis module 111.

The abnormal behavior recognition module 113 may be configured to recognize abnormal behavior in real time based on the real-time learning results of the abnormal behavior learning module 112. Here, abnormal movements may include fainting, fainting, falling, jumping, falling into water, fighting, bicycle accidents, etc.

The anomaly learning module 114 may be configured to learn anomalies in real time using the real-time analysis results of the real-time image analysis module 111.

The anomaly recognition module 115 may be configured to recognize an anomaly in real time based on the real-time learning results of the anomaly learning module 114. Here, abnormal phenomena may include road collapse, falling trees, flooding, tent installation in a tent installation prohibited area, fire, etc.

The image object marking module 116 may be configured to mark an abnormal motion recognized by the abnormal motion recognition module 113 or an object of an abnormal phenomenon recognized by the abnormal phenomenon recognition module 114 in the CMOS image and the infrared image. Here, objects may include people, trees, tents, bicycles, etc.

The azimuth measurement module 117 may be configured to measure the azimuth angles of the multiple CMOS cameras 104 and the infrared sensor 103 in real time.

The laser distance measurement module 118 may be configured to measure the distance toward an object of abnormal motion or phenomenon marked in the image object marking module 116 in real time using a laser. In other words, the distance to the object of abnormal motion or abnormal phenomenon can be precisely measured.

The auto-focusing module 119 may be configured to automatically adjust the focus of the multiple CMOS cameras 104 and the infrared sensor 103 according to the distance measured in real time by the laser distance measurement module 118. The auto-focusing module 119 can accurately enlarge and capture an object in a cmos image or infrared image through hyperfocus adjustment.

When an abnormal motion is recognized in the abnormal motion recognition module 113 or an abnormal phenomenon is recognized in the abnormal phenomenon recognition module 115, the abnormal point location calculation module 120 calculates the robot position measured in real time by the position measurement module 105. As a reference, it may be configured to calculate the location of the abnormal point in real time using the distance measured in real time by the laser distance measurement module 118 and the azimuth angle measured in real time by the azimuth measurement module 117.

Here, the location of the abnormal point can be determined by specifying the azimuth and distance based on the robot position.

The abnormal operation/phenomenon automatic reporting module 121 reports the abnormal operation recognized by the abnormal operation recognition module 113 or the abnormal phenomenon recognized by the abnormal phenomenon recognition module 115 into a corresponding position calculated in real time by the abnormal point location calculation module 120. It can be configured to perform automatic reporting by adding the location of an abnormal point.

The abnormal point driving control module 122 may be configured to control the autonomous driving module 108 to perform autonomous driving to the corresponding abnormal point location calculated in real time by the abnormal point location calculation module 120.

The drone call module 123 generates a drone call signal for the autonomous driving module 108 to call the drone 300 to the abnormal point location calculated in real time by the abnormal point location calculation module 120, and the Dunchi Park surveillance server ( 200).

The robot call signal receiving module 124 may be configured to receive a robot call signal from the Dunchi Park monitoring server 200. Here, the robot call signal is a call signal from the mobile terminal 400, and can be viewed as a signal requesting help at Dunchi Park.

The robot call point search module 125 refers to the Dunchi park map stored in the Dunchi park map storage module 107 and transmits it from the robot call signal receiving module 124 based on the robot position measured in real time by the position measurement module 105. It can be configured to search in real time the robot call point according to the received robot call signal.

The robot call point travel control module 126 may be configured to control the self-driving robot 100 to perform autonomous driving to the robot call point searched in real time in the bot call point search module.

The control area signal receiving module 127 may be configured to receive a control area signal from the Dunchi Park monitoring server 200. Here, the control area signal may include information about the control area set based on the hot air balloon-view map of the hot air balloon 500. The control area may be, for example, an area where Dunchi Park and the roads within Dunchi Park are submerged due to overflow of a river or lake, or it may be an area where a road caves in or a fire occurs.

The control area driving control module 128 may be configured to control the autonomous driving robot 100 to perform autonomous driving in the control area according to the control area signal received from the control area signal receiving module 127.

The access control output module 129 may be configured to output an access control guidance voice for the restricted area in real time when arriving at the controlled area under the control of the controlled area driving control module 128. That is, the access control output module 129 can output a voice guidance telling people not to enter Dunchi Park but go outside from Dunchi Park, and can guide the entrance/exit direction.

The emergency kit storage box 130 may be configured to store the emergency kit (1).

The emergency kit storage box open sensor 131 may be configured to detect the opening of the door of the emergency kit storage box 130.

The cardioverter-defibrillator storage box 132 may be configured to accommodate the cardioverter-defibrillator (2).

The cardiac defibrillator storage box open sensor 133 may be configured to detect the opening of the door of the cardiac defibrillator storage box 132.

The first aid guidance output module 134 is recognized by the abnormal motion recognition module 113 when a door opening is detected by the emergency kit storage box open sensor 131 or a door opening is detected by the defibrillator storage box open sensor 133. It may be configured to output, in real time, a first aid guidance voice corresponding to an abnormal operation or abnormal phenomenon recognized by the abnormal phenomenon recognition module 115.

The Dunchi Park surveillance server 200 receives an automatic report made by the self-driving robot 100 and transmits it to the fire department terminal 10 or the police station terminal 920, and transmits the robot call signal to the self-driving robot 100. , It may be configured to receive and transmit a drone call signal from the self-driving robot 100, and generate a control area signal based on the hot air balloon-view image and transmit it to the self-driving robot 100.

The Dunchi Park monitoring server 200 monitors abnormal phenomena or abnormal operations in Dunchi Park, and this can be confirmed in real time at the Dunchi Park surveillance center.

The Dunchi Park surveillance server (200) includes a Dunchi Park map database (201), a report reception/delivery module (202), a drone call signal transmission module (203), a robot call signal transmission module (204), and a hot air balloon-view map update module ( 205), a hot air balloon-view map database 206, a water level change confirmation module 207, and a control area remote setting module 208.

Hereinafter, the detailed configuration will be described.

The Dunchi Park map database 201 may be configured to store the Dunchi Park map uploaded by the Dunchi Park entire map linking module 109.

The report reception/delivery module 202 may be configured to receive an automatic report performed by the abnormal operation/phenomenon automatic reporting module 121 and transmit it to the fire department terminal 10 or the police station terminal 20 in real time.

The drone call signal transmission module 203 may be configured to receive a drone call signal from the drone call module 123 and transmit it to the drone 300 in real time.

The robot call signal transmission module 204 may be configured to receive a robot call signal and transmit it to the robot call signal reception module 203.

The hot air balloon-view map update module 205 may be configured to receive a hot air balloon-view image uploaded from the hot air balloon 500 and synchronize and update the hot air balloon-view map.

The hot air balloon-view map database 206 may be configured to store hot air balloon-view maps.

The water level change confirmation module 207 may be configured to check the change history of the hot air balloon-view map stored in the hot air balloon-view map database 206 in real time to check the water level change of the corresponding berm park map in real time. Since you can check by looking down from a hot air balloon, you can accurately check if there is flooding due to a change in water level.

The control area remote setting module 208 automatically sets the control area according to the water level change confirmed in real time in the water level change confirmation module 207, generates the corresponding control area signal, and transmits it to the control area signal reception module 127. It can be configured.

The drone 300 may be configured to receive a drone call signal from the Dunchi Park surveillance server 200 and perform autonomous flight to the corresponding drone call point.

The drone 300 may be configured to include a drone driving module 301 based on a drone call signal.

Here, the drone call signal-based drone driving module 301 may be configured to receive a drone call signal from the drone call module 123 and drive autonomously to fly to an abnormal point location according to the received drone call signal.

The drone 300 can drop the emergency kit 3 and the defibrillator 4 at the drone call point.

The mobile terminal 400 may be configured to generate a robot call signal and transmit it to the Dunchi Park monitoring server 200.

The mobile terminal 400 may be configured to include a terminal GPS module 401 and a robot call module 402.

Hereinafter, the detailed configuration will be described.

The terminal GPS module 401 may be configured to measure the terminal location in real time using a GPS signal.

The robot call module 402 generates a robot call signal using the terminal location measured in real time by the terminal GPS module 401, and transmits the generated robot call signal to the robot call signal transmission module 203. .

The hot air balloon 500 may be configured to generate a hot air balloon-view image and upload it to the Dunchi Park monitoring server 200.

The hot air balloon 500 may be configured to include a hot air balloon camera module 501 and a hot air balloon-view image upload module 502.

Hereinafter, the detailed configuration will be described.

The hot air balloon camera module 501 may be configured to generate a hot air balloon view image of Dungeon Park.

The hot air balloon-view image upload module 502 may be configured to upload the hot air balloon-view image generated by the hot air balloon camera module 501 to the hot air balloon-view map update module 204.

Figure 3 is a flowchart of a method for monitoring a berm park using a self-driving robot according to an embodiment of the present invention.

Referring to FIG. 3, the self-driving robot 100 performs autonomous driving in Dunchi Park (S101).

Next, the self-driving robot 100 detects abnormal motion or abnormal phenomenon in Dunchi Park (S102).

Next, the Dunchi Park monitoring server 200 determines and monitors whether an abnormal motion or abnormal phenomenon is detected in the self-driving robot 100 (S103).

Next, as a result of determining whether an abnormal operation or abnormal phenomenon is detected in the self-driving robot 100, if an abnormal operation or abnormal phenomenon is detected, the Dunchi Park surveillance server 200 sends the fire station terminal 10 or the police station terminal 20 to the autonomous driving robot 100. Perform automatic reporting (S104).

Although the description has been made with reference to the above examples, those skilled in the art can understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. There will be.

100: Self-driving robot
101: radar sensor
102: ultrasonic sensor
103: Infrared sensor
104: Multiple CMOS cameras
105: Position measurement module
106: SLAM module
107: Dunchi Park map storage module
108: Autonomous driving module
109: Dunchi Park entire map link module
110: Video storage module
111: Real-time video analysis module
112: Abnormal operation learning module
113: Abnormal operation recognition module
114: Anomaly learning module
115: Anomaly recognition module
116: Video object marker module
117: Azimuth measurement module
118: Laser distance measurement module
119: Autofocus module
120: Abnormal point location calculation module
121: Abnormal operation/phenomenon automatic reporting module
122: Abnormal point driving control module
123: Drone calling module
124: Robot call signal reception module
125: Robot call point search module
126: Robot call point travel control module
127: Control area signal reception module
128: Control area driving control module
129: Access control output module
130: Emergency kit storage box
131: Emergency kit storage box open sensor
132: Cardiac defibrillator storage box
133: Defibrillator storage box open sensor
134: First aid guidance output module
200: Dunchi Park Surveillance Server
201: Dunchi Park Map Database
202: Report reception/delivery module
203: Drone call signal transmission module
204: Robot call signal transmission module
205: Hot air balloon-view map update module
206: Hot air balloon-view map database
207: Water level change confirmation module
208: Control area remote configuration module
300: Drone
301: Drone driving module based on drone call signal
400: mobile terminal
401: Terminal GPS module
402: Robot call module
500: hot air balloon
501: Hot air balloon camera module
502: Hot air balloon-view image upload module

Claims (4)

A self-driving robot that performs autonomous driving in a park and detects abnormal behavior or anomalies;
Dunchi Park surveillance server that determines and monitors whether abnormal motion or abnormal phenomenon is detected in the self-driving robot;
It includes a mobile terminal that generates a robot call signal and transmits it to the Dunchi Park surveillance server,
The self-driving robot,
A radar sensor that performs radar detection in the berm park;
An ultrasonic sensor that performs ultrasonic detection in the berm park;
an infrared sensor configured to generate infrared imagery in the berm park;
Multiple CMOS cameras, coupled with an infrared imaging direction, configured to generate CMOS images in the berm park;
A position measurement module that measures the robot's position in real time using GPS signals and Dunchi Park's map of Dunchi Park;
A SLAM module configured to generate and update a map of Dunchi Park in real time using the robot position measured in real time by the position measurement module;
Dunchi Park map storage module that stores the Dunchi Park map generated and updated in real time in the SLAM module;
an autonomous driving module configured to perform autonomous driving within Dunchi Park using the Dunchi Park map stored in the Dunchi Park map storage module;
An entire Dunchi park map linking module configured to upload the Dunchi park map stored in the Dunchi park map storage module to the Dunchi park monitoring server and synchronize with the entire Dunchi park map of the Dunchi park monitoring server;
an image storage module configured to store a CMOS image generated by the multi-CMOS camera and an infrared image generated by the infrared sensor;
a real-time image analysis module configured to analyze the CMOS image and infrared image stored in the image storage module in real time;
an abnormal motion learning module configured to learn abnormal motions in real time based on real-time analysis results of the real-time video analysis module;
an abnormal motion recognition module that recognizes abnormal behavior in real time based on real-time learning results of the abnormal behavior learning module;
an anomaly learning module configured to learn anomalies in real time using real-time analysis results of the real-time image analysis module;
an anomaly recognition module that recognizes an anomaly in real time based on real-time learning results of the anomaly learning module;
an image object labeling module configured to mark an abnormal operation recognized by the abnormal operation recognition module or an object of an abnormal phenomenon recognized by the abnormal phenomenon recognition module on a CMOS image and an infrared image;
An azimuth measurement module that measures azimuths of the multiple CMOS cameras and infrared sensors in real time;
a laser distance measurement module that measures the distance toward an object of abnormal motion or abnormal phenomenon marked in the video object marking module in real time using a laser;
an automatic focus control module that automatically adjusts the focus of the multiple CMOS cameras and infrared sensors according to the distance measured in real time by the laser distance measurement module;
When an abnormal motion is recognized by the abnormal motion recognition module or an abnormal phenomenon is recognized by the abnormal motion recognition module, the distance and the azimuth measured in real time by the laser distance measurement module are based on the robot position measured in real time by the position measurement module. An abnormal point location calculation module that calculates the abnormal point location in real time using the azimuth measured in real time by the measurement module;
An abnormal operation/phenomenon automatic reporting module that automatically reports the abnormal operation recognized by the abnormal operation recognition module or the abnormal phenomenon recognized by the abnormal phenomenon recognition module by adding the location of the abnormal point calculated in real time by the abnormal point location calculation module;
An anomaly point driving control module that controls the autonomous driving module to perform autonomous driving to the anomaly point location calculated in real time by the anomaly point location calculation module;
A robot call signal reception module that receives a robot call signal from the Dunchi Park monitoring server;
A robot call that searches in real time for a robot call point according to the robot call signal received from the robot call signal reception module based on the robot position measured in real time by the position measurement module with reference to the Dunchi park map stored in the Dunchi park map storage module. Branch search module;
a robot call point travel control module that controls the self-driving robot to perform autonomous driving to a robot call point searched in real time by the robot call point search module;
An emergency kid compartment configured to store an emergency kit;
An emergency kit storage box open sensor that detects the door of the emergency kit storage box being opened;
A defibrillator storage box configured to store a cardiac defibrillator;
A defibrillator storage box open sensor that detects the door of the cardiac defibrillator storage box being opened;
When a door opening is detected by the emergency kit storage box open sensor or a door opening is detected by the cardioverter-defibrillator storage box open sensor, the abnormal behavior recognized by the abnormal motion recognition module or the abnormal phenomenon recognized by the abnormal phenomenon recognition module is responded to. Includes a first aid guidance output module that outputs first aid guidance voices in real time,
The Dunchi Park monitoring server is,
Dunchi Park map database in which Dunchi Park maps uploaded by the Dunchi Park entire map linking module are stored;
A report reception/delivery module that receives the automatic report performed by the abnormal operation/phenomenon automatic reporting module and delivers it to a fire department terminal or police station terminal in real time to make an automatic report;
A robot call signal transmission module that receives a robot call signal from the mobile terminal and transmits it to the robot call signal reception module. Dunchi park surveillance system using an autonomous robot, comprising a.
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