KR102482971B1 - System for assistance emergency vehicle traffic using autonomous flying drones - Google Patents

Abstract

The present invention relates to a passage assistance system for an emergency vehicle using an autonomous drone, which photographs vehicles on the road while the drone flies ahead of the emergency vehicle, determines a lane for the emergency vehicle to drive, and transmits lane change request information. By outputting, there is an effect of minimizing a situation in which the emergency vehicle decelerates or stops.

Description

System for assistance emergency vehicle traffic using autonomous flying drones}

The present invention is a system for assisting the passage of an emergency vehicle, and more particularly, assists the passage of an emergency vehicle using an autonomous flying drone.

Emergency vehicles, such as ambulances and fire trucks, have a tremendous impact on human life and property damage due to the time required to arrive at their destination.

Recently, the awareness of vehicle drivers has begun to improve, and the speed at which emergency vehicles avoid the traffic lane is getting faster than before. There is a problem that the speed of clearing the lane is slow.

Due to the above problems, the emergency vehicle has to repeatedly decelerate while driving, and each time this is repeated, the time to arrive at the destination is gradually delayed.

In addition, in the case of a vehicle that fails to check the rearview mirror, it cannot clear the lane until the emergency vehicle approaches, resulting in a situation in which the emergency vehicle stops.

Accordingly, there is a need for a technology for requesting lane yielding from vehicle drivers so that an emergency vehicle can move to a destination without decelerating or stopping, but such a technology has not been disclosed at present.

Republic of Korea Patent Publication No. 10-2020-0057505, (2020.05.26)

In order to solve the above problems, the present invention intends to determine the lane in which the emergency vehicle will travel by photographing the vehicles on the road while the first drone flies ahead of the emergency vehicle.

In addition, the present invention is intended to output information requesting clearing of the lane in which the emergency vehicle will travel through the display device of the first drone, so that cars on the road clear the corresponding lane before the emergency vehicle arrives.

In addition, the present invention intends to recognize vehicles that do not respond to the lane change request of the first drone as a second drone, and to individually request a lane change by moving in front of the corresponding vehicle.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, a traffic assistance system for an emergency vehicle using an autonomous flying drone according to an embodiment of the present invention, when an emergency dispatch signal is received, the first drone that flies ahead of the emergency vehicle on a driving route The first drone includes: a first photographing unit for photographing the front and bottom of the first drone; a first communication unit communicating with the drone operation device; a first display unit including at least one display device; and a first processor controlling autonomous flight of the first drone based on an image captured by the first capture unit, wherein the drone operation device determines a specific location based on vehicle arrangement in a road image captured by the first capture unit. A lane change request for determining a lane through which the emergency vehicle will pass, transmitting a control signal so that the first drone hovers at a specific point in the specific lane, and requesting vehicles on the road to vacate the specific lane and a control unit outputting a signal through the first display unit.

In addition, the drone further includes a second drone, and the second drone includes: a second photographing unit that photographs the front and bottom of the second drone; a second communication unit communicating with the first drone; a second display unit including at least one display device; and controlling the second drone to fly in the road area between the first drone and the emergency vehicle based on the image captured by the second camera unit, and recognizing the vehicle staying in the specific lane after the lane change request signal of the first drone. and a second processor for allowing a second drone to move in front of the recognized vehicle and outputting a lane change request signal to a second display unit.

In addition, the drone operating apparatus determines whether a corresponding vehicle exists in the specific lane even after a predetermined time has elapsed or a predetermined number of requests have been exceeded after the second drone outputs the lane change request signal to the second display unit. 2 It is characterized in that the drone stores the image taken of the vehicle in memory.

In addition, the drone operation device sets an area between traffic lights in the driving route of the emergency vehicle as one section, and allows the first drone to fly at least one section ahead of the emergency vehicle in the driving route of the emergency vehicle. characterized by control.

In addition, the drone operation device analyzes the video taken by the second drone and, when there is no vehicle in the specific lane in the area between the first drone and the emergency vehicle, traffic control with the first drone through the second communication unit. It is characterized by transmitting a completion signal to control the first drone to move to the next section.

In addition, when the emergency vehicle performs an emergency rescue activity at a specific point on the road, the drone operating device may cause the first drone to hover at a location away from the specific point by a predetermined distance, and locate the lane where the emergency vehicle is located. It is characterized in that a lane change request signal for avoiding passage is output through the first display unit.

In addition to this, another method for implementing the present invention, another system, and a computer readable recording medium recording a computer program for executing the method may be further provided.

According to the present invention as described above, by determining the lane in which the emergency vehicle will travel by photographing vehicles on the road while the first drone flies ahead of the emergency vehicle, the lane in which vehicles on the road can easily change lanes has the effect of selecting

In addition, according to the present invention, by outputting information requesting the emergency vehicle to clear the lane through the display device of the first drone, so that cars on the road clear the corresponding lane before the emergency vehicle arrives, We want to minimize the situation where the vehicle decelerates or stops.

In addition, according to the present invention, vehicles that do not respond to the lane change request of the first drone are recognized as the second drone, and the second drone moves in front of the corresponding vehicle to individually request a lane change, so that the emergency vehicle decelerates or We want to avoid a standstill situation.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a block diagram of a passage assistance system for an emergency vehicle using an autonomous flying drone according to an embodiment of the present invention.
2 is a block diagram illustrating a first drone and a second drone according to an embodiment of the present invention.
3 is a diagram illustrating that an emergency vehicle starts an emergency dispatch and the first drone starts to fly.
4 and 5 are views illustrating vehicle A changing lanes according to the display of the lane change request signal of the first drone.
6 is a diagram illustrating that a second drone moves and requests a lane change to a vehicle B that has not responded to the lane change request signal of the first drone.
7 is a diagram illustrating that vehicle B changes lanes in response to a lane change request signal from a second drone.
FIG. 8 is a diagram illustrating that the emergency vehicle moves without deceleration as the traffic lane of the emergency vehicle is emptied according to the lane change request signals of the first drone and the second drone.
9 is a diagram illustrating an emergency rescue activity starting at a specific point on a road and the first drone displaying a lane change request signal at a certain distance from the corresponding point.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, and “and/or” includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first element mentioned below may also be the second element within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the description, the meaning of the terms used in this specification will be briefly described. However, it should be noted that the description of terms is intended to help the understanding of the present specification, and is not used in the sense of limiting the technical spirit of the present invention unless explicitly described as limiting the present invention.

In an embodiment of the present invention, an emergency vehicle may be any vehicle that travels on a road for the purpose of an emergency, such as an ambulance, a fire engine, or a police vehicle.

1 is a block diagram of a passage assistance system 10 of an emergency vehicle 50 using an autonomous drone according to an embodiment of the present invention.

2 is a block diagram illustrating the first drone 100 and the second drone 200 according to an embodiment of the present invention.

3 to 9 are various exemplary views for explaining the passage assistance system 10 of the emergency vehicle 50 using an autonomous flying drone according to an embodiment of the present invention.

A passage assistance system 10 for an emergency vehicle 50 using an autonomous flying drone according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9 .

Referring to FIG. 1 , the passage assistance system 10 of an emergency vehicle 50 using an autonomous flying drone according to an embodiment of the present invention includes a first drone 100, a second drone 200, and a drone operating device 300. ).

The drone operation device 300 may be applied with a computer, information processing means, and the like, and described as being provided in the emergency vehicle 50 in the embodiment of the present invention, but is not limited thereto and may be implemented as a server.

In this case, the drone operation server may manage identification numbers (vehicle numbers) of all emergency vehicles 50 using the service and monitor the location, current situation, dispatch destination, current location, and the like.

The drone operation device 300 includes a control unit 310, a communication unit 320, a memory 330, an output unit 340, and an input unit 350.

Referring to FIG. 2 , the first drone 100 includes a first processor 110, a first communication unit 120, a first display unit 130, a first capturing unit 140, and a first audio output unit 150. ) and a first memory 160, and the second drone 200 includes a second processor 210, a second communication unit 220, a second display unit 230, a second photographing unit 240, 2 includes an audio output unit 250 and a second memory 260.

However, in some embodiments, the drone operation device 300 may include fewer or more components than the components shown in FIG. 1, and similarly, the first drone 100 and the second drone ( 200) may include fewer or more components than those shown in FIG. 2 .

The controller 310 of the drone operating device 300 controls all components within the drone operating device 300, and performs control according to an algorithm stored in the memory 330 or controls input through the input unit 350. A control signal may be generated according to the request signal.

For example, when an emergency occurrence signal is input from a person on board or a server in the emergency vehicle 50, the emergency dispatch mode of the emergency vehicle 50 is started and the first drone 100 and the second drone 200 can be dispatched from the emergency vehicle 50 to fly.

In addition, the control unit 310 of the drone operation device 300 may output images captured by the first drone 100 and the second drone 200 through the output unit 340, and the emergency vehicle 50 The person on board can check the video taken by the drone through the output unit 340 and check whether there is a vehicle that does not change lanes.

In addition, the drone is equipped with a voice output means and may output a preset voice and a warning message, but may amplify and output a voice input by a person in the emergency vehicle 50 through the input unit 350.

When the emergency dispatch signal of the emergency vehicle 50 is received, the first drone 100 flies ahead of the emergency vehicle 50 on a driving path.

The first photographing unit 140 photographs the front and bottom of the first drone 100, and more specifically, the first photographing unit 140 photographs the front of the first drone 100 (a first photographing device) 143) and a second photographing device 147 for photographing the lower part of the first drone 100.

In an embodiment of the present invention, the photographing unit can be applied to any device capable of capturing an image that can be recognized and analyzed by a computer, such as a camera and lidar.

The first display unit 130 and the second display unit 230 include at least one display device.

In an embodiment of the present invention, the first display unit 130 and the second display unit 230 are provided so that the first drone 100 can check the lane change request signal from drivers of vehicles in various directions, such as at an intersection. It may be composed of a plurality of display devices.

For example, the first display unit 130 and the second display unit 230 may be composed of four display devices so that drivers of vehicles in four directions can check the lane change request signal.

However, the number of display devices is not necessarily limited to a plurality, and the number of display devices can be easily selected by the practitioner of the present invention.

The first processor 110 controls autonomous flight of the first drone 100 based on an image captured by the first capture unit 140 .

In addition, the first processor 110 may control autonomous flight using commands and algorithms stored in the first memory 160 .

The first memory 160 may store at least a portion of captured images captured through the first capture unit 140 of the first drone 100, and when data is transmitted to the outside through the first communication unit 120 It can be used as a buffer to prevent data loss.

The first audio output unit 150 specifically refers to a speaker, and under the control of the processor 110, sounds, warning sounds, voices, etc. stored in the first memory 160 may be output, and in addition, the drone operation device Sound input and received in 300 may be output.

Therefore, in an embodiment of the present invention, outputting a lane change request signal by a drone may include outputting a sound through an audio output unit in addition to outputting a video/image through a display unit.

The drone operation device 300 receives the captured image of the first drone 100 through the communication unit 320, and assigns a specific lane to an emergency vehicle (emergency vehicle) based on vehicle arrangement in the road image captured from the first capturing unit 140. 50) is determined as the lane to pass.

This means that since the first drone 100 is flying and filming ahead of the emergency vehicle 50, the captured image is analyzed to determine a lane through which the emergency vehicle 50 can pass quickly among several lanes. .

In other words, it means analyzing the distribution and arrangement of vehicles on the road and determining which lanes can be vacated by vehicles on the road quickly changing lanes.

For example, as a result of analyzing the video captured by the first drone 100, the controller 310 determines that it is difficult for vehicles to change lanes because an accident occurs at a specific point, and the emergency vehicle is moved to another lane except for the corresponding lane. (50) can decide the lane to pass.

Through this configuration, the emergency vehicle 50 acquires information about an easy-to-pass lane in advance, and exhibits an effect of quickly changing lanes and moving.

In addition, the controller 310 transmits a control signal to the first drone 100 so that the first drone 100 hovers at a specific point in a specific lane, and requests vehicles on the road to empty the corresponding lane. The lane change request signal is controlled to be output through the first display unit 130 .

In the embodiment of the present invention, the first drone 100 does not necessarily hover and issue a lane change request signal, and may reduce flight speed so that vehicle drivers can check the lane change request signal.

As an embodiment, the control unit 310 may select a position (point) at which the first drone 100 outputs a lane change request signal and hovers by analyzing the captured image of the first drone 100 .

In detail, the control unit 310 analyzes the video taken by the first drone 100 to determine the locations of vehicles on the road, determines the lane through which the emergency vehicle 50 will pass based on this, and determines the location of vehicles on the road. A hovering point of the first drone 100 may be determined as a location where drivers can easily identify the first drone 100 .

FIG. 3 is a diagram illustrating that the first drone 100 starts to fly as the emergency vehicle 50 starts emergency dispatch.

Referring to FIG. 3, the first drone 100 starts emergency dispatch and flight, determines the first lane on the left as a lane for the emergency vehicle 50 to pass through, hovers at a specific location and sends a lane change request signal. are outputting

At this time, the lane change request signal may correspond to a text requesting a lane change, an image, a video, or the like, or may correspond to an arrow requesting to vacate a specific lane.

Accordingly, as shown in the drawing, an arrow image requesting the lane to be cleared may be output through the first display unit 130 together with the phrase “please open the road.”

When outputting the lane change request signal, the first drone 100 is not limited to outputting one phrase, and may alternately output various phrases or languages.

As an embodiment, when the first display unit 130 is composed of a plurality of display devices, the first drone 100 may determine which of the plurality of display devices to output the lane change request signal to.

In this case, when the first processor 110 determines the display device for outputting the lane change request signal, it may be determined by referring to the arrangement of vehicles in the captured image of the first photographing unit.

4 and 5 are diagrams illustrating that vehicle A changes lanes according to the output of the lane change request signal from the first drone 100.

Referring to FIGS. 4 and 5 , it is exemplified that vehicle A checks the lane change request signal of the first drone 100 and changes the lane.

Preferably, the control unit 310 sets an area between traffic lights within the travel route of the emergency vehicle 50 as one section.

In addition, the controller 310 controls the first drone 100 to fly at least one section ahead of the emergency vehicle 50 in the driving route of the emergency vehicle 50 .

In this case, the controller 310 may determine how many sections the first drone 100 will fly ahead of by considering the distance between traffic lights in the driving route of the emergency vehicle 50 .

6 is a diagram illustrating that the second drone 200 moves and requests a lane change to a vehicle B that does not respond to the lane change request signal of the first drone 100.

7 is a diagram illustrating that vehicle B changes lanes in response to a lane change request signal from the second drone 200.

8 is a diagram illustrating that the traffic lane of the emergency vehicle 50 is emptied according to the lane change request signals of the first drone 100 and the second drone 200 and the emergency vehicle 50 moves without deceleration.

The second drone 200 flies in an area between the emergency vehicle 50 and the first drone 100 .

The second photographing unit 240 photographs the front and bottom of the second drone 200, and more specifically, the second photographing unit 240 photographs the front of the second drone 200. 243) and a fourth photographing device 247 for photographing the lower part of the second drone 200.

The second processor 210 controls the second drone 200 to fly in the area between the first drone 100 and the emergency vehicle 50 based on the image captured by the second capture unit 240 .

In addition, the second processor 210 may control autonomous flight using commands and algorithms stored in the second memory 260 .

The second memory 260 may store at least a portion of captured images captured through the second capture unit 240 of the second drone 200, and when data is transmitted to the outside through the second communication unit 220 It can be used as a buffer to prevent data loss.

The second audio output unit 250 specifically refers to a speaker, and under the control of the second processor 210, sounds, warning sounds, voices, etc. stored in the second memory 260 can be output, and in addition, drones Sound input and received by the operation device 300 may be output.

After the lane change request signal of the first drone 100, the second processor 210 recognizes a vehicle staying in the corresponding lane, controls the second drone 200 to move in front of the recognized vehicle, and 2 A lane change request signal is output through the display unit 230 .

Referring to FIGS. 5 and 6 , the first drone 100 outputs a lane change request signal so that vehicle A changes lanes, but vehicle B still travels in the corresponding lane.

Accordingly, as shown in FIG. 6 , the second drone 200 moves in front of vehicle B and outputs a lane change request signal.

If the first drone 100 outputs a lane change request signal to all vehicles on the road, the second drone 200 recognizes vehicles that do not respond to the lane change request signal of the first drone 100. It plays the role of individually outputting the lane change request signal.

In some embodiments, the controller 310 or the second processor 210 may analyze the captured images of the second drone 200 and sequentially provide a warning to the driver of the vehicle that did not respond to the lane change request.

For example, if the controller 310 or the second processor 210 primarily outputs a lane change request signal through the second display unit 230 and does not change the lane thereafter, the second audio output unit A warning may be provided by gradually increasing the volume of the warning sound through step 250, and a light source having a predetermined amount of light may be thirdly turned on.

As an embodiment, the controller 310 or the second processor 210 determines that the vehicle changes lane after the second drone 200 moves in front of a vehicle that has not changed its lane and outputs a lane change request signal. If not, a video taken by the second drone 200 may be analyzed and a warning may be sequentially provided when the driver of the vehicle does not look at the second drone 200 .

As an embodiment, after the second drone 200 moves in front of a vehicle that has not changed its lane, the controller 310 or the second processor 210 controls the vehicle of the corresponding vehicle through the second output unit 340. number can be printed.

In addition, the control unit 310 or the second processor 210 determines that if the vehicle does not change lanes even after providing the above-mentioned warnings to the vehicle, or if it does not cooperate with the lane change, fines may be imposed or legal action may be taken. A warning may be provided.

Next, the controller 310 or the second processor 210 stores a photographed image of the vehicle in a memory (330 or 260) when the vehicle exists in a specific lane even after the preset number of warnings or the preset time has elapsed. ) to record.

8 illustrates that all vehicles in the corresponding lane changed lanes through the first drone 100 and the second drone 200, and thus the emergency vehicle 50 passes unobstructed by the vehicles.

In an embodiment of the present invention, the drone operating device 300 may acquire GPS information of the first drone 100 and the second drone 200 in real time.

As an embodiment, the drone operation device 300 may be interlocked with the road guidance electronic signboard system 10, and outputs a lane change request signal through the first drone 100 and the second drone 200, as well as the road By requesting information output to the information display board system 10, a lane change request signal can be output to traffic lights and electronic signboards installed on the road.

In addition, in the above-described embodiment, controlling the first drone 100 to fly at least one section ahead of the emergency vehicle 50 in the driving route of the emergency vehicle 50 has been described.

As an embodiment, the control unit 310 analyzes the captured image of the second drone 200 and analyzes a specific lane in an area between the first drone 100 and the emergency vehicle 50 (where the emergency vehicle 50 passes). If there is no vehicle in the lane), a traffic control completion signal may be transmitted to the first drone 100 through the second communication unit 220 to request (control) the first drone 100 to move to the next section. .

This means that the lane change request signal is output in the first section through the first drone 100 and the second drone 200, and when it is determined that all vehicles have changed lanes, the lane change request signal is no longer output in the first section. Since there is no need to do this, it means that the first drone 100 is controlled to move to the second section, which is the next section of the first section.

Through this configuration, the first drone 100 and the second drone 200 always fly ahead of the emergency vehicle 50 and can clear traffic.

FIG. 9 is a diagram illustrating that an emergency rescue activity starts at a specific point on a road and the first drone 100 displays a lane change request signal at a certain distance from the corresponding point.

3 to 8, securing a lane when the emergency vehicle 50 passes through the road has been described. 9 illustrates a case in which an emergency occurs at a specific point on the road.

In one embodiment, the controller 310 may, when the emergency vehicle 50 performs an emergency rescue activity at a specific point on the road, the first drone 100 hovers at a location separated by a predetermined distance from the specific point and the emergency vehicle A lane change request signal for passing the vehicle avoiding the lane in which 50 is located may be output through the first display unit 130 .

For example, it can be applied to any emergency situation that occurs on the road, such as when an emergency vehicle treats a patient at the location of an accident or when a police car or fire truck takes care of an accident site.

The passage assistance system for an emergency vehicle using an autonomous drone according to an embodiment of the present invention described above uses the first drone 100, the second drone 200, and the drone operation device 300.

However, it is not limited thereto and may be operated using the first drone 100 and the second drone 200 without including the drone operation device 300 as a configuration.

In this case, what is performed by the controller 310 of the drone operating device 300 can be performed by the first processor 110 in the first drone 100 or the second processor 210 in the second drone 200. there is.

In detail, the first processor 110 of the first drone 100 determines a specific lane as a lane for the emergency vehicle to pass based on the vehicle arrangement in the road image captured by the first photographing unit 140, and 1 The drone 100 may be controlled to hover at a specific point in a specific lane, and a lane change request signal requesting a vehicle on the road to vacate a specific lane may be output through the display unit.

In addition, the second processor 210 of the second drone 200 recognizes a vehicle staying in a specific lane after the lane change request signal of the first drone 100, and the second drone 200 is in front of the recognized vehicle. It can control the flight to move to and output a lane change request signal.

In addition, the second processor 210 may determine if the vehicle exists in a specific lane even after a predetermined time or a predetermined number of requests has been exceeded after the second drone 200 outputs the lane change request signal. The captured image may be stored in the second memory 260 .

The first processor 110 may control the first drone 100 to fly at least one section ahead of the emergency vehicle in the driving route of the emergency vehicle.

The second processor 210 analyzes the captured image of the second photographing unit 240, and when there is no vehicle in a specific lane in the area between the first drone 100 and the emergency vehicle, the second communication unit 220 A traffic control completion signal may be transmitted to the first drone 100 through , and the first drone 100 may be requested to move to the next section.

In addition, when implemented in this way, the first drone 100 and the second drone 200 may communicate with each other at preset times to share location information and analysis results.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

10: traffic assistance system for emergency vehicles
50: emergency vehicle
100: first drone
110: first processor
120: first communication unit
130: first display unit
140: first shooting unit
143: first photographing device
147: second photographing device
150: first audio output unit
160: first memory
200: second drone
210: second processor
220: second communication unit
230: second display unit
240: second shooting unit
243 third photographing device
247 fourth photographing device
250: second audio output unit
260: second memory
300: drone operating device
310: control unit
320: communication department
330: memory
340: output unit
350: input unit

Claims (4)

In the passage assistance system of an emergency vehicle using an autonomous flying drone operated by a drone operating device,
The drone includes a first drone that flies ahead of the emergency vehicle on a driving path when an emergency dispatch signal is received, and a second drone that flies in an area between the emergency vehicle and the first drone,
The first drone,
a first photographing unit for photographing the front and bottom of the first drone;
a first communication unit communicating with the drone operation device;
a first display unit including at least one display device; and
A first processor controlling autonomous flight of a first drone based on an image captured through the first capture unit;
The drone operating device,
A specific lane is determined based on the arrangement of vehicles in the road image captured by the first photographing unit, and a control signal is sent so that the first drone hovers at a specific point in the specific lane. and a control unit outputting, through the first display unit, a lane change request signal requesting a vehicle on the road to vacate the specific lane;
The second drone,
a second photographing unit for photographing the front and lower parts of the second drone;
a second communication unit communicating with the first drone;
a second display unit including at least one display device; and
Controls the second drone to fly in the road area between the first drone and the emergency vehicle based on the image captured by the second capture unit, and even after the first drone outputs a lane change request signal, the specific When a vehicle staying in the lane is recognized, a second processor controls the second drone to move in front of the recognized vehicle and outputs a lane change request signal to the second display unit;
The control unit sets an area between traffic lights in the driving route of the emergency vehicle as one section,
Control the first drone to fly at least one section ahead of the emergency vehicle in the driving route of the emergency vehicle;
The video taken by the second drone is analyzed, and when there is no vehicle in the specific lane in the area between the first drone and the emergency vehicle, a traffic control completion signal is transmitted to the first drone through the second communication unit. transmission to control the first drone to move to the next section;
Characterized in that determining how many sections the first drone will fly ahead by considering the distance between traffic lights in the driving route of the emergency vehicle,
A passage assistance system for the emergency vehicle using an autonomous flying drone.
According to claim 1,
The drone operating device,
Interlocking with the road guidance electronic signboard system, requesting information output to the road guidance electronic signboard system to request a lane change request signal to be output to the electronic signboard installed on the road,
After the second drone outputs the lane change request signal to the second display unit, if the corresponding vehicle exists in the specific lane even after a preset time has elapsed or a preset number of requests has exceeded, the second drone sends the corresponding vehicle to the corresponding vehicle. Characterized in that to store the image taken in the memory,
A passage assistance system for the emergency vehicle using an autonomous flying drone.
According to claim 1,
The drone operating device,
Controlling the second drone to output the vehicle number of the recognized vehicle through the second display unit after moving in front of the recognized vehicle.
A passage assistance system for the emergency vehicle using an autonomous flying drone.
According to claim 1,
The drone operating device,
When the emergency vehicle performs emergency rescue activities at a specific point on the road,
Characterized in that the first drone hovers at a location away from the specific point by a predetermined distance and outputs a lane change request signal through the first display unit to allow the emergency vehicle to avoid and pass through the lane where the emergency vehicle is located.
A passage assistance system for the emergency vehicle using an autonomous flying drone.

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