KR20180121242A - Unexploded fire extinguisher search system using drone and method thereof - Google Patents

Abstract

The present invention relates to an unexploded fire extinguisher search system using a drone to easily search for an unexploded fire extinguisher among dropped fire extinguishers for evacuating fire in a fire site where firefighters are difficult to approach, by using an unmanned aerial vehicle, and a method thereof. The unexploded fire extinguisher search system includes an unmanned aerial vehicle that enters a fire site where a firefighter cannot approach through a flight, searches for an unexploded fire extinguisher dropped at a fire site, generates the position information of the unexploded fire extinguisher when the unexploded fire extinguisher is searched, and a controller for controlling the flight path of the unmanned air vehicle and receiving the position information of the unexploded fire extinguisher transmitted from the unmanned air vehicle.

Description

[0001] The present invention relates to an unexploded fire extinguisher search system using drone and method,

The present invention relates to a system and method for searching for a non-volatile vehicle using an unmanned aerial vehicle, and more particularly, to a method for searching for a non-volatile vehicle among unloaded vehicles, The present invention relates to a system and method for searching for a non-volatile vehicle using an unmanned aerial vehicle.

As is well known, various fire fighting equipments such as portable fire extinguishers, fire trucks, sprinklers, fire helicopters, and fire fighting robots are widely known and used as means for evolving various fires.

Firefighters need to get closer to the epicenter of the flame in order to be able to extinguish the fire promptly. Firefighters usually do not have access to hot flames and toxic gases. Especially, firefighters are not easily accessible even in a fire scene where a high temperature flame occurs and there is a risk of an explosion. Therefore, even if a firefighter is quickly put into such a fire scene, it is difficult to effectively suppress the fire.

For example, in the case of a fire occurring in a large-scale chemical complex or a gas station, or a fire occurring in a mountain, the fire fever is very hot, so a fire truck made of a steel structure as well as a fire brigade can not easily access the fire site. In addition, it is difficult to enter the fire department in the upper level fire scene in the high-rise building.

To solve this problem, various fire fighting robots, unmanned aerial vehicles, and fire fighting equipment (for example, fire fighting equipment), which are manufactured so as to be able to be put in place of a person in a fire scene, are being developed.

Especially, when the unmanned aerial vehicle is used, it can be prevented from being damaged even if the unmanned aerial vehicle is lost due to the fire. Therefore, it is very useful for the fire scene where the fire brigade can not approach the fire scene. Even if the fire brigade enters the fire scene, it is possible to suppress the fire even if it is not close to the fire scene. In recent years, it has been widely used for fire suppression of forest fires and high-rise buildings.

On the other hand, the following Patent Documents 1 to 3 are conventionally proposed techniques for suppressing fire by using an unmanned aerial vehicle.

The prior art disclosed in Patent Document 1 includes a flight unit capable of flying wirelessly, a plurality of fire extinguishing solution ampoules mounted on a lower surface of the flight unit, and a fire extinguisher And a fire suppression unit mounted on the fire suppression unit for photographing a fire scene and a moving route of the fire extinguishing solution ampoule in real time and transmitting the fire scene image received from the camera transmission unit to the fire suppression unit, And a control unit for controlling the flight unit and the fire fighting unit in accordance with a control signal transmitted from the control amp unit and a control signal transmitted from the control unit.

With this configuration, it is possible to provide fire drill and fire fighting drone that are suitable for fast entry into fire scene where firefighters can not enter.

In addition, the prior art disclosed in Patent Document 2 includes an extinguishing device having a fire extinguishing agent inside, and an unmanned aerial device for dropping the fire extinguishing device at a place where a fire occurs, wherein the extinguishing powder A case for forming a powder storing space in which the powder storing space is accommodated, a case for forming a connecting channel for connecting the powder storing space and the outside, and an opening / closing unit for blocking or opening the communication between the powder storing space and the connecting channel.

This configuration provides a fire extinguishing system using an unmanned aerial vehicle that can easily extinguish a fire generated in a relatively large area without inputting manpower.

The prior art disclosed in Patent Document 3 is a dron made of a flammable material to prevent heat transmission, which makes it easy to attach and detach the fire extinguisher to and from a fire truck using a first securing device, And the attached fire extinguisher is detached from the dron at the target point, the fire is extinguished after the explosion and the fire extinguisher is removed and the dron is returned to itself.

Korean Registered Patent 10-1437323 (Announcement of 2014.09.02) (Unmanned airplane for fire scout and fire suppression) Korean Registered Patent No. 10-1691731 (Announcement of Dec. 30, 2016) (Fire Extinguishing System and Control Method Using Unmanned Aerial Vehicle) Korea public utility model 20-2016-0004473 (public fire engine drones)

However, the above-described conventional techniques have an advantage that the fire can be suppressed by throwing the fire extinguisher on the fire scene by using the unmanned air vehicle in a fire scene where the firefighter can not enter the fire scene, but the fire extinguishing It is impossible to do so.

In addition, techniques for suppressing a fire using a conventional unmanned aerial vehicle have a disadvantage in that it is impossible to automatically retrieve unexplored parcels among the parcels dropped at a fire site.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a fire extinguishing system capable of easily navigating a non-fire vehicle among unloaded packages, The present invention provides a system for searching for a non-volatile vehicle using an unmanned aerial vehicle and a method thereof.

Another object of the present invention is to provide an unmanned aerial vehicle capable of easily searching for unidentified cargo among unloaded cargoes that have been dropped for fire evacuation in a fire scene where a firefighter is difficult to enter, And to provide a method and system for searching for a non-evolved garbage.

In order to achieve the above-mentioned object, according to the present invention, a non-volatile vehicle search system using an unmanned air vehicle enters a fire scene where a fire brigade can not approach the vehicle through a flight, A unmanned aerial vehicle for generating and transmitting non-evolved vehicle location information when searching for a non-evolved vehicle; And a controller for controlling the flight path of the unmanned air vehicle and receiving the location information of the non-evacuated vehicle from the unmanned air vehicle and displaying the received location information on the screen.

In this case, when the location information of the non-evasive garbage is received, the controller generates a non-evasive garbage collection command according to an operation command of the manager and transmits the non-evasive garbage collection command to the unmanned air vehicle.

Wherein the control device is a mobile device used by an administrator or a control server located remotely.

Wherein the package comprises a beacon for transmitting location information; A parcel explosion for exploding a mounted parcel to extinguish the fire; And a digestive-matter collecting body recovered through the unmanned aerial vehicle or the digestive-matter collecting device.

In this case, the garbage collecting body is made of a metal material which reacts with the electromagnet.

Wherein the unmanned aerial vehicle comprises a communication unit for wirelessly communicating with the control unit to receive a control command or to transmit position information of the non-discriminated vehicle to the control unit; A GPS unit for acquiring position information through a GPS satellite; A flight driving control unit for controlling flight driving of the unmanned aerial vehicle; A flight path controller for controlling a flight path of the unmanned air vehicle; And a search unit for searching for the location of the non-valued pile, and the searching unit searches for the location of the non-pale cargo by receiving the beacon signal generated from the non-pale cargo.

The non-voyage location information generation unit generates the location information of the non-voiced cargo based on the current location information acquired through the GPS unit when the beacon signal generated from the non-volatile car is received by the search unit. And a non-evacuating apparatus position information transmitting unit for transmitting the non-voicing position information generated by the non-voicing position information generating unit to the control apparatus.

The automatic unmanned vehicle further includes a non-evasive automatic returning unit for automatically recovering the non-evasive garbage according to the non-evasive garbage collection command transmitted from the control unit.

In order to accomplish the above object, the present invention provides a non-volatile vehicle search method using an unmanned aerial vehicle, comprising the steps of: (a) communicating with a control device in a unmanned aerial vehicle searching for non- Receiving a flight command and performing a non-fire package search through a beacon signal while flying for a package search; (b) receiving the beacon signal transmitted from the beacon mounted on the non-evoked packet during the non-evoked packet search in the step (a), determining the position where the beacon signal is received to be the position of the non-evoked packet, step; (c) transmitting the generated position information of the non-volatile compound to the control device.

In addition, the method of searching for a non-volatile compound using the unmanned air vehicle according to the present invention includes the steps of (d) after transmitting the location information of the non-volatile matter to the control device, step; (e) if the recovery of the non-evasive fraction in the step (d) is unsuccessful, generating recovery failure information and transmitting it to the control device; (f) when the recovery of the non-evacuated fraction is successful as a result of attempting to recover the non-recovered fraction in the step (d), generating and transmitting the non-recovered fraction information to the control unit.

Further, the method for searching for non-volatile matter using the unmanned air vehicle according to the present invention may further include the step of (g) performing an automatic return according to a guidance of a predetermined return path or a control device when a return command is received from the control device .

According to the present invention, there is an advantage that, in order to evolve a fire in a fire scene where entry of a firefighting team is difficult, it is possible to safely and easily search for a non-illicit package in a package that has been dropped.

In addition, according to the present invention, there is an advantage that the non-evacuated object can be automatically searched for the unmanned air vehicle, and the searched non-evacuated object can be automatically recovered.

FIG. 1A is a conceptual diagram of a non-volatile vehicle search system using an unmanned air vehicle according to the present invention, FIG. 1B is a conceptual diagram for automatically recovering an outgoing vehicle in the present invention,
Fig. 2 is a block diagram of the fire fighting purse of Fig. 1,
FIG. 3 is a block diagram of the unmanned aerial vehicle of FIG. 1;
FIG. 4 is a flowchart illustrating a method of searching for a non-volatile vehicle using the unmanned aerial vehicle according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a system and method for searching for a non-volatile vehicle using an unmanned aerial vehicle according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1A is a conceptual diagram of a non-volatile vehicle search system using an unmanned aerial vehicle according to the present invention, and FIG. 1B is a conceptual diagram illustrating the recovery of non-volatile vehicles using an unmanned aerial vehicle according to the present invention.

The non-volatile vehicle search system using the unmanned air vehicle according to the present invention includes the package 10, the unmanned aerial vehicle 20, and the control device 50.

The controller 50 controls the flight path of the unmanned air vehicle 20 and receives the location information of the non-evacuated vehicle 20 from the unmanned air vehicle 20 and displays the position information on the screen. Upon receipt of the location information of the non-evacuated vehicle, the non-evacuated vehicle can be generated and transmitted to the unmanned air vehicle 20 in accordance with the operation command of the manager. Alternatively, the non-evacuated vehicle 20 can be transmitted to the mobile device 30 And can be implemented in the control server 40. Here, it is also possible to transmit and receive mutual data between the control server 40 and the mobile device 30 by wireless communication.

The shipment 10 is dropped at a fire site to extinguish a fire, and various fire extinguishers known in the art can be used.

As shown in Fig. 2, the parcel 10 includes a beacon 11 for transmitting position information, a parcel explosion part 12 for extinguishing the mounted digestion suppression purse 14 to suppress the fire, And includes a unmanned air vehicle 20 or a garbage collecting body 13 which is recovered through a garbage collecting apparatus. Here, it is preferable that the package recovery body 13 is made of a metal material which reacts by a magnet.

In addition, the unmanned air vehicle 20 enters a fire scene where a firefighter can not approach the fire through the flight, searches for uncharged packages in the packages discharged at a fire site, generates non-fire package location information when the non-fire packages are searched, .

3, the unmanned air vehicle 20 includes a communication unit 21 that wirelessly communicates with the control unit 50 and receives a control command or transmits position information of the non-discriminated package to the control unit 50, A GPS unit 22 for acquiring position information via GPS satellites, a flight drive control unit 28 for controlling the flight of the unmanned air vehicle 20, a flight path controller for controlling the flight path of the unmanned air vehicle 20 23), and a search unit (24) for searching for the position of the non-valued compound. The search unit (24) searches for the position of the non-valued item by receiving a beacon signal generated from the non-valued compound.

In addition, when the beacon signal generated from the non-evasive package is received by the search unit 24, the unmanned air vehicle 20 generates the position information of the non-evasive package by using the current position information acquired through the GPS unit 22 A non-evacuated vehicle location information transmission unit 26 for transmitting the non-evacuated vehicle location information generated from the non-evacuated vehicle location information generation unit 25 to the control device 50, 50) for automatically collecting the non-evasive garbage according to the non-evasive garbage collection command transmitted from the non-evasive garbage collection unit (50).

The operation of the non-volatile vehicle search system using the unmanned air vehicle according to the preferred embodiment of the present invention will be described in detail as follows.

First, the fire pit 10 is thrown to a fire scene (for example, mountains) in an environment where a firefighter is difficult to enter, thereby suppressing the fire.

When the package 10 is dropped into a fire site, the explosion is caused by the predetermined explosion method, and the fire is suppressed by ejecting the package. To this end, the parcel explosion unit 12 performs an explosion operation to eject the parcel 14.

At this time, the throwing package is discharged in a large amount, and a package may be generated which is caused by an explosion failure or other factors. Such a fire extinguisher can be damaged by the explosion if a person is present in close proximity to the explosion because the package is ejected by the explosion. Therefore, there is no problem with the packages that normally explode, but all the unidentified packages must be recovered and safety measures must be taken to prevent damage to the persons due to future explosions.

In the past, when the fire extinguisher is dropped and the fire evolves, a fire brigade enters the fire scene to find the fire extinguisher. In this case, fire brigade may be injured if the fire brigade is exploded, and it is not easy to find fire brigade if the fire brigade is dropped due to dropping to a place where people can not go. This causes a lot of human and time loss.

Accordingly, in order to solve all the problems of the conventional art, and to search for the ignition explosion easily and accurately, the present invention searches for a non-ignition vehicle using the unmanned air vehicle 20 such as a drone.

For example, after maneuvering the unmanned air vehicle 20 or establishing a flight path, the aircraft is allowed to perform an autonomous flight to a fire site. The specific method of performing the autonomous flight according to the maneuvering or routing of the unmanned aerial vehicle 20 is the same as that of the general drones, so a detailed description thereof will be omitted.

The unmanned aerial vehicle 20 enters the fire site while flying the air under the control of the flight control unit 28 and the flight path control unit 23, and searches for the non-fire garbage through the search unit 24.

In this case, the beacon 11 is mounted on the parcel 10, and if the parcel 10 normally explodes, the beacon 11 may be damaged and the operation may not be performed. However, The beacon 11 operates to transmit a radio signal.

The non-evasive garbage location information generator 25 recognizes that the non-evasive garbage location information generator 25 has found the non-evasive garbage location information when it receives a signal transmitted from the beacon 11, Based on the current location information acquired through the location information acquisition unit (22).

The non-evacuated cargo location information thus generated is transmitted to the non-evacuated cargo location information transmitting unit 26. The non-veiled cargo location information transmitting unit 26 converts the received non-cargo cargo location information into a radio signal and transmits the radio signal to the controller 50 do.

When the non-leaded product location information is received, the control device 50 takes a follow-up action to recover it.

If the control device 50 is a mobile device 30 such as a smart phone carried by an administrator, the non-volatile storage location information received is displayed on the screen, and the manager confirms the non-volatile storage location information in real time. To this end, it is assumed that the mobile device 30 is provided with an application for searching for a non-evolving vehicle in advance.

If the control device 50 is the control server 40, the non-firing status information is displayed in the fire status monitor, an alert for non-firing package search is generated if necessary, or a notification message is sent to the mobile device carried by the administrator Let the administrator know in real time.

The manager who recognizes the location information of the non-evacuated cargo poured into the field, directly recalls the non-evacuated cargo, or sends the non-evacuated cargo collection command to the unmanned vehicle (20). The non-evasive garbage collection command can be easily achieved by generating a wireless signal using a wireless communication method and transmitting the wireless signal to the unmanned aerial vehicle 20.

When the non-evasive vehicle 20 receives the non-evasive garbage collection command from the control device 50 after transmitting the non-evasive garbage location information, the non-evasive vehicle 20 automatically recovers the non-garbage bag from the non-garbage collection device 27.

For example, after the flight path control unit 23 of the unmanned air vehicle 10 is brought close to the package 10 in cooperation with the search unit 24, the non-baggage automatic return unit 27 uses a power device such as a motor, (15). At this time, a magnet 16 for attracting the metal collecting body 13 mounted on the package 10 by the magnetic force is attached to the end of the collecting table 15, And automatically collects the package 10 as well. Here, the recovery table 15 can be stretched and shrunk.

When the recovery of the non-evolving garments is normally completed, generation of the number of times of collection of the non-garbage is performed, and the recovery information is transmitted to the control device 50. If unsuccessful collection is attempted for a predetermined number of times in accordance with an automatic collection command of the non-volatile storage, if failure occurs, recovery failure information for non-garbage collection failure is generated and the recovery failure information is transmitted to the control device 50.

Therefore, after the administrator managing the control device 50 transmits the non-evacuated product recovery command, it is possible to remotely know whether the non-evacuated product is recovered or not.

FIG. 4 is a flow chart showing a method of searching for a non-volatile object using the unmanned air vehicle according to the present invention, wherein (a) communicates with the control device 50 in the unmanned air vehicle 20 that searches for a non- (S101 to S103) of performing a search for a non-discriminated parcel through a beacon signal while receiving a search command and a flight command while flying for searching for parcels; (b) attaching the parcel to a non-parceled parcel (S104 to S105) of determining the position at which the beacon signal is received as the position of the non-evoked packet and generating the position information of the non-evoked packet, upon receiving the beacon signal (radio signal) (S106); (d) after transmitting the location information of the non-evacuated product to the control device (50), transmitting the location information of the non-evacuated product to the control device (50) (S107) to (S108); (e) if the number of failed attempts to recover the non-evasive fraction in the step (d) fails, the recovery failure information is generated and transmitted to the control device (S110 to S111), (f) when the recovery of the non-evasive fraction in step (d) is successful, the non-evasive fraction collection information is generated and transmitted to the control unit 50 (steps S112 to S113) g) performing automatic return according to a predetermined return path or induction of the control device when the return instruction is received from the control device 50 (S114 to S115).

The method for searching the non-volatile vehicle using the unmanned air vehicle according to the preferred embodiment of the present invention will be described in detail as follows.

First, the fire pit 10 is thrown to a fire scene (for example, mountains) in an environment where a firefighter is difficult to enter, thereby suppressing the fire.

When the package 10 is dropped into a fire site, the explosion is caused by the predetermined explosion method, and the fire is suppressed by ejecting the package. To this end, the parcel explosion unit 12 performs an explosion operation to eject the parcel 14.

At this time, the throwing package is discharged in a large amount, and a package may be generated which is caused by an explosion failure or other factors. Such a fire extinguisher can be damaged by the explosion if a person is present in close proximity to the explosion because the package is ejected by the explosion. Therefore, there is no problem with the packages that normally explode, but all the unidentified packages must be recovered and safety measures must be taken to prevent damage to the persons due to future explosions.

In the past, when the fire extinguisher is dropped and the fire evolves, a fire brigade enters the fire scene to find the fire extinguisher. In this case, fire brigade may be injured if the fire brigade is exploded, and it is not easy to find fire brigade if the fire brigade is dropped due to dropping to a place where people can not go. This causes a lot of human and time loss.

Accordingly, in order to solve all the problems of the conventional art, and to search for the ignition explosion easily and accurately, the present invention searches for a non-ignition vehicle using the unmanned air vehicle 20 such as a drone.

For example, in step S101, the unmanned air vehicle 20 communicates with the control device 50 to receive the flight related information, and controls the unmanned air vehicle 20 based on the information received in step S102 or sets the flight path , And start self-flight to the fire scene. The specific method of performing the autonomous flight according to the maneuvering or routing of the unmanned aerial vehicle 20 is the same as that of the general drones, so a detailed description thereof will be omitted.

The unmanned air vehicle 20 starts flying according to the control of the flight control unit 28 and the flight path control unit 23 and enters the fire site and searches for the non-evacuated vehicle through the search unit 24 in step S103.

In this case, the beacon 11 is mounted on the parcel 10, and if the parcel 10 normally explodes, the beacon 11 may be damaged and the operation may not be performed. However, The beacon 11 operates to transmit a radio signal.

The search unit 24 searches for a non-garbage item while flying a fire scene, and recognizes that the garbage item is found when it receives a signal transmitted by the beacon 11 as in step S104. In step S105, Unit 25 generates the non-discriminated parcel position information based on the current position information acquired through the GPS unit 22. [

The non-volatile compound location information thus generated is transmitted to the non-volatile compound location information transmission unit 26. The non-evacuated location information transmitting unit 26 converts the non-evacuated location information received in step S106 into a wireless signal and transmits the wireless signal to the controller 50. [

When the non-leaded product location information is received, the control device 50 takes a follow-up action to recover it.

If the control device 50 is a mobile device 30 such as a smart phone carried by an administrator, the non-volatile storage location information received is displayed on the screen, and the manager confirms the non-volatile storage location information in real time. To this end, it is assumed that the mobile device 30 is provided with an application for searching for a non-evolving vehicle in advance.

If the control device 50 is the control server 40, the non-firing status information is displayed in the fire status monitor, an alert for non-firing package search is generated if necessary, or a notification message is sent to the mobile device carried by the administrator Let the administrator know in real time.

The manager who recognizes the location information of the non-evacuated cargo poured into the field, directly recalls the non-evacuated cargo, or sends the non-evacuated cargo collection command to the unmanned vehicle (20). The non-evasive garbage collection command can be easily achieved by generating a wireless signal using a wireless communication method and transmitting the wireless signal to the unmanned aerial vehicle 20.

When the non-evasive vehicle 20 receives the non-evasive garbage collection command from the control unit 50 as in step S107 after transmitting the non-evasive vehicle location information, the non-evasive vehicle automatic return unit 27 automatically transmits the non- Try to recover.

For example, after the flight path control unit 23 of the unmanned air vehicle 10 is brought close to the package 10 in cooperation with the search unit 24, the non-baggage automatic return unit 27 uses a power device such as a motor, (15). At this time, a magnet 16 for attracting the metal collecting body 13 mounted on the package 10 by the magnetic force is attached to the end of the collecting table 15, And automatically collects the package 10 as well. Here, the recovery table 15 can be stretched and shrunk.

When the recovery of the non-evolving garments is completed, in step S112, the number of times of non-garbage collection is generated, and in step S113, the collection information is transmitted to the control device 50. [

If the number of unsaved packages is unsuccessfully attempted in accordance with the automatic withdrawal command of the non-evolving package, if the number of unsuccessful packages is unsuccessful, in step S110, the recovery failure information for the non-evolving fraction collection failure is generated. In step S111, ).

Therefore, after the administrator managing the control device 50 transmits the non-evacuated product recovery command, it is possible to remotely know whether the non-evacuated product is recovered or not.

Next, when the return command is received from the control device 50 as shown in step S114, the unmanned vehicle 20 moves to step S115 and performs automatic return according to the guidance of the predetermined return path or control device.

The present invention can easily search for a non-illicit package among unloaded packages for fire evacuation in a fire scene where a firefighter is difficult to enter, and can automatically retrieve a non-heating package searched for.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It is obvious to those who have.

The present invention is applied to a technique for searching for nondigestible sludge in a discharged fire at a fire site.

10: Package
11: Beacon
12: Package explosion part
13: Package
20: unmanned aerial vehicle
21:
22: GPS unit
23:
24:
25: Non-evolved package location information generating unit
26: Non-evolved packet location information transmission unit
27: Non-evolving lot automatic recovery unit
28:

Claims (10)

A system for searching for non-evacuated packages using an unmanned aerial vehicle,
A unmanned aerial vehicle that enters a fire scene where a firefighter can not approach the airplane through a flight, searches for unexplained parcels in the parcels dropped at a fire site, and generates and transmits non-parcel position information when the parcels are searched; And
And a controller for controlling the flight path of the unmanned air vehicle and receiving the location information of the non-evacuated vehicle from the unmanned air vehicle and displaying the received location information on the screen.
The system according to claim 1, wherein when the location information of the non-evasive garbage is received, the control device generates a non-evasive garbage collection command according to an operation command of the manager and transmits the non-evasive garbage collection command to the unmanned air vehicle.
The system of claim 1 or 2, wherein the control device is a mobile device used by an administrator or a remote control server.
The method of claim 1, wherein the packet comprises a beacon for transmitting location information; A parcel explosion for exploding a mounted parcel to extinguish the fire; And a recovery unit for recovering the uncharged vehicle through the unmanned air vehicle or the garbage collection unit.
[2] The apparatus of claim 1, wherein the unmanned aerial vehicle comprises: a communication unit for wirelessly communicating with the control device to receive a control command or to transmit position information of the non-discriminating device to the control device; A GPS unit for acquiring position information through a GPS satellite; A flight driving control unit for controlling flight driving of the unmanned aerial vehicle; A flight path controller for controlling a flight path of the unmanned air vehicle; And a search unit for searching for the location of the non-evolving matter, wherein the searching unit searches for the location of the non-evolving vehicle by receiving a beacon signal generated from the non-evolving matter.
[Claim 5] The method of claim 5, wherein the unmanned flight vehicle further comprises: a non-evolving vehicle location information generating unit for generating current location information obtained by the GPS unit as location information of a non-evolving vehicle when a beacon signal generated from the non-evolving vehicle is received by the searching unit; And a non-evacuated vehicle location information transmitting unit for transmitting the non-evoked vehicle location information generated from the non-evoked vehicle location information generating unit to the control apparatus.
[7] The system of claim 6, wherein the unmanned air vehicle further comprises a non-evolving vehicle automatic return unit for automatically retrieving the non-evolving vehicle according to a non-evacuated vehicle collection command transmitted from the control apparatus.
A method for searching for a non-evolving vehicle using an unmanned aerial vehicle,
(a) Receiving a search command and a flight command by communicating with a control device in a unmanned aerial vehicle searching for a non-fire vehicle among unloaded fire objects on a fire site, performing a non-fire vehicle search through a beacon signal while flying for searching for a fire step;
(b) receiving the beacon signal transmitted from the beacon mounted on the non-evoked packet during the non-evoked packet search in the step (a), determining the position where the beacon signal was received as the position of the non-evoked packet and generating the position information of the non- step;
(c) transmitting the location information of the generated non-volatile matter to the control device.
8. The method of claim 8, further comprising: (d) attempting to recover the non-evasive garbage when the non-evasive garbage collection command is received from the control device after transmitting the location information of the non-garbage package to the control device; (e) if the recovery of the non-evasive fraction in the step (d) is unsuccessful, generating recovery failure information and transmitting it to the control device; and (f) if the recovery of the non-evasive garbage in the step (d) is successful, the non-evasive garbage collection information is generated and transmitted to the control device.
The method of claim 9, further comprising: (g) when the return command is received from the control device, performing an automatic return according to a predetermined return path or induction of the control device. .

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