JP2019185433A - Unmanned flight apparatus, unmanned flight method and unmanned flight program - Google Patents

Abstract

To provide an unmanned flight apparatus, unmanned flight method and unmanned flight program, capable of executing autonomous flight at a fire site even when visual observation is difficult and an electric wave for positioning from a navigation satellite cannot be received.SOLUTION: An unmanned flight apparatus 1 capable of autonomous flight includes: movement direction determination means for recognizing a traveling direction of the unmanned flight apparatus 1; high-temperature direction determination means for determining a direction of a high-temperature region of a fire; and movement direction control means for controlling a movement direction of the unmanned flight apparatus 1 on the basis of the high-temperature region recognized by the high-temperature direction determination means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned flight apparatus, an unmanned flight method, and an unmanned flight program.

  Conventionally, the use of a small unmanned helicopter (also called a drone) has been proposed.

JP 2004-256020 A

  In recent years, proposals have been made to use a small unmanned helicopter for extinguishing fire in order to cope with a fire. By the way, the situation at the fire site changes from moment to moment, a large amount of smoke is generated, the pilot can not see the small unmanned helicopter, and it can receive the positioning radio wave from the navigation satellite and position the current position There are cases where it is not possible.

  The present invention is an attempt to solve such a problem, and is an unmanned flying device capable of autonomous flight at a fire site even when it cannot be visually observed and cannot receive positioning radio waves from a navigation satellite, The purpose is to provide an unmanned flight method and an unmanned flight program.

  A first invention is an unmanned flying apparatus capable of autonomous flight, wherein the moving direction determining means for determining the moving direction of the unmanned flying apparatus, the high temperature direction determining means for determining the direction of the high temperature region of the fire, and the high temperature An unmanned flight apparatus comprising: a movement direction control unit that controls a movement direction of the unmanned flight apparatus based on a direction of the high temperature region recognized by a direction determination unit.

  According to the configuration of the first invention, since the unmanned aerial vehicle determines the moving direction of the unmanned aerial vehicle itself and controls the moving direction based on the direction of the high temperature region, the unmanned aerial vehicle cannot be visually observed, and positioning from the navigation satellite. Even if the radio waves cannot be received, it is possible to fly autonomously at the fire site.

  According to a second invention, in the configuration of the first invention, the high temperature direction determining means is based on direct data indicating the temperature of the fire site itself and / or indirect data indicating a temperature in the vicinity of the unmanned flight apparatus. An unmanned aerial vehicle configured to determine the direction of the high temperature region.

  According to a third invention, in the configuration of the second invention, the direct data is image data acquired by an infrared camera (infrared thermography), the indirect data is an output of a temperature sensor, and the moving direction determination means Is an unmanned aerial vehicle configured to determine the direction of movement of the unmanned aerial vehicle based on the output from the inertial sensor.

  According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, the movement direction control means moves the unmanned flight apparatus to the high temperature up to a working temperature range defined by a predetermined allowable temperature. The unmanned flying apparatus moves the unmanned flying apparatus in a direction opposite to the high temperature area when a temperature close to the allowable temperature is recognized.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the invention, a fire-extinguishing substance injecting means for injecting a fire-extinguishing substance, a recoil calculating means for calculating a recoil due to the injection of the substance, The unmanned flying apparatus includes position maintaining means for controlling the driving means of the unmanned flying apparatus based on the reaction and maintaining a current position.

  In a sixth aspect based on any one of the second aspect to the fourth aspect, the moving direction control means uses the direct data and the indirect data as a weighting until the sky is over the high temperature region. An unmanned aerial vehicle having a dropping means for moving a weight of data and moving down and reaching the high temperature region, dropping the weight of the indirect data and dropping a fire extinguisher container storing a fire extinguisher is there.

  A seventh aspect of the present invention relates to an unmanned flying apparatus capable of autonomous flight, a moving direction determining step for determining a moving direction of the unmanned flying apparatus, a high temperature direction determining step for determining a direction of a high temperature area of a fire, And a movement direction control step for controlling a movement direction of the unmanned flight apparatus based on a direction.

  The eighth invention comprises a computer for controlling an unmanned flying device capable of autonomous flight, a moving direction judging means for judging the moving direction of the unmanned flying device, a high temperature direction judging means for judging the direction of a high temperature region of fire, and It is an unmanned flight program for functioning as a movement direction control unit that controls the movement direction of the unmanned flight apparatus based on the direction of the high temperature region recognized by the high temperature direction determination unit.

  As described above, according to the present invention, it is possible to make an autonomous flight at a fire site even when it is not possible to visually observe and a positioning radio wave from a navigation satellite cannot be received.

It is a figure which shows the outline | summary of embodiment of this invention. It is a figure which shows the outline | summary of embodiment of this invention. It is the schematic which shows the unmanned flight apparatus of embodiment of this invention. It is the schematic which shows the storage member of a fire extinguisher container. It is the schematic which shows the internal structure etc. of a delivery apparatus. It is the schematic which shows the connection structure etc. of a delivery apparatus and a wire. It is the schematic which shows the functional block of an unmanned flight apparatus. It is a schematic flowchart which shows operation | movement of an unmanned flight apparatus. It is a schematic flowchart which shows operation | movement of an unmanned flight apparatus. It is a figure which shows the outline | summary of 2nd embodiment of this invention. It is the schematic which shows the unmanned flight apparatus of 2nd embodiment. It is a schematic flowchart which shows operation | movement of an unmanned flight apparatus. It is a schematic flowchart which shows operation | movement of an unmanned flight apparatus.

  Embodiments of the present invention will be described with reference to the drawings. Note that descriptions of configurations that can be appropriately implemented by those skilled in the art are omitted, and only the basic configuration of the present invention is described.

  The unmanned aerial vehicle 1 in FIG. 1 is an unmanned aerial vehicle called a drone or a multicopter, and obtains thrust by a plurality of rotor blades to fly. The drone 1 is an example of an unmanned flight device. The drone 1 autonomously flies based on temperature at a fire site, and drops a fire extinguisher container 200 containing a fire extinguisher at a predetermined position. This will be described below.

  As shown in FIG. 1, a fire has occurred in the house 300. Flame F and smoke S are emitted outside the house 300. A large flame F comes out from the destroyed portion 302 where the roof burned down.

  The drone 1 is controlled by a transmission radio wave from a control device 100 called a propo. However, as shown by the arrow R0, when it rises to the position P1 and reaches a predetermined altitude, the smoke S becomes an obstacle and the drone 1 cannot be seen from below. Autonomous flight regardless of the signal. The drone 1 moves to a position P2 above the destruction unit 302 as shown in the flight path R1.

  The sky above the destruction portion 302 is above the area where the temperature is high (hereinafter referred to as “high temperature area”) at the fire site. The high temperature region is the highest temperature region compared to the ambient temperature, and is the central region of the fire and includes the fire source. The central area of the fire is not limited to one place. In the present embodiment, the following description will be given on the assumption that the drone 1 goes to the highest temperature region, which is the highest temperature region in the high temperature region. The region where the flame F is located is an example of a high temperature region, and is also an example of a maximum temperature region. The drone 1 moves over the high temperature region based on the temperature. The moving direction of the drone 1 itself is determined by the output from the inertial sensor mounted on the drone 1.

  When the drone 1 arrives at a position P2 above the high temperature region, the drone descends to a position P3 at an altitude in the temperature range (working temperature range) defined by the relationship with the allowable temperature Tmax, as shown in the flight path R2. The position of the working temperature range in this embodiment is above the high temperature region.

  When the drone 1 is lowered to the position P3 in the working temperature range, the wire 40 is sent out as indicated by an arrow Y1. A fire extinguisher container 200 is fixed to the lower end of the wire 40.

  A fire extinguisher is stored inside the fire extinguisher container 200. The fire extinguisher container 200 is made of resin or glass, and is destroyed when it collides with another object and an external force of a predetermined level or more is applied. When the extinguishing agent container 200 is destroyed, the extinguishing agent stored in the inside diffuses to the surroundings and extinguishes fire. The fire extinguisher container 200 is an example of a fire extinguisher container.

  When the drone 1 sends out the wire 40 and lowers the fire extinguishing agent container 200 to a position where it can be surely dropped into the house 300 from the destruction part 302, the wire 40 is separated from the drone 1 as shown in FIG. The fire extinguishing agent container 200 is dropped into the house 300 from the destruction part 302 together with the wire 40. Thereby, the fire extinguisher container 200 can be reliably dropped into the house 300.

  As shown in FIG. 3, the drone 1 has a housing 2. A round bar-like arm 4 is connected to the housing 2. A motor 6 is connected to each arm 4, and a propeller 8 is connected to each motor 6. Each motor 6 is controlled independently by a computer in the housing 2 so that the drone 1 can freely move and rotate in the vertical and horizontal directions, stop in the air (hovering), and control the attitude. It has become. A protective frame 10 is connected to the arm 4 to prevent the propeller 8 from coming into direct contact with an external object. The housing 2, the arm 4, and the protective frame 10 are made of a heat-resistant material, for example, a magnesium alloy, and are lightweight while maintaining strength.

  The housing 2 includes a computer that controls each part of the drone 1, a wireless communication device, a positioning device that uses positioning radio waves from a navigation satellite system such as GPS (Global Positioning System), an autonomous flight device, an inertial sensor 20, A magnetic sensor, an atmospheric pressure sensor, a temperature sensor 22, a battery, and the like are arranged. The inertial sensor 20 includes an acceleration sensor and a gyro sensor. The temperature sensor 22 is configured by, for example, a sheath thermocouple.

  A camera 14 is disposed in the housing 2 via a fixing device (so-called “gimbal”) 12. The camera 14 is an infrared camera (infrared thermography) that detects and visualizes infrared radiation energy emitted from an object and displays an image of a temperature distribution.

  A storage member 30 is connected to the housing 2 via an arm 4. The storage member 30 is a structure for storing the extinguishing agent container 200.

  As shown in FIG. 4, the storage member 30 has a box portion 32. The bottom surface 32b of the box part 32 is an opening. A delivery device 34 and a transmission device 36 are disposed on the ceiling portion 32 a of the box portion 32. The delivery device 34 is configured to deliver the wire 40 when receiving a signal from the transmission device 36. The transmission device 36 transmits a control signal to the transmission device 34 using a short-range wireless standard such as Bluetooth (registered trademark). The delivery device 34 is a device that winds and delivers the wire 40.

  A holding member 40 a is formed at the lower end of the wire 40. The wire 40 is, for example, a metal wire rope such as SUS304 stainless steel. The diameter of the wire 40 is 1 millimeter (mm), for example.

  A fire extinguishing agent container 200 is stored in the box part 32. An annular protrusion 202 is formed on the outer surface of the fire extinguisher container 200. The annular protrusion 202 is engaged with a holding member 40 a formed at the lower end of the wire 40, whereby the fire extinguisher container 200 is fixed to the wire 40.

  As shown in FIG. 5, a cylindrical wire winding portion 34 a whose upper and lower diameters are enlarged is disposed inside the delivery device 34. The wire winding portion 34a is rotated by a motor (not shown) around the shaft 34b to wind and send out the wire 40.

  FIG. 6 shows the reduced diameter portion 34aa of the wire winding portion 34a. The wire 40 is wound around the outer peripheral surface of the reduced diameter portion 34aa and stored. The reduced diameter portion 34aa is formed in a hollow shape and has a cutout portion 34c. On the inner surface of the reduced diameter portion 34aa, a drive holding portion 34d that removably holds the upper end portion 40b of the wire 40 is formed. The wire 40 is held and released by opening and closing the drive holding portion 34d.

  The upper end portion 40b of the wire 40 enters the inside of the reduced diameter portion 34aa via the notch portion 34c and is detachably held by the drive holding portion 34d. The upper end portion 40b of the wire 40 is formed in an annular shape, and as shown in FIG. 6A, the drive holding portion 34d is held by the drive holding portion 34d in the closed state. When the drive holding unit 34d receives a signal from the transmission device 36, as shown in FIG. 6B, the drive holding unit 34d is in an open state and releases the holding of the upper end portion 40b. When the holding of the upper end portion 40 b is released, the wire 40 leaves the delivery device 34 and falls together with the fire extinguisher container 200.

  As shown in FIG. 7, the drone 1 includes a CPU (Central Processing Unit) 50, a storage unit 52, a wireless communication unit 54, a satellite positioning unit 56, an inertial sensor unit 58, a temperature recognition unit 60, a drive control unit 62, and a fire extinguishing unit. A control unit 64 and a power supply unit 70 are included.

  The wireless communication unit 54 enables the drone 1 to communicate with the transmitter 100. The propo 100 is adapted to give instructions regarding flight to the drone 1 as appropriate.

  With the satellite positioning unit 56 and the inertial sensor unit 58, the drone 1 can measure the position of the aircraft. The satellite positioning unit 56 basically measures the position of the drone 1 by receiving positioning radio waves from four or more navigation satellites. The inertial sensor unit 58 receives the output from the inertial sensor 20, integrates the movement of the drone 1 from the reference position, and calculates the position of the drone 1. In addition, the inertial sensor unit 58 can detect the moving direction of the drone 1 and a change in posture.

  The temperature recognition unit 60 receives the image data of the camera 14 and the output of the temperature sensor 22. The temperature distribution shown in the image data indicates the temperature distribution at the fire site itself, which is a position deviated from the drone 1. Image data is an example of direct data. The temperature detected by the temperature sensor 22 indicates a temperature at a position near the drone 1. The temperature detected by the temperature sensor 22 is an example of indirect data.

  The drone 1 can control the rotation direction of each motor 6 and the movement direction and posture of the drone 1 by the drive control unit 62.

  The drone 1 controls the delivery device 34 by the fire extinguishing control unit 64 to control the dropping of the fire extinguishing agent container 200.

  The power supply unit 70 is, for example, a replaceable rechargeable battery, and supplies power to each unit of the drone 1.

  The storage unit 52 stores various data and programs necessary for unmanned flight such as data indicating a flight plan for autonomous flight from the starting point to the target position, and the following programs.

  The storage unit 52 stores a movement direction determination program, a high temperature direction determination program, a movement direction control program, and a dropping program. The CPU 50 and the movement direction determination program are examples of movement direction determination means. The CPU 50 and the high temperature direction determination program are an example of a high temperature direction determination unit. The CPU 50 and the movement direction control program are examples of movement direction control means. The CPU 50 and the dropping program are examples of dropping means.

  The drone 1 determines the moving direction of the drone 1 based on the output from the inertial sensor 20 by the moving direction determination program.

  The drone 1 determines the direction of the high temperature region of the fire by the high temperature direction determination program. The direction of the high temperature region of the fire is a relative direction in relation to the moving direction of the drone 1 (or the direction of the optical axis of the camera 14).

  The drone 1 recognizes the external temperature distribution based on the image data acquired by the camera 14. Since the direction of the optical axis of the camera 14 is known in the drone 1, the drone 1 can determine the direction of the high temperature region based on the image data.

  The drone 1 also determines the direction of the high temperature region based on the correspondence between the movement direction of the drone 1 detected by the inertial sensor 20 and the temperature detected by the temperature sensor 22 (hereinafter referred to as “movement direction temperature relationship”). To do. When the drone 1 approaches the high temperature region, the temperature detected by the temperature sensor 22 increases, and when it moves away from the high temperature region, the temperature detected by the temperature sensor 22 decreases. For this reason, the drone 1 can determine the direction of the high temperature region based on the moving direction temperature relationship.

  The drone 1 uses the image data acquired by the camera 14 and at least one of the movement direction temperature relationships to determine the direction of the high temperature region.

  When the drone 1 uses both the image data and the moving direction temperature relationship to determine the direction of the high temperature region, the unmanned aircraft 1 determines the direction of the high temperature region by performing predetermined weighting on the image data and the moving direction temperature relationship. To do. For example, the drone 1 varies the weighting according to the distance from the high temperature region. The distance from the high temperature region is determined by the temperature detected by the temperature sensor 22. The higher the temperature, the shorter the distance from the high temperature region.

  When the drone 1 is positioned at a position relatively deviated from the high temperature region (for example, the position P1 in FIG. 1), the image data is relatively emphasized, and the weight ratio of the relationship between the image data and the moving direction temperature is, for example, , 8 to 2. The drone 1 is a position relatively close to the high temperature region, for example, when it reaches a position P2 above the working temperature range described later, the movement direction temperature relationship is relatively emphasized, and the weight ratio is set. For example, 2 to 8. As the drone 1 moves from the position P1 to the position P2, the weight ratio is changed so that the temperature relationship in the moving direction is gradually emphasized.

  The drone 1 controls the moving direction of the drone 1 based on the direction of the high temperature region by the moving direction control program. The drone 1 can determine the direction of the high temperature region by the above-described high temperature direction determination program, and the movement direction can be determined by the output from the inertial sensor 20 by the movement direction determination program. Thus, the rotation of each motor 6 can be controlled to move toward the direction of the high temperature region, or to move away from the high temperature region. The drone 1 moves toward the high temperature region.

  When the direction of the optical axis of the camera 14 of the drone 1 is set vertically downward, the high temperature region is projected on the relatively end of the image acquired by the camera 14 at the position P1 in FIG. The drone 1 controls the moving direction so as to be directed toward the edge of the image. At the position P2, the high temperature region is projected onto the central portion of the image data acquired by the camera 14. Therefore, when the high temperature region is projected onto the central portion of the image data, the drone 1 is positioned at the position P2. Can be determined to have reached. Unlike this, when the optical axis of the camera 14 is dynamically controlled by the gimbal 12 so that the high temperature region is always located at the center of the image data acquired by the camera 14, and the optical axis is vertically below, It may be determined that the machine 1 has reached the position P2.

  Further, when the drone 1 moves from the position P1 to the position P2, the temperature detected by the temperature sensor 22 increases as it goes from the position P1 to the position P2, and decreases when it passes the position P2. For this reason, the drone 1 can determine the position P2 based on the position where the temperature has changed from rising to falling.

  When the drone 1 reaches a position P2 above the high temperature region, the drone descends to a position P3 within the working temperature range while determining the temperature with a weight on the temperature detected by the temperature sensor 22. The drone 1 continues to descend when the temperature is lower than the lower limit of the work temperature range, and rises when the temperature is equal to or higher than the upper limit of the work temperature range. The allowable temperature Tmax is defined as a temperature lower than the highest temperature (limit temperature) at which the function of the drone 1 is not impaired in a predetermined time. For example, the predetermined time is 60 seconds (s), and the allowable temperature Tmax is Is 400 degrees Celsius (400 ° C.).

  The working temperature range is a temperature region between an allowable low temperature Tmin that is lower than the allowable temperature Tmax by a predetermined temperature and the allowable temperature Tmax. The allowable low temperature Tmin is, for example, a temperature that is 30 degrees Celsius (30 ° C.) lower than the allowable temperature Tmax. When the working temperature range is defined by the temperature S, Formula 1: Tmin ≦ S <Tmax.

  The drone 1 stays at the position P3 of the working temperature range within the above-mentioned predetermined time and performs the below-described dropping operation, and moves beyond the high temperature region when the predetermined time is exceeded, and has a temperature lower than the allowable low temperature Tmin. It is configured to retreat to a position. The drone 1 retreats to a position where the temperature is lower than the allowable low temperature Tmin, and after a predetermined time (for example, 2 minutes (min)), moves to the position P3 within the working temperature range again and performs the dropping operation. To do.

  The drone 1 drops the fire extinguisher container 200 at a position P3 above the high temperature region by the dropping program. Specifically, when the drone 1 sends out the wire 40 and lowers the extinguishing agent container 200 to a predetermined altitude, the holding of the wire 40 is released, and the extinguishing agent is connected with the wire 40 and the extinguishing agent container 200 being connected. The container 200 is dropped.

  At the fire site, for example, when the drone 1 is input that the height H300 of the house 300 (see FIG. 1) is 10 meters (m), the drone 1 has an extinguishing agent container 200 at an altitude of 10 meters. When descending to (m), the fire extinguisher container 200 is dropped. The drone 1 can determine the altitude at which the extinguishing agent container 200 is located based on the altitude at the position P2, the altitude at the position P3, and the length of the wire 40 that has been sent out.

  Hereinafter, the operation of the drone 1 will be described with reference to the flowcharts of FIGS. 8 and 9. When the drone 1 starts (step ST1 in FIG. 8), the position of the drone 1 itself is measured (step ST2), and when it is determined that it has reached the vicinity of the target position (step ST3), the temperature is detected (step ST3). ST4), moving in the direction of the high temperature region (step ST5). When the drone 1 reaches above the high temperature region, the drone descends to a predetermined altitude, and when the wire 40 is sent out to a predetermined length, the fire extinguisher container 200 is dropped (step ST6) and returned to a predetermined position (step ST6). ST7). The above positioning is performed using the output of the inertial sensor 20 received by the inertial sensor unit 58 when positioning radio waves cannot be received from four or more navigation satellites. The vicinity of the target position in step ST3 is, for example, the position P1 in FIG.

  In step ST5, when the direction of the high temperature region (maximum temperature region) is confirmed (step ST51 in FIG. 9), the drone 1 moves toward the high temperature region (maximum temperature region) (step ST52), and the temperature rises. If so (step ST53), it should be approaching the high temperature region (maximum temperature region), so it is determined that it has continued to move and has reached the high temperature region (maximum temperature region) (step ST54). ), The operation of dropping the fire extinguisher container 200 is carried out. In step ST53 described above, if the temperature has not risen, it should not have approached the high temperature region, so the direction of the high temperature region is confirmed again (step ST51), and steps ST52 to ST53 are repeated. At the fire site, the flame situation changes from moment to moment, but by such control, it is possible to approach the high temperature region in response to the changing flame situation.

  Unlike the present embodiment, the drone 1 includes a plurality of delivery devices 34, wires 40, and a fire extinguisher container 200, and drops the fire extinguisher container 200 over a plurality of high temperature regions. Good. Thereby, for example, in FIG. 1, when there are a plurality of fire sources of the flame F, the drone 1 can drop the fire extinguisher container 200 on each fire source.

<Second Embodiment>
The second embodiment will be described with a focus on differences from the first embodiment. A part or all of the description common to the first embodiment is omitted. The unmanned aerial vehicle 1A of the second embodiment will be described below as performing fire extinguishing work in a high-rise building.

  In FIG. 10, a fire has occurred on the middle floor of the high-rise building 400. Flame F and smoke S are emitted outside the high-rise building 400. The drone 1A approaches a high temperature area at the fire site. The drone 1A approaches the flame F to a position in a temperature range (working temperature range) defined by the relationship with the allowable temperature Tmax, injects a fire extinguishing agent E into the fire source FC, and performs a fire fighting operation. The drone 1A approaches the high-rise building 400 from its side and performs a fire extinguishing work.

  In the present specification, a position when performing a fire extinguishing work is referred to as a “working position”. The work position is a position within the work temperature range. The drone 1A calculates the reaction X1 due to the injection of the fire extinguishing agent, and generates a thrust X2 (hereinafter referred to as “cancellation thrust X2”) for canceling the reaction X1. Thereby, the drone 1 can carry out a fire extinguishing operation while maintaining a predetermined distance from the fire source.

  As shown in FIG. 11, a fire extinguishing device 16 is connected to the housing 2 of the drone 1 </ b> A via an arm 4. The fire extinguishing device 16 includes a container portion 16a for storing a fire extinguishing agent, an injection portion 16b that is a configuration for injecting the fire extinguishing agent, and an injection port 16c. The injection unit 16b is provided with a pump so that a fire extinguisher can be injected from the injection port 16c with an injection pressure within a predetermined range.

  The drone 1 </ b> A can control the fire extinguishing device 16 by the fire extinguishing control unit 64 (see FIG. 7) and inject a fire extinguishing agent at a predetermined injection pressure.

  Unlike the first embodiment, the storage unit 52 (see FIG. 7) of the drone 1A does not store the drop program, but stores the reaction calculation program, the position maintenance program, and the work execution program. Yes. The CPU 50 and the reaction calculation program are examples of reaction calculation means. The CPU 50 and the position maintenance program are examples of position maintenance means. The CPU 50 and the work execution program are examples of work execution means.

  The drone 1 </ b> A calculates the magnitude of the reaction X <b> 1 (see FIG. 10) due to the injection of the fire extinguishing agent from the fire extinguishing device 16 by the reaction calculation program. The storage unit 52 stores reaction-related data indicating the relationship between the injection pressure of the extinguishing agent and the magnitude of the reaction, and the drone 1 calculates the reaction with reference to the reaction-related data.

  The drone 1A generates a thrust for canceling the reaction caused by the injection of the extinguishing agent by the position maintenance program. Specifically, the number of rotations of each motor 6 is adjusted to generate a thrust (cancelling thrust X2) in the direction opposite to the reaction, that is, the direction close to the fire source. The canceling thrust X2 is in the opposite direction to the reaction and is substantially equal in magnitude. By the canceling thrust X2, the reaction X1 due to the discharge of the fire extinguishing agent is canceled, and the drone 1 can maintain the position.

  The drone 1A performs fire extinguishing work at the work position according to the work execution program. The drone 1A injects a fire extinguishing agent toward the fire source at the work position. If the high temperature region is the flame F (see FIG. 10), the fire source FC is the lower part of the flame F. The lower part of the flame F can be recognized by the image data of the camera 14.

Hereinafter, the operation of the drone 1A will be described with reference to the flowcharts of FIGS.
Steps ST1 to ST5 in FIG. 12 are the same as those in the first embodiment, and a description thereof will be omitted. When the drone 1A moves in the direction of the high temperature region (maximum temperature region) (step ST5). The drone 1A performs the fire extinguishing work (step ST8), determines that the target has been achieved (step ST9), stops the fire extinguishing work (step ST10), and returns to a predetermined position (step ST11). The drone 1A determines that the purpose of fire extinguishing has been achieved, for example, when the temperature recognized by the image data of the camera 14 decreases or when the temperature detected by the temperature sensor 22 decreases.

  In step ST8, the drone 1A calculates a reaction caused by the injection of the extinguishing agent (step ST81 in FIG. 13), and at the same time as injecting the extinguishing agent, generates a thrust (cancelling thrust X2 in FIG. 10) toward the fire source. The reaction X1 (see FIG. 10) is canceled (step ST82). If it is determined that the drone 1A is equal to or higher than the allowable temperature Tmax (step ST83), the drone 1A moves in the direction opposite to the high temperature region (step ST84, step ST85). Although the flame condition changes from moment to moment, such control makes it possible to perform a fire extinguishing operation while maintaining a predetermined distance from the high temperature region in accordance with the changing flame situation.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

1,1A Unmanned Flight Equipment (Drone)
14 Camera (Infrared camera)
20 Inertial sensor 22 Temperature sensor 50 CPU
52 storage unit 54 wireless communication unit 56 satellite positioning unit 58 inertial sensor unit 60 temperature recognition unit 62 drive control unit 64 fire extinguishing control unit 70 power supply unit

Claims (8)

An unmanned flying device capable of autonomous flight,
A moving direction determining means for determining a moving direction of the unmanned flight apparatus;
High temperature direction judging means for judging the direction of the high temperature area of the fire,
A moving direction control means for controlling the moving direction of the unmanned flight apparatus based on the direction of the high temperature region recognized by the high temperature direction determining means;
Unmanned flight equipment with. The high temperature direction determining means is configured to determine the direction of the high temperature region based on direct data indicating the temperature of the fire site itself and / or indirect data indicating the temperature in the vicinity of the unmanned flight apparatus. Yes,
The unmanned flight apparatus according to claim 1. The direct data is image data acquired by an infrared camera (infrared thermography),
The indirect data is an output of a temperature sensor;
The moving direction determining means is configured to determine a moving direction of the unmanned flight device based on an output from an inertial sensor.
The unmanned flight apparatus according to claim 2. The moving direction control means brings the unmanned flying device closer to the high temperature region up to a position of a working temperature range defined by a predetermined allowable temperature,
When recognizing a temperature equal to or higher than the allowable temperature, the unmanned flight device is moved in a direction opposite to the high temperature region,
The unmanned flight apparatus according to any one of claims 1 to 3. A fire-extinguishing substance injection means for injecting a fire-extinguishing substance;
Reaction calculation means for calculating reaction caused by the injection of the substance;
Based on the reaction, the position maintaining means for controlling the driving means of the unmanned flight apparatus and maintaining the current position;
The unmanned flight apparatus according to any one of claims 1 to 4, further comprising: The movement direction control means moves as the weight of the direct data and the indirect data up to the high temperature area by increasing the direct data weight, and when reaching the high temperature area, Descend with a heavy weight,
Having a dropping means for dropping a fire extinguisher container containing a fire extinguisher;
The unmanned flight apparatus according to any one of claims 2 to 4. An unmanned aerial vehicle capable of autonomous flight
A moving direction determining step for determining a moving direction of the unmanned flight apparatus;
A high temperature direction determining step for determining the direction of the high temperature area of the fire;
A moving direction control step for controlling the moving direction of the unmanned flight apparatus based on the high temperature region;
Perform unmanned flight way. A computer that controls an unmanned aerial vehicle capable of autonomous flight,
A moving direction determining means for determining a moving direction of the unmanned flight apparatus;
High temperature direction judging means for judging the direction of the high temperature area of the fire, and
A movement direction control means for controlling the movement direction of the unmanned flight apparatus based on the direction of the high temperature region recognized by the high temperature direction determination means;
Unmanned flight program to function as.