KR101794198B1 - Autonomous driving railway drone for mobilization to the scene of the fire - Google Patents

Abstract

The present invention relates to an autonomous driving railway drone which comprises: a drone body (1) having a rotating blade (2) for flight; a fan head member (3) capable of being in contact with a train line (200) arranged in a railway tunnel; and an autonomous driving controller (4) controlling autonomous driving operation of the drone (100). Therefore, the drone can be quickly mobilized and inputted for rescue activity at the scene of a fire generated in a GPS shadow zone such as a railway tunnel or the like in which a position of the drone is not grasped.

Description

Technical Field [0001] The present invention relates to an autonomous driving railway drone for mobilization to the scene of the fire,

The present invention relates to an autonomous flight type unmanned aerial vehicle for dispatching a railway fire site, and more particularly, to a rescue operation (rescue) in a fire scene occurring in a "GPS shaded area" The present invention relates to an autonomous flight type unmanned aerial vehicle which can be rapidly dispatched for input.

When a fire occurs in a railway tunnel where a train travels, it is necessary to quickly identify the situation and position of the fire scene, and to input rescue equipment necessary for rescue such as a smoke mask and fire extinguishing equipment. The idea of dispatching an unmanned aerial vehicle to a disaster site is disclosed in Korean Patent No. 10-1437323, and it is desirable to inject the unmanned aerial vehicle into a disaster site in a fire scene occurring in a railway tunnel. In particular, In other words, it is desirable to dispatch to the fire scene by autonomous flight.

However, railway tunnels are not "common grounds" that can be grasped by GPS (Global Positioning System / satellite positioning system), but "GPS shaded areas". Therefore, the autonomous flight unmanned aerial vehicle based on the conventional technology that autonomously flies by locating its position through GPS can not be used for railway tunnels. Particularly, in the above-mentioned Patent No. 10-1437323, the operator adjusts the flight of the unmanned aerial vehicle by using the wireless regulator. In the case of the fire scene in the railroad tunnel, since it is very difficult for the worker to directly approach, Conventional techniques for directly controlling the flight of a flight are not applicable.

In addition, in order to allow an unmanned aerial vehicle to fly freely, there must be a space to secure an airway. In the case of railway tunnels, various auxiliary facilities for traveling the train are installed in a space above the train, And most of all, there is a electric line through which electric power flows at a high voltage. Therefore, it is virtually impossible for the unmanned aerial vehicle to freely approach the fire scene in the railroad tunnel by using the conventional technology and to fly the manned vehicle.

Korean Patent Registration No. 10-1437323 (Announcement 2014 09.02).

The present invention has been developed in order to overcome the limitations of the prior art as described above, and it is an object of the present invention to provide a system and method for quickly and automatically dispatching a fire to a scene in a railway tunnel, even in a railway tunnel corresponding to a GPS shaded area, The present invention aims to provide an unmanned aerial vehicle capable of receiving an unmanned vehicle.

Particularly, in the present invention, as a sub-facility for traveling a train installed in a railway tunnel, a subway line that supplies electric power to a train is used for autonomous travel of an unmanned aerial vehicle, and even in a railway tunnel where only a narrow airway space exists due to a sub- The object of the present invention is to provide a unmanned aerial vehicle capable of quickly and accurately dispatching to a fire scene and performing rescue operations such as supply of fire-resisting articles, shooting of a fire scene, escape route or guidance of escape direction.

In order to achieve the above object, according to the present invention, there is provided a flying body, comprising: a flying body having a rotary blade for flight and equipped with rescue equipment for fire rescue; And an autonomous flight controller (4) mounted on the flying main body (1) to control the flying main body (1) to follow autonomous flight along the line center axis; The autonomous flight controller 4 includes an inertial navigation device 41 for acquiring information on the speed, centrifugal force, and attitude of the flying body 1, A line center axis follower 42 for obtaining the heading angle information of the flying body 1 that allows the flight main body 1 to follow and fly along the line center axis, The information from the inertial navigation device 41, the information from the line center axis follow-up device 42 and the information from the fire occurrence position detecting device 43, (44) for controlling the rotary wing (2) so that the flywheel (1) flies along the line center axis and actuating the rescue equipment mounted on the flying body (1) Autonomous flight unmanned flight It is provided.

The present invention may further include a fan head member 3 mounted on the flying body 1 and capable of contacting a catenary 200 disposed in a railroad tunnel. In this case, A spring member and a damper member are provided between the member 3 and the flying main body 1. The flying motion control device 44 of the autonomous flight controller is configured such that the fan head member 3 slides in contact with the catenary 200 The lifting force and the thrust force of the flying body 1 are controlled so that the flying body 1 can fly.

In the UAV 100 of the present invention, the line center axis follower 42 includes a distance scanner 420 so that the distance from each of the pair of rails to the flight body 1 The vertical distance and the horizontal distance are measured in real time and the information of the measured vertical distance value, the horizontal distance value, and the speed, centrifugal force, and posture of the flight main body 1 provided from the inertial navigation device 41, The position of the center axis can be grasped or the apparatus can detect the deviation of the catenary using the catenary deviation detecting device and the position of the line center axis can be grasped from the measured value.

In the unmanned air vehicle 100 of the present invention, the fire occurrence position detection device 43 is constituted by a thermal imaging camera and an image processing device. The image captured through the thermal imaging camera is subjected to image processing by the image processing device, And an image processor for recognizing the contents of the distance mark through image processing of the image of the obtained distance mark, so that the flight main body 1 The present position detecting device 45 for recognizing the distance mark existing in the periphery of the rail and calculating the position and the moving distance of the present flying body 1 and providing the calculated information to the flight operation control device 44 And may be further provided in the autonomous flight controller 4. Particularly, in the present position detecting device 45, the flying distance calculated based on the flying speed measured from the inertial navigation device 41 and the flying time, The information on the current position and the travel distance of the flight main body 1 may be obtained by correcting the current position value and the travel distance value of the flight main body 1 and the acquired information may be provided to the flight operation control device 44. [

Also, in the unmanned air vehicle of the present invention, the rescue equipment mounted on the flying body 1 may be one or a plurality of articles selected from the group consisting of a smoke mask, a fireproof box and a fire extinguisher, a lighting device, It may be a photographic equipment for shooting a fire scene.

In the present invention, the flying main body 1 is further provided with a train access detecting means for detecting in advance a train approaching a line or a train in front of the flight direction and providing the information to the flight operation control device , The flight operation control device 44 controls the flight main body so as to freely fly on a rail without a train when it travels by autonomous flight to a fire site in a railway tunnel, The flight main body is made to evacuate to the space between the ascending line and the descending line, and when the train passes or after passing the train, .

According to the present invention, the unmanned aerial vehicle can detect the position of the center line of the line by itself, grasp the position of the line, and then fly freely in the longitudinal direction to arrive at the scene of fire and perform various rescue measures necessary for fire rescue.

Therefore, according to the present invention, there is an advantage that a fire scene occurring in a "GPS shaded area" in which the unmanned air vehicle can not be located by GPS, such as a railroad tunnel, can be dispatched very quickly and efficient rescue can be performed.

1 is a schematic perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic longitudinal side view of the unmanned aerial vehicle shown in Fig. 1. Fig.
FIG. 3 is a longitudinal view showing a state in which the unmanned aerial vehicle of the present invention is flying in the railway tunnel following the center axis of the railway line in contact with the catenary. FIG.
4 is a schematic block diagram of a configuration of an autonomous flight controller provided in the unmanned aerial vehicle of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and operation are not limited thereby. For convenience, the direction in which the train travels, that is, the direction in which the rail extends long, is referred to as "longitudinal direction", and the direction transverse to the longitudinal direction in the horizontal plane is referred to as "lateral direction". xyz are the x-axis, the linear direction between the rail and the rail on which the train travels is the y-axis, and the ceiling direction from the midpoint between the rails and the rail is the z-axis . Therefore, the "line center axis" which will be described later means an imaginary line between the rail and the rail between the rail and the rail in a direction perpendicular to the ceiling, that is, a virtual line corresponding to the z-axis line.

FIG. 1 is a schematic perspective view of an embodiment of a track center axis following autonomous flight type unmanned aerial vehicle (hereinafter abbreviated as "unmanned aerial vehicle") 100 according to the present invention, There is shown a schematic longitudinal side view of the unmanned aerial vehicle 100 shown in FIG. 3 is a schematic view showing a state in which the unmanned air vehicle 100 of the present invention is flying in the railway tunnel following the center line of the line in contact with the catenary 200. FIG.

As mentioned above, there is not enough space in the railway tunnel to secure the air way for the unmanned aerial vehicle 100 to fly freely. In order to solve this problem, in the present invention, autonomous flight is performed along a train running track in a space above a railway building limit line in a railway tunnel to reach a fire scene in a railroad tunnel. That is, the unmanned aerial vehicle 100 according to the present invention automatically reaches the site of the fire generated in the railroad tunnel by flying. In this process, the unmanned air vehicle 100 is able to maintain a high altitude at which various infrastructures are installed In other words, in the space above the railway construction line, following the rail center line of the rail, it follows flight ("line center axis follow-up flight").

As shown in the drawings, the unmanned aerial vehicle 100 of the present invention includes a flying body 1 having a rotary wing 2 for flight, a fan head member 1 which can touch the catenary line 200 disposed in the railroad tunnel, (3), and an autonomous flight controller (4) for controlling autonomous flight operation of the unmanned air vehicle (100).

The flying main body 1 is provided with a rotating blades 2 and is caused to fly by floating in the air by the operation of the rotating blades 2. In the present invention, Rescue equipment (for example, fire rescue materials such as a smoke mask, fire fighting garbage, fire extinguisher, lighting device, speaker, photographic equipment, etc.) are mounted. For this purpose, although not shown in detail in the drawings, the flight main body 1 may be provided with a loading box having an opening and closing door, and various rescue equipment may be contained in the loading box.

In the present invention, the flying body (1) is provided with a pan head member (3) capable of contacting the electric wire (200). The fan head member (3) is provided integrally with the flying body (1) as a member extending in the transverse direction. In the embodiment shown in the drawing, the pair of fan head members 3 are respectively provided in the front and rear of the flying body 1 in the pair, and the fan head member 3 includes two or more As shown in FIG.

The fan head member 3 may always slide in contact with the catenary 200 in the course of the flight of the unmanned air vehicle 100. The fan head member 3 may be slid in contact with the catenary 200, The unmanned flight vehicle 100 is able to fly while being separated from the catenary line 200. Since the upper surface of the fan head member 3 can be slid in contact with the catenary 200 as described above, at least the upper surface of the fan head member 3 is preferably made of a low friction material and the catenary line 200 is worn It is preferable that the material of the catenary line 200 is made of a material that is softer than the material of the catenary line 200. As a low friction material provided on the upper surface of the fan head member 3, there is a low friction coating material called "Teflon ", and various materials including other glass fiber composites and engineering plastics, The fan head member 3 can be manufactured. Particularly, since a high-voltage current flows through the catenary line 200, the fan head member 3 is made of an insulating material for insulation between the flight main body 1 and the catenary line 200.

As described above, the UAV 100 according to the present invention may fly without the fan head member 3 touching the catenary 200, but in some cases, the fan head member 3 may fly over the catenary 200 It is possible to fly while sliding on the ground. When the fan head member 3 is in a state of being in contact with the catenary 200, sliding contact is made between the fan head member 3 and the catenary 200. Thus, the unmanned air vehicle 100 and the catenary 200), mechanical dynamic interaction occurs in proportion to the flying speed. Therefore, the flight operation control device 44 of the autonomous flight controller 4, which will be described later, adjusts the contact and slip states between the fan head member 3 and the catenary line 200 to an optimal state, Thereby controlling the lift and propulsion of the engine 1. In particular, although not shown in the drawings, a spring member and a damper member are provided between the fan head member 3 and the flying main body 1 in installing the fan head member 3 on the flying main body 1, 100 may make the contact and slip condition between the fan head member 3 and the catenary 200 to be in an optimal state.

Since the path of the unmanned aerial vehicle 100 according to the present invention is an environment in which a very high pressure, that is, an extraordinary high pressure acts, an induced voltage is formed in the unmanned air vehicle 100, which may cause malfunction or noise of the apparatus. In order to prevent this, the unmanned aerial vehicle 100 according to the present invention is connected to a ground line between various components such as an electric / electronic device constituting the flying body 1 and a sensor mounted on the flying body 1, thereby generating an equal voltage.

As described above, the unmanned aerial vehicle 100 of the present invention reaches a disaster site in a railroad tunnel by a "self centering line track" autonomously flying along a line center axis, wherein the "line center axis" As mentioned above, the imaginary lines between the rails and the rail between the rail and the rail in the direction perpendicular to the ceiling mean a virtual line corresponding to the z-axis line. Thus, for each longitudinal point, there is a respective line center axis.

The autonomous flight controller 4 of the present invention is equipped with an autonomous flight controller 4 mounted on the flight main body 1 for autonomous flight following the center axis of the unmanned aerial vehicle, A navigation device 41, a line center axis follower 42, a fire occurrence position detection device 43, and a flight operation control device 44. [ The present position detecting device 45 may be further provided in the autonomous flight controller 4 as required. FIG. 4 shows a schematic block diagram of the configuration of the autonomous flight controller 4. In FIG.

The Inertial Navigation System ("INS") 41 itself is well known in Korean Patent No. 10-0967044, and may include a gyro sensor, which is an inertial sensor, and an accelerometer, Centrifugal force, and attitude of the flight main body 1 based on the linear acceleration and the angular velocity measured by the gyro sensor and the accelerometer.

The line center axis follower 42 is configured to grasp the position of the line center axis to be followed by the flight main body 1 and to make the flight main body 1 follow the line center axis and fly A heading adjustment necessary when the flying body 1 is currently flying with the degree of deviation of the flying body 1 from the line central axis and the current attitude angle of the flying body 1, And provides the flight operation control device 44 with information for adjusting the angle of the flight main body heading such as angle (synthesis direction angle of horizontal and vertical) information.

At this time, the positioning of the line center axis performed by the line center axis follower 42 can be performed in two ways. The first method uses the pair of rails to determine the position of the line center axis. The second method uses the electric line to locate the line center axis.

First, in the method of grasping the position of the line central axis line by using a pair of rails, the distance scanner 420 mounted on the flying main body 1 rotates from each of the pair of rails provided on the ground to the flying main body 1 The vertical distance and the horizontal distance of the flight main body 1 from the inertial navigation device 41 in real time and using the measured vertical distance value, the horizontal distance value, and information on the speed, centrifugal force, The position of the line center axis is grasped. A specific mathematical algorithm for recognizing the position of the line center axis using each piece of information at this time is already known, and a detailed description thereof will be omitted.

In the method of determining the position of the center line of the line using the catenary line, the measurement value of the catenary line is used. The catenary line 200 is arranged in a state of being deviated in the lateral direction from the line central axis, and is staggered so as to linearly change the deviation position in the longitudinal direction. Therefore, the position of the line center axis can be grasped by measuring the deviation of the catenary line 200 in real time. The deviation of the catenary is detected and measured using a known catenary deviation detecting device mounted on the flight main body 1 and the position of the line center axis is grasped from the measured values by using a known mathematical algorithm. A catenary deviation detecting device for detecting a deviation of a catenary line and a technique for detecting the deviation of a catenary line using the same are disclosed in Korean Patent No. 10-1583707, and a detailed description thereof will be omitted.

There are two ways to grasp the position of the line center axis in this way. In the present invention, the line center axis follow-up device 42 may have a configuration capable of performing any of the above two methods, Method can be performed.

In order for the unmanned aerial vehicle 100 to reach the unmanned aerial vehicle 100 in an autonomous flight at a site of a fire in a railway tunnel corresponding to a shaded area where GPS can not be located, it is recognized that the unmanned air vehicle 100 has reached the scene of a fire itself . To this end, the unmannurized air vehicle (100) of the present invention is provided with a fire occurrence position detection device (43) for detecting and recognizing a fire occurrence position. The fire occurrence position detection device 43 may be constituted by a thermal imaging camera and an image processing device. By analyzing the image captured through the thermal imaging camera with the image processing device, that is, performing known image processing, And the position is ascertained. That is, specific algorithms and apparatuses for recognizing the occurrence of a fire through the image processing of the image acquired by the thermal imaging camera and grasping the position of the fire are well known, and a detailed description thereof will be omitted. The fire occurrence position detecting device 43 is mounted on the flight main body 1.

If necessary, the current location of the unmanned air vehicle 100 can be precisely detected by detecting the current position of the unmanned air vehicle 100 in addition to the location of the fire site through the fire occurrence location detecting device 43. [ . In the case of a railway, a distance post is installed on the left side of the roadbed along a railroad roadway, and these distance tables are installed standing at predetermined distances from the starting point of the railway line (every 200 meters at present). In addition, a support is provided at a predetermined distance (about 40 to 50 m). At the point where the support is installed, a number plate of the pole is provided, and a pole number indicating the distance between the pole numbers is displayed in the pole number table. In this way, a distance mark indicating the distance from the starting point or the current position exists in the longitudinal direction in which the rail extends in the railway line including the railroad tunnel.

Therefore, the present position detecting device 45 according to the present invention recognizes the distance mark existing in the periphery of the rail while the flying main body 1 is flying, and detects the position and the moving distance of the current flying main body 1 And provides the calculation information to the flight operation control device 44. [ For example, the current position detection device 45 may be configured to include an image acquisition device such as a camera and an image processor that recognizes the contents of the distance mark through image processing on the acquired image of the distance mark. With this configuration, the current position detecting device 45 can acquire information on the current position of the flying body 1 and the cumulative flying distance from the starting point to the present by using the distance mark, To the device 44. If necessary, the current position detection device 45 calculates the current position value detected by the identification of the distance mark and the current position value detected using the distance value calculated based on the flight speed and the flight time measured from the inertial navigation device 41 By correcting the travel distance value, information on the current position and the travel distance of the flying body 1 can be obtained more accurately. The algorithm itself, which corrects the results detected based on the distance marking based on the information from the inertial navigation device 31, is known, and a description thereof will be omitted.

The flight operation control device 44 uses the information provided from the inertial navigation device 41, the track center axis follower 42, the fire occurrence position detection device 43 and the current position detection device 45 to generate a rotation wing 2 so that the flight main body 1 can fly autonomously and reach the fire scene in the railroad tunnel. That is, the flight operation control device 44 causes the flight main body 1 to fly by using the information provided from the inertial navigation device 41 and the track center axis follow-up device 42, The fan head member 3 is brought into contact with the catenary line 200 in an intermittent contact state so as to fly along the line center axis. In the course of the flight of the unmanned air vehicle 100, the current position detection device 45 continuously grasps the current position of the flying body 1, and when a fire scene is detected through the fire occurrence position detection device 43, The operation control device 44 controls the flight main body 1 to drop the fire-resisting material such as a smoke mask, a fireproof box, or a fire extinguisher that has been mounted on the flight main body 1 into a fire site, Equipment and other rescue equipment. That is, after the flame body, the fire protection apparatus and the fire extinguisher as a fire rescue equipment are mounted on the flying body 1, all or a part of the fire extinguishing apparatus, . In addition, a lighting device can be installed as a rescue device in the flight main body 1 to illuminate the fire scene and guide the escape route. Also, the speaker can be installed as a rescue device, so that information on the escape route, have. Therefore, passengers of trains can use fire rescue materials such as smoke masks at the fire scene, can easily find the escape route along with the light of the lighting device, and escape from the fire scene safely according to the announcement through the speaker . In addition, the images obtained through the photographic equipment are transmitted to the control room, and the manager of the control room can grasp the scene of the fire accurately and can quickly take necessary measures for the rescue. Of course, various information obtained from the autonomous flight controller 4 in the course of flight of the unmanned air vehicle 100 is transmitted to the control room as well as images taken at the fire scene, and necessary commands from the control room are wirelessly transmitted to the unmanned air vehicle 100 .

As described above, the unmanned aerial vehicle 100 according to the present invention detects and locates the position of the center line of the line by self-flight in the longitudinal direction, thereby reaching a fire scene and performing various relief measures necessary for fire rescue . Therefore, it is possible to perform a quick and efficient rescue operation even in a fire scene occurring in a railway tunnel which is a shadow area of a GPS.

In the meantime, when the unmanned air vehicle 100 of the present invention travels by autonomous flight to a fire scene in a railway tunnel, the train runs freely on a railroad without a train, or the train stops in front of a flight direction It is possible to control the flight main body 1 so as to return to the original position and fly after the train has passed or passed the train after evacuating to the space between the ascending line and the descending line. If necessary, a state in which the flying body 1 is erected in a space between the ascending line and the descending line, that is, the state where the rotary blades 2 are located at a 90-degree angle so as to exist in the vertical direction, . The flight attitude control of the flying body 1 is performed by the flight operation control device 44. [

To this end, the UAV 100 may further include a "train access detection means" for detecting the arrival of a train on the line ahead of the flight direction. The train approach detection means may be a wave detection sensor, and the approach of the train can be detected by detecting the wave propagation of the catenary line 200 caused by the collecting pantograph of the train by the wave detection sensor. Alternatively, the train approach detection means may comprise a noise detection sensor. In this case, the aerodynamic noise generated by the approach of the train is measured by the noise sensor, and the approach of the train is detected.

The train approach detection means may comprise a sensor for detecting wheel contact noise and vibration propagating on the rail. In this case, the approach of the train is detected in advance by sensing the wheel contact noise and vibration propagated on the rail. These train approach detection means may be provided one by one, but several may be used together, and they are mounted on the flight main body 1.

The train approach detection means provides the information to the flight operation control device 44 when it detects that a train is coming to the track or if there is a train on the track, Controls the flight main body 1 so that the flight main body 1 is evacuated to the space between the ascending line and the descending line as described above.

The unmanned aerial vehicle 100 according to the present invention can be used for monitoring and measuring the railway infrastructural system, such as a track, a catenary line, a signal line, and a communication line, when necessary, Or diagnosis.

1: Body of flight
2: Rotating blade
3: Fan head member
4: autonomous flight controller

Claims (10)

A flight main body having a rotating wing for flying and equipped with rescue equipment for fire rescue and flying along a train running track in a space above a railway building limit line in a railroad tunnel; And
And an autonomous flight controller mounted on the flying main body and controlling the flying main body to follow autonomous flight following the central axis of the railway line;
Wherein the autonomous flight controller comprises:
An inertial navigation device for acquiring information on the speed, centrifugal force, and posture of the flying body,
A line center axis follower for obtaining a position of a line center axis to be followed by the flight main body and acquiring information for adjusting a heading angle of the flight main body so that the flight main body can fly along the line center axis,
A current position detecting device for determining a current position and a moving distance of the flying body,
A fire occurrence position detecting device for detecting and recognizing a fire occurrence position,
By means of the information from the inertial navigation device, information from the track center axis follower, information from the current position detector, and information from the fire origin position detecting device, the rotation body is rotated so as to fly along the line center axis And a flying motion control device for controlling the rescue equipment mounted on the flying body when the flying object arrives at a fire site.
delete The method of claim 1,
Wherein the line center axis follower includes a catenary deviation detecting device and detects the deviation of the catenary line using the catenary deviation detecting device and measures the position of the center line of the railway line from the measured value, Unmanned aerial vehicle.
The method according to claim 1 or 3,
Wherein the fan body further comprises a fan head member mounted on the flying body, the fan head member being capable of contacting a catenary line disposed in a railroad tunnel.
The method according to claim 1 or 3,
The current position detection device includes an image acquisition device and an image processor recognizing the contents of the distance mark through image processing of the distance mark image of the railroad track acquired by the image acquisition device, The distance to be measured is calculated based on the flying speed measured from the inertial navigation device and the flying distance value calculated based on the flying time measured by the inertial navigation device And obtains information on the current position and the travel distance of the flying body by correcting the current position value and the travel distance value of the flying body detected by the identification of the distance mark and provides the acquired information to the flight operation control device Autonomous flight unmanned aerial vehicle.
The method according to claim 1 or 3,
The fire occurrence position detection device is constituted by a thermal imaging camera and an image processing device. An image photographed through a thermal imaging camera is subjected to image processing by an image processing device, Flightless unmanned aircraft.
The method according to claim 1 or 3,
Wherein the rescue equipment mounted on the flying body is one or a plurality of articles selected from the group consisting of a smoke mask, a fireproof box, and a fire extinguisher.
The method according to claim 1 or 3,
The flying main body is further provided with a train access detecting means for detecting in advance a train approaching a line in front of the flight direction or the presence of a train and providing the information to the flight operation control device,
The flight control device controls the main body of the flight so that it freely flies on a rail without a train when it emits a self-propelled flight to a fire scene in a railway tunnel, and then the train approaches from the train approach detection means, The flight main body is caused to escape to the space between the ascending line and the descending line, and when the train passes or after passing the train, it returns to the original position and controls the flight main body to fly Autonomous flight unmanned aerial vehicle.
5. The method of claim 4,
A spring member and a damper member are provided between the fan head member and the flying body,
Wherein the flying motion control device of the autonomous flight controller controls the lift and thrust of the flying body so that the flying body can fly while the fan head member slides on the catenary.
The method according to claim 1 or 3,
In order to prevent induction of malfunction or noise due to induction voltage during autonomous flight, the inertial navigation device of the autonomous flight controller, the line center axis follower, the current position detector, Wherein a device made of a conductive material and a metallic material part of a flying body among the operation control devices are connected to each other by a ground wire to generate an equal voltage.

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