KR102123776B1 - Drone for smoke control and smoke control method - Google Patents

Abstract

An embodiment provides a drone for smoke control, which includes: a drone; and a smoke control device mounted on the drone to spray chemicals for smoke control. The drone for smoke control flies in a smoke control area to perform the smoke control based on an order signal from a terminal of a smoke controller. A sprayer of the smoke control device has a predetermined length in a direction in parallel with the ground. Temperature of heat caused by explosive power and gas of an engine system provided in the smoke control device is lowered while passing through the sprayer.

Description

Drone for smoke control and smoke control method using the same{Drone for smoke control and smoke control method}

The present invention relates to a smoke control drone, and relates to a method for controlling smoke and using a smoke control drone having a smoke control device installed on a drone remotely controllable by a controller.

Drone (Drone) is called in various terms by situation, purpose, and country, and generally refers to an unmanned aerial vehicle (UAV) that can be controlled by radio waves. This is a generic drone that can be steered by airplanes or helicopters. In the past, drones were developed for military use, but recently, they are rapidly spreading to industrial and civilian markets as the possibility of utilization in various fields increases. Among drone applications, agricultural drones are expected to be the most promising. The world's population is expected to exceed 9 billion by 2050, and experts estimate that agricultural consumption will increase by 70% over the same period. In order to meet the growing demand for agricultural products and ensure the sustainability of agriculture, the adoption of innovative technologies is inevitable, and experts expect drones to play an important role in the innovation.

Recently, a drone for agriculture is used in various ways to acquire growth information in real time using a camera attached to the drone, and use it to establish an agricultural production and distribution strategy in real time based on this.

In particular, the agricultural field is accelerating the aging and population decline, and the need to introduce low-input, high-efficiency agricultural technology to increase agricultural productivity is increasing, so data collection and analysis are made to compensate for the insufficient labor force in the agricultural field and improve agricultural productivity. As the introduction of smart agriculture based on the expansion, the use of drones in the control activities is increasing.

Republic of Korea Patent Publication No. 10-2019-0067506

An object of the present invention is to provide an apparatus and method for controlling unmanned smoke screen by installing a smoke control device on a drone.

In addition, an object of the present invention is to provide an apparatus and method for remotely controlling a smoke control device to control a large area of the control area quickly and efficiently.

In addition, an object of the present invention is to provide an apparatus capable of rapidly stopping engine driving of a smoke control system in an emergency situation during smoke control activity and finely controlling the amount of drug injection.

In addition, an object of the present invention is to provide an apparatus and method for enabling powerful injection of a drug by using the explosive power of an engine and gas generated from the engine.

In addition, the present invention considers the characteristics of the air resistance according to the direction of movement of the smoke control agent drone and the characteristics of the smoke control agent drone flying in the air over the control area, and the drug is smoothly discharged to the ground, and the drug flows back or accumulates in the device. The object is to provide a device that can be prevented.

It is also an object of the present invention to provide an apparatus and method that enables efficient monitoring of the smoke control area and smoke control activity.

In addition, an object of the present invention is to provide an apparatus and method for enabling efficient remote control of a smoke control drone using a terminal of a controller.

Examples include drones; And a smoke control device mounted on the drone and spraying a medicine for controlling a smoke screen. The smoke control may be performed by flying in the control area based on a command signal from the terminal of the control agent, and controlling the smoke screen. The injector has a predetermined length in a direction parallel to the ground, and the temperature of heat due to the explosive power and gas of the engine system provided in the smoke control device may provide a smoke control drone that decreases as it passes through the injector.

In another aspect, the medicament ejection area at the end of the injector through which the medicament is discharged may provide a smoke control drone curved at a predetermined angle toward the ground.

In another aspect, the preset angle may provide a drone for smoke control that is 45 degrees.

In another aspect, it is possible to provide a smoke control drone for controlling the angle formed by the injector with the ground based on the angle information inclined with respect to the ground during flight of the smoke control drone.

In another aspect, the gas generated in the engine system for smoke prevention is supplied with pressure to the fuel storage unit so that fuel is supplied to the engine system, and supplied to the medicine storage unit to supply the medicine to the injector with the propulsion of the gas It can provide a drone for smoke control.

In another aspect, in the terminal for smoke control, a plurality of control areas allocated to the control agent are displayed separately from other areas, and among the plurality of control areas, a smoke control area and a non-smoke control area are separately displayed. The terminal may provide a smoke control drone in which real-time location information of a smoke control drone is displayed.

In another aspect, the terminal for smoke control may display control management information for a selected control area among the assigned plurality of control areas, and a flight path of a smoke control drone in response to successive selections within the selected control area. By setting the can provide a smoke control drone that allows the drone to perform smoke control if it automatically flies according to a set flight path.

In another aspect, it is possible to provide a smoke control drone for monitoring a control activity of a smoke control agent drone based on temperature information of a smoke control agent sprayed from the injector for smoke control.

In another aspect, it is possible to provide a smoke control drone for setting the injection altitude, flight speed, and flight route of the agent based on the sensed surrounding wind speed information, wind direction information, and downward wind speed information for smoke control.

In another aspect, a smoke control system that sets a flight path and a flight speed in real time based on estimated information of an injection amount and a distribution area of the medicine injected from the injector for smoke control, and performs smoke control in accordance with the set flight path and flight speed. Dragon drones can be provided.

Embodiments according to the present invention, it is possible to provide a device and method for mounting a smoke control device in a drone to quickly and efficiently control a large area.

In addition, the embodiment may provide an apparatus and method for enabling a remote controller to control a drone for smoke control using a terminal.

In addition, the embodiment provides an apparatus and method for easily distinguishing between the smoke control area and the non-smoke control area, enabling effective monitoring of the smoke control activity, and enabling efficient management of overall aspects of the smoke control activity. .

In addition, the embodiment may provide a device that can prevent the backflow phenomenon of the drug or the accumulation of the drug in the device by adjusting the discharge angle of the drug for controlling the smoke in consideration of the flight characteristics of the drone.

In addition, the embodiments may provide an apparatus and method that enables powerful injection of medicine and uniform injection of medicine to a large area.

However, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood from the following description.

1 is a block diagram illustrating a drone for smoke control using a drone.
2 is a block diagram centering on the smoke control device.
3 to 5 are conceptual views of an exemplary smoke control drone according to an embodiment of the present invention as viewed from different directions.
6 is a view for explaining an engine drive control device.
7 is a view for explaining a drug supply amount control device.
8 is for explaining the bending angle of the drug ejection area of the injector.
9 is a schematic diagram of a smoke control activity according to remote control between a smoke control drone and an external device.
10 is a conceptual diagram for explaining a smoke control method using a smoke control drone according to an embodiment of the present invention.
11 and 12 are schematic diagrams for explaining a method of controlling a drone for smoke control using a terminal of a controller that is an external device.

The present invention can be applied to a variety of transformations and may have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention and methods for achieving them will be clarified with reference to embodiments described below in detail with reference to the drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms. In the following examples, terms such as first and second are not used in a limited sense, but for the purpose of distinguishing one component from other components. In addition, a singular expression includes a plural expression unless the context clearly indicates otherwise. In addition, terms such as include or have means that a feature or component described in the specification exists, and does not preclude the possibility of adding one or more other features or components in advance. In addition, in the drawings, the size of components may be exaggerated or reduced for convenience of description. For example, since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to what is shown.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be denoted by the same reference numerals and redundant description thereof will be omitted. .

1 is a block diagram illustrating a drone for smoke control using a drone, FIG. 2 is a block diagram centering on a smoke control device, and FIGS. 3 to 5 are exemplary smoke control according to an embodiment of the present invention. This is a conceptual view of drones viewed from different directions. And, Figure 6 is a view for explaining the engine drive control device, Figure 7 is a view for explaining a drug supply amount control device. In addition, Figure 8 is for explaining the bent angle of the drug ejection area of the injector. And, Figure 9 is a schematic view of the smoke control activity according to the remote control between the smoke control drone and the external device.

Referring to FIG. 1, the drone 10 for smoke control may be composed of a drone 100 and a smoke control device 200. In addition, the drone 100 includes a wireless communication unit 110, a sensing unit 120, a camera 130, an output unit 140, a memory 150, a GPS module 160, an image processing unit 170, and a control unit 180 ) And the power supply module 190. In addition, the drone 100 may include a smoke control device 200.

Among the components shown in FIG. 1, the rest of the components except the smoke control apparatus 200 are not essential, and thus the drone 100 having more components or fewer components may be implemented.

The control unit 180 is referred to as a first control unit 180 to distinguish it from the control unit 201 of the smoke control system 200, and the control unit 201 of the smoke control system 200 is referred to as a second control unit 201. can do. However, the present invention is not limited thereto, and the first and second control units 180 and 201 may be integrated devices.

Hereinafter, the components will be described in detail.

The wireless communication unit 110 is a module that provides a wireless communication function between the drone 100 and the external device 300 of FIG. 9, a mobile terminal for remotely controlling the drone 100 or a wearable device worn on a target object, etc. Enable wireless communication. To this end, the wireless communication unit 110 may include a mobile communication module for accessing a mobile communication network, a wireless Internet module for accessing a wireless Internet network, and a short-range communication module enabling a wireless short-range communication connection.

The smoke control drone 10 may spray a medicine while flying a preset control area under remote control of the external device 300.

The sensing unit 120 may include at least one of an impact detection sensor 121 or an altitude detection sensor 122. In addition, an acceleration sensor, a gyro sensor, and the like may be further included. The impact detection sensor 121 is a sensor that senses information of an impact applied to the drone 100, and when an impact of a predetermined value or higher is sensed, it may be determined that a dangerous situation has occurred and provide an externally set output. In addition, the altitude detection sensor 122 is a sensor that detects a change in the flight altitude of the drone 100, and if the flight altitude change during a control for a unit time is greater than a preset reference value, it is determined that a dangerous situation has occurred and outputs it to the outside. Can provide.

The drone 100 may include at least one camera 130, and may capture an image during a control operation or during a control operation stop through the camera 130 and store the image in the memory 150. In addition, the drone 100 transmits the captured image from the camera 130 to the external device 300 of the controller, so that the shooting information for the control area controlled by the drone 10 for smoke control on the external device 300 is displayed. It can be done.

In some embodiments, the smoke control drone 10 analyzes an image photographed through the camera 130 to set an area to control, and automatically controls the smoke area while flying the control area based on location information in the corresponding area You can also do

The output unit 140 may include at least one of a display unit 141, an audio output unit 142, an IR output unit 143, or an LED output unit 144.

The display unit 141 may form a mutual layer structure with the touch sensor or may be integrally formed to implement a touch screen. The touch screen may function as a controller input unit that provides an input interface between the drone 100 and the controller, and at the same time, provide an output interface between the drone 100 and the controller.

The audio output unit 142 may output audio data received from the wireless communication unit 110 or stored in the memory 150. The sound output unit 142 may include a receiver, a speaker, a buzzer, and the like.

The IR output unit 143 may be configured to include at least one infrared sensor, and may output infrared rays by driving the infrared sensor according to a set control signal. At this time, the infrared output time and output direction can be adjusted.

The LED output unit 144 may be composed of at least one LED, and may control the LED output unit to output symbols, letters, numbers, etc. set according to the set control signal.

The output unit 140 receives a visual and/or audible feedback of status information of the smoke control agent drone 10 during a control activity by a controller controlling the smoke control agent drone 10 remotely through the external device 300. Make it possible.

The memory 150 stores data supporting various functions of the drone 100. The memory 150 may store a plurality of application programs (application programs) driven by the drone 100, data for operating the drone 100, and instructions. At least some of these applications can be downloaded from external servers via wireless communication.

The GPS module 160 is a module for acquiring the position (or current position) of the smoke control drone 10. When the GPS module is utilized, the position of the smoke control drone 10 using a signal transmitted from a GPS satellite Can be obtained.

The location information of the smoke control drone 10 obtained by the GPS module 160 may be transmitted to the external device 300 of the controller in real time. In some embodiments, the location information of the drone 10 for smoke control may be displayed in real time on the external device 300 of the controller.

The image processing unit 170 may analyze the data of the image captured by the camera 130 to detect a target object in the control area, or perform processing of the captured image, such as filtering the quality of the captured image.

In addition to the operations related to the application program, the first controller 180 generally controls overall operations required for the flight and control activities of the smoke control drone 10. The first controller 180 processes or processes signals, data, and information input or output through the above-described components or drives an application program stored in the memory 150 to provide or process appropriate information or functions to the controller. Can be.

In addition, the first control unit 180 may control at least some of the components discussed with reference to FIG. 1 in order to drive the application program stored in the memory 150. Furthermore, the first controller 180 may operate by combining at least two or more of the components included in the smoke control drone 10 for driving the application program.

Under the control of the first controller 180, the power supply module 190 receives external power and internal power to supply power to each component included in the smoke control drone 10. The power supply module 190 includes a battery, and the battery may be a built-in battery or a replaceable battery.

At least some of the components may operate in cooperation with each other to implement an operation, control, or control method of the smoke control drone 10 according to various embodiments described below. In addition, the operation, control, or control method of the smoke control drone 10 may be implemented on the smoke control drone 10 by driving at least one application program stored in the memory 150.

2 to 5, the disclosed smoke control drone 10 has a body of a small flying object. However, the present invention is not limited to this and can be applied to various structures such as a spherical shape and a disc shape.

The smoke control drone 10 includes a case (for example, a frame, a housing, etc.) forming an exterior. As illustrated, the drone 10 for smoke prevention is equipped with various electronic components in the inner space of the case. The display unit 141 may be disposed on the front surface of the smoke control drone 10 to output information, but is not limited thereto.

As shown, the opening of the camera 130, the sound output unit 142, the IR output unit 143, the LED output unit 144 is provided outside the case of the smoke control drone 10. Can be. The case may be formed by injection of synthetic resin or may be formed of metal, for example, stainless steel (STS), aluminum (Al), titanium (Ti), or the like.

Smoke control device 200 includes an engine system 210, a fuel storage unit 220, a drug storage unit 230, a drug supply line system 240, an injector 250, a wireless ignition switch 260, and an air pump ( 270), a power supply unit 280 and a transformer 290.

In addition, a second control unit 201 for controlling these may be provided. The second control unit 201 may perform engine driving control, fuel injection control, drug injection control, and air supply control functions of the smoke control system 200 under remote control from the external device 300. The second control unit 201 may include a processor, a memory, and a communication device. However, the present invention is not limited thereto, and at least a part of the second control unit 201 or at least some functions may be integrated with the first control unit 180. According to some embodiments, the first controller 180 may control each device of the smoke control device 200 based on various control command signals received from the remote device 300 of the controller.

The engine system 210 may include an engine 211, a spark plug 212, a first control valve 213 and an ignition device 214.

The drug supply line system 240 may include a second control valve 241 and a drug supply amount control device 242.

The engine 211 may receive air from the air pump 270 through the first air supply line 271. The air from the air pump 270 functions to provide pressure to supply the gas generated according to the fuel explosion in the ignition device 214 to the fuel storage unit 220 through the first gas supply line 215. .

Spark plug 212 is connected to transformer 290. When the wireless ignition switch 260 receives the engine driving command signal from the external device 300, the engine 211 may be driven by the spark plug 212.

The smoke control drone 10 supplies fuel to the engine system 210 based on the engine driving command signal from the remote device 300 of the controller during flight in the control area, and from the explosive power of the engine and the engine system 210. The control action may be performed by outputting the medicine through the injector 250 by the propulsive force of the generated gas.

The engine system 210 may receive fuel required for driving the engine 211 from the fuel storage unit 220 through the fuel supply line 221.

The first regulating valve 213 is installed on the fuel supply line 221 side, and the fuel supply line 221 is transferred to the engine 211 by the engine drive control device 213b connected to the engine drive control line 213a. Fuel supply can be controlled.

For example, referring to FIG. 6, a first control valve 213 may be installed in an area adjacent to the engine system 210 among the areas of the fuel supply line 221. The first regulating valve 213 provides three piping paths, the first path provides fuel supply to the engine system 210, and the other, the second path draws fuel from the fuel storage unit 220 and finally One third path provides a movement path of the first opening and closing means 213c.

The engine drive control device 213b may be composed of a servo motor, and is connected to the first opening/closing means 213c through the engine drive control line 213a. The engine drive control device 213b reverses the first opening and closing means 213c on the third path through the pulling operation of the engine drive control line 213a so that the first and second paths communicate. Accordingly, fuel from the second path can be supplied to the engine system 210 along the first path. In addition, the engine driving control device 213b advances the first opening/closing means 213c on the third path through the withdrawal operation of the engine driving control line 213a so that the first and second paths do not communicate. Accordingly, it is possible to block the fuel from the second path from moving into the first path, and the engine 211 may be immediately stopped in response to the stop of fuel supply to the engine system 210.

The fuel storage unit 220 receives at least a portion of the gas generated by the fuel explosion in the engine system 210 through the first gas supply line 215. In addition, the fuel storage unit 220 receives air from the air pump 270 through the second air supply line 272. The fuel in the fuel storage unit 220 is supplied to the engine system 210 by the pressure of the air supplied through the second air supply line 272. In addition, the pressure by the gas collected on the top of the fuel inside the fuel storage unit 220 helps the fuel in the fuel storage unit 220 to be output through the fuel supply line 221. In addition, the collected gas is supplied to the drug storage unit 230 along the second gas supply line 231.

The medicine stored in the medicine storage unit 230 may be supplied to the injector 250 along the medicine supply line 243 by the pressure of the received gas.

The second control valve 241 is installed on the medicine supply line 243, and the second control valve 241 can be controlled by the medicine supply amount control device 242.

For example, referring to FIG. 7, a second control valve 241 may be installed in an area adjacent to the drug storage unit 230 among the areas of the drug supply line 243. The second regulating valve 241 provides three piping paths, the first path is the medicine supply path to the injector 250, and the other, the second path is the medicine supply path from the medicine storage unit 230, The third one, the third path, may provide a movement path of the second opening and closing means 242b.

In addition, the drug supply control device 242 and the second opening and closing means 242b is composed of a plurality of articulated arms 242c, so that it is possible to finely advance or reverse the second opening and closing means 242b on the third path. And it is possible to control the degree of communication of the second path. Accordingly, the amount of the medicine supplied from the medicine storage unit 230 to the injector 250 can be finely adjusted.

Meanwhile, an area close to the second regulating valve 241 of the area of the drug supply line 243 may be made of a rubber material, and an area close to the injector 250 may be made of a metal material. And, as the high temperature heat from the injector 250 is conducted to the metal material of the drug supply line 243 and then transferred to the rubber material area, the chemical supply line 243 is prevented from being damaged. Some areas, in particular, metal areas, surround the outer circumferential surface of the injector 250 at least once and are finally connected to the injector 250. Therefore, the length of the metal region is extended, thereby minimizing heat conduction to the rubber region.

The injector 250 allows the agent on the drug supply line 243 to be injected through the injector 250 by the explosive power of the engine system 210 and the gas supplied through the drug supply line 243. In detail, the high temperature gas and the medicine are mixed so that the medicine in the vaporized state is smoked.

The injector 250 may be formed of a double tube. In addition, the drug supply line 243 may be supplied to the inner tube among the double tubes of the injector 250. In addition, the outer tube may function to protect the inner tube from generating high-temperature heat.

In the injector 250, a drug is injected from the drug ejection area 251, which is an end region of the injector 250, to control a smoke screen.

When the injector 250 is positioned parallel to the ground, the drug ejection region 251 may be bent at a predetermined angle toward the ground. That is, the medicine may be output in a direction parallel to the ground through the injector 250 while passing through the medicine ejection region 251 to be sprayed at a predetermined angle with the ground. The predetermined angle (a) here may be 45 degrees.

The smoke control drone 10 is flying over the control area and sprays a drug into the control area located below the smoke control drone 10. At this time, 1) in order to prevent the phenomenon that the drug flows back into the injector 250 according to the air resistance in the direction opposite to the flight direction of the smoke control drone 10, the drug ejection area 251 faces the ground. It is necessary to bend at a predetermined angle so that the medicament is injected while having a predetermined angle with the ground. 2) However, by way of example, when the drug ejection area 251 is bent 90 degrees in the longitudinal direction of the injector 250, there is a problem of reflux of the drug, a problem that the liquid drug collects inside the injector 250, and a smooth discharge of the drug. Accordingly, a shutdown phenomenon of the engine system 210 occurs. It is most preferable that the above-mentioned angle (a) is 45 degrees in order to prevent the above-mentioned problems 1) and 2) to be stably sprayed.

In addition, since the injector 250 is provided in a cylindrical shape having a predetermined length, the temperature of the high temperature of the heat according to the explosive power and gas of the engine system 210 is lowered as it passes through the injector 250 and finally from the drug ejection area 251 The discharged agent causes the temperature to be such that it does not damage the crops. Therefore, the drug ejection area 251 is spaced apart from the drone 100 at a predetermined distance.

According to some embodiments, a drug injection direction control system may be provided in the drug ejection area 251. The drug injection direction control system is configured to change the angle formed by the drug ejection area 251 with the ground. The second control unit 201 receives the sensing information of the sensing unit 120 from the first control unit 180 and checks the inclined angle information based on the ground changing according to the flight state of the smoke control drone 10. The drug injection direction control system may be controlled so that the angle formed by the drug ejection area 251 with the ground is 45 degrees.

10 is a conceptual view illustrating a method for controlling a smoke screen using a smoke control drone according to an embodiment of the present invention.

Referring to FIG. 10, the controller may control the smoke-control drone 10 through the external device 300. Information related to the control area setting for controlling the control may be displayed on the first area 301 displayed on the external device 300 using the smoke control drone 10. When the controller selects (eg, touches) the control area in the first area 301, information regarding the area of the corresponding area may be calculated and displayed. In addition, the controller may select (eg, touch) initial location information of the smoke control drone 10 on the selected control area. In addition, the flight path of the smoke control drone 10 may be set in a manner (for example, continuous touch) in which a continuous drag is performed on a set control area of the first area 301.

In the second area 302, only the control area set in the first area 301 may be displayed, and information on the flight path set through the second area 302 may be displayed in overlap.

When the setting is completed, the external device 300 may automatically control the smoke control drone 10 according to the setting information. The smoke control drone 10 may transmit its location information to the external device 300 in real time during the flight for the control activity. In addition, location information of the smoke control drone 10 may be displayed on the second region 302.

The moving path of the actual smoke control drone 10 on the second region 302 may be displayed overlapping the previously displayed screen according to the changed location information of the smoke control drone 10. The external device 300 may provide visual and/or audible feedback to the controller when a difference occurs because the preset flight path and the movement path of the actual smoke control drone 10 exceed a preset range.

11 and 12 are schematic diagrams for explaining a method of controlling a drone for smoke control using a terminal of an external control agent.

11 and 12, a control area may be displayed on a terminal of a controller of the external device 300. The controller may enlarge, reduce, and move the control area by selecting and dragging the display screen so that the other control area is displayed.

On the display screen 310 of the terminal, at least one control area allocated to the controller among the plurality of control areas 320 may be displayed separately from the control area not assigned to the controller. Also, the control area 332 allocated to other control agents among the areas requiring control may be displayed separately from other areas. In some embodiments, among the plurality of control areas 320 assigned to the control agent, the control area 321 of other control agents located between control areas adjacent to each other is displayed separately from other areas, thereby causing the controller to confuse the control area. And prevent the problem of controlling activities in the control area of others.

In some embodiments, a location where control is completed and a region where control is not completed among the plurality of control regions 320 allocated to the controller may be displayed on the display screen of the terminal. In some embodiments, the display screen of the terminal may be displayed by distinguishing areas in which smoke control is required and areas in which spray control is required among the plurality of control areas 320 allocated to the controller.

In some embodiments, various information may be displayed in the management window 330 for the control area 320 on the display screen of the terminal. In addition, when one of the plurality of control areas 320 displayed on the control terminal is selected, various information matching the selected control area may be displayed on the management window 330. The various pieces of information herein may include information on the status of the control management regarding whether or not the smoke is controlled, the control area, and the progress of the control.

When the controller selects any one of the control regions 333 among the plurality of control regions 320, the smoke control drone 10 moves along a preset flight path while flying from a preset initial position and performs smoke control activities. can do. In addition, the controller may remotely control the smoke-controlling drone 10 using a terminal in real time, and may allow the smoke-controlling drone 10 to automatically perform smoke control along a preset flight path.

In some embodiments, on the terminal, in response to the selection of the control area 333, which is being controlled, among the plurality of control areas 320, the drone 10 for a smoke control system in flight 10 for control in the selected control area 333 The control activity image of the smoke control drone 10 photographed by the camera of the sub drone 340 for monitoring may be displayed.

In some embodiments, the sub drone 340 may move to a control area 335 closest to the control area 333 currently being controlled among the plurality of control areas 320 assigned to the control agent. In addition, the sub drone 340 may move to a position closest to the control area 333 currently being controlled, even within the closest control area 335 to monitor the smoke control drone 10. Therefore, the sub drone 340 is not allowed to fly on the control area allocated to other control agents, so that problems such as collision with other drones and the invasion of other areas are not caused. In addition, the sub drone 340 is allowed to fly at a position where monitoring of the smoke control drone 10 is most suitable, so that more precise monitoring is possible.

The terminal may transmit a first request signal for monitoring a smoke control agent spray to the sub drone 340 in response to detecting a preset input. In addition, the sub drone 340 drives the thermal sensing camera in response to receiving the first request signal to generate a thermal image by photographing the smoke control drone 10, and controls the smoke using the smoke control drone 10. A second request signal for transmitting temperature information at the time of injection of the drug may be transmitted. The smoke control drone 10 may transmit the temperature information of the smoke control agent provided to the injector 250 and its current altitude information to the sub drone 340 in response to the second request signal. The sub drone 340 displays estimated temperature information and thermal images for the smoke control agent according to the dropping point of the smoke control agent based on the temperature information of the smoke control agent, the altitude information of the smoke control agent drone 10, and the outside temperature information. It is also possible to transmit the estimated injection amount of smoke control agent to the terminal. By evaluating the temperature information of the smoke control agent provided at the final outlet of the injector 250 and the temperature of the smoke control agent at each drop point, and analyzing the captured image using the thermal sensor to use the smoke control agent within the captured image It is possible to detect, and it is possible to increase the accuracy of estimating the injection amount and the injection area of the smoke control agent.

In some embodiments, if the control area is not an accurate square structure, it is difficult to control the entire area automatically. Even in the case of a square form, the area around the border does not have a constant shape, so that the entire area is controlled by automatic flight. Start of control by automatically collecting and collecting GPS coordinate information for the entire border of the control area in consideration of technical difficulties, and mapping it to map information on the display screen of the terminal that is the external device 300 to set an automatic flight pattern. You can also automate from end to end.

The smoke control drone 10 may determine the injection altitude, flight speed, and flight route of the smoke control agent based on the sensed wind speed information, wind direction information, and downward wind speed information around the sensed smoke control drone 10. In addition, the drone 10 for smoke control may fly at a determined flight speed and flight path while maintaining the determined injection altitude, and spray the smoke control agent. In detail, when the wind speed exceeds a predetermined speed value, the flying altitude of the smoke control drone 10 is lowered from the first height to the second height to reduce the time affected by the wind during the time when the sprayed medicine falls. In addition, it is possible to estimate the distribution area of the injected drug according to the wind speed and determine the moving speed based on the estimated distribution area. In addition, it is possible to estimate the dropping point of the sprayed medicine according to the wind direction and set a flight path based on the estimated dropping point information. At this time, it is possible to use the estimated information of the amount of drug injection and the area of drug injection according to the thermal image of the aforementioned sub drone. The smoke control drone 10 performs the estimation process of this information in real time, and can continuously update the flight speed and the moving route accordingly. The drone 10 for smoke control may maintain a set altitude while flying based on a determined flight speed and a movement path and perform a spray operation of the smoke control agent.

The embodiments according to the present invention described above are implemented in the form of program instructions that can be executed through various computer components and can be recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, or the like alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention or may be known and available to those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes produced by a compiler, but also high-level language codes executable by a computer using an interpreter or the like. The hardware device can be changed into one or more software modules to perform the processing according to the present invention, and vice versa.

The specific implementations described in the present invention are exemplary embodiments, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings are illustrative examples of functional connections and/or physical or circuit connections. In the actual device, alternative or additional various functional connections, physical It can be represented as a connection, or circuit connections. In addition, unless specifically mentioned, such as “essential”, “importantly”, etc., it may not be a necessary component for application of the present invention.

In addition, the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those of ordinary skill in the art will appreciate the spirit of the present invention as set forth in the claims below. And it will be understood that various modifications and changes can be made to the present invention without departing from the technical scope. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Drone for smoke control (10)
Drone(100)
Wireless communication unit 110
Sensing unit (120)
Camera(130)
Output 140
Memory (150)
GPS module(160)
Image processing unit 170
Control unit 180
Power supply module (190)
Smoke control device (200)
Engine system(210)
Fuel storage unit (220)
Drug Storage Department (230)
Pharmaceutical Supply Line System(240)
Sandblast (250)
Wireless ignition switch(260)
Air pump(270)
Power supply (280)
Transformer(290)
External device, terminal 300

Claims (10)

drone; And
Included in the drone is a smoke control device for spraying a drug to the control area to control the smoke screen;
Fly in the control area based on a command signal from the terminal of the control agent to perform smoke control,
The injector of the smoke control device has a predetermined length in a direction parallel to the ground,
The drug supply line of the smoke control device connects the sprayer and the medicine storage unit to each other,
The temperature of the explosive power of the engine system provided in the smoke control device and the heat from the gas from the drug supply line is lowered as it passes through the injector,
In the terminal, a plurality of control areas allocated to the control agent are displayed separately from other areas, and among the plurality of control areas, a smoke control area and a non-smoke control area are displayed separately from each other, and the terminal has a smoke control drone. The location information of is displayed in real time,
The terminal displays the control management information for the selected control area among the allocated plurality of control areas, and sets the flight path of the smoke control drone in response to the continuous selection within the selected control area to enable the drone When flying automatically according to the set flight path, smoke control is performed.
Monitoring the control activity of the drone for smoke control based on the temperature information of the smoke control agent sprayed from the injector
Drone for smoke control. According to claim 1,
The drug ejection area at the end of the injector where the drug is discharged is bent at a predetermined angle toward the ground
Drone for smoke control. According to claim 2,
The preset angle is 45 degrees
Drone for smoke control. According to claim 3,
Adjusting the angle formed by the injector with the ground on the basis of the inclined angle information based on the ground when flying a smoke control drone
Drone for smoke control. According to claim 1,
The gas generated in the engine system provides pressure to the fuel storage unit to supply fuel to the engine system, and supplies it to the medicine storage unit to supply the medicine to the injector with the propulsive force of the gas.
Drone for smoke control. According to claim 1,
The smoke control drone transmits its location information to the terminal in real time during the flight for the control activity.
Drone for smoke control. The method of claim 6,
The actual moving path of the smoke control drone is superimposed on the display screen of the terminal.
Drone for smoke control. The method of claim 7,
The temperature information of the smoke control agent includes the estimated temperature information for each falling point of the smoke control agent sprayed from the injector.
Drone for smoke control. The method of claim 8,
Based on the sensed surrounding wind speed information, wind direction information and downwind speed information, to set the injection altitude, flight speed and flight path of the agent
Drone for smoke control. The method of claim 9,
Set the flight path and flight speed in real time based on the estimated information of the injection amount and distribution area of the medicine injected from the injector, and perform smoke control according to the set flight path and flight speed
Drone for smoke control.

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