KR102155286B1 - A Control System for Forest Fire using Unmanned Aerial Vehicle - Google Patents

Abstract

According to the present invention, a surveillance vehicle that constantly monitors a forest fire-vulnerable area, a caustic detection vehicle that periodically detects a caustic line of the forest fire-vulnerable area, the monitoring information of the surveillance vehicle and the caustic information of the caustic detection vehicle are transmitted, and the monitoring A night forest fire response system using unmanned aerial vehicles to establish a night extinguishing strategy and respond by searching for information on the fire line and rear fire in the event of a night forest fire, including a central control unit that controls the flight operation of the vehicle and caustic detection vehicle, is launched.

Description

A control system for forest fire using unmanned aerial vehicle

The present invention relates to a night forest fire response system for detecting and extinguishing a forest fire using an unmanned aerial vehicle.

Disaster prevention technology is being linked with advanced science and technology such as unmanned aerial vehicles in accordance with the 4th Industrial Revolution.

In the conventional case, extinguishing work is performed using a forest fire extinguishing helicopter. In the daytime, wildfire extinguishing work is mainly performed by wildfire extinguishing helicopters, but if the extinguishing cannot be completed, it may continue until night.

At night, the wind speed is strong and the field of view is not wide, making it difficult to put firefighting resources in the right place. Therefore, in the event of a wildfire at night, a response system is needed to establish and respond to a nighttime extinguishing strategy by searching for information on the fire line and rear fire.

The present invention is a night forest fire response system using an unmanned aerial vehicle, a surveillance vehicle that constantly monitors an area vulnerable to forest fires, a caustic detection vehicle that periodically detects a caustic in the forest fire vulnerable area, monitoring information of the surveillance vehicle and caustics of the caustic detection vehicle The purpose of this is to establish and respond to a night-time extinguishing strategy by searching for information on the fire line and rear light of a forest fire in the event of a night forest fire, including a central control unit that receives information and controls the flight operation of the surveillance vehicle and the fire detection vehicle.

In addition, there is another purpose to enable the acquisition of information and status of forest fires by putting them into the field in a short time using various UAVs.

Still other objects, not specified, of the present invention may be additionally considered within the range that can be easily deduced from the following detailed description and effects thereof.

In order to solve the above problems, the night forest fire response system according to an embodiment of the present invention includes a surveillance vehicle that constantly monitors a forest fire vulnerable area, a caustic detection vehicle that periodically detects caustics in the forest fire vulnerable area, and the surveillance vehicle And a central control unit for receiving monitoring information and caustic information of the caustic detection vehicle, and controlling a flight operation of the surveillance vehicle and the caustic detection vehicle.

Here, the surveillance vehicle is a rotorcraft structure including a plurality of propellers, a camera mounted on the rotorcraft structure, and the monitoring information including aerial observation terrain information using the ground image acquired by the camera, and the central It includes a monitoring information construction unit transmitted to the control unit.

Here, the caustic detection vehicle includes a fixed wing structure positioned at both ends of the caustic detection vehicle, a thermal imaging camera mounted on the fixed wing structure, and an image captured by the thermal imaging camera while the caustic detection vehicle flies along a certain flight path. And a caustic information construction unit for constructing the caustic information including the forest fire detection image generated by using and transmitting the caustic information to the central control unit.

Here, the caustic information construction unit includes an image captured by the thermal imaging camera and an input unit that receives the wildfire vulnerable region as a target region, and a forest fire image collection for collecting different types of training wildfire images already photographed for the target region. Second, for each image of N neighboring frames of the training forest fire image collected from the forest fire image collection unit, a forest fire occurrence area is designated as a sample area, and wildfire characteristics for all or some pixels belonging to the designated sample area And a parameter generator for generating a parameter, and a list generator for generating a list of the wildfire characteristic parameters corresponding to the sample area generated by the parameter generator for the different types of training wildfire images.

Here, the parameter generator converts the thermal image image of N neighboring frames of the training forest fire image collected from the forest fire image collection unit into a temperature value measured in pixel units using a temperature conversion equation using a pixel value as a variable. For each image of the N-frame adjacent to the training forest fire image collected from the forest fire image collection unit, the sample is designated as the sample area by first reading the forest fire area, which is the area where the forest fire has occurred. A designation unit, a temperature range calculation unit that calculates a temperature range of the forest fire occurrence region corresponding to the sample region based on a temperature value measured in pixel units converted by the image conversion unit, and the temperature range calculation unit A location for searching for pixel coordinates corresponding to the temperature range for all pixels of the thermal image of N adjacent frames of the training forest fire image collected from the forest fire image collection unit based on the temperature range of the forest fire occurrence region And a search unit and an approximate image generator configured to generate an approximate image by expressing pixel coordinates of pixels within the searched temperature range in a color set as a first color.

Here, the caustics information construction unit is a temperature range setting unit configured to set a set temperature range by inquiring the maximum temperature value and the minimum temperature value for the target region from the list of wildfire characteristic parameters and the forest fire detection image conversion unit A forest fire detection image generator configured to generate the forest fire detection image by expressing pixel coordinates of pixels within the set temperature range in a color set as a second color based on the temperature value measured in the converted pixel unit.

In addition, when a fire ship is detected in the forest fire vulnerable area, it further includes a extinguishing grenade dropping vehicle that drops a extinguishing grenade at a preset altitude, and a rear light detection vehicle that monitors the rear light by switching to a rear light monitoring system after dropping the extinguisher, and the center The control unit controls the flight operation of the extinguishing bomb dropping vehicle and the rear light detection vehicle.

Here, the grenade dropping vehicle includes a grenade dropping device that is connected to the grenade dropping vehicle and is separated during air dropping, and the grenade dropping device is connected to the extinguishing grenade dropping vehicle A mounting part provided as detachable as possible, a extinguishing grenade mounting part that is separated when air is dropped from the extinguishing grenade dropping vehicle, and mounts a extinguishing grenade in which the internal distributed gunpowder is detonated at a preset altitude and the extinguishing agent contained therein is scattered around, An automatic opening/closing unit for connecting the extinguishing grenade mounting unit to the mounting unit and separating the extinguishing grenade when the extinguishing grenade is dropped at the set altitude, an ignition unit capable of supplying fire power to the extinguishing grenade, and when air is dropped from the extinguishing grenade dropping vehicle It sets a separate altitude, and includes a delivery system management unit for controlling the operation of the automatic opening and closing unit and the ignition unit.

Here, the extinguishing grenade mounting unit further includes an image collecting unit connected to the extinguishing grenade dropping vehicle to collect an image photographed of an image of the forest fire-prone area during flight, and a temperature sensor unit sensing the temperature of the surrounding environment.

Here, the dropping system management unit includes an environment recognition unit connected to the extinguishing grenade dropping vehicle to generate environment information of the forest fire-prone area during flight, and a condition setting unit for setting a dropping condition using the environment information, and the The environment recognition unit includes an image acquisition unit that generates image environment information by acquiring an image captured from the image collection unit, and a temperature detection unit that generates temperature environment information using a temperature measurement value sensed from the temperature sensor unit.

Here, the condition setting unit is connected to the grenade dropping vehicle using the image environment information to calculate the position coordinates at the time of flight, and the location coordinates of the dropping point at which the grenade is to be dropped. And a delivery coordinate setting unit for setting coordinates and a delivery temperature setting unit for setting a delivery temperature at which the fire extinguisher is to be delivered using the temperature environment information.

Here, the delivery system management unit further includes a delivery condition calculation unit for calculating a detonation condition of the extinguishing grenade using the delivery condition of the condition setting unit, and the delivery condition calculation unit includes the fire extinguishing system using the coordinates of the delivery point. An altitude calculation unit that calculates the flight altitude that is separated when air is dropped from an ammunition-dropping vehicle, an arrival time calculation unit that calculates the time for the dropped extinguisher to reach the ground using the flight altitude, and the calculated time to reach the ground. It further includes a detonation time calculation unit for calculating the detonation time of the fire extinguisher by using.

Here, the delivery system management unit further includes a delivery control unit for controlling the operation of the automatic opening/closing unit and the ignition unit by using the detonation condition of the extinguishing grenade, wherein the delivery control unit includes, when reaching the detonation time of the extinguishing grenade And an opening/closing device control unit for operating the automatic opening/closing unit, and an ignition device control unit for operating the ignition unit when reaching a dropping temperature for dropping the fire extinguisher.

Here, the central control unit receives the monitoring information from the monitoring vehicle, a monitoring vehicle control unit for controlling a flight operation of the monitoring vehicle, receiving information on the caustics of the caustic detection vehicle, and performing a flight operation of the caustic detection vehicle. A fire grenade detection vehicle control unit that controls, a fire extinguisher dropping vehicle control unit that controls the flight operation of the extinguishing grenade dropping vehicle to drop extinguishing grenade at a preset altitude when a fire extinguisher is detected in the forest fire vulnerable area, and a rear fire monitoring system after dropping the extinguishing grenade And a rear light detection vehicle control unit for controlling the flight operation of the rear light detection vehicle to switch to and monitor the rear light.

As described above, according to the embodiments of the present invention, a monitoring vehicle that constantly monitors a forest fire-prone area, a caustic detection vehicle that periodically detects a caustic line in the forest fire-vulnerable area, monitoring information of the surveillance vehicle and the caustic detection vehicle In the event of a night forest fire, including the central control unit that receives the information of the fire ship and controls the flight operation of the surveillance vehicle and the fire ship detection vehicle, it is possible to establish and respond to a night extinguishing strategy by searching for information on the fire line and rear light of the forest fire.

In addition, by using a variety of unmanned aerial vehicles (UAVs), it is possible to understand the current status of forest fires and obtain information by putting them into the field in a short time.

Even if the effect is not explicitly mentioned herein, the effects described in the following specification expected by the technical features of the present invention and the potential effects thereof are treated as described in the specification of the present invention.

1 is a view showing a night forest fire response system using an unmanned aerial vehicle according to an embodiment of the present invention.
2 is a block diagram showing a caustic information construction unit of a caustic detection vehicle according to an embodiment of the present invention.
3 is a block diagram illustrating a parameter generator of a caustic information construction unit of a caustic detection vehicle according to an embodiment of the present invention.
4 is a view showing a forest fire detection image of a caustic detection vehicle according to an embodiment of the present invention.
5 is a view showing an apparatus for discharging a grenade dropping vehicle according to an embodiment of the present invention.
6 is a block diagram showing a delivery system management unit of the extinguishing grenade delivery device according to an embodiment of the present invention.
7 is a block diagram showing a central control unit according to an embodiment of the present invention.
8 is a flow chart showing a process of a night forest fire response system using an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, a system for responding to forest fires at night using an unmanned aerial vehicle according to the present invention will be described in more detail with reference to the drawings. However, the present invention may be implemented in various different forms, and is not limited to the described embodiments. In addition, in order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals in the drawings indicate the same members.

The suffixes "module" and "unit" for components used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves.

The present invention relates to a night forest fire response system using an unmanned aerial vehicle.

1 is a view showing a night forest fire response system using an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the night forest fire response system 1 includes a monitoring vehicle 10, a fire detection vehicle 20, a extinguisher dropping vehicle 30, a rear fire detection vehicle 40, and a central control unit 50 do.

The night forest fire response system 1 using an unmanned aerial vehicle according to an embodiment of the present invention is a night forest fire response system system using various unmanned aerial vehicles (UAVs).

In the daytime, fire extinguishing work is mainly performed by wildfire extinguishing helicopters, but if the extinguishing cannot be completed, it may continue until night. Existing forest fire extinguishing using helicopters has limitations that are limited to daytime due to stability problems such as securing visibility of helicopters, and wildfires that have not been extinguished during the day continue to spread even at night, causing damage to forests and neighboring private houses. In particular, at night, the wind speed is strong and the field of view is not wide, so it is difficult to put the extinguishing resources in the right place.

Therefore, the night forest fire response system 1 using an unmanned aerial vehicle according to an embodiment of the present invention can establish and respond to a nighttime fire fighting strategy by searching for information on a fire line and rear fire of a forest fire using a drone when a night forest fire occurs.

As shown in FIG. 1, the night forest fire response system 1 using an unmanned aerial vehicle according to an embodiment of the present invention is preferably implemented in a night environment, and enables rapid extinguishing resource deployment after sunrise.

Most of the existing night fires are extinguished by direct input of the fire extinguishing team. It is important to understand the distribution area and direction of the forest fire in order for the forest fire extinguisher to be put into the field.It is somewhat difficult to consider this at night when the helicopter cannot fly, but it is always possible to grasp the distribution area of the forest fire and the direction of movement using an unmanned aerial vehicle. It becomes.

In addition, due to the recent revision of the Aviation Safety Act (Article 131-2: Special Cases for Application of Unmanned Vehicles, Enforcement Regulation of the same Act, Article 313-2: Emergency Flight of Unmanned Vehicles such as State Organizations), unmanned aerial vehicles were allowed to fly at night in the event of a forest disaster. . Accordingly, it is possible to establish faster and more accurate forest fire extinguishing power and on-site countermeasures by utilizing a drone equipped with a thermal imaging camera.

The surveillance vehicle 10 constantly monitors areas vulnerable to forest fires.

The surveillance vehicle 10 is preferably a surveillance drone capable of flying for 24 hours, and the main surveillance targets vary depending on time and space, but monitors night forest fires with a radius of 360° in the forest fire vulnerable area determined by the person in charge.

The surveillance vehicle 10 includes a rotorcraft structure 11 and a camera 12.

The rotorcraft structure 11 includes a plurality of propellers, and the camera 12 is mounted on the rotorcraft structure.

The rotorcraft structure 11 flies with lift, which is the force generated by rotating the propeller. In addition, it is divided into quadcopter, hexacopter, and octocopter according to the number of propellers.

The rotorcraft structure 11 is capable of vertical teeth and landing compared to a fixed wing, and it is possible to fly in a narrow space because it is possible to increase a straight altitude and freely change directions, and to be able to hover, it is suitable for taking a video or photographing.

A monitoring information construction unit (not shown) is included, and the monitoring information construction unit constructs the monitoring information including aerial observation terrain information by using the ground image acquired by the camera and transmits it to the central control unit.

The surveillance vehicle 10 may be connected to a separate vehicle 3.

The caustic detection vehicle 20 periodically detects caustics in the vulnerable area of the forest fire.

The caustic detection vehicle 20 includes a fixed wing structure 21 and a thermal imaging camera 22.

Fixed wing structure 21 is located at both ends of the caustic detection vehicle.

The thermal imaging camera 22 is mounted on a fixed wing structure.

The fixed wing structure 21 is a structure in which the blades are fixed, the propulsion force is obtained from the force of the engine, prop, etc., and the lift force is obtained from the blades to fly.

The use of the fixed wing structure 21 enables a long flight, a high altitude flight, and a wider area as much as a high altitude can be photographed. In addition, because it flies with various forces, it is possible to fly faster.

Therefore, it is preferable to use it for surveillance and reconnaissance and aerial view photography for military purposes rather than general commercial use.

In addition, it includes a caustic information construction unit 200, wherein the caustic information construction unit includes a forest fire detection image generated using an image captured by the thermal imaging camera while the caustic detection vehicle is flying along a certain flight path. Information is constructed and transmitted to the central control unit.

The acquired fire ship information can be transmitted to the central forest fire prevention countermeasure headquarters of the Korea Forest Service and the integrated command center for forest fire sites in cities and provinces.

The caustic information includes a forest fire detection image generated using an image captured by a thermal imaging camera, and can be shared as images and photos. The forest fire area is displayed in a specified color, and a temperature value can be generated.

The extinguishing grenade dropping vehicle 30 drops the extinguishing grenade at a preset altitude when a fire ship is detected in the vulnerable area of the forest fire.

The extinguisher dropping vehicle 30 extinguishes a forest fire in an inaccessible area (S1) using a extinguisher.

The rear light detection vehicle 40 monitors the rear light by switching to the rear light monitoring system after dropping the extinguisher.

The rear light detection vehicle 40 detects the rear light by using a rotorcraft drone equipped with a thermal imaging camera.

Here, the rear fire is a fire that has been burned back after the forest fire has extinguished.

As a result of monitoring the rear fire of the unmanned aerial vehicle equipped with a thermal imaging camera in the forest fire extinguishing area (S2) after extinguishing a forest fire during the day and night, if the rear light is not detected, it is judged as the end of the forest fire situation.If a rear light is detected, the Forest Fire Central Forest Fire Prevention Countermeasure Headquarters and the municipal forest fire site It delivers information such as the location of the back light to the integrated command center.

The night forest fire response system 1 using an unmanned aerial vehicle according to an embodiment of the present invention can efficiently respond to forest fires by applying a fixed-wing unmanned vehicle and a rotary-wing unmanned vehicle for each function.

The central control unit 50 receives monitoring information of the surveillance vehicle and caustic information of the caustic detection vehicle, and controls the flight operation of the surveillance vehicle and the caustic detection vehicle.

In addition, the flight operation of the fire extinguisher dropping vehicle and the rear light detection vehicle is controlled.

In other words, the central control department shares the real-time situation of major points obtained through the fixed-wing unmanned aerial vehicle and the location of the premise of forest fires and the unmanned rotary-wing vehicle with the central forest fire prevention countermeasure headquarters of the Korea Forest Service and the integrated command headquarters of the municipal forest fire site. It can help to establish a forest fire extinguishing strategy. In addition, it becomes possible to carry out transport of structural items or search for victims.

The relief item dropping vehicle 60 delivers relief items for forest fire extinguishers.

After sunrise, manpower is put in, and extinguishing resources can be deployed and put in the right place using the helicopter 70.

2 is a block diagram showing a caustic information construction unit of a caustic detection vehicle according to an embodiment of the present invention.

Referring to FIG. 2, the caustic information construction unit 200 includes an input unit 210, a forest fire image collection unit 220, a parameter generation unit 230, a list generation unit 240, a temperature range setting unit 250, and a forest fire. It includes a detection image generator 260.

The caustic information construction unit 200 constructs the caustic information including a forest fire detection image generated using the image captured by the thermal imaging camera while the caustic detection vehicle flies along a certain flight path, and transmits it to the central control unit. do.

The caustic information construction unit 200 according to an embodiment of the present invention is a device that automatically or semi-automatically detects a forest fire area at a forest fire occurrence site by using a forest fire detection parameter derived by analyzing existing forest fire observation data.

The input unit 210 receives an image captured by a thermal imaging camera and the region vulnerable to forest fires as a target region.

When a forest fire occurs, the caustic detection vehicle 20 is dispatched to the site, and the caustic detection vehicle 20 equipped with a thermal imaging camera at the forest fire site captures an image.

The input unit 210 includes a forest fire detection image conversion unit 211.

The forest fire detection image conversion unit 211 converts a thermal image of N frames adjacent to an image in which a forest vulnerable area is photographed into a temperature value measured in pixel units using a temperature conversion equation using a pixel value as a variable.

The input unit 210 generates an orthogonal mosaic image using a Pix4D or the like, produces an orthogonal image, and the forest fire detection image conversion unit 211 converts the generated orthogonal mosaic image. The temperature conversion equation using the pixel value as a variable applies Equation 1 below.

Here, Temp is the temperature (℃), DN is the pixel value, and 273.15 is the absolute temperature constant.

An image of an area vulnerable to forest fires is an image captured by a thermal imaging camera, and is converted into a temperature value measured in pixels by applying a temperature conversion equation based on the sensor characteristics of the thermal imaging camera.

The forest fire image collection unit 220 collects different types of training forest fire images that have already been photographed for the target area.

The parameter generation unit 230 designates a forest fire occurrence region as a sample region for each of the N-frame images of the training forest fire image collected from the forest fire image collection unit, and all or part of the designated sample region. Generate wildfire characteristic parameters for each pixel.

The list generation unit 240 generates a list of the wildfire characteristic parameters corresponding to the sample area generated by the parameter generation unit for different types of training wildfire images.

The temperature range setting unit 250 inquires the maximum temperature value and the minimum temperature value for the target region from a list of wildfire characteristic parameters and sets it as a set temperature range.

The temperature range setting unit 250 includes an average calculation unit and calculates an average of the maximum value list and the average of the minimum value list. The maximum temperature value and minimum temperature value among the characteristics of the forest fire temperature range of the forest fire characteristic parameter are calculated, the average of the maximum values (Mmax) and the average of the minimum values (Mmin) are calculated, and the set temperature range is set.

The forest fire detection image generation unit 260 displays pixel coordinates of pixels within the set temperature range as a color set as a second color based on the temperature value measured in pixel units converted by the forest fire detection image conversion unit. Create a detection image.

Specifically, all pixels in the image are mapped to pixels having a minimum value average or higher and a maximum value average or lower. That is, for all pixel values in the image, locations of pixels within the range of Mmin to Mmax are searched.

Thereafter, the automatic processing mode, including the automatic processing mode, may be applied. In the automatic processing mode, the positions of the pixels determined in the previous step are regarded as the forest fire area, and in the semi-automatic processing mode, a confirmation process is performed.

The forest fire detection image generator 260 displays the mapping result for the statistical temperature range in the image, and displays pixels within the Mmin ~ Mmax range as a second color (eg, blue), so that it is possible to check whether the forest fire area is well detected. .

Thereafter, the mapping determination unit may be included to determine whether the mapping to the forest fire region is well performed, and thus, whether the result expressed in the previous step is satisfactory.

If the result of the mapping is not satisfactory, the temperature range is reset, and the maximum and minimum values can be readjusted through a user interface (e.g. GUI).

If the result of the mapping is satisfactory, a polygon for the mapped area is created. Specifically, a polygon spatially including pixels classified as a forest fire region is generated.

After that, upload and share the polygon (shape file) created in the previous step to the forest fire site sharing system. However, since the polygon (Shape file) uploaded to the system cannot be modified by other terminals, the security of the forest fire site sharing system can be maintained.

3 is a block diagram illustrating a parameter generator of a caustic information construction unit of a caustic detection vehicle according to an embodiment of the present invention.

3, the parameter generation unit 230 of the caustic information construction unit 200 includes an image conversion unit 231, a sample designation unit 232, a temperature range calculation unit 233, a location search unit 234, An approximate image generation unit 235 and a mapping determination unit 236 are included.

The parameter generation unit 230 designates a forest fire occurrence region as a sample region for each of the N-frame images of the training forest fire image collected from the forest fire image collection unit, and all or part of the designated sample region. Generate wildfire characteristic parameters for each pixel.

The image conversion unit 231 converts the thermal image images of N neighboring frames of the training forest fire image collected from the forest fire image collection unit into a temperature value measured in pixel units using a temperature conversion equation using a pixel value as a variable. . Equation 1 above is applied to the temperature conversion equation using the pixel value as a variable.

The training forest fire image collected from the forest fire image collection unit is an image photographed by a thermal imaging camera, and is converted into a temperature value measured in pixel units by applying a temperature conversion equation based on a sensor characteristic of the thermal imaging camera.

The sample designation unit 232 first reads the forest fire occurrence region, which is the region where the forest fire occurs, for each image of the N frames of the training forest fire image collected from the forest fire image collection unit and designates it as the sample region. .

The sample designation unit 232 may designate a wildfire region sample in the image by reading a wildfire region, which is an area where a forest fire has occurred, and designate a wildfire region sample in the image using an identification process.

The sample area is an area that determines a forest fire area within an image and designates a portion of the area as a sample as a region of interest (ROI).

Within the area designated as the sample area, a specific wildfire occurrence point can be designated as a point of interest (PoI), and the wildfire occurrence information in the sample area can be extracted and analyzed as object of interest (OoI) information. have.

The temperature range calculator 233 calculates a temperature range of the forest fire occurrence region corresponding to the sample region based on the temperature value measured in pixel units converted by the image converter.

The temperature range calculator 233 calculates a statistical temperature range of the sample regions, and specifically calculates the temperature range of the forest fire region from a pixel value (degrees Celsius) included in the ROI selected by the sample designation unit 232.

The location search unit 234 is based on the temperature range of the forest fire occurrence region calculated by the temperature range calculation unit, all of the thermal image images of N neighboring frames of the training forest fire image collected from the forest fire image collection unit. A pixel coordinate corresponding to the temperature range is searched for a pixel.

Here, the location information collection unit may be further included to collect information related to wildfire occurrence around the pixel coordinates at a point where the location of the pixel coordinates corresponding to the temperature range is tracked.

The location search unit 234 is for mapping pixel coordinates corresponding to the statistical temperature range with respect to all pixels in the image, and searches for a pixel location that falls within the temperature range calculated by the temperature range calculation unit.

The parameter generator 230 may further include an environment setting unit and may change application settings according to a thermal imaging camera model and local conditions.

The approximate image generator 235 generates an approximate image by expressing the pixel coordinates of the retrieved pixels within the temperature range with a color set as the first color.

The approximate image generator 235 displays the mapping result for the statistical temperature range in the image, and displays the searched pixels in a different color (e.g., red), and whether the ROI selected and read by the reader sufficiently describes the characteristics of the forest fire. Judge.

The mapping determination unit 236 checks whether the approximate image generated by the approximate image generation unit first reads the wildfire generation area and matches the designated sample area.

By comparing the approximate image and the sample area, it is determined whether the expression result sufficiently reflects the wildfire characteristics.

When the mapping determination unit first reads the wildfire generation region and determines that the approximate image matches the specified sample region, the temperature range of the forest fire generation region corresponding to the sample region calculated by the temperature range calculation unit Is transmitted to the list generator, and when it is determined that the approximate image is inconsistent with the designated sample area by first reading the forest fire occurrence area, the sample designating unit 232 includes the training forest fire image collected from the forest fire image collection unit. For each of the N frames of neighboring images, the forest fire occurrence region, which is the region where the forest fire occurs, is second read and designated as the sample region.

The sample designating unit 232 can read N times until the approximate image and the sample area coincide.

4 is a view showing a forest fire detection image of a caustic detection vehicle according to an embodiment of the present invention.

4A shows an image to which a temperature conversion equation according to an embodiment of the present invention is applied, and FIG. 4B shows an approximate image and a temperature range according to an embodiment of the present invention.

The parameter generation unit 230 designates a forest fire occurrence region as a sample region for each of the N-frame images of the training forest fire image collected from the forest fire image collection unit, and all or part of the designated sample region. Generate wildfire characteristic parameters for each pixel.

The image conversion unit 231 converts the thermal image images of N neighboring frames of the training forest fire image collected from the forest fire image collection unit into a temperature value measured in pixel units using a temperature conversion equation using a pixel value as a variable. . Equation 1 above is applied to the temperature conversion equation using the pixel value as a variable.

4A is a result of applying a temperature conversion equation to an image photographing an area vulnerable to forest fires, and a result of detecting an area of 60°C or higher. The forest fire occurrence area is the area detected as 60℃ or higher.

The temperature range calculator 233 calculates a statistical temperature range of the sample regions, and specifically calculates the temperature range of the forest fire region from a pixel value (degrees Celsius) included in the ROI selected by the sample designation unit 232.

The temperature range is calculated in the target region 231-2 included in the training wildfire image 231-1, detects the region 232-1 above 60°C, and the location search unit 234 detects all pixels in the image. This is to map the pixel coordinates corresponding to the statistical temperature range, and searches for a pixel position that falls within the temperature range calculated by the temperature range calculator.

4B shows an approximate image and a temperature range according to an embodiment of the present invention, and is a result of converting a detected caustic line into a vector format.

The approximate image generator 235 generates an approximate image by expressing the pixel coordinates of the retrieved pixels within the temperature range with a color set as the first color.

Approximate images 235-1 and 235-2 generated in the target region 231-2 included in the training forest fire image 231-1 can be checked, and the approximate images 235-1 and 235-2 are shown. It can be seen that it is close to the wildfire area shown in (a) of 4(a). That is, by comparing the approximate images 235-1 and 235-2 with the sample area, it can be confirmed that the expression result sufficiently reflects the wildfire characteristics.

In addition, since the approximate images 235-1 and 235-2 can be expressed in different colors according to the temperature of the forest fire occurrence, the degree and section of the forest fire occurrence can be checked.

The list generator 240 stores the calculated wildfire detection parameters 241 and 243 in a list.

5 is a view showing an apparatus for discharging a grenade dropping vehicle according to an embodiment of the present invention.

The extinguishing grenade dropping vehicle 30 drops the extinguishing grenade at a preset altitude when a fire ship is detected in the vulnerable area of the forest fire.

The extinguishing grenade dropping vehicle 30 includes an extinguishing grenade dropping device 31 that is connected to the extinguishing grenade dropping vehicle and is separated during air dropping.

FIG. 5(a) shows a state in which a fire extinguisher is mounted, and FIG. 5(b) shows a state in which a fire extinguisher is not mounted.

5, the extinguisher dropping device 31 of the extinguishing grenade dropping vehicle 30 according to an embodiment of the present invention includes a mounting unit 310, a grenade mounting unit 320, a power supply unit 330, an automatic opening and closing unit (340), an ignition unit 350, and a delivery system management unit 400.

The extinguishing grenade dropping device 31 is a device that drops a grenade from the air and detonates near a target and a certain distance.

Conventional fire extinguishers are mounted and detonate on the spot when heat is applied. When these fire extinguishers are dropped in the air, they cannot be detonated when they come into contact with the target or the ground, and their function is often lost. The extinguishing grenade dropping device 31 according to an embodiment of the present invention calculates the time to reach the ground in a manner that drops the extinguishing grenade from the air using an unmanned aerial vehicle and detonates near a certain distance to the target. When touched, it can be detonated.

The mounting part 310 is a connection device for mounting to an unmanned aerial vehicle. It is provided in a detachable manner to be connected to the vehicle where the grenade is dropped.

The mounting part 310 implemented as a detachable connection device may facilitate repair and maintenance of the fire extinguisher dropping device 31.

The mounting portion 310 includes a circular assembly portion 311, which can be fitted to the extinguishing grenade dropping vehicle, and includes a 3-adjustable movable support 312 at the lower end of the assembly portion 311 to drop the aircraft and fire extinguishers It can be installed so that the center of gravity of the device 31 is near the center of the central axis that meets the 3-adjustable movable support 312. In addition, the mounting base plate 313 is installed spaced apart from the 3-adjustable movable support part 312, and the power supply unit 330 is located at the upper end of the mounting base plate 313, and fire extinguishing at the bottom of the mounting base plate 313 The bullet mounting part 320 is located.

The extinguishing grenade loading unit 320 is separated when air is dropped from the extinguishing grenade dropping vehicle and mounts a extinguishing grenade in which the internally dispersed explosives are detonated at a preset altitude and the extinguishing agent contained therein is scattered around.

The extinguisher mounting unit 320 includes an image collection unit 360 and a temperature sensor unit 363. Specifically, it is preferable to be located at the bottom of the fire extinguisher mounting unit 320.

The image collection unit 360 is connected to the grenade dropping vehicle and collects an image of the surrounding environment during flight. The temperature sensor unit 363 senses the temperature of the surrounding environment.

The extinguishing grenade mounting unit 320 includes extinguishing grenade holders 321 and 322 for mounting and fixing extinguishing grenade, and a extinguishing grenade fixing device 323.

The fire extinguisher holders 321 and 322 hold the fire extinguisher, and the fire extinguisher fixing device 323 fixes the fire extinguisher.

The fire extinguisher holders 321 and 322 have two circular rings arranged up and down, the diameter of the second circular ring 322 is larger than the diameter of the first circular ring 321, and the first circular ring 321 is the Supports the upper end of the extinguisher, and the second circular ring 322 supports the central portion of the extinguisher.

In addition, the extinguisher mounting unit 320 may include a extinguisher connection band 324.

The fire extinguisher connection band 324 prevents the fire extinguisher from leaving during flight, and is preferably a band having a thickness of about 2 cm from the bottom to the top. In addition, the fire extinguisher connection band 324 includes a connection ring 325 for connecting to the automatic opening and closing unit 340.

It is preferable to use a strap in the form of surrounding the outer side of the extinguishing grenade connection band 324, and it is possible to prevent the extinguisher from being damaged.

The fire extinguisher connection band 324 is a flexible and tough material in the shape of a belt, and may be fixed with a buckle, button, or magic tape.

In addition, the fire extinguisher mounting unit 320 includes a shaft rod 326 passing through the center of the four fire extinguisher cradles 321 and 322 in the horizontal direction, and a mini plate 328 is installed at the top of the shaft rod, and the mini plate 328 and The mounting base plate 313 is assembled using the assembly member 327.

The power supply unit 330 is attached to the mounting unit, and applies power to burn the internal ignition when the fire extinguisher is dropped in the air. In addition, it includes a receiver, a voltage stabilizer, and a constant voltage converter for communication and proper voltage distribution.

The power supply unit 330 includes a battery 331, a main power source 332, a constant voltage converter (regulator) 333, a receiver, and a voltage stabilizer (condenser) 334.

The battery 331 and the main power source 332 are for driving the device, and supply power to each sensor unit so that the extinguishing bomb dropping device can operate.

The constant voltage converter (regulator) 333 converts the voltage delivered from the battery into an appropriate voltage that can be used by each sensor.

The receiver receives the signal from the manipulator, and the voltage stabilizer (condenser) 334 plays a role of maintaining a constant voltage that becomes unstable when each sensor is operated simultaneously.

The signal received by the receiver of this dropping device is transmitted to each component using a PWM (Pulse Width Modulatain) method. In addition, the present dropping device has the advantage of being able to be mounted on a plurality of types of unmanned aerial vehicles in addition to the extinguishing bomb dropping vehicle according to an embodiment of the present invention in a snap-type mounting method. It uses a wireless communication method between the controller and the opening and closing device, and the opening and closing time and the ignition time can be adjusted. It is possible to drop the equipped extinguisher at once or individually. The finally dropped fire grenade is detonated at the target point according to the opening and closing time and the ignition time.

The automatic opening/closing unit 340 connects the extinguisher mounting unit to the mounting unit, and separates the extinguisher when the extinguisher is dropped at the set altitude.

Using the automatic opening/closing unit 340, it is possible to respond to a forest fire by dropping a extinguisher at a desired location during a mission.

The automatic opening/closing unit 340 is a dispenser type opening/closing device and is preferably a left and right slide opening/closing method using the movement of a servo motor.

In addition, a timer may be included so that the timer is activated when the receiver receives a signal from the manipulator.

The ignition unit 350 may supply fire power to the extinguishing coal. The ignition unit 350 includes an ignition device using a hot wire for igniting fire extinguishers. In addition, the ignition unit 350 may implement a smooth mission by preventing damage to the gas and dropping device due to overheating by applying a safety device in the ignition device.

Specifically, the ignition device is a device that generates heat by supplying electricity to a nichrome wire (spring type), and the safety device can be prevented from operating unless a fire extinguisher is installed. That is, the safety device prevents detonation in the event of a timer malfunction by blocking the current in the ignition device if the fire extinguisher is not separated from the cradle and the fixing device.

The delivery system management unit 400 sets an altitude that is separated from the extinguishing grenade delivery vehicle during air delivery, and controls the operation of the automatic opening and closing unit and the ignition unit.

The delivery system management unit 400 may be provided in the mounting unit 310 as a separate processor, or may be provided inside each device.

6 is a block diagram showing a delivery system management unit of the extinguishing grenade delivery device according to an embodiment of the present invention.

6, the delivery system management unit 400 of the extinguishing grenade delivery device according to an embodiment of the present invention includes an environment recognition unit 410, a condition setting unit 420, a delivery condition calculation unit 430, and a delivery control unit. Includes 440.

The delivery system management unit 400 sets an altitude that is separated from the extinguishing grenade delivery vehicle during air delivery, and controls the operation of the automatic opening and closing unit and the ignition unit.

The environment recognition unit 410 is connected to the extinguisher dropping vehicle and generates environmental information of the surrounding environment during flight.

The environment recognition unit 410 includes an image acquisition unit 411 and a temperature detection unit 413.

The image acquisition unit 411 acquires an image photographed from the image collection unit 360 to generate image environment information.

The temperature detection unit 413 generates temperature environment information by using the temperature measurement value sensed by the temperature sensor unit 363.

In order to select the location of the fire extinguishing grenade, after obtaining the orthogonal image using the image collection unit 360 from the fire extinguishing grenade dropping vehicle equipped with a thermal imaging camera, the coordinates of the dropping point are obtained. The grenade dropping vehicle control unit of the central control unit selects the desired location. Or, use an algorithm in which fire extinguishers are dropped above a certain temperature.

The condition setting unit 420 sets a dropping condition using environmental information.

The condition setting unit 420 includes a location coordinate calculation unit 421, a delivery coordinate setting unit 423, and a delivery temperature setting unit 425.

The position coordinate calculation unit 421 is connected to the grenade dropping vehicle using the image environment information to calculate the position coordinates at the time of flight.

The delivery coordinate setting unit 423 sets the coordinates of the delivery point at which the fire extinguisher is to be delivered using the location coordinates.

The dropping temperature setting unit 425 sets the dropping temperature at which the extinguisher is dropped by using the temperature environment information.

The delivery condition calculation unit 430 calculates a detonation condition of the fire extinguisher using the delivery condition of the condition setting unit.

The drop condition calculation unit 430 includes an altitude calculation unit 431, an arrival time calculation unit 433, and an aeration time calculation unit 435.

The altitude calculation unit 431 calculates a flight altitude that is separated when air is dropped from the grenade dropping vehicle using the coordinates of the dropping point.

The arrival time calculation unit 433 calculates a time for the dropped fire extinguisher to reach the ground using the flight altitude.

The time for the grenade to reach the ground is calculated by using the time for the extinguisher to reach the ground according to the law of gravitational acceleration at a certain flight altitude. Also, taking this into account, the detonation time before flight is set in the timer.

Calculation of the time for the fire extinguisher to reach the ground according to an embodiment of the present invention is implemented by Equation 2.

Here, the detonation time is calculated by inverting h (fall height) based on the free fall formula to calculate t (fall time). At this time, h = fall height, g = gravitational acceleration, and t = fall time.

The detonation time calculation unit 435 calculates the detonation time of the fire extinguisher using the calculated time to reach the ground.

The delivery control unit 440 controls the operation of the automatic opening/closing unit and the ignition unit using the detonation condition of the fire extinguisher.

The dropping control unit 440 includes an opening/closing device control unit 441 and an ignition device control unit 443.

The opening/closing device control unit 441 operates the automatic opening/closing unit 340 when the extinguishing time of the fire extinguisher is reached.

The ignition device control unit 443 operates the ignition unit 350 when it reaches a dropping temperature for dropping the extinguisher.

In addition, the delivery control unit 440 may respond according to the degree of occurrence of a forest fire by adjusting the number of extinguishing bombs dropped.

The delivery system management unit 400 of the extinguishing grenade delivery device according to an embodiment of the present invention can detonate at a distance from an indicator or a target by adjusting the opening and closing and ignition time, and responds according to the type of forest fire such as water crown and ground fire. This becomes possible.

7 is a block diagram showing a central control unit according to an embodiment of the present invention.

Referring to FIG. 7, the central control unit 50 according to an embodiment of the present invention includes a monitoring vehicle control unit 51, a fire detection vehicle control unit 52, an extinguisher dropping vehicle control unit 53, and a rear fire detection vehicle control unit ( 54).

The central control unit 50 receives monitoring information of the surveillance vehicle and caustic information of the caustic detection vehicle, and controls the flight operation of the surveillance vehicle and the caustic detection vehicle.

In addition, the flight operation of the fire extinguisher dropping vehicle and the rear light detection vehicle is controlled.

The monitoring vehicle control unit 51 receives the monitoring information from the monitoring vehicle and controls the flight operation of the monitoring vehicle.

The caustic detection vehicle control unit 52 receives causal information of the caustic detection vehicle and controls a flight operation of the caustic detection vehicle.

The extinguishing grenade dropping vehicle control unit 53 controls the flight operation of the extinguishing grenade dropping vehicle so as to drop the extinguishing grenade at a preset altitude when a fire ship is detected in the vulnerable area of the forest fire.

The rear light detection vehicle control unit 54 controls the flight operation of the rear light detection vehicle to monitor the rear light by switching to the rear light monitoring system after dropping the extinguisher.

8 is a flow chart showing a process of a night forest fire response system using an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 8, the process of a night forest fire response system using an unmanned aerial vehicle according to an embodiment of the present invention starts at a step (S10) in which the surveillance vehicle 10 constantly monitors an area vulnerable to forest fires.

In step S11, the surveillance information construction unit of the surveillance vehicle 10, when a forest fire occurs in a forest fire-prone area, detects the occurrence of a forest fire and constructs the surveillance information including aerial observation terrain information using the ground image acquired by the camera. And transmit it to the central control unit.

The monitoring vehicle control unit 51 receives the monitoring information from the monitoring vehicle.

In step S20, the caustic detection vehicle control unit 52 controls the flight operation of the caustic detection vehicle.

In step S21, the caustic detection vehicle 20 periodically detects caustics in the area vulnerable to forest fires, and the caustic information construction unit 200 uses the image captured by the thermal imaging camera while the caustic detection vehicle is flying along a certain flight path. The caustic information including the generated wildfire detection image is constructed and transmitted to the central control unit.

In step S51, the central control unit 50 may transmit the monitoring information and the causal information to the Korea Forest Service, and in step S52, the central control unit 50 may transmit the information to the integrated command headquarters.

Steps S30 and S40 occur independently, but are preferably performed sequentially.

In step S30, the extinguishing grenade dropping vehicle control unit 53 controls the flight operation of the extinguishing grenade dropping vehicle so as to drop the extinguishing grenade at a preset altitude when a fire ship is detected in the vulnerable area of the forest fire.

In step S31, the extinguishing grenade dropping vehicle 30 drops the extinguishing grenade at a preset altitude to extinguish the forest fire.

In step S60, the relief item dropping vehicle 60 delivers the relief item of the forest fire extinguisher.

In step S40, the rear light detection vehicle control unit 54 controls the flight operation of the rear light detection vehicle to monitor the rear light by switching to the rear light monitoring system after dropping the extinguisher.

In step S41, the rear light detection vehicle 40 monitors the rear light after the fire extinguisher is dropped.

When the rear light is detected, the rear light detection information is constructed and transmitted to the central control unit, and the central control unit 50 transmits the rear light detection information to the Korea Forest Service.

If the rear light is not detected, the process of the forest fire response system is terminated.

The above description is only an embodiment of the present invention, and those of ordinary skill in the technical field to which the present invention pertains may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the scope of the present invention is not limited to the above-described embodiments, and should be construed to include various embodiments within the scope equivalent to those described in the claims.

1: night forest fire response system
10: surveillance vehicle
20: caustic detection vehicle
30: grenade dropping vehicle
40: tail light detection vehicle
50: central control unit

Claims (14)

Surveillance vehicles that constantly monitor wildfire vulnerable areas;
A caustic detection vehicle that periodically detects caustics in the vulnerable area of forest fires;
A fire extinguisher dropping vehicle that drops a fire extinguisher at a preset altitude when a fire ship is detected in the forest fire vulnerable area;
A rear light detection vehicle that monitors the rear light by switching to a rear light monitoring system after the fire extinguisher is dropped; And
Performs a night forest fire response process by receiving the monitoring information of the surveillance vehicle, the caustic information of the caustic detection vehicle, and the rear light information of the rear light detection vehicle, and the surveillance vehicle, the caustic detection vehicle, the extinguishing bomb dropping vehicle and the rear light Includes; a central control unit for controlling the flight operation of the detection vehicle,
When the extinguishing grenade dropping vehicle fires the extinguishing grenade, the central control unit switches the flight operation control from the control unit of the extinguishing grenade dropping vehicle to the control unit of the rear light detection vehicle, so that the rear light detection vehicle is Transition to a surveillance system,
The extinguishing grenade dropping vehicle includes an extinguishing grenade dropping device that is connected to the extinguishing grenade dropping vehicle and is separated during air dropping,
The extinguishing grenade dropping device includes: a mounting portion provided detachably so that the extinguishing grenade is connected to the extinguishing grenade dropping vehicle; An extinguishing grenade loading unit that is separated from the extinguishing grenade dropping vehicle when air is dropped, and is detonated at a predetermined altitude, so that the extinguishing agent contained therein is scattered to the surroundings; An automatic opening/closing unit connecting the extinguishing grenade mounting unit to the mounting unit and separating the extinguishing grenade when the extinguishing grenade is dropped at the set altitude; And an ignition unit capable of supplying firepower to the extinguishing coal.
The mounting portion includes a mounting base plate for assembling the extinguishing grenade mounting portion at the lower end; and
The extinguishing grenade mounting unit, a extinguishing grenade holder on which the extinguishing grenade is mounted; A fire extinguisher fixing device for fixing the fire extinguisher; And a fire extinguisher connection band connected to the coupling part of the automatic opening/closing part,
The automatic opening/closing unit separates the extinguisher mounting unit assembled to the mounting base plate at the set altitude, and separates the extinguisher connection band connected to the coupling unit to drop the extinguisher. system. The method of claim 1,
The surveillance vehicle,
A rotorcraft structure including a plurality of propellers;
A camera mounted on the rotorcraft structure; And
And a monitoring information construction unit for constructing the monitoring information including aerial observation topographic information using the ground image acquired by the camera and transmitting it to the central control unit. The method of claim 1,
The caustic detection vehicle,
Fixed wing structures positioned at both ends of the caustic detection vehicle;
A thermal imaging camera mounted on the fixed wing structure; And
And a caustic information construction unit for constructing the caustic information including a forest fire detection image generated using an image captured by the thermal imaging camera while the caustic detection vehicle is flying along a certain flight path and transmitting it to the central control unit; Night forest fire response system, characterized in that. The method of claim 3,
The caustic information construction unit,
An input unit for inputting an image captured by the thermal imaging camera and an area vulnerable to forest fires as a target area;
A forest fire image collection unit that collects different types of training wildfire images already photographed with respect to the target area;
For each image of N adjacent frames of the training forest fire image collected from the forest fire image collection unit, a forest fire occurrence area is designated as a sample area, and wildfire characteristic parameters are set for all or some pixels belonging to the designated sample area. A parameter generating unit to generate; And
And a list generation unit for generating a list of the wildfire characteristic parameters corresponding to the sample area generated by the parameter generation unit with respect to the different types of training wildfire images. The method of claim 4,
The parameter generation unit,
An image conversion unit for converting the thermal image of the N frames adjacent to the training wildfire image collected from the forest fire image collection unit into a temperature value measured in pixel units using a temperature conversion equation using a pixel value as a variable;
A sample designating unit for first reading the wildfire generation area, which is an area where a forest fire has occurred, and designating it as the sample area for each of the N frames of the training forest fire image collected from the forest fire image collection unit;
A temperature range calculator configured to calculate a temperature range of the forest fire occurrence region corresponding to the sample region based on the temperature value measured in pixel units converted by the image converter;
Based on the temperature range of the forest fire occurrence region calculated by the temperature range calculation unit, the temperature range for all pixels of the thermal image of N neighboring frames of the training forest fire image collected from the forest fire image collection unit A location search unit that searches for corresponding pixel coordinates; And
And an approximate image generator configured to generate an approximate image by expressing pixel coordinates of the retrieved pixels within the temperature range in a color set as a first color. The method of claim 5,
The caustic information construction unit,
A temperature range setting unit for setting a set temperature range by inquiring a maximum temperature value and a minimum temperature value for the target region from the list of wildfire characteristic parameters; And
A forest fire generating the forest fire detection image by expressing pixel coordinates of pixels within the set temperature range in a color set as a second color based on the temperature value measured in pixel units converted by the wildfire detection image conversion unit of the input unit A detection image generating unit; night forest fire response system comprising a further. delete The method of claim 1,
A system for responding to night forest fires, comprising: a dropping system management unit configured to set an altitude separated from the extinguishing grenade dropping vehicle during air drop, and control the operation of the automatic opening and closing unit and the ignition unit. The method of claim 8,
The fire extinguisher mounting unit,
An image collection unit connected to the extinguishing bomb dropping vehicle to collect an image captured of an image of the forest fire vulnerable area during flight; And
A temperature sensor unit for sensing the temperature of the surrounding environment; night forest fire response system further comprising a. The method of claim 9,
The delivery system management unit,
An environment recognition unit connected to the extinguishing bomb dropping vehicle to generate environmental information of the forest fire vulnerable area during flight; And
Includes; a condition setting unit for setting a dropping condition using the environmental information,
The environment recognition unit,
An image acquisition unit for generating image environment information by obtaining an image captured from the image collecting unit; And
And a temperature detection unit that generates temperature environment information using a temperature measurement value sensed from the temperature sensor unit. The method of claim 10,
The condition setting unit,
A position coordinate calculation unit connected to the extinguishing grenade dropping vehicle using the image environment information to calculate position coordinates during flight;
A delivery coordinate setting unit for setting coordinates of a delivery point at which the fire extinguisher is to be delivered using the location coordinates; And
And a dropping temperature setting unit configured to set a dropping temperature at which the extinguisher is dropped by using the temperature environment information. The method of claim 11,
The delivery system management unit,
Further comprising; a delivery condition calculation unit for calculating the detonation condition of the fire extinguisher using the delivery condition of the condition setting unit,
The delivery condition calculation unit,
An altitude calculation unit that calculates a flight altitude separated when air is dropped from the grenade dropping vehicle using the coordinates of the dropping point;
An arrival time calculation unit that calculates a time when the dropped fire extinguisher reaches the ground using the flight altitude; And
And a detonation time calculation unit for calculating the detonation time of the extinguisher using the calculated time to reach the ground. The method of claim 12,
The delivery system management unit,
A drop control unit for controlling the operation of the automatic opening/closing unit and the ignition unit using the detonation condition of the fire extinguisher; further includes,
The drop control unit,
An opening/closing device control unit operating the automatic opening/closing unit when the fire extinguisher reaches a detonation time; And
And an ignition device control unit that operates the ignition unit when the temperature at which the fire extinguisher reaches a dropping temperature is reached. The method of claim 1,
The central control unit,
A monitoring vehicle control unit receiving the monitoring information from the monitoring vehicle and controlling a flight operation of the monitoring vehicle;
A caustic detection vehicle control unit for receiving causal information of the caustic detection vehicle and controlling a flight operation of the caustic detection vehicle;
A fire extinguisher dropping vehicle control unit for controlling a flight operation of the extinguishing grenade dropping vehicle to drop the extinguishing grenade at a preset altitude when a fire ship is detected in the forest fire-prone area; And
And a rear light detection vehicle control unit for controlling the flight operation of the rear light detection vehicle to monitor the rear light by switching to a rear light monitoring system after the extinguisher is dropped.

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