KR102239811B1 - Fire suppression system - Google Patents

Abstract

A fire suppression system is initiated. This system includes a mobile system mounted for each vehicle for fire suppression, and a fire control system that prevents fire by interlocking with a plurality of mobile systems, and each mobile system is equipped with a plurality of summons. It includes a fire extinguishing drone that throws extinguishing grenade to a fire site according to a remote throw command during flight according to remote flight control in a state separated from the unit.

Description

Fire suppression system using drones

The present invention relates to a technique for extinguishing fire, and in particular, to a technique for extinguishing a fire in an area where fire extinguishing is vulnerable.

Korean Patent Publication No. 10-2022887 discloses a wireless fire monitoring system. This system includes a fire receiver, a fire repeater, a fire repeater, and a fire detector capable of bi-directional communication with each other, and has a plurality of communication paths through network communication. As a plurality of communication paths are established, communication is normally performed using a preset communication path, and when there is a communication failure, bypass communication is performed using a separate communication path. According to this, it is possible to configure multiple networks between each device. In addition, it is possible to reduce the number of equipment, thereby lowering the facility cost. However, it is impossible for the above system to be deployed in all regions right away. In other words, alienated areas will inevitably occur, and in reality, areas where residential disadvantaged groups live, such as areas with densely populated houses, are more likely to be alienated. And even if a fire is monitored, it is difficult to extinguish a fire in an area where it is difficult to enter a fire engine.

Korean Patent Publication No. 10-2022887 (announced on September 19, 2019)

An object of the present invention is to provide a method of facilitating fire suppression in an area where fire suppression is vulnerable.

The fire suppression system according to an aspect includes a moving body system mounted for each vehicle for fire suppression and a fire control system that prevents fire by interlocking with a plurality of moving body systems, and each moving body system is equipped with a plurality of summons. And, it may include a fire fighting drone that throws a fire extinguisher to a fire site according to a remote throw command during flight according to remote flight control in a state separated from the transportation means.

The fire control system is a spatial knowledge base in which qualitative spatial knowledge representing the spatial relationship between space objects in each fire extinguishing vulnerable area is built, and the space coordinates for fire suppression from the current spatial coordinates of the fire extinguishing drone separated from the transportation means located at the fire site. A drone control unit that controls the flight of the road, creates a flight path to avoid collisions with space objects in consideration of the qualitative spatial knowledge built in the spatial knowledge base, and controls the flight of the fire extinguishing drone according to the created flight path. It may include.

Fire extinguishing drones can throw fire extinguishers into the fire site if they are placed in the fire extinguishing space coordinates and receive a remote throw command from the vehicle driver.

The fire control system may include a fire monitoring allocation unit that allocates different fire extinguishing vulnerable areas to a plurality of moving object systems so that movement monitoring is performed simultaneously by a plurality of vehicles for all designated fire extinguishing vulnerable areas in the area.

The fire monitoring allocation unit can change and allocate fire extinguishing vulnerable areas with a plurality of mobile systems so that rotation monitoring is performed for all fire extinguishing vulnerable areas.

The fire control system may further include a movement path monitoring unit that monitors the movement path of the vehicle to which the fire suppression vulnerable area is allocated.

The movement route monitoring unit can provide real-time guidance to the mobile system for the route for fire monitoring in the area vulnerable to fire suppression for each vehicle, and alert the mobile system when the movement route of the monitored vehicle deviates from the guidance route. have.

When a fire report is received, the fire control system may further include a fire dispatch management unit for commanding dispatch to the fire place while transmitting information on the fire location to the mobile system for each vehicle.

The present invention creates an effect of enabling rapid fire suppression in areas where fire suppression is not easy due to difficulty in entering a fire engine when a fire occurs.

In addition, the present invention creates an effect that enables the occurrence of fire to be detected and prevented even in areas where the fire detection system is not established.

1 is a block diagram of a fire suppression system using a drone according to an embodiment.
2 is a diagram illustrating a vehicle in which a mobile system is mounted.
3 is a diagram illustrating a fire fighting drone mounted on a vehicle.
4 is a diagram illustrating fire suppression by a fire suppression drone.
5 is a block diagram of a mobile system according to an embodiment.
6 is a block diagram of a fire control system according to an embodiment.
7 is a diagram illustrating the allocation of transportation means for each vulnerable zone for fire suppression.
8 and 9 are flowcharts of fire prevention according to an embodiment.
10 is a flow chart of fire suppression according to an embodiment.

The foregoing and further aspects of the invention will become more apparent through preferred embodiments described with reference to the accompanying drawings. Hereinafter, the present invention will be described in detail so that those skilled in the art can easily understand and reproduce through these examples.

1 is a block diagram of a fire suppression system using a drone according to an embodiment. The mobile system 100 is mounted one by one for each vehicle for fire suppression. Each mobile system 100 is an electronic system capable of communication and interlocks with the fire control system 200 through a communication network. The fire control system 200 may be a server system including one or more servers, and may be operated under various operating systems including or not included in a Windows operating system, MacOS, Java, UNIX, or Linux. I can. The fire control system 200 plays a role of monitoring, preventing, and suppressing fires by interlocking with the mobile systems 100.

The vehicle on which the mobile system 100 is mounted refers to a manned mobile vehicle, and may be a mobile vehicle such as a motorcycle as shown in FIG. 2. The vehicle is equipped with a camera module 130, an electronic control device 150, and a fire fighting drone 140. These are all components belonging to the mobile system 100. The camera module 130 may be connected to the electronic control device 150 by wire, and the fire fighting drone 140 may be connected to the electronic control device 150 through wired and/or wireless communication. The fire fighting drone 140 is mounted on a mounting means 10 such as a box provided in a transportation means, and some may be exposed to the outside and some may not be exposed. For example, the magazine on which the fire extinguisher 141 is mounted is located inside the mounting means 10 as shown in FIG. 3. The driver may directly mount or separate the fire extinguishing drone 140 on the mounting means 10.

The fire extinguishing drone 140 may be provided with a camera module 142 in front (a direction in which an extinguisher is thrown). For reference, for the purpose of classifying terms, the camera module 130 of the vehicle may be referred to as a first camera module, and the camera module 142 of the fire fighting drone 140 may be referred to as a second camera module. As illustrated in FIG. 4, the fire extinguishing drone 140 serves to extinguish a fire by flying near the fire point and throwing an extinguisher 141 when a fire occurs.

5 is a block diagram of a mobile system according to an embodiment. The mobile system 100 includes at least some of the components shown in FIG. 5. The communication unit 110 is a transceiver for transmitting and receiving data to and from the fire control system 200 through a communication network. The display 120 is for displaying various types of information to the driver of the vehicle, and may be a touch screen type capable of inputting the driver. The display 120 may display area information assigned to a driver as a surveillance area within the fire monitoring area, map-based route guidance information in the assigned area, information on a place where a fire has occurred, and the like. Therefore, it is preferable that the display 120 is provided in a position where it is easy to check while the driver is driving. The display 120 may be integrated with the electronic control device 150. The camera module 130 is provided in the vehicle to photograph the surrounding (eg, front) of the vehicle, and may be connected to the electronic control device 150 through a wired cable.

The fire extinguishing drone 140 is mounted and detachable at a predetermined part of the vehicle, and is equipped with a plurality of fire extinguishers to extinguish the fire. The fire extinguishing drone 140 is equipped with a wireless communication means for receiving a remote control command wirelessly from the outside, and is controlled in flight according to the remote flight control in a state separated from the transportation means, and extinguishing the fire to the fire site according to the remote throwing control. Bullet throwing is controlled. Further, although not shown, a separate digital locking device may be provided in the mobile system 100 to lock and unlock the fire fighting drone from the vehicle.

The electronic control device 150 is a main device that controls a part or the whole of the mobile system 100 and interlocks with the fire control system 200 through the communication unit 110. The electronic control device 150 may display information on the fire suppression vulnerable area allocated from the fire control system 200 on the display 120 and provide the information to the driver. The electronic control device 150 may display the captured image received from the camera module 130 on the display 120 and transmit it in real time to the fire control system 200 through the communication unit 110. In addition, the electronic control device 150 may recognize whether the fire fighting drone 140 is mounted on a vehicle or separated. For example, the installation or removal of the fire fighting drone 140 is recognized through the presence of contact with the terminal.

The drone remote controller 160 is a component for remotely controlling the fire fighting drone 140, and is provided in a vehicle and used by a driver. In one embodiment, the drone remote controller 160 remotely controls the fire fighting drone 140 via the electronic control device 150. That is, the electronic control device 150 receives a control command from the fire extinguishing drone 140 and transmits it to the fire extinguishing drone 140. In another embodiment, the drone remote controller 160 directly remotely controls the fire fighting drone 140.

Meanwhile, the electronic control device 150 may include a GPS module for determining the location of the vehicle, and the fire fighting drone 140 may also include a GPS module for determining the position coordinates in space during flight. In addition, the fire extinguishing drone 140 may be equipped with a camera module for photographing the direction of throwing an extinguisher. In addition, a display may be provided in the drone remote controller 160 as well, and an image photographed through the camera module of the fire fighting drone 140 may be displayed on the display. The image captured by the fire extinguishing drone 140 may be transmitted to the electronic control device 150, and also transmitted directly to the fire extinguishing drone 140 or to the fire extinguishing drone 140 through the electronic control device 150 Can be.

6 is a block diagram of a fire control system according to an embodiment. The fire control system 200 includes a spatial knowledge base 210. The spatial knowledge base 210 is a database equipped with spatial knowledge, and qualitative spatial knowledge representing spatial relationships between spatial objects for each area vulnerable to fire suppression is built. Here, the fire suppression vulnerable area refers to an area that is difficult to suppress fire due to a fire engine entry problem when a fire occurs, and refers to an area designated in advance and managed as a database. In addition, the spatial knowledge base 210 may be generated through a well-known method of acquiring qualitative spatial knowledge. Relatedly, Korean Patent Publication No. 10-1940251 "Hadoop MapReduce-based spatial knowledge extraction system" is known.

The fire control system 200 includes a drone control unit 220, a fire monitoring allocation unit 230, a movement path monitoring unit 240, a fire dispatch management unit 260, a surveillance image providing unit 250, and a fire dispatch management unit. At least some of the 260 may be further included. These can all be implemented in software, and are executed by one or more processors to perform a given role.

The drone control unit 220 controls the flight to determine the current spatial coordinates of the fire extinguishing drone 140 separated from the transportation means located at the fire location and move from the recognized current spatial coordinates to a predetermined spatial coordinate for fire suppression. Here, the space coordinates for fire suppression may be designated by the control personnel. To this end, the control personnel must accurately acquire information on the fire point, and appropriately designate the space coordinates for fire suppression in consideration of the acquired information. For example, when information about a fire location is acquired, such as “Fire at ○○ Villa 403, Ji-dong, Suwon,” the control personnel determine the spatial coordinates of the fire point based on the spatial knowledge base 210 and It is to specify the coordinates.

In one embodiment, the drone control unit 220 directly remotely controls the fire extinguishing drone 140 to control the flight of the fire extinguishing drone 140. In another embodiment, the drone control unit 220 allows the fire suppression drone 140 to be remotely controlled through the electronic control device 150 of the mobile system 100. That is, the drone control unit 220 transmits a flight control command to the electronic control device 150, and the electronic control device 150 controls the fire extinguishing drone 140 to fly to the coordinates of space for fire suppression. In addition, the drone control unit 220 can control the direction of the fire extinguishing drone 140 so that the fire extinguishing drone 140 located in the space coordinates for fire extinguishing can be thrown to the fire place. have.

The drone control unit 220 according to an aspect allows the fire fighting drone 140 to avoid collisions with space objects existing in the fire place in consideration of the qualitative spatial knowledge of the fire place built in the spatial knowledge base 210. After the flight path is created, the fire suppression drone may be controlled in flight according to the created flight path to move to the space coordinates for fire suppression. On the other hand, when a plurality of fire fighting drones 140 are simultaneously controlled for flight, the drone controller 220 may generate each flight path so that a collision does not occur between the fire fighting drones 140. In addition, space coordinates for fire suppression may also be different for each fire suppression drone 140. Otherwise, the fire extinguishing space coordinates are the same, but the fire extinguishing drones 140 may be moved to the corresponding coordinates with a time difference.

The fire extinguishing drone 140 throws an extinguisher to the fire place while being located in the space coordinates for fire extinguishing. In one embodiment, the fire fighting drone 140 throws a fire extinguisher according to the throwing control command of the drone controller 220. In another embodiment, the fire extinguishing drone 140 throws a fire extinguisher to the fire site according to the remote throwing command of the vehicle driver. At this time, the vehicle driver may command the fire extinguishing drone 140 to throw an extinguisher by operating the electronic control device 150 or the drone remote controller 160. At this time, if the driver determines that the location of the fire extinguishing drone 140 is not appropriate in space, the driver may directly move the fire extinguishing drone 140 through the drone remote controller 160 and cause the fire extinguishing grenade to be thrown. . In other words, since it is difficult to accurately grasp the situation at the site in the control center, it is possible to allow the driver to intervene in drone control.

On the other hand, the fire extinguishing drone 140 may be equipped with a camera for photographing the direction of the fire extinguishing grenade throwing direction, and the fire extinguishing drone 140 in flight transmits the captured image acquired by the camera to the electronic control device 150 or the drone. It is transmitted to the remote controller 160. Accordingly, the driver can check the image captured by the drone through the display of the electronic control device 150 or the display provided on the drone remote controller 160, and through this, the direction of the fire extinguisher throwing direction of the fire extinguishing drone 140 is the fire point. You can figure out if this is correct. In addition, the driver may operate the drone with the drone remote controller 160 while checking the drone shot image with the electronic control device 150.

The fire monitoring allocation unit 230 allocates different fire suppression vulnerable areas to the mobile system 100 so that movement monitoring is performed simultaneously by a plurality of vehicles for all fire suppression vulnerable areas divided into a plurality of fire monitoring areas. do. An example of this is shown in FIG. 7. It is to allocate one fire monitoring vehicle for each fire suppression vulnerable area in the fire monitoring area. Further, the fire monitoring allocating unit 230 changes and allocates the vulnerable fire suppression zones to the mobile system 100 at a predetermined time unit or at the command of a control agent. This is to enable rotation monitoring for all fire suppression vulnerable areas, and the fire monitoring allocation unit 230 sequentially allocates fire suppression vulnerable areas for each mobile system 100.

The movement path monitoring unit 240 monitors the movement path of the vehicle for each mobile system 100 assigned different fire suppression vulnerable areas. To this end, each electronic control device 150 may continuously transmit location data acquired through a GPS module to the fire control system 200. In addition, the movement path monitoring unit 240 may display a movement path for each transportation means on a screen so that a control agent can grasp the movement status of the transportation means.

In addition, the movement path monitoring unit 240 may generate path information for fire monitoring in a fire suppression vulnerable area for each vehicle and provide real-time guidance to the mobile system 100. Accordingly, the electronic control device 150 of the mobile system 100 receives the route information and displays it on the display 120, so that the driver can drive along the guide route. Furthermore, when the moving path of the vehicle being monitored deviates from the guidance path, the movement path monitoring unit 240 provides a warning notification to the mobile system 100 so that the driver can follow the guidance path.

The monitoring image providing unit 250 displays a photographed image received in real time from the electronic control device 150 for each mobile system 100 on a fire monitoring monitor for monitoring by a control agent. In an embodiment, a fire monitoring monitor is divided into a screen according to the number of fire suppression vulnerable areas, and each photographed image is displayed in different divided areas. Through this, the control personnel can easily monitor the area where fire monitoring is neglected.

When a fire report is received in the fire monitoring area, the fire dispatch management unit 260 transmits information on the fire place to the moving object system 100 for each vehicle and orders dispatch to the fire place. In one embodiment, the fire dispatch management unit 260 receives fire location information from a control agent who has received a fire report and transmits it to all moving object systems 100 that are monitoring movement in a fire monitoring area. In another embodiment, the fire dispatch management unit 260 receives a fire report from the electronic control device 150 of any one of the mobile system 100, and receives the location information of the mobile system 100 that reported the fire. As information, it is transmitted to the rest of the mobile system 100.

In another embodiment, the fire dispatch management unit 260 may include a dispatch command unit 261 as shown in FIG. 6. When a fire report is received within the fire monitoring area, the dispatch command unit 261 delivers the fire location information to the mobile system 100 of the transportation means closest to the fire location among transportation means, and orders priority dispatch to the fire location. . At this time, the fire location information may be input from a control agent who has received a fire report. In accordance with the priority dispatch order of the dispatch command unit 261, the driver of the vehicle can be dispatched to the fire location and quickly check whether the actual fire has occurred or whether it is a joke report.

Further, the fire dispatch management unit 260 may further include a fire detection unit 262 and a subsequent dispatch command unit 263 or may further include only a follow dispatch command unit 263. The fire detection unit 262 first detects a fire by analyzing a photographed image received from the moving object system 100 of the vehicle when the vehicle receiving the dispatch order reaches the reported fire location. For this, a well-known fire detection algorithm can be used. That is, the fire detection unit 262 may determine whether a fire occurs by analyzing color and frequency characteristics from captured images based on an existing fire detection algorithm.

The follow-up dispatch command unit 263 first orders the follow-up dispatch to the fire place while transmitting information about the fire location to the other mobile systems 100 except for the mobile system 100 that received the dispatch command. In one embodiment, the follow-up dispatch command unit 263 performs a follow-up dispatch command when a fire is detected at the reporting location by the fire detection unit 262. In another embodiment, the follow-up dispatch command unit 263 performs a follow-up dispatch order when it is reported that a fire has actually occurred at the reporting location from the mobile system 100 that received the dispatch order first. That is, if the driver who received the dispatch order first reaches the reporting location, checks the fire, and reports the occurrence of the fire to the fire control system 200 through the electronic control device 150, the subsequent dispatch command unit 263 orders the follow-up dispatch. Is to do.

8 and 9 are flowcharts of fire prevention according to an embodiment. The fire control system 200 allocates different fire suppression vulnerable areas to the mobile system 100 (S100). Accordingly, the transport means drivers move and monitor the occurrence of fires in each assigned fire suppression vulnerable area (S200). When a fire report is received while movement monitoring is being made, the fire control system 200 transmits the fire location information to the moving object system 100 so that a quick dispatch to the fire location is made (S300). In S300, the fire control system 200 transmits the fire location information to the mobile system 100 of the transportation means closest to the place where the fire report is received, so that the first dispatch is made (S310). Thereafter, when the occurrence of a fire at the reporting location is confirmed from the mobile system 100 of the vehicle dispatched first, or when a fire is confirmed through the analysis of the photographed image received from the mobile system 100, the fire place with the remaining mobile systems 100 The information is transmitted so that the subsequent dispatch is made (S320) (S330).

10 is a flow chart of fire suppression according to an embodiment. The fire control system 200 generates a flight path of the fire extinguishing drone 140 separated from the transportation means arriving at the fire place (S400). In one embodiment, the electronic control device 150 of the mobile system 100 notifies the fire control system 200 of the completion of fire suppression preparations when it is detected that the fire extinguishing drone 140 is separated from the vehicle at a fire place, and , Accordingly, the fire control system 200 creates a flight path of the fire extinguishing drone 140. The fire control system 200 controls the fire extinguishing drone 140 according to the generated flight path and moves it to the space coordinates for fire suppression (S500). When the fire extinguishing drone 140 is located in the space coordinates for fire extinguishing according to flight control, the fire control system 200 notifies the vehicle driver of the completion of preparation for throwing extinguishers. Accordingly, the electronic control device 150 of the mobile system 100 may notify the driver of the completion of preparation for throwing grenade through the display 120, or may transmit a notification of completion of preparation for throwing extinguisher to the drone remote controller 160. . In the latter case, the drone remote controller 160 may notify the driver of the completion of preparation for throwing an extinguisher through vibration or a screen display.

So far, the present invention has been looked at around its preferred embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

100: mobile system 110: communication unit
120: display 130: camera module
140: fire fighting drone 150: electronic control device
160: drone remote controller 200: fire control system
210: spatial knowledge base 220: drone control unit
230: fire monitoring allocation unit 240: moving route monitoring unit
250: surveillance video providing unit 260: fire dispatch management unit
261: dispatch order 262: fire detection unit
263: Follow-up dispatch order

Claims (10)

A mobile system mounted for each motorcycle for fire monitoring and suppression; And
Including; fire control system interlocking with a plurality of moving body systems;
Each mobile system is:
A first camera module for photographing a traveling direction of a motorcycle;
It includes a second camera module for photographing the direction of extinguishing grenade throwing, and after being separated from the motorcycle at the place of fire, it is controlled to fly and is located at the coordinates of the space for extinguishing the fire. Fire fighting drones;
A drone remote controller that commands the fire extinguishing drone to throw an extinguisher according to the operation of a motorcycle driver and displays an image captured by the second camera module of the fire extinguishing drone on a screen; And
Including; when it is detected that the fire fighting drone is disconnected from the motorcycle at the place of the fire, the fire control system notifies the completion of the fire extinguishing preparation; Including,
The fire control system is:
By allocating different fire suppression vulnerable areas with a plurality of mobile systems so that all designated fire suppression vulnerable areas within the fire monitoring area can be simultaneously monitored, motorcyclists move through different fire suppression vulnerable areas respectively assigned to them. A fire monitoring allocation unit to monitor;
When a fire report is received within the fire monitoring area, the fire location information is delivered to the mobile system of the motorcycle closest to the fire location input from the control personnel who received the fire report from among the motorcycles being monitored. First, a dispatch order unit that orders dispatch;
First, a fire detection unit for detecting whether a fire is detected by analyzing the captured image of the first camera module received from the moving object system of the motorcycle that has reached the fire place according to the dispatch command;
When the fire detection unit detects that a fire has occurred at the place of fire, first, a follow-up dispatch command unit for commanding a subsequent dispatch to the fire place while transmitting information about the fire place to the remaining mobile systems except for the mobile system receiving an order for dispatch;
A spatial knowledge base in which qualitative spatial knowledge representing spatial relationships among spatial objects in each fire suppression vulnerable area is built; And
When the fire extinguishing preparation is notified from the motorcycle's mobile system that has reached the fire site, control the flight from the current spatial coordinates of the fire extinguishing drone separated from the motorcycle to the spatial coordinates for fire extinguishing, but qualitative spatial knowledge built in the spatial knowledge base. And a drone control unit that generates a flight path to avoid collisions with space objects in consideration of and controls the fire extinguishing drone to fly according to the generated flight path to position the fire extinguishing drone in space coordinates for fire extinguishing; and ,
In the fire control system, when the fire extinguishing drone is located in the space coordinates for fire extinguishing, the mobile system notifies the completion of extinguishing grenade throwing preparation, and the electronic control unit of the mobile system transmits the extinguishing grenade preparation completion notification to the drone remote controller. The remote controller is a fire suppression system using drones that informs the driver of the completion of the fire grenade throwing preparation through vibration and screen display, and allows the driver to operate the drone remote controller to command the fire extinguishing drone to throw the fire extinguisher. The method of claim 1,
The fire monitoring allocation department is a fire suppression system using drones that change and allocate the fire suppression vulnerable areas with a plurality of mobile systems so that rotation monitoring is performed for all fire suppression vulnerable areas. The fire control system of claim 1, wherein:
A movement path monitoring unit for monitoring a movement path of a motorcycle assigned a fire suppression vulnerable area; And
Fire suppression system using a drone further comprising a. The method of claim 3,
The movement path monitoring unit is a fire suppression system using drones that guides the path for fire monitoring in the area vulnerable to fire suppression by motorcycle in real time to the mobile system. The method of claim 4,
The movement path monitoring unit is a fire suppression system using a drone that alerts the mobile system to a warning when the movement path of the monitored motorcycle deviates from the guide path. delete delete delete delete delete

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