KR102312609B1 - Firefighting Drone Capable of Destroying Obstacles - Google Patents

Abstract

Disclosed is a firefighting drone capable of destroying obstacles. According to one aspect of this embodiment, while the provided firefighting drone can destroy obstacles at a disaster site by mounting an obstacle destruction means, the firefighting drone can minimize difficulties in steering. The firefighting drone capable of destroying obstacles includes a frame; a battery; a profile; an obstacle destructing unit; a sensor unit; a communication unit; a processor; a plurality of propellers; a plurality of arms; and a duct.

Description

Firefighting Drone Capable of Destroying Obstacles

The present invention relates to a fire-fighting drone capable of destroying obstacles at a disaster site.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

In general, when a fire occurs or a disaster such as a human resource or a natural disaster occurs, firefighters extinguish the fire or go to the disaster site to deal with it. Recently, an increasing number of buildings are designed with external walls made of tempered glass so that the windows cannot be opened or closed. In the event of a fire in such a building, a considerable amount of time may elapse since firefighters have to put out the fire and rescue people one by one in order to rescue people in the building. In addition, when the victims at the disaster site are located at a specific location, and there are numerous obstacles up to the location, a considerable amount of time may elapse for the rescue personnel to reach the location of the person directly affected for rescue.

As in the case described above, if only the glass windows of a building or obstacles located around the person affected at the disaster site can be destroyed at the site of a fire or disaster, rescue can be facilitated with separate equipment such as a ladder truck or a helicopter.

Recognizing this necessity, recent attempts to destroy obstacles in various fields using drones are emerging. However, there is a problem that the flight efficiency is significantly lowered because the drone has a considerable weight and has to fly with a configuration for destroying obstacles.

One embodiment of the present invention has an object to provide a fire-fighting drone capable of destroying obstacles at a disaster site by mounting an obstacle destruction means, while minimizing difficulties in steering.

According to an aspect of the present invention, in a firefighting drone capable of destroying obstacles, a frame supporting each component in the firefighting drone and a battery supplying power necessary for each component in the firefighting drone to operate are implemented in the frame, An obstacle destroying unit that contacts the profile supporting the battery and the obstacle and applies an impact to the obstacle to destroy it, and a sensor unit that detects whether an obstacle exists in front of the firefighting drone in the moving direction and the distance to the existing obstacle; A communication unit that receives a control signal regarding the movement of the firefighting drone and a control signal regarding the operation of the obstacle destroyer from the outside, and transmits the sensing value sensed by the sensor unit to the outside, and controls the operation of each component in the firefighting drone A processor and a plurality of propellers that rotate under the control of the processor and generate lift to move the firefighting drone forward, rearward, left, and right or elevate and lower, and a plurality of electrical and mechanical connections between the processor and each propeller It provides a firefighting drone, characterized in that it includes an arm and a duct located on the opposite side of the obstacle destroyer with respect to the processor, and spraying air in a direction away from the processor under the control of the processor.

According to an aspect of the present invention, the sensor unit is a sensor for detecting the presence and distance of an obstacle, or a camera for photographing the front of itself.

According to an aspect of the present invention, the processor controls the operation of the propeller according to a control signal related to the movement of the firefighting drone received by the communication unit.

According to one aspect of the present invention, the processor is characterized in that the control of the operation of the obstacle breaking unit according to a control signal related to the operation of the obstacle breaking unit received by the communication unit.

According to one aspect of the present invention, the duct is characterized in that it includes a fan for sucking air into the duct and a motor for operating the fan.

According to an aspect of the present invention, the processor is characterized in that at the moment when the obstacle destroying unit applies an impact to the obstacle, the duct to control the air to be injected.

According to one aspect of the present invention, in a fire-fighting drone capable of destroying obstacles, a battery that supplies power required for each component in the fire-fighting drone to operate, a profile supporting the battery, and an obstacle are in contact with the obstacle to apply an impact to the obstacle. An obstacle destroying unit to destroy, a sensor unit detecting whether an obstacle exists in front of the firefighting drone in the moving direction and the distance to the existing obstacle, and a communication unit receiving a control signal related to the movement of the firefighting drone from the outside; A processor for controlling the operation of each component in the firefighting drone, and a plurality of propellers that rotate according to the control of the processor and generate lift to move the firefighting drone forward, backward, left, and right or elevate and lower, and the processor; It provides a drone for firefighting, characterized in that it includes a plurality of arms (Arm) for electrically and mechanically connecting each propeller.

According to an aspect of the present invention, the processor controls the operation of the propeller based on a value sensed by the sensor unit.

According to one aspect of the present invention, when it is determined that an obstacle is located in front of the firefighting drone based on the value sensed by the sensor unit, the processor is a position where the obstacle destroying unit can contact the obstacle based on the distance to the obstacle It is characterized in that the propeller is controlled to move to the

According to one aspect of the present invention, the sensor unit is characterized in that the sensor for detecting the presence and distance of the obstacle.

As described above, according to one aspect of the present invention, it is possible to destroy an obstacle at a disaster site by mounting an obstacle destroying means, and there is an advantage in that the difficulty in steering is minimized.

1 is a perspective view illustrating a firefighting drone according to a first embodiment of the present invention.
2 is a side view illustrating a firefighting drone according to a first embodiment of the present invention.
3 is a plan view illustrating a firefighting drone according to a first embodiment of the present invention.
4 is a view showing the configuration of the obstacle breaking unit according to the first embodiment of the present invention.
5 is a view showing the configuration of the destructive drill according to the first embodiment of the present invention.
6 is a perspective view illustrating a firefighting drone according to a second embodiment of the present invention.
7 is a side view illustrating a firefighting drone according to a second embodiment of the present invention.
8 is a plan view illustrating a firefighting drone according to a second embodiment of the present invention.
9 is a diagram illustrating the configuration of an obstacle breaking unit according to a second embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements.

Terms such as first, second, A, and B may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. It should be understood that terms such as “comprise” or “have” in the present application do not preclude the possibility of addition or existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification in advance. .

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, each configuration, process, process, or method included in each embodiment of the present invention may be shared within a range that does not technically contradict each other.

1 is a perspective view showing a fire-fighting drone according to a first embodiment of the present invention, FIG. 2 is a side view showing a fire-fighting drone according to a first embodiment of the present invention, and FIG. 3 is a first embodiment of the present invention It is a plan view showing a drone for firefighting according to

1 to 3, the fire-fighting drone 100 (hereinafter abbreviated as 'drone') according to the first embodiment of the present invention includes a battery 110, arms 120, 125, and a propeller 130. , landing gear 140, frame 150, profile 154, duct 160, obstacle breaking unit 170, guard unit 180, processor 190, communication unit (not shown) and sensor unit (not shown) city) is included.

The drone 100 receives a control signal from the outside (a terminal such as a remote controller possessed by the pilot) and moves or destroys an obstacle. The drone 100 receives a control signal for direction or movement from the outside, moves according to the control, senses the approach of an obstacle or the surrounding environment, and transmits it to the outside. When receiving a sensing value and receiving a control signal for obstacle destruction from the outside, an obstacle destruction operation is performed according to the control signal to destroy an adjacent obstacle. As such, the drone 100 moves anywhere within the range it can fly and destroys obstacles at the corresponding location, thereby improving the rescue and survival rate of people who have not been able to get out of the disaster site. As exemplified in the background art, the drone 100 at the fire site destroys the glass window of the building, so that it can be evacuated to the outside of the building using an emergency ladder or the like. Alternatively, the drone 100 improves the survival rate or rescue rate of the victim by destroying the obstacle at the location where the victim is located at the disaster site.

The battery 110 supplies power required to operate the processor 190 and other components in the drone 100 . The battery 110 is electrically connected to the processor 190 and other components that require power, and supplies power to the components. The battery 110 is disposed on the profile 154 at the bottom of the processor 190 . In consideration of the weight of the duct 160 and the obstacle breaking part 170 , the battery 110 and the processor 190 have a weight on the axis (the y-axis in FIG. 1 ) formed by the duct 160 and the obstacle breaking part 170 . By being located in the center, the drone 100 can be balanced on the corresponding axis.

The arm 120 mechanically and electrically connects the processor 190 and the propeller 130 .

The propeller 130 receives power from the battery 110 and a control signal from the processor 190 to rotate and generate lift. 1 to 3, the arm 120 and the propeller 130 are illustrated as including four, but the present invention is not limited thereto, and the number of the arms 120 and the propeller 130 may vary depending on the output amount or weight. . A plurality of propellers 130 are included, and whether or not each propeller rotates and a rotation speed is adjusted so that the drone 100 moves forward, backward, left, or right, or ascends and descends.

The landing gear 140 is connected by the processor 190 and the arm 125, and when the drone 100 intends to land on the ground or at a specific landing point, it supports the drone 100 to safely land the drone 100. make it possible The landing gear 140 has a long shape in a certain direction and contacts the ground or a landing point in a large area, so that the drone 100 can land without losing balance when landing.

The frame 150 supports each component in the drone 100 . The frame 150 is implemented, for example, in a rectangular shape as shown in FIG. 1 , and supports the respective components. The frame 150 is electrically and mechanically connected to the profile 154 , the duct 160 , the obstacle breaking part 170 and the guard part 180 , and supports the respective components.

As described above, the profile 154 is formed at the center of gravity on the axis (y-axis in FIG. 1 ) formed between the duct 160 and the obstacle breaking part 170 to support the battery 110 . Profile 154 is formed at the aforementioned location (center of gravity) in frame 150 . The profile 154 has a structure capable of supporting a configuration equal to or smaller than its area, and supports the battery 110 , which is a configuration disposed on top of the profile 154 .

The duct 160 is disposed on the opposite side of the obstacle breaking unit 170 with respect to the processor 190 to maintain the balance of the drone 100 and to minimize recoil occurring during the operation of the obstacle breaking unit.

The duct 160 is fixed in the frame 150 , and is disposed on the opposite side of the obstacle breaking unit 170 with respect to the processor 190 . By disposing the duct 160 and the obstacle destroyer 170 opposite to each other, the drone 100 can maintain a balance.

The duct 160 includes a fan (not shown) for sucking air therein and a motor (not shown) for operating the fan, in a direction away from the processor 190 with respect to the duct 160 (-y-axis direction) blow air with The obstacle breaking unit 170 transmits an impact to its front (+y-axis direction, a direction away from the duct with respect to the processor) to destroy the obstacle. When an impact is transmitted in a corresponding direction, a force is applied to the drone 100 in a rearward (-y-axis direction, a direction away from the processor with respect to the duct) due to the reaction of the impact. Since this is the movement of the drone that the pilot does not want, the movement of the drone should be minimized. Accordingly, the duct 160, under the control of the processor 190, at the moment when the obstacle destroying unit 170 applies an impact to the obstacle, the air to the rear of the drone 100 (direction away from the processor with respect to the duct) spray The operation of the duct 160 offsets the impact generated by destroying the obstacle as much as possible, prevents the drone 100 from losing its balance, and minimizes movement due to the impact.

The obstacle destroyer 170 comes into contact with the obstacle under the control of the processor 190 and applies an impact to the obstacle to destroy the obstacle. A specific structure and operation of the obstacle breaking unit 170 will be described later with reference to FIGS. 4 and 5 .

The guard unit 180 is formed at the forefront of the frame 150 on the axis formed by the duct 160 and the obstacle breaking part 170 (in the direction of the obstacle breaking part) to prevent the propeller 130 from collided with an external object. do. As can be seen in FIG. 2 , the guard unit 180 has a portion of the guard unit 180 (except the end) connected to the frame 150 , and each end of the guard unit 180 is separated from the processor 190 . It has a structure that protrudes in the direction. The guard unit 180 may protrude forwardly on the aforementioned axis. Accordingly, when the drone 100 moves along the corresponding axis to destroy the obstacle and comes into contact with the obstacle, the guard unit 180, not the propeller 130, first contacts the obstacle and prevents the propeller 130 from being damaged. The guard unit 180 , in particular, each end having a protruding structure is implemented with a material capable of mitigating impact, thereby improving the lifespan of the guard unit 180 .

The communication unit (not shown) transmits/receives data to and from the outside (a terminal such as a remote controller possessed by the operator). The communication unit (not shown) may be implemented in the processor 190 , and transmits data or transmits data received from the outside to the processor 190 under the control of the processor 190 . The communication unit (not shown) may receive a control signal related to the movement of the drone 100 or a control signal related to the operation of the obstacle destroyer 170 from the outside, and transmit the sensing value of the sensor unit (not shown) to the outside. can

The sensor unit (not shown) detects an object located in front of itself. The sensor unit (not shown) detects whether an obstacle exists in front of the drone 100 in the moving direction. For example, in the case of a drone for breaking glass at the scene of a fire, a sensor unit (not shown) detects whether there is a glass window in front. The sensor unit (not shown) may be a sensor for detecting the presence and distance of an obstacle, or a camera for photographing the front of itself.

The processor 190 controls the operation of each component in the drone 100 .

When the communication unit (not shown) receives a control signal related to the movement of the drone 100 from the outside, the processor 190 operates or rotates each propeller 130 so that the drone 100 can move according to the received control signal. control the speed

The processor 190 controls the communication unit (not shown) so that the sensor unit (not shown) transmits a sensed value that detects whether an obstacle exists in front of the sensor unit (not shown) to the outside. When the movement of the drone 100 is completed according to the control signal received from the outside, the processor 190 controls the sensor unit (not shown) to detect whether there is an obstacle in front. When the sensor unit (not shown) completes the sensing, the processor 190 controls the communication unit (not shown) to transmit the sensed value to the outside.

When the communication unit (not shown) receives the control signal related to the operation of the obstacle destroying unit 170 , the processor 190 controls the obstacle destroying unit 170 to perform the operation of destroying the obstacle. When an obstacle destruction operation is instructed by externally checking a sensing value of the sensor unit (not shown), the processor 190 controls the obstacle destruction unit 170 to perform the corresponding operation. At the same time, the processor 190 operates the duct 160 to minimize the recoil that occurs during the operation of the obstacle breaking unit.

In this way, the drone 100 may receive a control signal from the outside and destroy the obstacle.

4 is a view showing the configuration of the obstacle breaking unit according to the first embodiment of the present invention.

Referring to FIG. 4 , the obstacle breaking unit 170 according to the first embodiment of the present invention includes a servo motor 410 , a servo pin 420 , a fixing pin 430 , a breaking drill 440 , and a breaking drill fixing part. 450 and a fixing pin fixing part 460 .

The obstacle destroying unit 170 has the above-described configuration, and in order to improve the destructive power of the obstacle, one or more obstacle destroying units 170 in the drone 100 may be included. Although it is illustrated that four obstacle breaking units 170 are included in FIG. 4 , the present invention is not limited thereto. However, for balance, it is preferable that an even number of obstacle breaking units 170 are included.

The servo motor 410 provides power to move the servo pin 420 . The servo motor 410 receives power from the battery 110 and provides power so that the servo pin 420 rotates.

The servo pin 420 rotates by receiving power from the servo motor 410 . The servo pin 420 operates to rotate the opposite end of the reference point with respect to the reference point 425 . The opposite end is physically connected to the fixing pin 430, so that the fixing pin 430 also rotates according to the rotation of the opposite end. Servo pin 420 is initially (state before the operation of the obstacle destroying unit) in proximity to the destructive drill 440 (the state rotated as much as possible in the -z-axis direction), and is destroyed by receiving power from the servomotor 410 It rotates away from the drill 440 (rising). According to this operation, the fixing pin 430 is coupled with the destructive drill 440, and the fixing pin 430 rises and the destructive drill 440 is separated.

The fixing pin 430 is physically connected to the servo pin 420 , and moves together according to the operation of the servo pin 420 to adjust the movement of the destructive drill 440 . As described above, the fixing pin 430 is physically connected to the servo pin 420 . Accordingly, the initial fixing pin 420 is located in a state close to the destructive drill 440 according to the position of the servo pin 420 , the destructive drill 440 , more specifically, a fixing pin connection to be described later with reference to FIG. 5 . It is coupled with and fixes the destructive drill 440 . Thereafter, when the fixing pin 430 rises by the operation of the servo pin 420 , the fixing pin 430 also rises together and separates the destructive drill 440 from the fixed position. The destructive drill 440 deviates from the initial fixed position and generates an impact.

The destructive drill 440 applies an impact to its front (+y-axis direction). A structure for the destructive drill 440 to apply an impact is shown in FIG. 5 .

5 is a view showing the configuration of the destructive drill according to the first embodiment of the present invention.

Referring to FIG. 5 , the destructive drill 440 according to the first embodiment of the present invention includes a first striking unit 510 , a spring 520 , a second striking unit 530 , and a fixing ring 540 . .

The first striking unit 510 is coupled to a position of the spring 520 to induce expansion and contraction of the spring 520 , and applies an impact by striking the second striking unit 530 according to the operation. The first striking part 510 includes a fixing pin connection part 515 at the distal end of the second striking part 530 . The first striking part 510 may be connected to the fixing pin 430 using the fixing pin connection part 515 . Initially, the spring 520 extends to a position where the fixing pin connection part 515 of the first striking part 510 can be connected to the fixing pin 430 , and both are connected. The first striking part 510 is fixed to the corresponding position by the connection of both, and the spring 520 also maintains an extended state. Thereafter, when the connection between the fixing pin 430 and the fixing pin connection part 515 is released according to the operation of the servo pin 420 , the first striking unit 510 is the second striking unit by the restoring force of the spring 520 . It moves in the direction of 530 and hits the second striking unit 530 to apply an impact to the second striking unit 530 .

The spring 520 expands and contracts and allows the first striking unit 510 to strike the second striking unit 530 . One end of the spring 520 is coupled to the first striking unit, the other end is coupled to the second striking unit (530). Accordingly, the spring 520 does not deviate from its position even if it expands and contracts. The spring 520 is extended by the first striking unit 510, and moves the first striking unit 510 in the direction of the second striking unit 530 by restoring force according to the operation of the fixing pin 430 to be struck. make it possible

The second striking unit 530 transmits the impact transmitted by the first striking unit 510 to the outside. The second striking unit 530 is provided with a tip portion 534 at the distal end from the first striking unit 510 to transmit the impact transmitted by the first striking unit 510 to the outside. At this time, under the control of the processor 190, the tip of the second striking unit 530 comes into contact with the obstacle to be destroyed, and the impact transmitted to the second striking unit 530 passes through the tip 534 and is transmitted to the obstacle. . At this time, since the contact area between the obstacle and the tip portion 534 is quite small, the impact force transmitted to the obstacle is significantly increased. Using this, the second striking unit 530 may destroy the obstacle in contact with it.

The second striking unit 530 includes a groove 538 to prevent the second striking unit 530 from being separated by the striking of the first striking unit 510 . As described above, one end of the second striking portion 530 (the end close to the first striking portion) is coupled to the spring 520 , the spring 520 has a diameter larger than the diameter of the breaking drill connection hole 455 . Since it has, separation in a direction away from the first striking part 510 by the spring 520 of the second striking part 530 is prevented. Meanwhile, the second striking part 530 includes a groove 538 , and the fixing ring 540 is seated in the groove 538 . The fixing ring 540 has a larger diameter than the diameter of the breaking drill connection hole 455 , and is coupled to the groove 538 of the second striking part 530 , and the first striking part 510 of the second striking part 530 . ) to prevent deviation in the direction closer to First, when the first striking unit 510 is coupled to the fixing pin 430 and the spring 520 is extended, a restoring force is applied to the second striking unit 530 in the direction toward the first striking unit 510 . will do At this time, as described above, the fixing ring 540 coupled to the groove 538 is in contact with the breaking drill connection hole 455 to prevent the second striking part 530 from being separated. Accordingly, the second striking unit 530 transmits the shock transmitted from the first striking unit 510 to the outside, but the separation due to the shock is prevented.

The fixing ring 540 is coupled to the groove 538 , and prevents the second striking part 530 from being separated in the direction toward the first striking part 510 .

Since the destructive drill 440 operates in such a way that the second striking part 530 moves and transmits an impact at the correct position rather than applying an impact to the obstacle, it has the advantage of reducing recoil due to hitting the obstacle. have

Referring back to FIG. 4 , the breaking drill fixing part 450 physically connects the supporter 158 and the breaking drill 440 formed in the frame to position the breaking drill 440 in the frame 150 .

The breaking drill fixing part 450 includes a breaking drill connection hole 455, and fixes the second striking part 530, and the tip 534 of the second striking part 530 is exposed to the outside to receive an impact as an obstacle. to be able to transmit As described above, since the breaking drill connection hole 455 has a smaller diameter than the spring 520 and the fixing ring 540 , the second striking part 530 can be fixed without being separated by both 455 and 520 . make it possible

The fixing pin fixing part 460 is physically connected to the breaking drill fixing part 450 to fix the servo motor 410 , the servo pin 420 and the fixing pin 430 . The fixing pin fixing part 460 includes a fixing pin connection hole 465 so that the fixing pin 430 can be connected to the fixing pin connection part 515 in the destructive drill 440 via the fixing pin fixing part 460 . do. In addition, the fixing pin fixing part 460 allows the fixing pin 430 to be connected to the fixing pin connection part 515 through the fixing pin connection hole 465, so that the spring 520 through the fixing pin connection part 515 is formed. Even if the restoring force is transmitted to the fixing pin 430 , unexpected separation of the fixing pin 430 can be prevented.

6 is a perspective view showing a fire-fighting drone according to a second embodiment of the present invention, FIG. 7 is a side view showing a fire-fighting drone according to a second embodiment of the present invention, and FIG. 8 is a second embodiment of the present invention It is a plan view showing a drone for firefighting according to

6 to 8 , the firefighting drone 600 (hereinafter abbreviated as 'drone') according to the second embodiment of the present invention includes a battery 610, arms 620 and 625, a propeller 630, and a landing It includes a gear 640 , a profile 650 , a supporter 654 , an obstacle breaking unit 660 , a processor 670 , a communication unit (not shown), and a sensor unit (not shown).

The fire-fighting drone 600 is the same as the fire-fighting drone 100 in that it receives a control signal related to movement from the outside and moves, but is different from the fire-fighting drone 100 in that it detects and destroys obstacles by itself. In the battery 610, arms 620, 625, propeller 630, landing gear 640, and profile 650 in the firefighting drone 600, the configuration and operation are the same as those of the firefighting drone 100, respectively. A detailed description will be omitted.

The supporter 654 improves the balance of the drone 600 by connecting the striking part guide 940 in the obstacle breaking part 660 to be described later.

The obstacle destroyer 660 destroys the obstacle by applying an impact to the obstacle under the control of the processor 670 . A specific structure and operation of the obstacle breaking unit 660 will be described later with reference to FIG. 9 . On the other hand, although it is illustrated that two obstacle breaking units 660 are included in FIGS. 6 to 8 , the present invention is not limited thereto. However, it is preferable that an even number of drones are included in the drone 600 for balance.

The communication unit (not shown) receives data from the outside (a terminal such as a remote controller possessed by the operator). The communication unit (not shown) may be implemented in the processor 670 , receives a control signal related to the movement of the drone 100 from the outside and transmits it to the processor 190 .

The sensor unit (not shown) detects an object located in front of itself. The sensor unit (not shown) detects whether an obstacle exists in front of the drone 100 in the moving direction. The sensor unit (not shown) is implemented as a sensor for detecting the presence and distance of an obstacle, and detects the presence and distance of the obstacle. For example, in the case of a drone for breaking glass at the scene of a fire, the sensor unit (not shown) detects whether or not there is a front glass window and the distance between the existing glass window and (self).

The processor 670 controls the operation of each component in the drone 600 .

When the communication unit (not shown) receives a control signal related to the movement of the drone 600 from the outside, the processor 670 operates or rotates each propeller 630 so that the drone 600 can move according to the received control signal. control the speed

The processor 670 controls the operation of the propeller 630 based on a sensing value detected by the sensor unit (not shown) whether an obstacle exists in front of the processor 670 . When it is determined that the obstacle is located in the front based on the sensing value of the sensor unit (not shown), the processor 670 is the hitting unit in the obstacle destroying unit 660 based on the distance from the obstacle (to be described later with reference to FIG. 9 ) Controls the propeller 630 to move to a position that can contact the obstacle.

The processor 670 controls the obstacle destroyer 660 to destroy the contacted obstacle. The processor 670 controls to approach the obstacle by itself based on the sensing value of the sensor unit (not shown) without receiving a control signal related to the destruction of the obstacle from the outside separately, and when in contact with the obstacle, the obstacle breaking unit 660 operates control to do

9 is a diagram illustrating the configuration of an obstacle breaking unit according to a second embodiment of the present invention.

Referring to FIG. 9 , the obstacle breaking part 660 according to the second embodiment of the present invention includes a servomotor 910 , a first pinion gear 920 , a second pinion gear 924 , and a third pinion gear 928 . ), a sector gear 930 , a striking portion guide 940 , and a striking portion 950 and a spring 960 .

The obstacle breaking part 660 is directly connected to the striking part guide 940 and the profile 650 and is combined with the profile 650, or the striking part guide 940 is connected to the additional connection part 658 of the profile 650. coupled to the profile 650 .

The servomotor 910 provides power to rotate the first pinion gear 920 . The servomotor 910 receives power from the battery 610 to power the first pinion gear 920 to rotate. provides

The first pinion gear 920 receives power from the servomotor 910 to rotate, and transmits the rotational force to each pinion gear 924 and 928 connected adjacent thereto. As the first pinion gear 920 rotates, finally the third pinion gear 928 also rotates.

The sector gear 930 is connected to the third pinion gear 928 and rotates with the rotation of the third pinion gear 928 . The sector gear 930 rotates together with the rotation of the third pinion gear 928 , and rotates in a direction in which the striking part 950 can come close to the profile 650 . Taking FIG. 9 as an example, the sector gear 930 rotates in a clockwise direction by the third pinion gear 928, and by the clockwise rotation of the sector gear 930 and movement of the rack gear 958 accordingly The striking unit 950 moves in a direction (-y-axis direction) closer to the profile 650 .

The sector gear 930 is coupled to the rack gear 958 in the striking unit 950 , and is implemented in a sector shape to be coupled to or released from the rack gear 958 according to the rotation of the third pinion gear 928 . The sector gear 930 rotates in the same direction, and accordingly, there is a period in which the sector gear 930 and the rack gear 958 are meshed and connected, and the period in which the engagement is released according to the continuous rotation (relatively rotated) is exist. During the coupled period, the striking unit 950 moves in the above-described direction, and as the coupling is released, the striking unit 950 moves away from the profile 650 by the restoring force of the spring fixing unit 948 (+y-axis direction). ) and impacts the obstacle.

The striking part guide 940 includes a through hole in which the striking part 950 can be included, so that the striking part 950 can move in a fixed path within itself.

The striking part guide 940 includes a through groove 944 and a spring fixing part 948 . The spring fixing part 948 is connected to one end of the spring 960 to fix the spring 960 . Accordingly, the spring 960 may be extended as the striking portion 950 moves in a direction closer to the profile. In order not to be affected by the striking part guide 940 when the spring 960 is extended, the striking part guide 940 includes a through groove 944 having a sufficient area. As the groove is formed, the spring 960 can be stretched a sufficient distance.

The striking unit 950 is connected to the sector gear 930 and the spring 960 , and strikes an obstacle in contact with itself by the operation of the sector gear 930 and the restoring force of the spring 960 to apply an impact.

The striking portion 950 includes a tip portion 954 at the distal end from the profile 650 , and a rack gear 958 of a preset length at an end close to the profile 650 . As described above, when the rack gear 958 and the sector gear 930 are coupled, the striking part 950 moves in a direction (-y-axis) closer to the profile 650 due to the coupling of both. Thereafter, when the coupling of both is released, it moves in the opposite direction (+y-axis) by the restoring force of the spring 960 connected thereto and hits the contacted obstacle to apply an impact. The striking portion 950 includes a tip portion 954, so that it can apply a significant impact force to the obstacle.

The striking part guide 940 and the striking part 950 have a length greater than or equal to a preset reference value. Here, the preset reference value may be the furthest distance of the propeller 630 (in the direction of the obstacle) from the processor 670 . By having the striking portion guide 940 and the striking portion 950 have a length greater than or equal to a preset reference value, even if the tip 954 in the striking portion 950 comes into contact with the obstacle, the propeller 630 collides with the obstacle and is damaged can prevent In addition, when both have a length greater than or equal to a preset reference value, the servomotor 910, the first to third pinion gears 920, 924, 928, and the sector gear 930 may be located near the profile 650, , Accordingly, the drone 600 can maintain a balance on the axis in the direction of the processor 670 and the tip 954 even without the duct 160 like the drone 100 .

The spring 960 moves the striking unit 950 by applying a restoring force to the striking unit 950 . One end of the spring 960 is connected to the spring fixing part 948 , and the other end 965 is connected to the striking part 950 . Accordingly, the spring 960 is extended by the movement of the striking unit 950 , and continuously applies a restoring force to the striking unit 950 . When the coupling between the sector gear 930 and the rack gear 958 is released by the restoring force of the spring 960 , the striking unit 950 moves. However, since the spring 960 is connected as described above, the striking unit 950 can maintain its original position without departing forward even if it moves to the restoring force.

By operating in this way, the drone 600 can recognize the obstacle by itself and apply a blow to the obstacle without having to separately receive a control signal for hitting the obstacle from the outside. In addition, since it is connected using a gear rather than a fixed pin and a fixed pin connecting part like the drone 100 , it is possible to apply a blow to the obstacle multiple times instead of once.

The above description is merely illustrative of the technical idea of this embodiment, and various modifications and variations will be possible by those skilled in the art to which this embodiment belongs without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain rather than limit the technical spirit of the present embodiment, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The protection scope of this embodiment should be interpreted by the following claims, and all technical ideas within the equivalent range should be interpreted as being included in the scope of the present embodiment.

100, 600: drones for firefighting
110, 610: battery
120, 125, 620, 625: female
130, 630: propeller
140, 640: landing gear
150: frame
154, 650: profile
158, 654: supporters
160: duct
170, 660: obstacle breaking part
180: guard unit
190, 670: Processor
410, 910: servo motor
420: servo pin
430: fixing pin
440: destruction drill
450: Destruction drill fixing part
455: Destruction drill connector
460: fixing pin fixing part
465: fixing pin connector
510: first striking unit
515: fixing pin connection part
520, 960: spring
530: second striking unit
534, 954: tip
538: home
540: retaining ring
920, 924, 928: pinion gear
930: sector gear
940: Striking Division Guide
944: through groove
948: spring fixing part
950: hitting unit
958: rack gear

Claims (10)

In the firefighting drone capable of destroying obstacles,
a frame supporting each component within the firefighting drone;
a battery for supplying power required for each component in the firefighting drone to operate;
a profile implemented in the frame to support the battery;
an obstacle destroying unit that is in contact with the obstacle and destroys it by applying an impact to the obstacle;
a sensor unit for detecting whether an obstacle exists in front of the firefighting drone in a moving direction and a distance to the existing obstacle;
a communication unit that receives a control signal related to movement of the firefighting drone and a control signal related to the operation of the obstacle destroyer from the outside, and transmits the sensing value sensed by the sensor unit to the outside;
a processor for controlling the operation of each component in the firefighting drone;
a plurality of propellers rotating according to the control of the processor and generating lift to move the firefighting drone forward, backward, left, and right or ascending and descending;
a plurality of arms electrically and mechanically connecting the processor and each propeller; and
It is located on the opposite side of the obstacle breaking part with respect to the processor, and includes a duct for spraying air in a direction away from the processor under the control of the processor,
The duct comprises a fan for sucking air into the duct and a motor for operating the fan. According to claim 1,
The sensor unit,
A firefighting drone, characterized in that it is a sensor that detects the presence and distance of an obstacle, or a camera that shoots in front of itself. According to claim 1,
The processor is
Firefighting drone, characterized in that it controls the operation of the propeller according to the control signal related to the movement of the firefighting drone received by the communication unit. According to claim 1,
The processor is
Firefighting drone, characterized in that for controlling the operation of the obstacle destroying unit according to the control signal regarding the operation of the obstacle destroying unit received by the communication unit. delete According to claim 1,
The processor is
Firefighting drone, characterized in that controlling the duct to spray air at the moment when the obstacle destroying unit applies an impact to the obstacle. delete delete delete delete

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