KR102398978B1 - FOREST FIRE MONITORING AND EXTINGUISHING SYSTEM USING UAVs AND AN AIRSHIP - Google Patents

Abstract

A forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship of the present invention comprises: an unmanned aerial vehicle that moves to a fire area and throws a mounted fire extinguishing grenade to extinguish a forest fire at an early stage; and an airship that photographs a forest fire monitoring area through an installed camera to transmit the same to a ground control system, stores multiple unmanned aerial vehicles so that the unmanned aerial vehicles can be put into missions in an event of a fire, and is fixed to a transmission tower through a tethering interface to receive power from the transmission tower. An objective of the present invention is to provide the forest fire monitoring and suppression system capable of detecting an occurrence of a forest fire in a wide area at a high altitude using an airship as a mother ship.

Description

{ FOREST FIRE MONITORING AND EXTINGUISHING SYSTEM USING UAVs AND AN AIRSHIP }

The present invention relates to a forest fire monitoring and suppression system, and more particularly, to a system for monitoring forest fires and early suppression of forest fires using an airship and an unmanned aerial vehicle stored in the airship.

Natural disasters due to climate change such as global warming are increasing. Among the various natural disasters, wildfires occur in uninhabited mountains, so it is difficult to detect the occurrence of wildfires at an early stage, so it is not possible to suppress them in the initial stage.

A person who monitors forest fires is hired to monitor forest fires in areas vulnerable to forest fires, or forest fire surveillance cameras are installed to remotely monitor the occurrence of forest fires in mountainous areas that are difficult for people to access and where it is impossible to visually monitor large areas.

Forest fire surveillance cameras are installed in high terrain, such as around mountain peaks or around ridges, to monitor the occurrence of forest fires over a wide area. Generally, a tall vertical tower is installed in mountainous terrain, and a forest fire is placed on top of the vertical tower. The installation of a forest fire surveillance camera is carried out by installing a surveillance camera.

According to this installation method, the installation cost is very high, such as having to install a vertical tower, which is a large structure, in rugged mountainous terrain. There was a problem that it was not very effective in preventing forest fires because it was not possible to accurately determine it, and there was a lot of inconvenience, such as having to go to the relevant branch and check whether a forest fire has occurred.

Republic of Korea Patent Registration No. 10??1912740 discloses an invention for monitoring forest fires and suppressing forest fires by installing a plurality of vertical towers in a mountainous area and landing and taking off fire-fighting drones from the vertical towers. However, there is a problem that the drone must always fly to monitor forest fires, and the battery is used to charge the drone all the time, but there is a limit to the battery capacity, so there is a problem that the battery needs to be replaced or charged in a mountainous area.

Republic of Korea Patent No. 10??1912740

An object of the present invention is to provide a forest fire monitoring and suppression system capable of detecting the occurrence of a forest fire in a wide area at a high altitude using an airship as a mother ship.

In addition, another object of the present invention is to provide a system capable of quickly suppressing wildfires at the initial stage of wildfire occurrence by utilizing an unmanned aerial vehicle mounted on an airship.

In addition, another object of the present invention is to provide a system that can greatly increase the operating time of the airship by being able to receive power from the power facility such as a power transmission tower for the airship.

According to an aspect of the present invention, a forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship includes an unmanned aerial vehicle and an airship.

The unmanned aerial vehicle moves to the fire area with the pilot's control or autonomous flight, and extinguishes the forest fire at an early stage by throwing the installed fire extinguisher.

The airship monitors wildfire outbreaks by hovering at a set altitude, including mission equipment, UAV hangars, UAV take-off and landing zones, and tethering interfaces. In the mission equipment, one or more of an optical camera and a thermal imaging camera is mounted on a 3-axis gimbal, and the captured image is transmitted to the Ground Control System (GCS). Additionally, a thermal imaging camera can be mounted on the 3-axis gimbal. The UAV hangar may contain a plurality of UAVs and additionally include a UAV charging unit for charging UAVs. The take-off and landing section of the UAV slides apart from the UAV hangar during take-off and landing. The tethering interface is configured to include a tethering wire fastened to the power transmission tower to maintain flight altitude and flight position, and a power line for receiving power from the transmission tower.

According to the present invention, it is possible to detect the occurrence of a forest fire in a wide area at a high altitude using an airship as a mother ship.

In addition, according to the present invention, it is possible to quickly extinguish a forest fire at an early stage of a forest fire by utilizing an unmanned aerial vehicle mounted on an airship.

In addition, according to the present invention, the airship can be supplied with power from power equipment such as a power transmission tower, thereby greatly increasing the operating time of the airship.

1 illustrates a system for operating a forest fire monitoring and forest fire suppression system according to an aspect of the present invention.
2 is a block diagram of a forest fire monitoring and forest fire suppression system according to an aspect of the present invention.
3 is a conceptual diagram of a forest fire monitoring operation using a forest fire monitoring and forest fire suppression system according to an aspect of the present invention.
4 is a conceptual diagram of a forest fire suppression operation using a forest fire monitoring and forest fire suppression system according to an aspect of the present invention.
5 is a conceptual diagram of an airship according to an aspect of the present invention.

The foregoing and additional aspects are embodied through embodiments described with reference to the accompanying drawings. It is understood that various combinations of elements of each embodiment are possible within the embodiments as long as there is no contradiction between them or other mentions. Each block in the block diagram may in some cases represent a physical part, but in other cases may be a part of the function of one physical part or a logical representation of a function across a plurality of physical parts. Sometimes a block or part of an entity may be a set of program instructions. All or a part of these blocks may be implemented by hardware, software, or a combination thereof.

1 shows the configuration of a system for operating a forest fire monitoring and fire suppression system according to an aspect of the present invention, and FIG. 2 shows a block diagram of a forest fire monitoring and fire suppression system according to an aspect of the present invention. .

As shown in FIG. 1 , the forest fire monitoring and forest fire suppression system 10 uses the unmanned aerial vehicle 200 and the airship 100 . The system for operating the forest fire monitoring and fire suppression system 10 of the present invention includes a ground control system (GCS, 20) and an operation management system 30 .

The ground control system 20 may transmit and receive data to and from the airship 100 and the unmanned aerial vehicle 200, and may output various images including a forest fire monitoring image and a fire suppression image to the screen, and the airship 100 and / Alternatively, the image transmitted by the unmanned aerial vehicle 200 may be stored and analyzed. The ground control system 20 may control the airship 100 or the unmanned aerial vehicle 200 in an emergency situation, including a ground data terminal. In addition, the ground control system 20 can deliver a fire-related mission to the airship 100 , and is equipped with a digital map of the National Geographical Information Service.

The operation management system 30 may manage a plurality of ground control systems 20 , and may manage or analyze forest fire monitoring images and fire suppression images transmitted from a plurality of regions. In addition, the operation management system 30 may transmit a fire-related mission to the ground control system 20 according to the occurrence of a situation.

As shown in FIG. 2 , the forest fire monitoring and forest fire suppression system 10 according to an aspect of the present invention includes an unmanned aerial vehicle 200 and an airship 100 .

An unmanned aerial vehicle (UAV, 200) moves to an area of fire and throws an attached fire grenade. The unmanned aerial vehicle 200 can be divided into a fixed-wing unmanned aerial vehicle having fixed wings in the form of a general airplane and a helicopter-type rotary wing unmanned aerial vehicle, depending on the shape of the vehicle. The rotary wing drone is also called a drone, and is a multicopter, and is classified into a dual copter, a tricopter, a quarter copter, a hexacopter, an octocopter, etc. depending on the number of wings. . The unmanned aerial vehicle 200 has a fire munition carrying case capable of mounting a fire munition mounted thereon, and the lower end of the fire munition carrying case is opened and closed, and fire munitions are thrown. The fire munitions may be thrown at once, but according to an aspect of the invention, the fire munitions carrying case may include a small fire munition throwing unit that allows the fire munitions to be thrown one at a time.

The airship 100 includes a mission equipment 110 , an unmanned aerial vehicle hangar 130 , an unmanned aerial vehicle take-off and landing unit 150 , and a tethering interface 170 .

Unlike an airplane or a helicopter, the airship 100 is an aircraft that uses the buoyancy of a gas lighter than air, such as hydrogen or helium, or generates buoyancy by heating the air. The airship 100 has a large volume air bag containing a gas having buoyancy. The airbag of the airship 100 has a streamlined shape with low air resistance, and is divided into soft and rigid types depending on the configuration, and there is a semi-type using both methods. The model year is an airship 100 that blows gas into the airbag like a general appliance. The rigid meal is an airship 100 that maintains the shape of the air bag by making a light metal skeleton and outer plate outside the air bag, and installs a separate gas bag inside the air bag. Semi-mechanism is a compromise type that uses both soft and rigid methods. Airship 100 of the present invention is not limited to the type / rigid / radius type. In general, an operation member for controlling the flight direction may be coupled to the rear of the air bag of the airship 100 .

The mission equipment 110 is equipment including devices necessary for the mission performance of the airship 100 , that is, forest fire monitoring. The mission equipment 110 includes one or more of an optical camera 115 and a thermal imaging camera 117 . The optical camera 115 is an electro-optical camera (EO) and is used for photographing the area to be monitored during the day. The optical camera 115 preferably uses a Full HD camera of 5 million pixels or more, and preferably has an optical zoom function of 50 times or more. The optical camera 115 preferably has a resolution sufficient to recognize a person at least 5 km away during the day. The thermal imaging camera (IR, 117) emits infrared wavelengths from the camera to take pictures. That is, the thermal imaging camera 117 is a night vision camera and is used for photographing an area to be monitored at night. According to an aspect of the invention, an optical camera lens and a thermal imaging camera lens may be mounted in one physical device. The optical camera 115 and/or the thermal imaging camera 117 is mounted on the 3-axis gimbal 111 to obtain a shake-free image to capture a surveillance image. In this case, the optical camera 115 and/or the thermal imaging camera 117 mounted on the 3-axis gimbal 111 may acquire a 360-degree image. The mission equipment 110 transmits the captured image to the ground control system (GCS, 20).

The unmanned aerial vehicle hangar 130 is mounted on the lower portion of the air bag and contains a plurality of unmanned aerial vehicles 200 . There is no limit to the number of the UAVs 200 stored in the UAV hangar 130 , but it is preferable to contain 10 UAVs 200 in order to suppress the fire. The lower surface of the hangar 130 of the unmanned aerial vehicle may be opened when receiving or sending the unmanned aerial vehicle 200 into the hangar.

The unmanned aerial vehicle take-off unit 150 is firstly slid downward from the unmanned aerial vehicle hangar 130 and is secondarily slid from the center of the airship 100 to the outside and is spaced apart. The unmanned aerial vehicle take-off and landing unit 150 is equipped with a plane member on which the unmanned aerial vehicle 200 can take off and land, and the unmanned aerial vehicle 200 takes off or lands on the plane member.

The tethering interface 170 is configured to include a tethering wire 171 coupled to the power transmission tower to maintain flight altitude and flight position, and a power line 173 for receiving power from the transmission tower. The airship 100 is hovered at a fixed altitude by the tethering wire 171 and hovers at a set altitude to monitor the forest fire. According to an aspect of the invention, the end of the tethering interface 170 fixed to the transmission tower may be separated from the transmission tower by a mechanical device. The airship 100 may receive power at all times from the power transmission tower through the power line 173 , but may further include an unmanned aerial vehicle charging unit 131 for charging power in preparation for the movement of the airship 100 .

According to a further aspect of the present invention, the mission equipment 110 mounted on the airship 100 may further include a thermal imaging camera 119 .

The thermal imaging camera (Infrared Thermal Camera, 119) does not emit infrared rays from the camera, but takes images using infrared rays emitted by a subject. That is, the thermal imaging camera 119 takes pictures using the principle that light of different wavelengths is emitted according to the temperature of the subject. The thermal imaging camera 119 is also mounted on the 3-axis gimbal 111, and may be mounted on the 3-axis gimbal 111 or a separate 3-axis gimbal on which the optical camera 115 and/or the thermal imaging camera 117 are mounted. and may be included in one camera housing together with the optical camera 115 and/or the thermal imaging camera 117 .

According to another aspect of the present invention, the unmanned aerial vehicle 200 may include a GPS device (not shown) and a lidar sensor 203 .

A GPS device (not shown) receives a GPS signal from a GPS satellite to determine the location of the unmanned aerial vehicle 200 , and the lidar sensor 203 may recognize an obstacle using a laser signal. The lidar sensor 203 recognizes a surrounding object using a laser signal, and analyzes the pulse laser signal transmitted from the lidar sensor 203 as a signal returned after colliding with the surrounding object to determine the position or movement direction of the object. etc. can be checked. The unmanned aerial vehicle 200 may perform autonomous flight to a target flight point using a GPS device (not shown) and a lidar sensor 203 . The UAV 200 may further include a control module (not shown) for controlling the flight of the UAV 200, and the control module (not shown) includes a deep learning model learned for autonomous flight of the UAV 200. can do.

According to another aspect of the present invention, the drone 200 may include a GPS device (not shown) and a lidar sensor 203 , and the takeoff and landing unit 150 of the airship 100 is for a lidar sensor. It may include a target 151 .

As described above, the unmanned aerial vehicle 200 is capable of autonomous flight using a GPS device (not shown) and a lidar sensor 203, and automatically returns to a designated location, that is, the location of the airship 100 after performing a fire suppression mission. can The unmanned aerial vehicle 200 may land on a planar member (not shown) of the unmanned aerial vehicle take-off and landing unit 150 by detecting the target 151 for the lidar sensor of the take-off and landing unit 150 with the lidar sensor 203 . That is, the take-off and landing unit 150 of the UAV 200 may guide the landing of the UAV 200 to the target 151 for the LIDAR sensor that can be detected by the LIDAR sensor 203 of the returning UAV 200 . The unmanned aerial vehicle 200 may be trained to land at a location spaced a predetermined distance from the detected target for the lidar sensor 151 .

According to an additional aspect of the present invention, the unmanned aerial vehicle 200 may mount one or more of the optical camera 205 and the thermal imaging camera 207 on the 3-axis gimbal 201 to photograph the forest fire suppression mission. The unmanned aerial vehicle 200 may transmit the captured image to the ground control system (GCS, 20 ).

The optical camera 205 is an electro-optical camera (EO) and is used for photographing a forest fire suppression mission during the daytime mission. The optical camera 205 preferably uses a Full HD camera of 5 million pixels or more, and preferably has an optical zoom function of 50 times or more. The optical camera 205 preferably has a resolution sufficient to recognize a person at least 5 km away during the day. The thermal imaging camera (IR, 207) emits infrared wavelengths from the camera to take pictures. That is, the thermal imaging camera 207 is a night vision (Night Vision) camera is used for the purpose of photographing the forest fire suppression mission during the mission at night. According to an aspect of the invention, an optical camera lens and a thermal imaging camera lens may be mounted in one physical device. The optical camera 205 and/or the thermal imaging camera 207 is mounted on the 3-axis gimbal 201 to obtain a shake-free image to capture an image of a forest fire suppression mission. In this case, the optical camera 205 and/or the thermal imaging camera 207 mounted on the 3-axis gimbal 201 may acquire a 360-degree image.

According to a further aspect of the present invention, the UAV hangar 130 of the airship 100 may include the UAV charging unit 131 for charging the stored UAV 200 . The unmanned aerial vehicle hangar 130 may always charge the stored unmanned aerial vehicle 200 through the unmanned aerial vehicle charging unit 131 so that the power of the unmanned aerial vehicle 200 does not run out during mission performance. According to an aspect of the invention, the UAV charging unit 131 may charge the stored UAV 200 at the same time or sequentially.

According to a further aspect of the present invention, the airship 100 may further include a GPS device 180 and an altimeter 190 .

The GPS device 180 may receive a GPS signal from a GPS satellite to determine the location of the airship 100 . The altimeter 190 may measure the current altitude of the airship 100 . The airship 100 maintains a position and altitude using the GPS device 180 and the altimeter 190 and may fly while hovering over a power transmission tower to which the tethering interface 170 is connected.

According to a further aspect of the present invention, the airship 100 may further include a GPS device 180 and an altimeter 190 , and the mission equipment 110 may further include a lidar sensor 113 .

The lidar sensor 113 may recognize an obstacle using a laser signal. The lidar sensor 113 recognizes a surrounding object using a laser signal, and analyzes the pulse laser signal transmitted from the lidar sensor 113 as a signal returned after colliding with the surrounding object to determine the position or movement direction of the object. etc. can be checked.

The airship 100 autonomously flies the airship 100 using the GPS device 180, the altimeter 190, and the lidar sensor 113, and after completing the mission, the airship 100 returns to the designated location and flies to land. make it possible

The airship 100 may receive a fire suppression mission from the ground control system 20 . The airship 100 may include a communication unit capable of wireless communication with the ground control system 20 or the unmanned aerial vehicle 200 , and receives a fire suppression mission from the ground control center through the communication unit. That is, when the airship 100 detects the occurrence of a forest fire by analyzing the image transmitted by the airship 100 capturing the forest fire monitoring area, the ground control system 20 performs a forest fire suppression mission including coordinate information of the fire area. to the unmanned aerial vehicle 200 . The airship 100 transmits the forest fire suppression mission received to the unmanned aerial vehicle 200 through the communication unit, and slides the unmanned aerial vehicle take-off and landing unit 150 so that the received unmanned aerial vehicle 200 can take off, thereby separating from the airship 100 . make it The unmanned aerial vehicle 200 takes off from the unmanned aerial vehicle take-off and landing unit 150, moves to a fire area, and performs a fire suppression mission.

According to a further aspect of the present invention, the drone 200 may include a GPS device (not shown) and a lidar sensor 203 , and the drone 200 receiving the fire suppression mission from the airship 100 is a GPS device. The device (not shown) and the lidar sensor 203 can be used to autonomously fly to the fire area, hover over the fire area, and throw fire munitions at predetermined time intervals.

3 is a conceptual diagram of a forest fire monitoring operation using a forest fire monitoring and forest fire suppression system according to an aspect of the present invention. The airship 100 hovers over the power transmission tower to which the tethering wire 171 is fixed in a state where the unmanned aerial vehicle 200 equipped with a fire extinguisher for forest fire suppression is mounted, and an EO / IR camera included in the mission equipment 110; By using the thermal imaging camera 119 to capture the surveillance image and transmit the ground control system (20). As shown in FIG. 3 , the airship 100 is fixed to the transmission tower with a tethering wire 171 , and images of the forest fire monitoring area are captured through cameras of the mission equipment 110 .

4 is a conceptual diagram of a forest fire suppression operation using a forest fire monitoring and forest fire suppression system according to an aspect of the present invention. As shown in FIG. 4 , a forest fire occurs and the unmanned aerial vehicle 200 mounted on the airship 100 receives the mission and moves to the forest fire fire area through autonomous flight, then hovers over the fire area and fires fire munitions. Fires are put out by throwing them out. At this time, the fire munitions may be dropped all loaded at once, or may be dropped one by one at a predetermined time interval.

5 is a conceptual diagram of an airship according to an aspect of the present invention. As shown in FIG. 5, the airship 100 includes a mission equipment 110, an unmanned aerial vehicle hangar 130, an unmanned aerial vehicle take-off and landing unit 150, a tethering interface 170, and a rider sensing target. there is.

Unlike an airplane or a helicopter, the airship 100 is an aircraft that uses the buoyancy of a gas lighter than air, such as hydrogen or helium, or generates buoyancy by heating the air. The airship 100 has a large volume air bag containing a gas having buoyancy. The airbag of the airship 100 has a streamlined shape with low air resistance, and is divided into soft and rigid types depending on the configuration, and there is a semi-type using both methods. In addition, the airship 100 may include an operation member for controlling the flight direction at the rear of the air bag.

The mission equipment 110 is equipment including devices necessary for the mission performance of the airship 100 , that is, forest fire monitoring. The mission equipment 110 includes one or more of an optical camera 115 and a thermal imaging camera 117 . The optical camera 115 is an electro-optical camera (EO) and is used for photographing the area to be monitored during the day. The optical camera 115 preferably uses a Full HD camera of 5 million pixels or more, and preferably has an optical zoom function of 50 times or more. The optical camera 115 preferably has a resolution sufficient to recognize a person at least 5 km away during the day. The thermal imaging camera (IR, 117) emits infrared wavelengths from the camera to take pictures. That is, the thermal imaging camera 117 is a night vision (Night Vision) camera is used for the purpose of photographing the area to be monitored at night. According to an aspect of the invention, an optical camera lens and a thermal imaging camera lens may be mounted in one physical device. The optical camera 115 and/or the thermal imaging camera 117 is mounted on the 3-axis gimbal 111 to obtain a shake-free image to capture a surveillance image. In this case, the optical camera 115 and/or the thermal imaging camera 117 mounted on the 3-axis gimbal 111 may acquire a 360-degree image. The mission equipment 110 transmits the captured image to the ground control system (GCS, 20).

The unmanned aerial vehicle hangar 130 is mounted on the lower portion of the air bag and contains a plurality of unmanned aerial vehicles 200 . There is no limit to the number of the UAVs 200 stored in the UAV hangar 130 , but it is preferable to contain 10 UAVs 200 in order to suppress the fire. The lower surface of the hangar 130 of the unmanned aerial vehicle may be opened when receiving or sending the unmanned aerial vehicle 200 into the hangar.

The unmanned aerial vehicle take-off unit 150 is firstly slid downward from the unmanned aerial vehicle hangar 130 and is secondarily slid from the center of the airship 100 to the outside and is spaced apart. The unmanned aerial vehicle take-off and landing unit 150 is equipped with a plane member on which the unmanned aerial vehicle 200 can take off and land, and the unmanned aerial vehicle 200 takes off or lands on the plane member. The takeoff and landing unit 150 of the airship 100 may include a target 151 for a lidar sensor. The unmanned aerial vehicle 200 may land on a planar member (not shown) of the unmanned aerial vehicle take-off and landing unit 150 by detecting the target 151 for the lidar sensor of the take-off and landing unit 150 with the lidar sensor 203 .

The tethering interface 170 is configured to include a tethering wire 171 coupled to the power transmission tower to maintain flight altitude and flight position, and a power line 173 for receiving power from the transmission tower. The airship 100 is hovered at a fixed altitude by the tethering wire 171 and hovers at a set altitude to monitor the forest fire. According to an aspect of the invention, the end of the tethering interface 170 fixed to the transmission tower may be separated from the transmission tower by a mechanical device. The airship 100 may receive power at all times from the power transmission tower through the power line 173 , but may further include an unmanned aerial vehicle charging unit 131 for charging power in preparation for the movement of the airship 100 .

Although the present invention has been described above with reference to the accompanying drawings, the present invention is not limited thereto, and it should be construed to encompass various modifications that can be apparent from those skilled in the art. The claims are intended to cover such variations.

10: Forest Fire Surveillance and Fire Suppression Systems
100 : airship
110: mission equipment
111: 3-axis gimbal 113: lidar sensor
115: optical camera 117: thermal imaging camera
119: thermal imaging camera
130: drone hangar
131: drone charging unit
150: UAV take-off and landing section
151: target for lidar sensor
170: tethering interface
171: tethering wire 173: power line
180: GPS device
190: altimeter
200: drone
201: 3-axis gimbal 203: lidar sensor
205: optical camera 207: thermal imaging camera
20: ground control system
30: operation management system

Claims (10)

an unmanned aerial vehicle that moves to an area of fire and throws an installed fire extinguisher; and
One or more of the optical camera and thermal imaging camera is mounted on a 3-axis gimbal, and the mission equipment that transmits the captured image to the ground control system (GCS), the UAV hangar that houses a plurality of UAVs, Hovering at a set altitude and monitoring forest fires, including a tethering interface comprising a take-off and landing part of an unmanned aerial vehicle that becomes an unmanned aerial vehicle, a tethering interface comprising a tethering wire fastened to a power transmission tower to maintain flight altitude and flight position, and a power line for receiving power from a transmission tower airship to do;
including,
The airship is an aircraft having an air bag containing a gas having buoyancy,
The airship is a forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship that receive constant power from the transmission tower and hover over the transmission tower.
The method of claim 1,
The mission equipment is a forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship further comprising a thermal imaging camera mounted on a 3-axis gimbal.
The method of claim 1,
A UAV is a forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship, including a GPS device that receives GPS signals and a lidar sensor that recognizes obstacles using laser signals.
4. The method of claim 3,
The UAV take-off and landing unit includes a target for a lidar sensor that can be detected by the lidar sensor of the returning drone, and a forest fire monitoring and suppression system using an unmanned aerial vehicle and an airship to guide the landing of the unmanned aerial vehicle.
The method of claim 1,
A UAV uses one or more of an optical camera and a thermal imaging camera to mount a three-axis gimbal to shoot a forest fire suppression mission, and a forest fire monitoring and suppression system using an unmanned aerial vehicle and airship that transmits the captured video to the ground control system (GCS).
The method of claim 1,
The drone hangar is a forest fire monitoring and suppression system using an unmanned aerial vehicle and an unmanned aerial vehicle including an unmanned aerial vehicle charging unit for charging the stored unmanned aerial vehicle.
The method of claim 1 , wherein the airship comprises:
a GPS device that receives a GPS signal; and
an altimeter to measure the airship's current altitude;
A forest fire monitoring and suppression system using drones and airships that hover while maintaining position and altitude, including further.
8. The method of claim 7,
The mission equipment further includes a lidar sensor for recognizing an obstacle using a laser signal,
The airship is a forest fire monitoring and suppression system using drones and airships that return to a designated location after mission completion and land.
The method of claim 1,
The airship receives the fire suppression mission from the ground control system and delivers it to the unmanned aerial vehicle, and a forest fire monitoring and suppression system using the unmanned aerial vehicle and the airship separated from the airship by sliding the take-off and landing part of the unmanned aerial vehicle to take off.
10. The method of claim 9,
The unmanned aerial vehicle includes a GPS device that receives GPS signals and a lidar sensor that recognizes obstacles using laser signals, receives a fire suppression mission from an airship, moves autonomously to the received fire area, and A forest fire monitoring and suppression system using drones and airships that hover in the sky and throw fire munitions at fixed time intervals.

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