KR102485640B1 - Firefighting Drone Capable of Destroying Obstacles - Google Patents

Abstract

Initiate a firefighting drone capable of destroying obstacles.
According to one aspect of the present embodiment, a firefighting drone capable of destroying obstacles at a disaster site by mounting an obstacle destroying means and minimizing difficulty in maneuvering is provided.

Description

Firefighting Drone Capable of Destroying Obstacles}

The present invention relates to a firefighting drone capable of destroying obstacles at a disaster site.

The contents described in this part merely provide background information on the present embodiment and do not constitute prior art.

In general, when a fire occurs, or a disaster such as a natural disaster or a natural disaster occurs, a firefighter extinguishes the fire or dispatches to the disaster site to recover. Recently, an increasing number of buildings have exterior walls made of tempered glass and designed to prevent opening and closing of glass windows. When a fire breaks out in such a building, considerable time may elapse because firefighters must extinguish the fire and rescue people one by one in order to rescue people present in the building. In addition, when people affected by disaster are located in a specific location, and there are numerous obstacles to the location, it may take a considerable amount of time for rescue personnel to reach the location of the person directly affected for rescue.

As in the case described above, if it is possible to destroy only the glass windows of a building or obstacles located around a victim at a disaster site at a fire or disaster site, rescue can be facilitated with separate equipment such as a ladder truck or a helicopter.

Recognizing this need, attempts have recently emerged to destroy obstacles in various fields using drones. However, since the drone has to fly with a configuration for destroying obstacles that has a considerable weight, there is a problem in that the flight efficiency is significantly lowered, and the drone loses balance due to the rebound of the obstacle destruction operation, resulting in difficulty in maneuvering.

One object of the present invention is to provide a firefighting drone capable of destroying obstacles at a disaster site by mounting an obstacle destroying means and minimizing difficulty in maneuvering.

According to one 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 the operation of each component in the firefighting drone are implemented in the frame. An obstacle destruction unit for contacting a profile supporting the battery and an obstacle to impact and destroy the obstacle, and a sensor unit for detecting whether an obstacle exists in the front in the moving direction of the firefighting drone and the distance to the existing obstacle, and A communication unit that receives a control signal related to the movement of the firefighting drone and a control signal related to the operation of the obstacle destruction unit from the outside, and transmits the sensing value detected 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 and generate lift under the control of the processor to move the firefighting drone forward, backward, left, right, or ascend and descend, and a plurality of propellers electrically and mechanically connecting the processor and each propeller A firefighting drone characterized in that it includes a duct located on the opposite side of the obstacle destruction part based on an arm and the processor and injecting air in a direction away from the processor under the control of the processor.

According to one aspect of the present invention, the sensor unit is characterized in that it is a sensor for detecting the presence and distance of an obstacle or a camera for photographing its front.

According to one aspect of the present invention, the processor 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 one aspect of the present invention, the processor is characterized in that for controlling the operation of the obstacle-destroying unit according to the control signal for the operation of the obstacle-destroying unit received by the communication unit.

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

According to one aspect of the present invention, the processor is characterized in that for controlling the duct to inject air at the moment when the obstacle-destroying unit applies an impact to the obstacle.

According to one aspect of the present invention, in a firefighting drone capable of destroying obstacles, a battery for supplying power required for each component in the firefighting drone to operate, and a profile supporting the battery and an obstacle to contact the obstacle and apply an impact to the obstacle An obstacle destruction unit to destroy, a sensor unit to detect whether an obstacle exists ahead in the moving direction of the firefighting drone and the distance to the existing obstacle, and a communication unit to receive a control signal related to the movement of the firefighting drone from the outside. A processor that controls the operation of each component in the firefighting drone, a plurality of propellers and the processor that rotates and generates lift under the control of the processor to move the firefighting drone forward, backward, left, right, or up and down, and Provided is a firefighting drone, characterized in that it includes a plurality of arms that electrically and mechanically connect each propeller.

According to one aspect of the present invention, the processor is characterized in that for controlling the operation of the propeller based on the sensing value of 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 sensing value of the sensor unit, the processor determines the position at which the obstacle destruction unit can contact the obstacle based on the distance to the obstacle. It is characterized in that for controlling the propeller to move to.

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

As described above, according to one aspect of the present invention, there is an advantage of minimizing difficulty in maneuvering while being able to destroy obstacles at a disaster site by mounting an obstacle destroying means.

1 is a perspective view showing a firefighting drone according to a first embodiment of the present invention.
2 is a side view showing 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 diagram showing the configuration of an obstacle destroyer according to a first embodiment of the present invention.
5 is a view showing the configuration of a breaking drill according to a first embodiment of the present invention.
6 is a perspective view showing 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 showing a firefighting drone according to a second embodiment of the present invention.
9 is a diagram showing the configuration of an obstacle destroyer according to a second embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention. Like reference numerals have been used for like elements throughout the description of each figure.

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

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no intervening element exists.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. It should be understood that terms such as "include" or "having" in this application do not exclude in advance the possibility of existence or addition of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. .

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 the present 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 unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

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 contradict each other technically.

1 is a perspective view showing a firefighting drone according to a first embodiment of the present invention, FIG. 2 is a side view showing a firefighting 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 firefighting drone according to.

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

The drone 100 receives a control signal from the outside (a terminal such as a controller owned by a pilot) to move or destroy 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 surrounding environment, and transmits the signal to the outside. When receiving a sensing value and receiving an obstacle destruction control signal from the outside, an obstacle destruction operation is performed according to the control signal to destroy adjacent obstacles. In this way, the drone 100 can move anywhere within its flight range and destroy obstacles at the location, thereby improving the rescue and survival rate of people who have not escaped from the disaster site. As exemplified in the background art, the drone 100 destroys the glass windows of the building at the scene of the fire, so that it can be evacuated to the outside of the building using an emergency ladder. Alternatively, the drone 100 improves the survivor's survival rate or rescue rate by destroying obstacles in the location where the victim is located at the disaster site.

The battery 110 supplies power required for the operation of the processor 190 and other components in the drone 100. The battery 110 is electrically connected to the processor 190 and other components requiring power, and supplies power to the components. The battery 110 is disposed on the profile 154 at the bottom of the processor 190 . Considering the weight of the duct 160 and the obstacle breaking unit 170, the battery 110 and the processor 190 are weighted on an axis formed by the duct 160 and the obstacle breaking unit 170 (y-axis in FIG. 1) By being located at the center, the drone 100 can be balanced on a corresponding axis.

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

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

The landing gear 140 is connected by the processor 190 and the arm 125, and when the drone 100 wants to land on the ground or to a specific landing point, it supports the drone 100 so that the drone 100 lands safely. make it possible The landing gear 140 has a long shape in a certain direction and contacts the ground or a landing site over 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 in a rectangular shape, for example, as shown in FIG. 1, and supports each component. The frame 150 is electrically and mechanically connected to the profile 154, the duct 160, the obstacle breaking unit 170 and the guard unit 180, and supports each component.

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

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

The duct 160 is fixed within the frame 150 and is disposed on the opposite side of the obstacle breaking unit 170 with respect to the processor 190 . Since the duct 160 and the obstacle destroying part 170 are disposed on opposite sides of each other, the drone 100 can maintain 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 based on the duct 160 (-y-axis direction). spray air with The obstacle destroying unit 170 transmits an impact to its front (+y-axis direction, direction away from the duct with respect to the processor) to destroy the obstacle. When the impact is transmitted in the corresponding direction, force is applied to the drone 100 in the rearward direction (-y-axis direction, direction away from the processor based on the duct) due to the reaction of the impact. Since this is a movement of the drone that the operator does not want, the movement of the drone should be minimized. Accordingly, the duct 160 directs air toward the rear of the drone 100 (direction away from the processor based on the duct) at the moment when the obstacle destroyer 170 applies an impact to the obstacle under the control of the processor 190. spray The operation of the duct 160 cancels 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.

Under the control of the processor 190, the obstacle destroyer 170 comes into contact with an obstacle, applies an impact to the obstacle, and destroys the obstacle. A specific structure and operation of the obstacle destroyer 170 will be described later with reference to FIGS. 4 and 5 .

The guard part 180 is formed at the front of the frame 150 (in the direction of the obstacle breaking part) on the axis formed by the duct 160 and the obstacle breaking part 170 to prevent collision between the propeller 130 and an external object. do. As can be seen in FIG. 2, in the guard part 180, a part of the guard part 180 (except for the end) is connected to the frame 150, and each end of the guard part 180 is separated from the processor 190. It has a structure that protrudes in the direction. The guard part 180 may protrude forward on the aforementioned shaft. Accordingly, when the drone 100 moves along a corresponding axis to destroy an obstacle and contacts an obstacle, the guard unit 180 instead of the propeller 130 contacts the obstacle first and prevents the propeller 130 from being damaged. The guard part 180, in particular, each end having a protruding structure is implemented with a material capable of mitigating impact, and the lifespan of the guard part 180 can also be improved.

The communication unit (not shown) transmits and receives data with the outside (a terminal such as a controller owned by the controller). 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

A sensor unit (not shown) senses an object located in front of itself. A sensor unit (not shown) detects whether an obstacle exists in front of the moving direction of the drone 100 . For example, in the case of a drone for destroying glass at a fire site, a sensor unit (not shown) detects whether there is a window in front. The sensor unit (not shown) may be a sensor that detects the existence and distance of an obstacle, or may be a camera that photographs 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 sensing value obtained by detecting 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 a sensor unit (not shown) to detect whether an obstacle exists 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 a control signal related to the operation of the obstacle destroyer 170, the processor 190 controls the obstacle destroyer 170 to perform an operation to destroy the obstacle. When an obstacle-destroying operation is instructed by checking a sensing value of a sensor unit (not shown) from the outside, the processor 190 controls the obstacle-destroying unit 170 to perform the corresponding operation. At the same time, the processor 190 operates the duct 160 to minimize recoil generated during the operation of the obstacle destroyer.

In this way, the drone 100 can destroy an obstacle by receiving a control signal from the outside.

4 is a diagram showing the configuration of an obstacle destroyer according to a first embodiment of the present invention.

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

The obstacle destroying unit 170 has the above configuration, and one or more obstacle destroying units 170 in the drone 100 may be included in order to improve the breaking force of the obstacle. Although FIG. 4 shows that four obstacle destroyers 170 are included, it is not necessarily limited thereto. However, for balance, it is preferable that an even number of obstacle destroyers 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 so that the opposite end of the reference point 425 rotates 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. The servo pin 420 is initially disposed in a state close to the demolition drill 440 (a state rotated as much as possible in the -z-axis direction) (a state before the obstacle destroying unit operates), and is destroyed by receiving power from the servomotor 410. It rotates in a direction away from the drill 440 (elevating). According to this operation, the fixing pin 430 is coupled with the destructive drill 440, and then 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 along with the operation of the servo pin 420 to adjust the movement of the demolition drill 440 . As described above, the fixed pin 430 is physically connected to the servo pin 420 . Thus, the first 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, the fixing pin connection portion to be described later with reference to FIG. It is coupled with to fix the demolition drill 440. Then, when the fixing pin 430 is raised by the operation of the servo pin 420, the fixing pin 430 also rises together and separates the demolition drill 440 from the fixed position. The demolition drill 440 deviates from the initially fixed position and generates an impact.

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

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

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

The first hitting part 510 is coupled to one position of the spring 520 to induce expansion and contraction of the spring 520, and strikes the second hitting part 530 according to the operation to apply an impact. The first striking part 510 includes a fixing pin connection part 515 at a far end from the second hitting 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. By connecting the two, the first striking part 510 is fixed at the corresponding position, 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 hitting part 510 is moved to the second hitting part by the restoring force of the spring 520. While moving in the direction of (530), impact is applied to the second impact unit 530 by striking the second impact unit 530.

The spring 520 expands and contracts so that the first hitting part 510 can hit the second hitting part 530 . One end of the spring 520 is coupled to the first striking part, and the other end is coupled to the second striking part 530. Accordingly, the spring 520 does not leave its position even if it is stretched or contracted. The spring 520 is extended by the first striking portion 510, and moves the first striking portion 510 in the direction of the second striking portion 530 by a restoring force according to the operation of the fixing pin 430 and strikes the spring 520. make it possible

The second impact unit 530 transfers the impact transmitted by the first impact unit 510 to the outside. The second hitting part 530 has a tip 534 at an end far from the first hitting part 510 to transfer the impact transmitted by the first hitting part 510 to the outside. At this time, under the control of the processor 190, the tip of the second impact unit 530 comes into contact with the obstacle to be destroyed, and the impact transmitted to the second impact 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 534 is considerably small, the impact force transmitted to the obstacle is remarkably increased. Using this, the second impact unit 530 can destroy the obstacle it comes into contact with.

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

The fixing ring 540 is coupled to the groove 538 and prevents the second hitting part 530 from escaping in a direction toward the first hitting part 510 .

Since the demolition drill 440 operates in such a way that the second impact unit 530 moves in position and transmits an impact in place rather than applying an impact to the obstacle, the advantage of reducing recoil due to hitting the obstacle have

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

The breaking drill fixing part 450 includes a breaking drill connecting hole 455, fixes the second striking part 530, and the tip 534 of the second striking part 530 is exposed to the outside and impacts with an obstacle. make it possible to transmit As described above, the breaking drill connection hole 455 has a smaller diameter than the spring 520 and the fixing ring 540, so that the second impact 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 servomotor 410, the servo pin 420 and the fixing pin 430. The fixing pin fixing part 460 includes a fixing pin connecting hole 465 so that the fixing pin 430 can be connected to the fixing pin connecting part 515 in the demolition 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 connecting part 515 via the fixing pin connecting hole 465, so that the spring 520 via the fixing pin connecting part 515 Even if the restoring force is transmitted to the fixing pin 430, it is possible to prevent the fixing pin 430 from being accidentally separated.

Figure 6 is a perspective view showing a firefighting drone according to a second embodiment of the present invention, Figure 7 is a side view showing a firefighting drone according to a second embodiment of the present invention, Figure 8 is a second embodiment of the present invention It is a plan view showing a firefighting drone according to.

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

The firefighting drone 600 is the same as the firefighting drone 100 in receiving a control signal related to movement from the outside and moving, but is different from the firefighting drone 100 in that it detects and destroys obstacles by itself. The battery 610, the arms 620 and 625, the propeller 630, the landing gear 640, and the profile 650 in the firefighting drone 600 have the same configuration and operation 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 impacting part guides 940 in the obstacle destroying part 660 to be described later.

Under the control of the processor 670, the obstacle destroyer 660 applies an impact to the obstacle and destroys the obstacle. A detailed structure and operation of the obstacle destroyer 660 will be described later with reference to FIG. 9 . Meanwhile, FIGS. 6 to 8 show that two obstacle destroyers 660 are included, but are not necessarily limited thereto. However, it is preferable that an even number of drones are included in the drone 600 in terms of balance.

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

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

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 obtained by a sensor unit (not shown) detecting whether an obstacle exists in front of the processor 670 . When it is determined that an obstacle is located in front based on the sensing value of the sensor unit (not shown), the processor 670 determines the impact unit in the obstacle destroying unit 660 based on the distance to the obstacle (described later with reference to FIG. 9 ). The propeller 630 is controlled to move to a position where it can contact an obstacle.

The processor 670 controls the obstacle destroyer 660 to destroy the contacted obstacle. The processor 670 independently controls to approach an obstacle based on a sensing value of a sensor unit (not shown) without receiving a control signal related to obstacle destruction from the outside, and when the processor 670 contacts the obstacle, the obstacle destroyer 660 operates. control to do

9 is a diagram showing the configuration of an obstacle destroyer according to a second embodiment of the present invention.

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

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

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

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

The sector gear 930 is connected to the third pinion gear 928 and rotates along 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 closer to the profile 650. 9 as an example, the sector gear 930 is rotated clockwise by the third pinion gear 928, and the clockwise rotation of the sector gear 930 and the movement of the rack gear 958 accordingly The striking part 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 impact unit 950, and is implemented in a fan shape, so that it is engaged or disengaged 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 engaged and connected, and a period (relatively long) in which the coupling is released due to continuous rotation exist. During the coupling period, the striking part 950 moves in the aforementioned direction, and as the coupling is released, the striking part 950 moves away from the profile 650 by the restoring force of the spring fixing part 948 (+y-axis direction). ) and impact the obstacle.

The impacting part guide 940 includes a through hole in which the impacting part 950 can be included, so that the impacting part 950 can move in a fixed path inside 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. The striking part guide 940 includes a through hole 944 having a sufficient area so that the spring 960 is not influenced by the impacting part guide 940 when it is extended. As the groove is formed, the spring 960 can be extended a sufficient distance.

The striking unit 950 is connected to the sector gear 930 and the spring 960, and strikes and impacts an obstacle by the action of the sector gear 930 and the restoring force of the spring 960.

The striking portion 950 includes a tip 954 at an end far from the profile 650 and a rack gear 958 having a predetermined 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 portion 950 moves in a direction (−y axis) closer to the profile 650 due to the combination of the two. Thereafter, when the coupling between the two is released, it moves in the opposite direction (+y-axis) by the restoring force of the spring 960 connected thereto and strikes the contacted obstacle to apply an impact. By including the tip 954, the striking portion 950 can apply a significant impact force to the obstacle.

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

The spring 960 moves the striking portion 950 by applying a restoring force to the striking portion 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 portion 950, and continuously applies a restoring force to the striking portion 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 impact unit 950 moves. However, since the spring 960 is connected as described above, the striking part 950 can maintain its original position without departing forward even if it moves due to the restoring force.

According to this operation, the drone 600 can recognize the obstacle by itself and apply a blow to the obstacle without the need 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 connection part like the drone 100, it is possible to hit the obstacle multiple times instead of once.

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

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

Claims (4)

In a firefighting drone capable of destroying obstacles,
a battery supplying power necessary for the operation of each component in the firefighting drone;
a profile supporting the battery;
An obstacle destroying unit for destroying an obstacle by applying an impact to the obstacle in contact with 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 for receiving a control signal related to the movement of the firefighting drone from the outside;
A processor controlling the operation of each component in the firefighting drone;
A plurality of propellers that rotate under the control of the processor and generate lift to move the firefighting drone forward, backward, left, right, or up and down; and
It includes a plurality of arms electrically and mechanically connecting the processor and each propeller,
The profile is formed at the center of gravity on the axis of the obstacle breaking unit, has a structure capable of supporting a configuration equal to or smaller than its area, and supports a battery disposed on its top,
The obstacle breaking unit,
servo motor;
spring;
a pinion gear that rotates by receiving power from the servo motor;
a sector gear connected to the pinion gear and rotating along with rotation of the pinion gear; and
a striking portion connected to the sector gear and the spring to apply impact by striking an obstacle in contact with the sector gear by operation of the sector gear and restoring force of the spring;
The sector gear rotates in a direction in which the striking part can come closer to the profile,
The firefighting drone, characterized in that the sector gear is engaged with the rack gear in the striking part, and is engaged with or disengaged from the rack gear according to the rotation of the pinion gear. According to claim 1,
the processor,
A firefighting drone, characterized in that for controlling the operation of the propeller based on the sensing value of the sensor unit. According to claim 2,
the processor,
When it is determined that an obstacle is located in front of the firefighting drone based on the sensing value of the sensor unit, the propeller is controlled so that the obstacle destruction unit moves to a position where it can contact the obstacle based on the distance to the obstacle. firefighting drones. According to claim 1,
The sensor unit,
A firefighting drone, characterized in that it is a sensor that detects the presence and distance of obstacles.

Images