KR20170025386A - fire fighter drone capable of launching grenade-shaped extinguisher - Google Patents

fire fighter drone capable of launching grenade-shaped extinguisher Download PDF

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Publication number
KR20170025386A
KR20170025386A KR1020150121745A KR20150121745A KR20170025386A KR 20170025386 A KR20170025386 A KR 20170025386A KR 1020150121745 A KR1020150121745 A KR 1020150121745A KR 20150121745 A KR20150121745 A KR 20150121745A KR 20170025386 A KR20170025386 A KR 20170025386A
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KR
South Korea
Prior art keywords
fire
thermal imaging
drones
unit
data
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KR1020150121745A
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Korean (ko)
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KR101741578B1 (en
Inventor
신수용
박진영
강병규
정경훈
김휘준
도선주
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금오공과대학교 산학협력단
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Priority to KR1020150121745A priority Critical patent/KR101741578B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64C2201/12—
    • B64C2201/127—
    • B64C2201/14—

Abstract

The fire suppression drones capable of emitting fire extinguishers include a fire tracing unit for tracking fire origin based on thermal imaging data of a built-in thermal imaging camera and heat sensing data of a heat sensing sensor unit, And includes a throwing unit for adjusting the angle of fire and the firing distance of the fire extinguisher based on the tracking result of the fire tracing unit, and a moving unit including a plurality of propellers and adjusting the moving direction.

Description

Fire fighter drone capable of launching grenade-shaped extinguisher

FIELD OF THE INVENTION The present invention relates to a fire suppression drones, and more particularly, to a fire suppression drones capable of emitting fire extinguishers.

With the emergence of complex structures such as high-rise buildings and large facilities, firefighters are injured in various fire and disaster sites.

Therefore, technology is being introduced to grasp the fire situation in advance by using an unmanned reconnaissance robot before a firefighter is put into the fire scene.

However, in the case of an unmanned reconnaissance robot moving to the ground, it may occur that the attitude can not be controlled when it is overturned due to obstruction, and since the moving speed is slow, when a rapidly spreading flame approaches, it is destroyed by a flame exposure. .

In addition, an unmanned waterproofing robot equipped with a fire hose can only be used to extinguish a fire outside the building, and can not enter the building.

In case of a large fire, the fire extinguisher is sprayed using a helicopter and an aircraft. However, since this is a method of spraying the fire extinguishing liquid outside the building, the fire extinguishing liquid is wasted by spraying the fire extinguishing water regardless of the fire origination place inside the building A case occurs.

Disclosure of Invention Technical Problem [8] The present invention has been proposed in order to solve the above technical problems, and provides a fire suppression drones capable of effectively performing fire suppression in the early stage of fire by tracking fire origin and fireing digestive coal at a fire origin.

According to an embodiment of the present invention, there is provided a fire suppression dron capable of emitting fire-fighting coal, comprising: a fire tracing unit for tracking fire origin based on thermal imaging data of a built-in thermal imaging camera and heat sensing data of a heat sensing sensor unit; A throwing unit capable of continuously emitting a plurality of digestive flares and adjusting a firing angle and a firing distance of the digestive coal based on a result of tracking by the fire tracing unit; And a moving part including a plurality of propellers and adjusting a moving direction.

The fire suppression drones may be operated in any one of a remote control mode and an automatic control mode. In the remote control mode, the photographed data of the built-in image camera may be provided to a remote place to manually control the movement unit And in the automatic adjustment mode, the moving unit is automatically controlled so as to automatically move toward the fire origin according to the result of the fire tracking unit, and the fire extinguisher can be automatically thrown in the fire originating place.

In addition, when the fire suppression dron is operated in the remote control mode, when the photographic data of the built-in video camera is not identified due to a visual disturbance material such as smoke when entering the inside of the building, And provides the data to the remote site.

In addition, when the fire suppression drones are operated in the automatic adjustment mode, when the photographic data of the built-in video camera is not identified due to a visual disturbance material such as smoke when entering the inside of the building, And the movement direction is automatically set to move toward the fire origin.

The fire suppression drones automatically detect the temperature change based on the thermal sensed data of the heat sensing sensor unit when moving toward the fire origin by automatically setting the moving direction based on the thermal imaging data of the thermal imaging camera, And only the section in which the ambient temperature is within the set limit temperature range is moved.

The throttling unit is configured to be able to rotate 360 degrees in the horizontal direction and to reciprocate 180 degrees in the vertical direction to adjust the firing angle.

The fire suppression drones according to the embodiment of the present invention track fire origins on the basis of photographed data and heat sensed data, fire fire extinguishers on fire origins, and fire suppression can be efficiently performed.

Therefore, it is possible to delay the fire propagation or suppress the fire early by continuously firing the fire extinguisher at the source of fire at the beginning of the fire.

In addition, the fire suppression drones can enter the building, automatically move to the fire source, and fire the fire extinguisher, so that it is possible to respond quickly to the fire generated inside the building.

1 is a conceptual view of a fire suppression dron for fire-fighting fire according to an embodiment of the present invention;
FIG. 2 is a perspective view of a fire fighting drones capable of firing a digestive coal according to one embodiment of FIG. 1; FIG.
3 is a perspective view of a fire fighting drones capable of firing a fire extinguisher according to another embodiment of FIG.
4 is a configuration diagram of a throwing unit according to an embodiment of the present invention;
5 is a view showing a portable terminal of a manager controlling a fire fighting drones;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention.

FIG. 1 is a conceptual diagram of a fire suppression drones 1 capable of emitting fire extinguishants according to an embodiment of the present invention. FIG. 2 is a view showing a fire suppression drones 1 FIG. 3 is a perspective view of a fire suppression drones 1 capable of emitting digestive coal according to another embodiment of FIG. 1. FIG.

The fire suppression drones 1 according to the present embodiment include only a simple structure for clearly explaining the technical ideas to be proposed.

1 to 3, the fire suppression drone 1 includes a main body 100, a throwing unit 20, a video camera 41, a thermal imaging camera 42, a thermal sensor unit 43 ). The main body 100 further includes a fire tracing unit 10 and a moving unit 30.

The detailed construction and main operation of the fire suppression drones 1 constructed as described above will be described below.

The fire tracking unit 10 tracks the fire origin based on the thermal imaging data of the built-in thermal imaging camera 42 and the thermal sensed data of the thermal sensing unit 43.

That is, the temperature distribution of the fire area varies depending on the direction in which the fire propagates in the fire originating area. Therefore, the fire tracing unit 10 can detect the thermal imaging data of the built-in thermal imaging camera 42, The source of the fire can be tracked based on the thermal sense data. The thermal imaging data of the thermal imaging camera 42 includes the temperature distribution over time and the distance to the object and the thermal imaging camera 42. [

In addition, at least one heat detection sensor unit 43 is provided to sense the ambient temperature distribution of the fire suppression drones 1. The fire tracing unit 10 compares the thermal sensed data of the thermal sensing unit 43 and the thermal sensed data of the thermal imaging camera 42 and uses them in a complementary manner. When the temperature difference exceeds an established range , The thermal imager 42 or the thermal sensor part 43 has occurred.

In the present embodiment, the image camera 41, the thermal imaging camera 42, and the thermal sensor unit 43 are disposed in the throwing unit 20. However, according to the embodiment, at least one or more of the image cameras 41, .

The throwing unit 20 can continuously fire a plurality of digits, and adjusts the fire angle and throw distance of the digits based on the tracking result of the fire follower 10.

That is, the digestive coal is basically formed in a circular shape and is emitted from the launching port 21 of the throwing unit 20. It is preferable that the digestive coal is formed of a material that can withstand the impact of a fire.

The fire extinguisher can be configured to spray the fire extinguisher when the impact is over the set range. In addition, the fire extinguisher may be configured so that the fire extinguisher is sprayed while the shell is broken at a temperature above the set range.

The throwing unit 20 can be rotated 360 degrees in the horizontal direction and 180 degrees in the vertical direction to adjust the firing angle. The throwing unit 20 is configured to fire digestive coals upward, downward, leftward, and rightward. The throwing unit 20 may be configured to control the moving distance of the digestive burden by controlling the rotation speed of the motor when emitting digestive coal.

The moving part 30 includes a plurality of propellers and adjusts the moving direction.

That is, the moving part 30 is preferably composed of at least two propellers, and the moving direction can be adjusted by adjusting the angle of the propeller or by adjusting the inclination of the main body 100.

The fire suppression drones 1 are configured to operate in any one of the remote control mode and the automatic adjustment mode.

First, in the remote control mode, imaging data of the built-in image camera 41 is provided to a remote site so that the moving unit 30 can be manually controlled.

That is, in the remote control mode, the fire suppression drones 1 can transmit photographed data of the built-in image camera 41 to a remote place in real time via a wireless system. The remote location can be defined as the controller of the dron control center and the manager controlling the fire suppression drones (1). The controller may be configured as a portable terminal such as a smart phone, a smart pad, and the like.

Therefore, the administrator can control the moving direction of the fire suppression drones 1 while confirming the surrounding situation through the shooting data of the video camera 41, and can directly control to fire the digested carbon.

On the other hand, the fire suppression drones 1 can enter the inside of the building. When entering the inside of the building, photographed data of the built-in video camera 41 may not be recognized due to a visual disturbance material such as smoke.

Particularly, in the remote control mode, since the manager directly controls the movement of the fire suppression drones 1, when entering the building and deviating from the view of the manager and at the same time the photographed data of the video camera 41 is not identified, A problem may arise in controlling the position of the substrate 1.

Therefore, when the fire suppression drones 1 according to the embodiment of the present invention enter the inside of the building in the remote control mode, when the photographed data of the built-in image camera 41 is not identified due to a visual disturbance material such as smoke or the like, And provides thermal imaging data of the thermal imaging camera 42 to the remote site.

At this time, the thermal imaging data of the thermal imaging camera 42 includes the temperature distribution and the distance of the object, which can be superimposed on the imaging data of the imaging camera 41 and provided to the remote site. In other words, the administrator can receive the images in which the thermal shooting data and the shooting data are simultaneously superimposed, so that the surroundings of the fire suppression drones 1 can be grasped more accurately.

Next, in the automatic adjustment mode, the fire suppression drones 1 are automatically controlled by the moving unit 30 so as to automatically move toward the fire origin according to the result of tracking by the fire tracking unit 10. [

That is, the fire suppression drone 1 tracks the fire origin based on the temperature distribution of the fire area, and can automatically move toward the fire origin based on the result of the fire.

In addition, the fire suppression drones (1) arrive at the vicinity of the source of fire, and then fire digestion guns automatically at the origin of the fire.

When the fire suppression drone 1 is operated in the automatic adjustment mode after entering the inside of the building, as in the remote control mode, the photographed data of the built-in image camera 41 is not identified due to the visual disturbance material such as smoke The moving direction is automatically set on the basis of the thermal imaging data of the thermal imaging camera 42 to move in the fire origin direction.

That is, the fire suppression drones 1 move while avoiding the surrounding obstacles based on the photographic data of the image camera 41, and when the photographic data is not identified by the visual disturbing substance such as smoke or the like, Avoid peripheral obstacles based on thermal imaging data.

The fire suppression drones 1 automatically move in the direction of the fire origin according to the thermal imaging data of the thermal imaging camera 42 and determine the temperature change trend based on the thermal sense data of the thermal sensor part 43 Fires fire fighters.

Since the fire suppression drones 1 may be damaged by the heat caused by the fire, the fire suppression drones 1 may grasp the ambient temperature based on the thermal imaging data and the heat sensing data, Only the section below the range is moved.

Although not shown in the drawings, the surface of the main body 100 may be provided with a plurality of position sensors for detecting a surrounding obstacle. The position detection sensor may be configured to detect the position of the surrounding obstacle in consideration of the received signal after transmitting the signals of the ultrasonic wave and the infrared band.

On the other hand, when the fire extinguisher is fired in the throwing unit 20, the fire suppression drones 1 may be instantaneously moved due to impact and recoil due to fire.

At this time, if there is an obstacle around the fire suppression drone 1, the fire suppression drone 1 may collide with the obstacle and be damaged.

Therefore, the fire suppression drone (1) calculates the anticipated rebound amount in consideration of the fire range and the fire angle of the fire extinguisher before firing the fire extinguisher, and measures the distance from the surrounding obstacle by using a plurality of position sensors.

In this case, when the distance from the surrounding obstacle is calculated to collide with the obstacle due to the movement due to the anticipated rebound amount, the fire suppression drone 1 does not fire the digestive coal directly but increases the distance of the obstacle Fire digestive shot.

Fire suppression When the drones are fired continuously,

First, the fire suppression drone (1) checks the temperature distribution of the fire area and confirms the fire origin and direction of fire propagation.

Next, the fire suppression drones 1 fire the first digestive coal to the identified fire source, and the temperature of the region where the first digestive coal is thrown through the thermal imaging camera 42 and the heat detection sensor unit 43 .

Next, the fire suppression drones (1), based on the temperature trend of the area where the first digestive bur has been thrown and the location of the fire origination point initially detected,

After determining whether the first digestive cargo has been correctly dropped to the target position, correct the position where the second digestive carcass is fired based on the result.

In other words, if the first fire extinguisher is not correctly dropped to the target position,

It can be judged that the digestive coal has not been released to the target position due to the wind caused by the fire. Therefore, based on the temperature trend, after determining the actual drop position and the target drop position based on the temperature trend, And the firing distance can be corrected.

When the digestive carbon is continuously fired, the fire angle and the firing distance are automatically corrected based on the result of the discharge of the digestive carbon immediately before the digestive carbon.

If the fire suppression drones (1) are judged to be difficult to extinguish with fire extinguishers due to the rapid fire propagation speed, calculate the expected fire propagation path based on the temperature distribution, The fire propagation speed can be reduced by sequentially firing.

4 is a configuration diagram of the throwing unit 20 according to an embodiment of the present invention.

4, the throwing unit 20 includes a first rotating wheel 211, a second rotating wheel 212, a first rotating motor 221, a second rotating motor 222, A charger container 230, a fire extinguisher mounting motor 240, and a launching port 250.

The first rotating motor 221 rotates the first rotating wheel 211 and the second rotating motor 222 rotates the second rotating wheel 212. When digested carbon is mounted between the first rotating wheel 211 and the second rotating wheel 212, the digested carbon is emitted by the rotational force of the rotating wheels 211 and 212. For reference, it is preferable that the re-single-rotation motor 221 and the second rotation motor 222 are DC motors.

A plurality of fire extinguishers can be stored in the fire extinguisher container 230, and a fire extinguisher mounting motor 240 is disposed under the fire extinguisher container 230. The digestive carbon loading motor 240 is configured to perform a linear reciprocating motion for moving the digestive coal located at the lowest position toward the launch port 250.

A heat radiator for cooling the heat generated by the motor may be mounted on the surfaces of the first rotation motor 221 and the second rotation motor 222. The heat radiating portion may be composed of a heat sink, a rotary fan, or the like.

5 is a diagram showing a portable terminal of a manager controlling fire fighting drone 1;

Referring to FIG. 5, when a fire occurs in a terrain where fire trucks are difficult to enter, the throwing unit 20 is mounted on the dron and then sent to a fire source.

When the manager sets a target point (coordinates, etc.) on the screen of the portable terminal, the coordinates are transmitted to the fire suppression drone 1, the fire suppression drone 1 moves to the vicinity of the fire origin, The digits are fired while the rotation speed of the rotary motor is adjusted.

The outer frame of the fire suppression drone 1 is made of aramid fibers and is preferably heat-resistant coated.

The fire suppression drones according to the embodiment of the present invention track fire origins on the basis of photographed data and heat sensed data, fire fire extinguishers on fire origins, and fire suppression can be efficiently performed.

Therefore, it is possible to delay the fire propagation or suppress the fire early by continuously firing the fire extinguisher at the source of fire at the beginning of the fire.

In addition, the fire suppression drones can enter the building, automatically move to the fire source, and fire the fire extinguisher, so that it is possible to respond quickly to the fire generated inside the building.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100:
10: Fire tracker
20: Throwing part
21, 250:
30:
41: Video camera
42: Thermal imaging camera
43: Thermal sensor part
211: first rotating wheel
212: second rotating wheel
221: first rotation motor
222: second rotation motor
230: Fire extinguisher container
240: Motor with fire hydrant

Claims (6)

In fire-fighting drones capable of emitting fire-fighting coal,
A fire tracing unit for tracking a fire origin based on thermal imaging data of a built-in thermal imaging camera and heat sensing data of a heat sensing sensor unit;
A throwing unit capable of continuously emitting a plurality of digestive flares and adjusting a firing angle and a firing distance of the digestive coal based on a result of tracking by the fire tracing unit; And
A moving part including a plurality of propellers and adjusting a moving direction;
Fire suppression drones.
The method according to claim 1,
The fire suppression drones,
The remote control mode, and the automatic adjustment mode,
In the remote control mode, it is possible to manually control the moving unit by providing photographic data of a built-in video camera to a remote location,
Wherein in the automatic adjustment mode, the moving unit is automatically controlled so as to automatically move toward a fire origin according to a result of tracking by the fire tracing unit, and the fire fighting dron is configured to automatically fire digestive coal in a fire originating location.
The method according to claim 1,
The fire suppression drones,
In operating in the remote control mode,
Wherein the thermal imaging data of the thermal imaging camera is automatically provided to the remote location when the imaging data of the built-in video camera is not identified due to the visual disturbance material such as smoke when entering the inside of the building.
The method according to claim 1,
The fire suppression drones,
In operating in the automatic adjustment mode,
The moving direction is automatically set on the basis of the thermal imaging data of the thermal imaging camera to move toward the fire origin when the imaging data of the built-in image camera is not identified due to the visual disturbance material, such as smoke, Fire suppression drone.
5. The method of claim 4,
The fire suppression drones,
Detecting the temperature change trend based on the thermal sensed data of the heat sensing sensor unit and fireing the fire extinguisher when the moving direction is automatically set based on the thermal imaging data of the thermal imaging camera, Wherein the fire extinguishing dron is moved only in a section within the range.
The method according to claim 1,
The thrown-
Wherein the fire extinguishing drones are configured to be able to rotate 360 degrees in the horizontal direction to adjust the launch angle and 180 degrees in the vertical direction.
KR1020150121745A 2015-08-28 2015-08-28 fire fighter drone capable of launching grenade-shaped extinguisher KR101741578B1 (en)

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