KR20170133619A - The drone with fire extinguisher material kamikaze landing at the fire place, and the remote control and monitoring device or the firefighting system - Google Patents

Abstract

The present invention provides a disposable drone which loads a fire extinguishing material mainly on a lower end of an inexpensive high-performance drone widely used for industrial purposes other than toy and hobby areas to quickly fly to a fire area, and then sprays the fire extinguishing material on the lower end while landing into flames in a kamikaze manner to accurately and quickly extinguish a fire. Although the drone is disposable, the done is configured to spray the fire extinguishing material before landing. A flame resistant material is applied to a drone fuselage and the drone fuselage is coated to reuse the drone after extinguishing the fire even though the drone lands into the flames. Since a fire, specifically a forest fire rapidly increases damage as time elapses, it is important to quickly and accurately extinguish the fire in an early stage. If a drone uses equipment for dropping and launching a fire extinguishing material to spray the fire extinguishing material, accuracy is limited, and time is likely to be wasted due to the nature of an urgent fire site in returning the drone back to a station by remote control. Dozens of the disposable inexpensive kamikaze-type fire-extinguishing drones in accordance with the present invention can be simultaneously operated to effectively extinguish a fire if landing on a target point in a kamikaze manner and spraying a fire extinguishing material at the same time after forming a fire extinguishing stop line in a fire, specifically a forest fire area. The present invention is expected to be developed into a smart flying fire extinguisher which automatically recognizes a fire area by image information of a camera sensor when a fire is detected to automatically fly to the corresponding area to extinguish the fire in an early stage.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire drill for fire extinguishing material, the firefighting system}

The drones are collectively referred to as helicopter-shaped unmanned aerial vehicles (UAVs) that can fly and steer by induction of radio waves, and have been used in various civilian and military applications before and after the 2010s. In the case of a flying object, such as a helicopter or a drone, which generates lift by rotation of the propeller, the reaction of the propeller rotation causes the body to rotate in the opposite direction of rotation of the propeller. In the case of a single rotor helicopter, a tail rotor is required to solve this problem, but the drones are based on the principle of counteracting the reaction caused by propeller rotation by reversing the propeller rotation. That is, the drones control the rotation of each rotor propeller so that the ascending, descending, forward, backward, right, left, It is available in roll left, yaw left, and yaw right modes. The drones use a relatively small number of propellers to gain lift and adjust the lift from each propeller to advance and backward and redirect.

The present applicant has proposed a camera sensor, a drones equipped with an explosive device, a remote control device and a corresponding weapon system according to the patent application 102016 0012044. In other words, by designing the attack targets that are difficult to use expensive missiles to be controlled by the remote control unit in the place concealed by the self-exploding drone, and then reaching the target point and then self-destructing, various complex and expensive technologies such as bunker missiles So that the attack target can be accurately and precisely destroyed even if it is not used. In particular, existing missiles can not be stopped by launch, but self-explode drone can be selected within the time allowed by the battery in dead flight. Especially, if it is manufactured in a small size of about 30cm in diameter and can be held at 100 to 500m above the ground, it can be protected from enemy observation, and can be exploded while flying at high speed toward the target without sound. Based on the camera image information sent from the self-destructing drones, it is possible to respond immediately to attack targets (such as target movement) that change from time to time. The remote control unit's radio wave reaching distance can be more than 10 km. It is a smart tactical manned and controlled unmanned bomber. More specifically, the importance of unmanned reconnaissance using an unmanned reconnaissance plane is increasing, but the current unmanned airplane is not used as a means of self-destruction because it is manufactured at a high price on the assumption of a detailed reconnaissance function and repeated use due to high- It is used for simple reconnaissance. It is compact, simplified, and economical. It is made to be difficult to identify when floating in the sky of about 100 ~ 500m. It is equipped with explosive device using explosives and CBR If you provide destructive targets by viewing the video screen and send them in the form of automatic detection of the optimal detonation timing or detonating near the target by dropping it toward the target, (Dubbed 'air mine', 'skymine') equipped with a camera sensor and an explosive device that can expand the application field, and a remote control device for the drones.

The present invention relates to a fire extinguisher which is mounted on a fire extinguisher instead of an explosive in the above-mentioned military explosion type dron, and landed or dropped in a burning flame position by a kamikaze type fire extinguisher, It is about. In other words, make a landing or dropping accurately at the burning position in Kamikaze style. If the fire extinguishing material fails to suppress the fire at the landing point, it is basically a disposable dron as it is difficult to recover normally. Examples of techniques for using the drones for suppressing the fire so far include the 'unmanned airplane for fire fighting and fire suppression' of Patent Registration No. 10-1437323 and the 'fire drill for fire fighting' of Patent Registration No. 10-1566341 (Including fire extinguishers) mounted on a drone are remotely adjusted to be released, fired, and recovered.

With the recent advances in defense technology, unmanned aerial vehicles (UAVs) can overcome the disadvantages of reconnaissance satellites and manned reconnaissance aircraft, and can be flexibly adapted to future unmanned and telecommunication future battle environments. It is widely used for dragon and attack. It is generally possible to fly by semi-automatic or pre-programmed programs that remotely control from remote to wireless communication without relying on a pilot on a repeatable flight. Depending on the mission, Talk about a plane that can perform a mission for a certain period of time. With the development of drone control technology, flight designing technology, materials technology, and wireless communication technology, a small flying object drone is being produced. It is about 10cm in size and weighs about 50g. It uses rechargeable battery for about 15 ~ 30 minutes. Since the image of the ground is photographed by the camera sensor attached to the bottom and wirelessly transmitted, the remote control is performed while looking at the screen within the wireless range, and since the propeller is moved through the motor, noise is small and the size is small, . Dron technology has been rapidly developed and various types of drones have been commercialized. For courier and logistics applications, stopping flights are possible even at wind speeds of 12m / s and products with payloads of 30kg or more are being supplied. It is made up of octa-copter installed from 1 to 8 propeller capasities, and it is developing into military grade, division grade, and battalion grade equipment for military use.

The drones are being applied to recreation, aerial photography, industrial facility inspection, smog removal, facility damage investigation, artificial rainfall, search and rescue, Internet radio relay, and delivery service. In Golden Times, It was considered to be used as a reconnaissance drone to determine how to respond to the fire before arriving at the fire station. Proposal to use drones for fire suppression instead of simple reconnaissance began in 2014. A method has been proposed in which a fire extinguishing material is mounted on a dron as in Patent Registration No. 10-1437323, a remote control device is used to fly over a fire scene, and then a fire extinguishing substance is dropped or fired toward a burning place. Alternatively, an invention has been proposed in which, after flying on the scene of a fire, such as a fire suppression drones of the Japanese Patent Registration No. 10-1566341, the fire-fighting substance is fired while moving to a wheel for running on the ground. Alternatively, the fire hose of a fire truck was lifted by a unmanned airplane, and the invention was carried out to move to a fire occurrence place of a high-rise building. The fire-fighting drones are precisely controlled by a remote control device, and the fire drums are also operated by the fire-fighting apparatus as a remote control device for discharging and extinguishing the fire extinguishing material toward the target from the drones.

Fire Extinguisher is defined as a device capable of carrying out fire at the early stages of a fire, using the effects of cooling or air-blocking of the fire extinguisher. There are many kinds of fire extinguishers, fire extinguishers, powder fire extinguishers, halon fire extinguishers, and carbon dioxide fire extinguishers. In addition, the safety pin removal and heavy weight (powder fire extinguisher weight 1.2 ~ 4.5kg) to solve problems that are difficult to use for children and elderly people, 600g inside and outside the container is broken by throwing fire extinguishing materials inside, But also in the form of a fire extinguisher. Portable fire extinguishers in the Philippines, which are distributed or sold to frequent slums, are configured to quell the fire early, allowing them to be placed in a plastic bag and carried as soon as they find it. The advanced apartment kitchen is equipped with an automatic spreading fire extinguisher installed on the ceiling. If the fire heat is detected, the thermal reaction fuse (around 70 ℃) melts and the nozzle is opened, spraying fire extinguishing agent I am trying to suppress it.

Patent Registration No. 10-1437323 Patent Registration No. 10-1566341 Patent Application No. 1020160012044

Recently, multi-copter drones, which are capable of hovering and have better flight stability than single-rotor helicopters, are increasingly being used. The reconnaissance drones equipped with cameras and LiDAR sensors are used not only for military use but also for industrial and fire (including forest fire) sites, contributing greatly to achieve the desired purpose. Fires, especially fires, spread rapidly around the fires, so early suppression is very important. There are many mountainous regions where firefighters can not enter firefighting area, and firefighting helicopters and airplanes are used to spray fire-fighting materials or water. However, in the case of a forest fire area, There is a limit to repression. To solve this problem, it can be considered to apply the fire fighting UAV (drone), but the fire fighting UAV is controlled by the firefighter with the remote control, and the fire extinguishing material is dropped and fired while flying safely It is expected to be difficult to align precisely to the target point (the burning position). At the same time, due to the loading of fire extinguishing materials and the launching equipment to suppress the fire, it is expected that when the payload and size of the drones increase, it will be difficult to enter the high-rise building and suppress the fire. The following problems must be solved in order to suppress the fire early by putting the drone into the fire site.

First, if you decide on the point of dropping and spraying of fire-fighting materials based on the image information sent to the camera sensor while stopping over the fire scene, it should be done automatically immediately and be dropped and sprayed to the target spot that is burning accurately. Controlling the drones with a remote control to fly near the target and then spraying the fire extinguishing material remotely and accurately spraying it to the target point (considering the fire suppression radius of about 2m) should take into account the influence of the wind, Technology. If the fire extinguishing material fails to reach the target point exactly, there is a problem that there is no fire suppression effect.

 Second, the drones equipped with fire-extinguishing materials should be provided as small as possible to pass through the windows of high-rise buildings. However, there is a problem in that the size and weight of the drone increases when a fire drill (including digestive coal) and a fire drill are mounted on the drone.

Third, because the fire is flying, the dron should not explode for a period of time, even if it is approaching the flame or in the flame. The drones are equipped with batteries, so there is a risk of explosion if they are exposed to flames for a long time.

Fourth, in order to suppress a fire in a building by using a dron, it is necessary to penetrate tempered glass of an apartment or a high-rise building and to enter the dron into the building. A fire extinguisher having a fire extinguishing agent built therein is formed in the fire extinguisher which is made up of a part of the shell type, And a primer to be connected thereto are formed. In particular, there is an invention example in which the digestive coal is made of a metal member so as to penetrate the tempered glass at any angle and enter the building.

Fifth, automatic spreading fire extinguisher installed on the ceiling automatically performs fire evolution when heat is sensed in the sensing area. When fire is detected in the same space, it is necessary to move (fly) and suppress fire automatically . A fire extinguisher installed in an office in a building must be operated by a person in case of fire. Even if there is no person, it is necessary to move (fly) and suppress fire automatically when a fire is detected in the same space.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and has been proposed in order to solve the above problems. 1) A fire extinguishing material (a container or a vinyl bag) (3) monitoring the fire scene image information sent from the camera sensor on the remote control screen, (4) flying the drones over the area (building) where fire suppression is required, and 5) If a fire suppression target is detected, landing at the target point like Kamikaze, 6) landing at the target point and spraying the bottom fire extinguishing material, 7) suppressing the fire at the landing point, On the basis of the achievement.

First, in order to discharge and distribute the fire extinguishing material at the target point which is burning accurately at the fire scene, the multi-copter drone capable of stopping flight arrives at the target point of the fire, and then it is set to land at the target point in the Kamikaze system do. The target point can be designated as a remote control device, but the dron can sense the flame and automatically recognize and land the point that needs to be evolved. The drones that can carry around 600g in weight are also sold for tens of thousands of won (including remote control devices).

Second, the drones equipped with fire extinguishing materials are configured to spray fire extinguishing materials while landing at positions where direct fire suppression is required, such as kamikaze, without fire extinguishing material dispensing and launch equipment, to make the drones as small as possible to pass through windows .

Third, since the drones are approaching the flame or flying in the flame, they should not explode for a certain period of time. The parts that may come into contact with the flame are configured to be coated with a flame retardant material and a flame retardant material. At the same time as landing, the container containing the extinguishing agent is first broken, spraying the extinguishing agent immediately to extinguish the fire. The design concept is a disposable drones in the form of a kamikaze that rushes toward the target, but it is constructed so that the gas can be recovered after the fire suppression and reused as much as possible. If the fire range is wide such as forest fires, it is possible to cooperate with many Kamikazai fire suppression drones at the same time, so that efficient fire suppression and suppression suppression lines can be constructed.

Fourth, in order to suppress the fire in the building by using the drones, instead of entering the inside of the apartment through the reinforced glass of the high-rise building by drone, a separate drone is installed to fire the shotgun, .

Fifth, by installing fire suppression drones in the form of Kamikazu instead of fixed fire extinguishers in the corners of facilities, if a fire is detected in the same space without a person, the camera sensor automatically recognizes the location of the fire, It is configured to spray the fire extinguishing material and automatically extinguish the fire. As such, when the fire is detected automatically, and the fire is suppressed by automatically flying to the ignition position, it is evaluated as a breakthrough invention in the development of the fire extinguisher technology.

As described above, according to the present invention, fire extinguishing materials are mainly mounted on the lower end of a drone, which is widely used in industries other than toys and hobbies, and which is inexpensive and high in performance, and is rapidly landed in a fire area like kamikaze, Is a disposable drones that extinguishes the fire accurately and quickly by spraying the fire extinguishing material. It is a disposable drone, but it is constructed so as to spray fire extinguishing material before landing, and it is constructed so that it can be recycled after fire extinguishment by landing in flame through application of flame retardant material and coating treatment to the body of the drone. Fires In particular, early and fast fire fighting is the most important factor, especially since fire damage increases rapidly over time. There is a limit to accuracy when spraying fire extinguishing materials using fire drill and fire equipment in drones, and there is a lot of time to waste time due to the nature of the fire scene that is urgent to return to base by remote control again. As in the present invention, it is possible to operate dozens of inexpensive kamikaze fire suppression drones on a disposable basis at the same time, so that when the landing fire extinguishing material is sprayed to the target point at the same time after constructing the suppression line in the fire, especially in the forest fire area, Fire can be suppressed. The present invention is expected to be a smart fire extinguisher that automatically recognizes a fire area with the camera sensor image information when a fire is detected and automatically flies to the area to suppress the fire in the early stage. The following effects are expected through this.

First, it solves the problem that a fire extinguisher which is obliged to be installed in a facility often can not operate when a fire occurs. When the fire is detected at the installation location, it automatically recognizes the fire area with the camera sensor image information and automatically flies it, landing at the ignition point, spraying the fire extinguishing material and suppressing the fire in the early stage. There is an effect that can evolve.

Secondly, the drones equipped with fire extinguishing materials (fire extinguisher) dropping and launching equipment are expensive because it is difficult to drop digestive bombs accurately at the target spot in an emergency fire scene, and it is manufactured on the premise of safety return by remote control. It is effective to prevent the situation that missed fire suppression time because it can not spray accurately on the target point if it is constructed so that it is landed in Kamikazai style and is sprayed with fire extinguishing material while it is in suspended flight over the fire target point.

Third, it is effective to suppress the fire at the same time after constructing the suppression line to prevent the fire spread because the fire spreads widely in a wide range. A single disposable Kamikaze fire drill can operate dozens of drones at the same time. After constructing a suppression line in a fire area, they can simultaneously land at the target point in Kamikaze, Spraying, and effectively suppressing the fire.

Fourth, landing in a flame with kamikaze system to accurately spray fire extinguishing materials at effective target points for fire suppression, but it is possible to recycle after fire suppression through application of flame retardant material and coating treatment to drone body. At the same time, it can be configured to transmit the satellite position coordinates to the remote control means when landing in the flame area.

FIG. 1 is a general form of a courier-type quadrupter drone image.
Figure 2 is an image of a fire drone equipped with a fire extinguisher.
The third figure is an image of a fire extinguisher that is used for general fire extinguishers and elderly people that are currently in use and a pocket fire extinguisher that is distributed to the slums in the Philippines.
FIG. 4 is a conceptual view of a fire extinguishing drones for fire fighting which can be operated in the fire area of the present invention.
5 is a block diagram of the Kamikaze fire suppression drones of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately in order to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The present invention is widely used in industries other than toys and hobbies, and is inexpensive because it is inexpensive (30,000 dongs including 30,000 dongs remote control equipment for toys). The drones are equipped with fire extinguishing materials at the bottom, It is a disposable drones that, like Kamikaze, land in a flame and spray fire-fighting material at the bottom, to extinguish the fire accurately and quickly. Fires In particular, forest fires increase rapidly over time, so early and accurate fire fighting is the most important. In the case of spraying fire extinguishing materials using fire drill and fire equipment in drone, there is a problem of low accuracy and waste of time to return to base by remote control due to the nature of emergency fire scene. As the present invention, it is possible to operate several dozens of Kamikase fire suppression drones that can be manufactured at low cost in a disposable manner, so that a fire suppression line is constructed in a fire, especially in a forest fire area, and at the same time, a landing fire- Can be configured. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 is a general form of a courier-type quadrupter drone image. As the courier dron transports goods while flying freely, it is expected to develop into a form that has a flying time of around 60 minutes, a payload of about 30kg, and stable flight performance even at wind speeds of 12m / s or higher. It is possible to create a Kamikaze fire suppression drones of the present invention by adding sensors for fire detection and installing a fire extinguishing substance and a fire extinguishing substance diffusion means in place of the product and developing a program suitable for fire suppression. Figure 2 is an image of a fire drone equipped with a fire extinguisher. There is an advantage of using drone, which is unmanned in the evolution of forest fire instead of limited manned airplane and helicopter, but it is limited charge payload, throwing digestive gun in exact position, flight control centered on firefighters, There is a limitation that it is difficult to simultaneously fire dozens of digested tanks and successively hit for effective fire suppression. The third figure is an image of a fire extinguisher that is used for general fire extinguishers and elderly people that are currently in use and a pocket fire extinguisher that is distributed to the slums in the Philippines. Although the general fire extinguisher (carbon dioxide, foam and others) is obliged to be installed in the separate spaces inside the facilities and buildings, fire extinguishers installed around 600g in weight that can spray the fire extinguishing materials when the children are thrown into the fire scene Are also allowed in day care centers. In the Philippines, a pocket fire extinguisher was deployed in the pocket to respond to frequent fires in the slums.

FIG. 4 is a conceptual view of a fire fighting drones of the Kamikaze type, which can be operated in the fire area of the present invention. 5 is a drones block diagram of the Kamikaze fire suppression system of the present invention. As fire, especially fire, does not evolve in the early stage, it is enlarged and the scale of damage is enlarged. Therefore, the Fire Department has decided to put forward the disaster prevention system that can detect fire early and reach the fire scene quickly and evolve. Forest fires are developed in complex patterns depending on the terrain, wind speed, wind direction, and humidity of the area in which they occur, as well as the type of trees. Programs for predicting the path and intensity of forest fires by time of day have also been developed. In the program ('3D firefight proliferation program'), when inputting ignition information and climate information, the forest fire path, damage area and evolutionary obstruction line according to terrain and tree type are displayed in real time. In May 2016, the Canberra Alberti Wildfire failed to evolve in the first half of the year, and it was announced that the insurance premiums paid by insurance companies amounted to 8 trillion won. Since the early evolution of fire is absolute, fire extinguishers and essential fire-fighting facilities are obliged to be installed by law. However, there is a problem that fire extinguishment that occurs when there are no people in mountains, high-rise buildings and buildings is difficult to respond to with fire extinguishers. In order to solve this problem, the Korean Forest Service is piloting a drone that drops digestive coal. However, it is difficult to drop the digestion gun (fire suppression radius about 2m) precisely at the target point by the remote control from the dron with the digestion shot and launch equipment, and it is difficult to return the dron to the base by remote control after the digestion It is not suitable due to the nature of the fire scene. Also, it is expensive because it is produced by remote control on the premise of return.

In order to solve the above problems, the present invention proposes a fire suppression dron for landing in a flame area by a disposable drones or kamikaze type to spray fire extinguishing materials. In other words, the drones that are widely used in industries other than toys and hobbies, are equipped with fire extinguishing materials at the bottom of the drones, which are inexpensive and high-performance, and fly quickly to the fire area. They are landed in a flame by Kamikaze It is a disposable drones that extinguish the fire accurately and quickly by spraying the material. It is a disposable drone, but it can be constructed so as to spray fire-extinguishing material before landing in a flame area, and to land in the flame through application of flame retardant material and coating treatment to the dron fuselage in contact with the flame, have. In addition, in order to solve the problem that a fire extinguisher that is obligatory in a facility is often unable to operate when a fire occurs, the fire area is automatically recognized by the camera sensor image information when the fire is detected at the installation location, By automatically flying, landing at the ignition point, spraying fire-extinguishing materials and developing a 'fire-fighting fire extinguisher' that initially suppresses the fire, the fire of the facility can evolve early.

The drones for fire suppression according to the present invention are: (1) a fire suppression dron operated by a firefighter as a remote control device at a fire site; (2) a remote operation for initial fire suppression at a fire control center, A fire-fighting drones, and ③ a fire-fighting fire drone equipped with drones. First, in a UAV (or a drone) that suppresses a fire, a plurality of propeller drive motors 9 control the rotation of each propeller 8 to have a function of flying or stopping (including hovering) drone; Satellite coordinate receiver means for controlling the flight path and attitude of the drones, inertial sensor means, flight control computer means (10); A drones camera sensor (11) means for observing a fire scene; Wireless communication means (12) for transmitting the information of the camera sensor (11) and the satellite coordinate receiver to the remote control device (16) and transmitting signals for controlling the drones in the remote control device (16) at the remote location; Means for installing a fire extinguishing material (19) on the drones for fire suppression; The camera sensor 11 automatically recognizes the position where the fire extinguishing material 19 should be sprayed for fire suppression or the evolution button 14 of the remote control device 16 that monitors the information of the camera sensor 11 of the drones ); Means for landing in a flame of the target point set for fire suppression in the air above the flying and stopping flights; The fire extinguishing material spreading means 18 is actuated to spray the extinguishing substance 19 to evolve the fire. It is possible to provide a drones, a remote control device and a corresponding fire fighting system system, which are equipped with fire extinguishing materials and landed in a fire area in Kamikaze style to suppress the fire. A second docking station installed in outdoor and mountainous areas for fire suppression, which is installed in an outdoor and mountainous area, a docking station in the form of a vertical structure in which a UAV for fire suppression stands by, and a plurality of propeller drive motors 8 A dron having a function of controlling the rotation of each propeller 9 to fly or stop (including hovering) to a desired position; Satellite coordinate receiver means, inertial sensor means, flight control computer means (5) and camera sensor (11) means for controlling the flight path and attitude of the drones; Wireless communication means (12) for transmitting the information of the camera sensor (11) and the satellite coordinate receiver to the remote control device (16) and transmitting signals for controlling the drones in the remote control device (16) at the remote location; Means for installing a fire extinguishing material (19) on the drones for fire extinguishing; When a fire is detected in the flame and fire detection sensor 15 of the docking station or the drones, the propeller 8 is rotated to fly out of the docking station and spray fire extinguishing material 19 Means for automatically identifying the position with the camera sensor means 11 or with the evolution button 14 of the remote control device 16 monitoring the camera sensor 11 information of the drones; Means of landing in the Kamikaze style in the flame of the target point set for fire suppression in the airspace flying and stopping; The fire extinguishing material diffusion means 18 is operated to fire the extinguishing substance 6 to evolve the fire. Through this, it is possible to provide a dron, a remote control device, and a corresponding fire fighting system system that are waiting at a docking station and land in a fire area in a kamikaze style to suppress a fire. Thirdly, in a UAV that suppresses a fire in the room, a rotation of each propeller 8 is controlled by a docking station in which a UAV for fire suppression installed in the room stands and a plurality of propeller drive motors 9, A dron with the ability to fly or stop flying (including hovering); Inertial sensor means for controlling the flight path and attitude of the drones, flight control computer means 5, flame and fire occurrence detection sensor 15, camera sensor 11 means; Means for installing a fire extinguishing material (19) on the drones for fire suppression; When the fire or fire detection sensor 15 senses the occurrence of a fire, the propeller 8 is rotated to fly out of the docking station and the fire extinguishing material 19 is sprayed for fire suppression Means for automatically recognizing by the camera sensor (11) means; Means of landing in the Kamikaze style in the flame of the target point set for fire suppression at the position where it is flying and stopping; The fire extinguishing material spreading means 18 is actuated to spray the extinguishing substance 19 to evolve the fire. Through this, it is possible to provide the drones and the corresponding fire fighting system system which mount fire extinguishing materials and land in the fire area by kamikaze fire to suppress the fire in the room.

 In this case, it is possible to dispose the extinguishing material 19 at the lower end of the dron so that the extinguishing material 19 is sprayed before the drones land. Or means for installing the fire extinguishing material spreading means 18 and fire extinguishing material 19 on the drone; Means for determining the effective time for fire suppression; The fire extinguishing material diffusion means 20 may be operated to spray the fire extinguishing material. Or means for setting a height effective for extinguishing the fire when spraying the extinguishing material (19) as means for judging an effective time for fire suppression; Means for measuring the distance from the ground to ultrasonic sensors and camera sensors of the drone; When the set height is reached, the fire extinguishing material spreading means 18 can be operated to spray the fire extinguishing substance 19. Or means for installing a collision detection sensor in the drones to detect collision with the target; When the collision detection sensor detects a collision occurrence signal with the target, the fire extinguishing substance diffusion means 18 may be operated to spray the fire extinguishing substance 19. [ In this case, the dron body and the propeller 8 exposed to the flame are made of a flame retardant material or coated with a flame retardant material in the process of landing in a fire-generating area and suppressing a fire in a Kamikaze system. The position coordinate data of the satellite coordinate receiver is transmitted to the remote control device 16 when the ground is landed in the fire occurrence area in order to suppress the fire, and the drones are searched in the corresponding position coordinates after the fire suppression. Or means for installing a microphone sensor and a speaker 13 on the drones; Means for transmitting a sound (for example, a rescue request) generated in a fire occurrence area to a remote control device 16 through a microphone sensor; Alternatively, the remote control device 16 may be configured to output a message (for example, an evacuation broadcast) to a speaker in a message to be transmitted to a fire occurrence area. Or, in the process of landing in a fire area and fighting the fire in the Kamikaze style, after the spraying of the fire extinguishing substance (19) in the drone (10 ~ 20 seconds in the case of general fire extinguisher) And to send the fire scene image data of the camera sensor 11 to the remote control device 16 via the wireless communication means 12. Or means for installing a first fire extinguishing substance spreading means (18) and a first fire extinguishing substance (19) on the drone; Means for additionally providing a second fire extinguishing agent and a second fire extinguishing agent to the drones; Means for operating the first fire extinguishing material spreading means (20) to dispense the first fire extinguishing substance; And means for operating the second fire extinguishing agent diffusion means and spraying the second fire extinguishing substance when the fire at the landing point is not suppressed. Alternatively, the fire extinguishing substance spreading means 18 may be provided with an explosion and explosion means inside the container or plastic bag containing the fire extinguishing substance 19, or may be blown from the outside to break the container or the vinyl bag , Or a method of opening the nozzle in a container or a plastic bag provided with a nozzle may be applied to spray the extinguishing material 19. Alternatively, instead of the fire-extinguishing-substance spreading means 18 and the fire-extinguishing material 19, a plate or cloth of a fireproof material having an area covering the flame area of a certain scale at the lower end of the dron, A means for installing the device; Means for automatically recognizing the flame area by means of the camera sensor (11) or landing in the Kamikaze style toward the flame area by the control of the remote control device (16) Means for blocking the air in the landing flame area and waiting for the flame to turn off; When the flame is off, means of taking off into the area of the flame; It is possible to arrange to suppress the fire by repeating the process of landing in the flame area and taking off to the sky.

 The remote control device 16 includes means for displaying the image of the camera sensor 11 and satellite coordinate information sent from the Kamikaze fire suppression drones on the screen of the remote control device 16; A flight control operating means (17) for controlling the speed and direction of the Kamikaze type fire suppression drones; An evolution button 14 for instructing the landing position and timing of the Kamikaze fire suppression dronion while viewing camera image information; When the evolving button 14 is operated, the fire extinguishing substance spreading means 18 is operated while the Kamikaze fire suppression drones are landing, and the fire extinguishing substance 19 is sprayed. The remote control device 16 is configured to reproduce the audio data sent from the microphone sensor 13 of the Kamikaze type fire suppression drones by the audio output means. Alternatively, the remote control apparatus 16 may store the image information or the positional information transmitted from the fire fighting drones 1 in the kamikaze fire extinguisher 1 in the memory means so as to be used for fire cause analysis.

When a fire occurs, the Fire Department sets up an evasion line. Evolutionary baselines are most effective at simultaneously or sequentially evolving, but there is no way to combat the current firefighting technology and systems at the same time from mountainous terrain, which is difficult for humans to approach. In order to solve this problem, the present invention proposes a method of operating dozens to hundreds of Kamikaze fire suppression drones which are inexpensive and disposable in concept. It is possible to effectively suppress the fire by constructing an evasion line in a fire, especially in a forest fire area, and then landing dozens of drones in a stopping flight over the stoppage line, . That is, means for flying a plurality of kamikazai fire suppression drones into a fire zone in fire suppression using a drones; Means for setting a plurality of locations for dispensing the extinguishing material (19) for fire suppression; Means for allowing each of the drones to fly above the location to stand by in a stationary flight state; Means for depressing the evolution button (14) in the remote control device (16) for monitoring the camera sensor (11) information of the drones; Each dron is a means of landing like a kamikaze in the flame of each target point set for fire suppression in the air above and beyond the flight; Each of the drones is configured to activate the fire extinguishing material diffusion means 18 to simultaneously or sequentially spray the extinguishing material 6 to evolve the fire into collaboration.

 The present invention relates to a fire extinguisher, a fire extinguisher, a fire suppression drones, a fire suppression dynamo, a fire suppression dynamo, System ', it is expected to contribute greatly to the development of human fire protection technology.

1: Kamikaze fire suppression dron 2: Propeller
3: propeller drive motor 4: camera sensor
5: Flight control computer 6: Extinguishing material
7: Remote control device 8: Propeller
9: drive motor 10: flight control computer means
11: camera sensor 12: wireless communication means
13: Microphone sensor and speaker 14: Evolution button
15: Flame and fire detection sensor 16: Remote control device
17: Flight control operating means 18: Diffusion material (spreading) means
19: Extinguishing media

Claims (18)

In the UAV, which suppresses the fire,
A dron having a function of controlling the rotation of each propeller 8 by a plurality of propeller drive motors 9 to fly or stop to a desired position (including hovering);
Satellite coordinate receiver means for controlling the flight path and attitude of the drones, inertial sensor means, flight control computer means (10);
A drones camera sensor (11) means for observing a fire scene;
Wireless communication means (12) for transmitting the information of the camera sensor (11) and the satellite coordinate receiver to the remote control device (16) and transmitting signals for controlling the drones in the remote control device (16) at the remote location;
Means for installing a fire extinguishing material (19) on the drones for fire suppression;
The camera sensor 11 automatically recognizes the position where the fire extinguishing material 19 should be sprayed for fire suppression or the evolution button 14 of the remote control device 16 that monitors the information of the camera sensor 11 of the drones );
Means for landing in a flame of the target point set for fire suppression in the air above the flying and stopping flights;
A drones and a remote control device are mounted on the fire area by a fire extinguishing material which is equipped with a fire extinguishing material which is characterized in that the fire extinguishing material diffusion means (18) Devices and their Fire Systems
In a fire fighting UAV that is installed and operated in outdoor and mountainous areas,
A docking station in the form of a vertical structure installed in the outdoor and mountainous areas and waiting for the fire fighting UAV
A dron having a function of controlling the rotation of each propeller (9) by a plurality of propeller drive motors (8) to fly or stop to a desired position (including hovering);
Satellite coordinate receiver means, inertial sensor means, flight control computer means (5) and camera sensor (11) means for controlling the flight path and attitude of the drones;
Wireless communication means (12) for transmitting the information of the camera sensor (11) and the satellite coordinate receiver to the remote control device (16) and transmitting signals for controlling the drones in the remote control device (16) at the remote location;
Means for installing a fire extinguishing material (19) on the drones for fire extinguishing;
When a fire is detected in the flame and fire detection sensor 15 of the docking station or the dron, the propeller 8 is rotated to fly out of the docking station,
The camera sensor means 11 automatically recognizes the position where the fire extinguishing material 19 is to be sprayed for fire suppression or the evolution button 14 of the remote control device 16 that monitors the information of the camera sensor 11 of the drones );
Means of landing in the Kamikaze style in the flame of the target point set for fire suppression in the airspace flying and stopping;
And a fire extinguishing material (6) is sprayed by operating the fire extinguishing material spreading means (18) to evacuate the fire. The drones and the remote control Devices and their Fire Systems
In a UAV that suppresses fire in the room,
Indoor docking station with fire fighting UAV
A dron having a function of controlling the rotation of each propeller 8 by a plurality of propeller drive motors 9 to fly or stop to a desired position (including hovering);
Inertial sensor means for controlling the flight path and attitude of the drones, flight control computer means 5, flame and fire occurrence detection sensor 15, camera sensor 11 means;
Means for installing a fire extinguishing material (19) on the drones for fire suppression;
When a fire is detected in the indoor fire detection facility or the fire and fire occurrence detection sensor 15 of the drones, the propeller 8 is rotated to fly out of the docking station,
Means for automatically recognizing, by means of the camera sensor (11), a position at which a fire extinguishing substance (19) is to be sprayed for fire suppression;
Means of landing in the Kamikaze style in the flame of the target point set for fire suppression at the position where it is flying and stopping;
A dron which loads a fire extinguishing material and emits fire extinguishing material 19 by operating the fire extinguishing material spreading means 18 and landing in a fire area by a kamikaze fire extinguisher Fire System System
The method according to any one of claims 1 and 2 and 3,
A fire extinguishing material (19) is disposed at the lower end of the dron
And a fire extinguishing material (19) is sprayed before the drones are landed. The drones, the remote control device, and the corresponding fire control system
The method according to any one of claims 1 and 2 and 3,
Means for installing the fire extinguishing material spreading means (18) and fire extinguishing material (19) on the drone;
Means for determining the effective time for fire suppression;
And a fire extinguishing material spreading means (20) is operated to spray the extinguishing material (19). The drones, remote control devices and corresponding fire control system
6. The method of claim 5,
As a means to determine the effective time for fire suppression,
Means for setting a height effective for extinguishing the fire when spraying the extinguishing material (19);
Means for measuring the distance from the ground to ultrasonic sensors or camera sensors of the drone;
When the set height is reached
The fire extinguishing material spreading means 18 is actuated to spray the fire extinguishing material 19, the fire extinguishing material 19 is landed in the fire occurrence area,
6. The method of claim 5,
Means for installing a collision detection sensor in the drones for detecting a collision with a target;
When a collision occurrence signal is detected by the collision detection sensor,
A drones, a remote control device, and a corresponding fire control system (not shown) that land in a fire-generating area and fire in a kamikaze system characterized by including a fire extinguishing substance spreading means 18,
The method according to any one of claims 1 and 2 and 3,
In the process of landing in the area where the fire occurred in the Kamikazai style and suppressing the fire, the dron fuselage, frame and propeller (8) exposed to the flame
It is made of flame retardant material or it is coated with flame retardant material. It is a type of kamikaze system which is composed of drones, remote control device and corresponding fire system
The method according to any one of claims 1 and 2 and 3,
When landing in a fire area in Kamikaze for fire suppression,
The position coordinate data of the satellite coordinate receiver is transmitted to the remote control device 16
And the drones are located at the corresponding position coordinates after the fire suppression, so that the drones, the remote control device, and the corresponding fire control system
The method according to any one of claims 1 and 2 and 3,
Means for installing a microphone sensor and a speaker (13) on the drones;
Means for transmitting sound generated in a fire occurrence area to a remote control device (16) by a microphone sensor; or,
And a remote control device (16) for outputting a message to the speaker in the form of a message to be transmitted to a speaker. The remote control device and the corresponding fire control system
The method according to any one of claims 1 and 2 and 3,
In the process of landing in the fire area and suppressing the fire in Kamikaze style,
After the fire drill (19) is sprayed from the drone (10-20 seconds for continuous fire in the case of general fire extinguishers)
Take off to the top of the fire area
(12) to the remote control device (16), characterized in that the remote control device (16) is configured to send the fire scene image data of the camera sensor (11) to the remote control device (16) Devices and their Fire Systems
The method according to any one of claims 1 and 2 and 3,
Means for installing a first fire extinguishing substance spreading means (18) and a first fire extinguishing substance (19) on the drone;
Means for installing a second fire extinguishing material diffusion means and a second fire extinguishing material on the drone;
Means for operating the first fire extinguishing material diffusion means (20) to dispense the first fire extinguishing material to the landing site;
If the fire at the landing point is not suppressed,
The second fire extinguishing material diffusing means is operated to spray the second fire extinguishing material, and the second fire extinguishing material diffusing means is operated to spray the second fire extinguishing material.
The method according to any one of claims 1 and 2 and 3,
The extinguishing medium diffusion means 18
The explosive and explosive means may be installed in the container or plastic bag containing the extinguishing material 19,
Or, it may be possible to break the container or plastic bag by blowing it from the outside,
Alternatively, in a manner that the nozzle provided with the nozzle or the nozzle of the vinyl bag is opened,
And a fire extinguishing material (19) is sprayed on the surface of the fire extinguishing material (19)
The method according to any one of claims 1 and 2 and 3,
Instead of the fire extinguishing material spreading means 18 and the fire extinguishing substance 19
A plate of nonflammable material having an area covering the flame area of a certain scale at the bottom of the drones, or means for installing fabrics and plastics, or a fine mesh;
In the air above the fire area
Means for automatically recognizing the flame area with the camera sensor (11) or landing in the Kamikaze style toward the flame area by the control of the remote control device (16);
Means for blocking the air in the landing flame area and waiting for the flame to turn off;
When the flame is off, means of taking off into the area of the flame;
Wherein the fire control system is configured to suppress the fire by repeating the process of landing into the flame area and taking off to the airspace.
The method according to any one of claims 1 and 2 and 3,
The remote control device 16
Means for displaying the image of the camera sensor (11) and the satellite coordinate information sent from the fire suppression drones of the Kamikaze type on the screen of the remote control device (16);
A flight control operating means (17) for controlling the speed and direction of the Kamikaze type fire suppression drones;
An evolution button 14 for instructing the landing time of the Kamikaze fire suppression drones while viewing camera image information;
Wherein when the evolution button (14) is operated, the fire extinguishing substance spreading means (18) is operated while the kamikazai fire suppression drones are landing so as to spray the fire extinguishing substance (19) Remote control device
16. The method of claim 15,
The remote control device 16
And the audio data sent from the microphone sensor (13) of the fire suppression drones of the Kamikaze type is reproduced by the audio output means. The remote control device of the Kamikaze type fire suppression drones
16. The method of claim 15,
The remote control device 16
A remote control device of a Kamikaze fire suppression drones, which provides a function of storing image information or position information, which is characterized by storing image information or position information transmitted from a Kamikaze fire drill drone in a memory means
In fighting fire using drone,
Means for flying a plurality of Kamikaze fire suppression drones into the fire area;
Means for setting a plurality of locations for dispensing the extinguishing material (19) for fire suppression;
Means for allowing each of the drones to fly above the location to stand by in a stationary flight state;
Means for depressing an evolution button (14) for commanding evolution from a remote control device (16) monitoring the camera sensor (11) information of the drones;
Each of the drones is a means of simultaneous or sequential landing in Kamikaze style in the flame of each target point set for fire suppression in the air above and below the stopping flight;
Each of the drones is operated by a fire extinguishing substance spreading means 18 to spray a fire extinguishing substance 6 to evolve the fire into collaboration. The fire extinguishing material 6 is simultaneously or sequentially landed at a target point in a kamikaze manner, Co-ordinated drones and corresponding fire fighting systems to suppress spray fires

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