KR20180089935A - Unmanned fire suppression simulation apparatus and unmanned fire suppression simulation method - Google Patents

Abstract

The present invention relates to an unmanned fire extinguishing simulation device and a method thereof. The unmanned fire extinguishing simulation device comprises: a body unit; a sensor unit which is placed in the front side of the body unit, and includes a first sensor for sensing a distance in a proceeding direction, and a second sensor for sensing surrounding heat; an operating unit which is placed inside the body unit, and includes a first operating motor for regulating the first sensor, a second operating motor for regulating the spraying angle and spraying of a fire extinguisher, and a third operating motor for moving the device in four directions; and a control unit which is mounted inside the body unit in order to control the sensor unit and the operating unit, controls the second sensor to sense the surrounding heat during the operation of the third operating motor while sensing the distance in the proceeding direction through the first operating motor and the first sensor, and controls to spray a fire extinguishing agent filled in the fire extinguisher by regulating the spraying angle and spraying through the second operating motor when the surrounding heat is sensed. Therefore, hardware and soft ward composition can be simulated for education in order to implement the unmanned fire extinguishing device.

Description

FIELD OF THE INVENTION [0001] The present invention relates to an apparatus for simulating an unmanned fire suppression,

FIELD OF THE INVENTION The present invention relates to an unmanned fire fighting simulation apparatus and method for simulating a hardware configuration and a software configuration for education in order to implement a fire fighting apparatus without an unmanned fire.

As is well known, in the 21st century, robot technology has made remarkable progress, and the fields and fields in which robots are used are also expanding rapidly. If the previous robots were used only in the engineers field, And is expanding its use area throughout its life.

Especially, firefighting robots designed to suppress fire by unmanned people are changing the working environment and suppressing environment of firefighting organizations in the front line. Now, they can be put into direct fire suppression in the field of fire to suppress fire .

These fire-fighting robots collect various kinds of information about the fire, provide information about the concentration of the fire or toxic gas, and provide various hardware configurations (for example, a mobile platform, a robot arm , A camera, various sensors, etc.).

Accordingly, various attempts have been made to simulate various hardware configurations and various software configurations (for example, computer programming, etc.) for a device for suppressing a fire by unattended use.

1. Korean Patent Publication No. 10-2011-0108858 (June 10, 2011) 2. Korean Patent No. 10-0770655 (October 22, 2007)

The present invention provides an unmanned fire suppression simulation apparatus and method for simulating a hardware configuration and a software configuration for education in order to implement a device for suppressing a fire by unattended operation.

In addition, the present invention proposes a hardware configuration including a control unit, a sensor unit, a driver, and the like, and by designing a software configuration including processing of sensing information provided through a sensor unit and control commands of the control unit according to the hardware configuration, The present invention provides an unmanned fire fighting simulation apparatus and method for establishing a hardware configuration and simulating a software configuration corresponding to the hardware configuration.

The objects of the embodiments of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description .

According to an aspect of the present invention, there is provided a sensor apparatus including a body portion, a sensor portion disposed in front of the body portion, the sensor portion including a first sensor for sensing a distance in a traveling direction and a second sensor for sensing a surrounding heat, A driving unit including a first driving motor for controlling the first sensor, a second driving motor for controlling the spraying angle and the spraying of the fire extinguisher, and a third driving motor for moving the apparatus in the longitudinal and lateral directions, And a control unit for controlling the sensor unit and the driving unit mounted on the inside of the body unit and driving the second sensor while advancing through the third driving motor while sensing a distance in the traveling direction through the first driving motor and the first sensor, And controls the injection angle and injection through the second drive motor to detect the heat of the surrounding fire through the fire extinguisher, There is unattended fire fighting simulation apparatus including a control unit that controls to jet can be provided.

According to an aspect of the present invention, the unmanned fire fighting simulation apparatus may further include a display unit for displaying sensing information and operation information transmitted from the control unit.

According to an aspect of the present invention, the first driving motor and the second driving motor may be provided as servo motors, and the third driving motor may be provided as a stepping motor to simulate an unmanned fire suppression simulation .

According to an aspect of the present invention, the controller may be provided with an unmanned fire fighting simulation apparatus for programming using AVR Studio.

According to another aspect of the present invention, there is provided a method for simulating an unmanned fire fighting apparatus, comprising the steps of: when an input signal for selecting an automatic driving environment is inputted in an idle mode of an unmanned fire suppression simulation apparatus, The method comprising the steps of: sensing a surrounding heat through the second sensor of the sensor unit and checking whether the ambient temperature exceeds a reference temperature during the operation of operating the controller; and checking whether the reference temperature is exceeded, The control unit controls the second drive motor of the driving unit according to the initial setting condition to inject the extinguishing agent filled in the extinguisher into the fire generation area, and when the fire suppression operation of the unmanned extinguishing pressure simulation apparatus is completed , And performs autonomous running and fire monitoring according to the initial setting conditions An unattended fire suppression simulation method can be provided.

According to another aspect of the present invention, there is provided a method for simulating an unmanned fire suppression system, comprising the steps of: when an input signal for selecting a manual driving environment is input in a standby mode of an unmanned fire fighting simulation apparatus, Further comprising the step of performing an operation control by receiving an operation signal from the paired mobile device after pairing with the mobile device through short-range wireless communication, and performing an unmanned fire suppression simulation method.

According to another aspect of the present invention, the initial setting condition may include an unmanned fire suppression simulation method including an ultrasonic sensor program setting, a thermal sensor program setting, a spray angle setting, a spray control setting, and a stepping motor setting have.

According to another aspect of the present invention, the initial operation according to the initial setting condition may include detecting an obstacle in a traveling direction through a first sensor of the sensor unit in a designated fire monitoring area, An unmanned fire suppression simulation method for monitoring a fire while autonomously traveling in a manner of avoiding an obstacle can be provided through the second drive motor.

The present invention can provide an unmanned fire fighting simulation apparatus and method for simulating a hardware configuration and a software configuration for education in order to realize a device for suppressing a fire by unmanned fire.

In addition, the present invention provides a hardware configuration including a control unit, a sensor unit, a driver, and the like, and by designing a software configuration including processing of sensing information provided through a sensor unit and control commands of the control unit according to the hardware configuration, A hardware configuration can be established, and a software configuration corresponding to the hardware configuration can be applied and simulated.

FIGS. 1A and 1B are views illustrating an unmanned fire fighting simulation apparatus according to an embodiment of the present invention,
2 to 13 are views for explaining a hardware configuration and a software configuration of an unmanned fire fighting simulation apparatus according to an embodiment of the present invention,
FIG. 14 is a flowchart illustrating a simulation process of an unmanned fire suppression according to another embodiment of the present invention.

Advantages and features of embodiments of the present invention and methods of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIGS. 1A and 1B are views illustrating an unmanned fire suppression simulation apparatus according to an embodiment of the present invention. FIGS. 2 to 13 are diagrams illustrating a hardware configuration and software configuration of an unmanned fire suppression simulation apparatus according to an exemplary embodiment of the present invention. Fig.

1A, 1B and 2 to 13, an unmanned fire suppression simulation apparatus according to an embodiment of the present invention includes a body 110, a sensor 120, a driver 130, Omitted), a display unit 130, and the like.

The main body 110 is mounted on each component of the unmanned fire suppression simulation apparatus in the form of a rectangular block and includes a plurality of support frames 112 provided at an upper portion of a rectangular block and a sensor unit 120 And a front right wheel 132 and a front right wheel 134 are provided on both front sides of the fire extinguisher 10. The front left wheel 132 and the front right wheel 134 are disposed at the rear lower end, A rear wheel 136 may be provided.

In addition, the front upper portion of the plurality of support frames 112 may be provided with an illumination light 116 for emitting light in the traveling direction.

The sensor unit 120 may include a first sensor 122 for sensing the distance in the traveling direction and a second sensor 124 for sensing the surrounding heat. The first sensor 122 and the second sensor 124 can be stably supported on a plurality of support frames or support plates and installed at desired positions.

Here, the first sensor 122 is an ultrasonic sensor that senses the distance in the traveling direction of the unmanned fire fighting simulation apparatus. The ultrasonic sensor generates an ultrasonic wave (velocity: 340 m / s) The distance to the target object can be calculated by the following Equation 1 by calculating the time of the reflected wave.

Here, t is the time (s) at which the reflected wave arrives, L is the distance (m) to the object, and Vs is the sound velocity (m / s).

For example, as shown in FIG. 2, when a pulse is output from the sender of the ultrasonic sensor for a short time, the output ultrasonic wave reaches the object and is reflected and returned (+) / (-) line for power supply and a signal line for 1-5V output to the control unit as a 3-wire sensor. It can be connected to the ADC port of the control board.

If the sound velocity Vs is 340 m / s and the distance to be measured is 1 m, if the sound velocity Vs is 331.5 + 0.6 T and T is the temperature (占 폚) The time t required to perform the above operation becomes '(2 * 1) /340=5.8824*10 ^-3 '. That is, it can be seen that the time taken for the ultrasonic wave to travel over a distance of 1 m is 5.8824 ms.

The first sensor 122, which is an ultrasonic sensor as described above, may be provided at least two in the advancing direction (that is, in the forward direction of the fire extinguisher 10) to accurately detect an object located in front of the first sensor 122, A front center portion, and a front side portion.

In addition, the second sensor 124 is a thermal sensor that senses the surrounding heat of the unmanned fire suppression simulation apparatus, and can measure the temperature without contacting the thermal sensor with the object. The radiation energy Radiation energy) of the object can be detected.

For example, as shown in Fig. 3, the radiation energy emitted from the measurement object is collected in the optical system, the radiation energy collected through the detector is converted into an electrical signal, and the radiation characteristic of the object is matched with the thermometer calibration , And the temperature can be measured by compensating the ambient temperature so that changes in the internal temperature of the thermometer due to the ambient temperature do not affect the accuracy.

The second sensor 124, which is a thermal sensor as described above, may be provided at the center of the traveling direction (i.e., the forward direction of the fire extinguisher 10).

The drive unit 130 includes a first drive motor for controlling the first sensor 122 and a second drive motor for controlling the injection angle and injection of the fire extinguisher 10, And a third drive motor for moving the device in the longitudinal, lateral, and lateral directions.

Here, the first driving motor is a servo motor for adjusting the first sensor 122, which is an ultrasonic sensor, and the second driving motor is a servo motor provided for adjusting the injection angle and the injection of the fire extinguisher 10, Two for adjusting the spraying angle of the extinguisher 10 and two for adjusting the spraying of the extinguisher 10 are provided so that the ultrasonic sensor control, The injection angle of the fire extinguisher 10, the injection control of the fire extinguisher 10, and the like.

Meanwhile, the third driving motor is a stepping motor provided to freely move the unmanned fire suppression simulation apparatus in the forward, backward, leftward and rightward directions. The stepping motor generates a clock for driving the motor in the microcontroller as shown in FIG. 4, The sequence generator generates a step signal for driving the stepping motor on the basis of the input clock. The current driver drives the stepping motor by amplifying the step signal by the voltage / current for driving the motor, The front left wheel 131, the front right wheel 132, and the rear wheel 133 provided in the front wheels 131 and 132, respectively.

The driving of the servomotor and the stepping motor has been variously disclosed in the related art, and a detailed description thereof will be omitted.

The second drive motor for adjusting the injection angle of the extinguisher 10 as described above is connected to the support 134 supporting the injection tube 12 of the extinguisher 10 to raise or lower the support 134, The fire angle of the fire extinguisher 10 can be adjusted and the fire extinguisher 10 can be stably stably installed in the seating recess provided in the unmanned fire fighting simulation apparatus.

The second drive motor for controlling the injection of the extinguisher 10 is connected to the ejection lever 14 of the extinguisher 10 to pull the ejection lever 14 (that is, push downward) It is possible to spray the extinguishing agent filled in the inside of the container.

Although not shown in detail, the control unit is mounted inside the unmanned fire suppression simulation apparatus to control the sensor unit 120 and the driving unit 130, and senses the distance in the traveling direction through the first driving motor and the first sensor 122 The control unit controls the second sensor 124 to detect the surrounding heat through the third driving motor while controlling the spraying angle and the spraying through the second driving motor when the surrounding heat is sensed, ) Can be controlled to spray the extinguishing agent.

The controller may control the display unit 130 to display and transmit various kinds of sensing information (for example, a distance to an obstacle, a heat sensing temperature, etc.) transmitted from the sensor unit 120, (For example, fire extinguisher injection angle, fire extinguisher injection status, etc.) to the display unit 140 and display it.

For example, the control unit may be designed in the same manner as the circuit diagram shown in Fig. 5. The first sensor 122 is controlled by applying the ultrasonic sensor drive program as shown in Fig. 6, The second sensor 124 is controlled by applying a thermal sensor drive program as shown in FIG. 8, and the second drive motor is controlled so that the extinguishing agent of the extinguisher 10 can be injected according to the injection angle range as shown in FIG. 8 .

9, the motor rotates in accordance with the timer speed. In this way, the control unit adjusts the delay in the main function, The front left wheel 132, the front right wheel 134, and the rear wheel 136 shown in FIG. 10 can be adjusted to control the third driving motor so as to freely move in the forward, backward, left, and right directions.

For example, the control unit can control the unmanned fire fighting simulation apparatus as shown in FIG. 11 by using programming software such as AVR Studio, for example. In this case, two motor drive signals, three ultrasonic sensors, A program for processing information on an obstacle detected through a thermal sensor, and the like can be created. Of course, the control unit can monitor various information for operating the unmanned fire fighting simulation apparatus and can program various operations corresponding to the monitoring information (e.g., movement, sensor control, injection control, etc.).

On the other hand, a control board as shown in Fig. 12 can be mounted on the control unit, and the wiring relationship with each constituent unit can be configured as shown in Fig.

The control unit may control the operation of the apparatus according to the initial setting conditions including the setting of the ultrasonic sensor program, the setting of the thermal sensor program, the setting of the injection angle and the injection adjustment, and the setting of the stepping motor. The controller 130 senses an obstacle in the traveling direction through the first sensor 122 of the unit 120 and monitors the fire while autonomously traveling in a manner of avoiding obstacles through the third driving motor of the driving unit 130 having the stepping motor .

The display unit 140 includes an LCD, an OLED, and the like. The display unit 140 may include various kinds of sensing information (for example, a distance to an obstacle, a heat sensing temperature, etc.) and operation information (for example, Whether it is sprayed, etc.) can be displayed. The display unit 140 may be provided on the rear side of the unmanned fire suppression simulation apparatus to provide various types of information.

The unmanned fire fighting simulation apparatus as described above can be connected to other communication terminals (i.e., mobile devices) through a short-range wireless communication with a communication module such as a Bluetooth module mounted thereon. Through the robot driving application installed in the mobile device, It is needless to say that various operation controls such as adjusting the suppression simulation device, providing various information from the unmanned fire suppression simulation device, and the like can be performed.

Accordingly, the present invention can provide an unmanned fire fighting simulation apparatus capable of simulating hardware configuration and software configuration for education in order to implement a device for suppressing a fire by unmanned fire.

In addition, the present invention proposes a hardware configuration including a control unit, a sensor unit, a driver, and the like, and by designing a software configuration including processing of sensing information provided through a sensor unit and control commands of the control unit according to the hardware configuration, A hardware configuration can be established, and a software configuration corresponding to the hardware configuration can be applied and simulated.

Next, a process for simulating the hardware configuration and the software configuration in the unmanned fire suppression simulation apparatus having the above-described configuration will be described.

FIG. 14 is a flowchart illustrating a simulation process of an unmanned fire suppression according to another embodiment of the present invention.

14, in a control unit (not shown), an input signal (for example, an automatic driving environment selection, a manual driving environment selection, or the like) for selecting an operation environment is set in a standby mode (step 1402) Is input (step 1404).

If it is determined in step 1404 that the input signal for selecting the manual driving environment is input to the control unit, the control unit may perform a pairing operation with the mobile device through the unmanned fire suppression simulation apparatus and the short-range wireless communication (for example, Bluetooth communication) The unmanned fire fighting simulation apparatus can be operated in the manual driving environment by receiving various operation signals from the mobile device and performing the corresponding operation control (step 1406).

If it is determined in step 1404 that the input signal for selecting the automatic driving environment is input to the control unit, the control unit sets the initial setting conditions (for example, the setting of the ultrasonic sensor program, the setting of the thermal sensor program, (For example, the sensor unit 120, the driving unit 130, and the display unit 140) according to the control signals (for example, Lt; RTI ID = 0.0 > 1408 < / RTI >

That is, in the automatic driving environment, the unmanned fire suppression simulation apparatus senses an obstacle in the traveling direction through the first sensor 122 of the sensor unit 120 in the designated fire monitoring area, It is possible to monitor the fire while autonomously traveling by avoiding obstacles through 3 drive motors.

During the initial operation in the automatic driving environment, the control unit senses the surrounding heat through the second sensor 124 of the sensor unit 120 in the designated surveillance area and outputs the reference temperature (for example, 70 deg. C, 80 deg. (Step 1410).

As a result of checking in step 1410, when the temperature is lower than the reference temperature, the unmanned fire fighting simulation apparatus continuously performs autonomous driving and fire monitoring. If the reference temperature is exceeded, the controller determines that a fire has occurred, The fire extinguishing agent filled in the fire extinguisher 10 can be injected into the fire extinguishing area by controlling the second driving motor of the driving unit 130 according to the injection angle setting and the injection control setting.

Here, the controller may determine the fire occurrence area using the detection information (i.e., temperature information) continuously transmitted from the second sensor 124 to determine the occurrence of fire. That is, when the first sensed information transmitted from the second sensor 124 is relatively lower than the reference temperature and the second sensed information transmitted next becomes relatively higher than the reference temperature, have.

In addition, the control unit controls the third drive motor in accordance with the distance information transmitted from the first sensor 122, so that the control unit can move by a precise distance from the fire occurrence area.

When the fire suppression operation of the unmanned fire fighting simulation apparatus is completed, the control unit may control the unmanned fire fighting simulation apparatus to perform autonomous driving and fire monitoring in the fire surveillance zone according to the initial setting conditions (step 1414).

Therefore, the present invention can provide an unattended fire suppression simulation method capable of simulating hardware configuration and software configuration for education in order to realize a device for suppressing a fire without being unmanned.

In addition, the present invention proposes a hardware configuration including a control unit, a sensor unit, a driver, and the like, and by designing a software configuration including processing of sensing information provided through a sensor unit and control commands of the control unit according to the hardware configuration, A hardware configuration can be established, and a software configuration corresponding to the hardware configuration can be applied and simulated.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be readily apparent that such substitutions, modifications, and alterations are possible.

10: fire extinguisher 110: body part
120: sensor unit 130:
140:

Claims (9)

A body portion,
A sensor unit disposed in front of the body unit and including a first sensor for sensing a distance in a traveling direction and a second sensor for sensing a surrounding heat;
A first driving motor provided inside the body portion for controlling the first sensor, a second driving motor for controlling an injection angle and an injection angle of the fire extinguisher, and a third driving motor for moving the apparatus in the front and rear left and right directions ,
And a controller for controlling the sensor unit and the driving unit mounted on the inside of the body unit and detecting the distance in the traveling direction through the first driving motor and the first sensor, And a control unit for controlling the injection of the extinguishing agent filled in the extinguisher by controlling the injection angle and injection through the second driving motor when the surrounding heat is sensed,
The fire fighting simulation apparatus comprising:
The method according to claim 1,
Wherein the unmanned fire fighting simulation apparatus comprises:
A display unit for displaying sensing information and operation information transmitted from the control unit,
Further comprising: an unmanned fire suppression simulation device.
3. The method according to claim 1 or 2,
Wherein the first drive motor and the second drive motor are provided as a servo motor,
The third drive motor includes a stepping motor
Unmanned fire suppression simulation device.
3. The method according to claim 1 or 2,
The control unit may be programmed using AVR Studio
Unmanned fire suppression simulation device.
5. The method of claim 4,
Wherein the controller controls driving of the apparatus in accordance with an initial setting condition including an ultrasonic sensor program setting, a thermal sensor program setting, a spray angle setting, a spray control setting, and a stepping motor setting.
In an idle mode of an unmanned fire suppression simulation apparatus, when an input signal for selecting an automatic driving environment is inputted,
Detecting an ambient heat through the second sensor of the sensor unit and checking whether the ambient temperature exceeds a reference temperature during the initial operation according to the initial setting condition;
As a result of the check in the step of checking whether the reference temperature is exceeded, if the control temperature exceeds the reference temperature, the control unit controls the second driving motor of the driving unit according to the initial setting condition to inject the extinguishing agent filled in the extinguisher into the fire generation area , ≪ / RTI &
When the fire suppression operation of the unmanned fire fighting simulation apparatus is completed, performing autonomous driving and fire monitoring in accordance with the initial setting conditions
The method comprising the steps of:
The method according to claim 6,
In the unmanned fire suppression simulation method,
In an idle mode of the unmanned fire fighting simulation apparatus, when an input signal for selecting a manual driving environment is inputted, the controller paired with the mobile device through short-range wireless communication with the unmanned fire fighting simulation apparatus, A step of receiving an operation signal and performing an operation control
Further comprising the steps of:
8. The method according to claim 6 or 7,
Wherein the initial setting conditions include an ultrasonic sensor program setting, a heat sensor program setting, a spray angle setting and a spray control setting, and a stepping motor setting.
8. The method according to claim 6 or 7,
The initial operation according to the initial setting condition may include detecting an obstacle in a traveling direction through a first sensor of the sensor unit in a designated fire monitoring area and avoiding an obstacle through a second driving motor of the driving unit including the stepping motor A method of simulating an unmanned fire suppression system that monitors a fire while autonomously driving.

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