KR20220115461A - Fire Fight Drone - Google Patents

Abstract

A fire extinguishing drone is disclosed. The fire extinguishing drone according to an embodiment of the present specification includes: a camera; a wireless communication unit; a body; a propeller connected to arms radiating from the body in a plurality of directions and propulsing horizontal and vertical movements; and a processor for controlling an arrival and departure rate that performs data communication with a server to control the arrival and departure rate through the wireless communication unit, wherein the body includes a fire extinguishing ball storage box; and a launching device for launching a fire extinguishing ball toward a target, and the processor receives target location information of a fire suppression target from the server, and controls the launching device to launch the fire extinguishing ball to the target location. The present specification is to provide the firefighting drone capable of responding quickly in an event of a high-rise building fire and reducing damage through initial response.

Description

Fire Fighting Drone

The present specification provides a drone for fire fighting.

High-rise fires are increasing every year, and as a result, there is a shortage of elevated ladder vehicles, so you have to request it from a nearby city, and it is difficult to respond in the initial stage.

The present specification is to provide a fire-fighting drone capable of quickly responding to a high-rise giant fire and reducing damage through initial response.

The present specification can solve the problem of not being accurately sprayed to the location of the fire due to the influence of the airflow strength of the high floor when the fire extinguishing powder is sprayed when the fire is extinguished in the conventional high-rise ladder method.

Fire extinguishing drone according to an embodiment of the present specification, a camera; wireless communication unit; body; a propeller connected to an arm radiated in a plurality of directions from the body, and propelling horizontal and suging movement; and a processor for controlling the arrival rate for performing data communication with the server to control the arrival rate through the wireless communication unit, wherein the body includes: a fire extinguishing ball storage box; and a launch device that fires the fire extinguishing ball in a target direction, wherein the processor receives target location information of a fire suppression target from the server, and sets the launch device to fire the fire extinguishing ball to the target location. control

The fire extinguishing ball may be manufactured in the form of a powder fire extinguishing agent ball.

The processor acquires an image for the target location through the camera, and when it is determined that the fire is expanding in an area outside the target location information received from the server as a result of analyzing the image, the fire expanded area It is possible to reset the target location information and control the launch device so that the fire extinguishing ball is fired in the reset direction.

When a fire-fighting drone according to an embodiment of the present specification is used, it is possible to quickly respond to a high-rise giant fire, and to reduce damage through initial response.

In the case of using the fire extinguishing drone according to an embodiment of the present specification, it is possible to solve the problem that the fire extinguishing powder is not accurately sprayed to the location of the fire due to the influence of the airflow intensity of the high floor when the fire extinguishing powder is sprayed.

Effects that can be obtained in the present specification are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. .

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as a part of the detailed description to help the understanding of the present specification, provide embodiments of the present specification, and together with the detailed description, explain the technical features of the present specification. 1 shows a perspective view of an unmanned aerial vehicle to which the method proposed in the present specification can be applied. FIG. 2 is a block diagram illustrating a control relationship between main components of the unmanned aerial vehicle of FIG. 1 . 3 is a block diagram illustrating a control relationship between main components of an aviation control system according to an embodiment of the present specification. 4 is a front view of the drone for fire fighting according to an embodiment of the present specification. 5 discloses a bottom surface of a drone for fire fighting according to an embodiment of the present specification.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first, second, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numerals regardless of the reference numerals, and the redundant description thereof will be omitted.

1 shows a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.

First, the unmanned aerial vehicle 100 is to be manually operated by a ground manager or to fly unmanned while being automatically controlled by a set flight program. Such an unmanned aerial vehicle 100 is configured to include a main body 20 , a horizontal and vertical movement propulsion device 10 , and a landing leg 130 as shown in FIG. 1 .

The body 20 is a body portion on which a module such as the working unit 40 is mounted.

The horizontal and vertical movement propulsion device 10 consists of one or more propellers 11 installed vertically on the main body 20, and the horizontal and vertical movement propulsion device 10 according to an embodiment of the present invention is spaced apart from each other. It consists of a plurality of propellers 11 and a motor 12 . Here, the horizontal and vertical movement propulsion device 10 may be formed of an air jet type thruster structure rather than the propeller 11 .

A plurality of propeller supports are formed radially from the body 20 . Each propeller support may be equipped with a motor 12 . Each motor 12 is equipped with a propeller 11 .

The plurality of propellers 11 may be symmetrically disposed with respect to the center of the body 20 . In addition, the rotation direction of the plurality of propellers 11 may be determined such that the rotation direction of the motor 12 is combined with a clockwise direction and a counterclockwise direction. The rotation direction of the pair of propellers 11 symmetrical with respect to the center of the main body 20 may be set to be the same (eg, clockwise). In addition, the other pair of propellers 11 may have opposite rotational directions (eg, counterclockwise).

The landing legs 30 are spaced apart from each other on the bottom surface of the main body 20 . In addition, a buffer support member (not shown) that minimizes the impact caused by a collision with the ground when the unmanned aerial vehicle 100 lands may be mounted on the lower portion of the landing leg 30 . Of course, the unmanned aerial vehicle 100 may be configured in various structures of vehicle configurations different from those described above.

FIG. 2 is a block diagram illustrating a control relationship between main components of the unmanned aerial vehicle of FIG. 1 .

Referring to FIG. 2 , the unmanned aerial vehicle 100 measures its flight state using various sensors in order to fly stably. The unmanned aerial vehicle 100 may include a sensing unit 130 including at least one sensor.

The flight state of the unmanned aerial vehicle 100 is defined as a rotational state and a translational state.

The rotational state means 'Yaw', 'Pitch', and 'Roll', and the translational state means longitude, latitude, altitude, and speed.

)라고 한다. 비행기의 동체가 전면을 향한 x축을 기준으로 좌우로 기울게 될 경우, 기체좌표의 y축은 NED 좌표의 E축에 대하여 각도가 생기게 되며, 이 각도를 "롤"(Φ)이라 한다.Here, 'roll', 'pitch', and 'yaw' are called Euler angles, and the plane aircraft coordinates x, y, and z are some specific coordinates, for example, NED coordinates N, E, D. It represents the angle rotated about the axis. When the front of the airplane rotates left and right based on the z-axis of the aircraft coordinates, the x-axis of the aircraft coordinates has an angle difference with respect to the N-axis of the NED coordinates, and this angle is called "yaw" (Ψ). When the front of the airplane rotates up and down based on the y-axis pointing to the right, the z-axis of the aircraft coordinates is angularly different from the D-axis of the NED coordinates, and this angle is referred to as "pitch" (

) is called When the fuselage of the airplane is tilted left and right based on the x-axis facing the front, the y-axis of the aircraft coordinates is angled with respect to the E-axis of the NED coordinates, and this angle is called "roll" (Φ).

The unmanned aerial vehicle 100 uses 3-axis gyroscopes, 3-axis acceleration sensors, and 3-axis magnetometers to measure the rotational motion state, and a GPS sensor to measure the translational motion state. and a barometric pressure sensor.

The sensing unit 130 of the present invention includes at least one of a gyro sensor, an acceleration sensor, a GPS sensor, an image sensor, and a barometric pressure sensor. Here, the gyro sensor and the acceleration sensor measure the state in which the body frame coordinate of the unmanned aerial vehicle 100 is rotated and accelerated with respect to the Earth Centered Inertial Coordinate, and MEMS (Micro-Electro- It can also be manufactured as a single chip called an Inertial Measurement Unit (IMU) by using the Mechanical Systems) semiconductor process technology.

In addition, inside the IMU chip, there is a microcontroller that converts the measured values based on the Earth's inertial coordinates measured by the gyro sensor and the acceleration sensor into local coordinates, for example, NED (North-East-Down) coordinates used by GPS. may be included.

gyro, øgyro)로 변환한다.The gyro sensor measures the angular velocity at which the three axes of the aircraft coordinates x, y, and z of the unmanned aerial vehicle 100 rotate with respect to the earth inertia coordinates, and then converts the values into fixed coordinates (Wx.gyro, Wy.gyro, Wz.gyro) Calculate , and use this value with a linear differential equation to calculate the Euler angle (Φgyro,

gyro, øgyro).

acc)'로 변환하며, 이 값 들은 자이로 센서의 측정치를 이용해 계산한 '롤(Φgyro)'과 '피치(

gyro)'에 포함된 바이어스 오차를 제거하는 데 이용된다. The acceleration sensor measures the acceleration of the unmanned aerial vehicle 100 with respect to the Earth's inertial coordinates on the three axes of the aircraft's coordinates x, y, and z, and then calculates the converted values (fx,acc, fy,acc, fz,acc) into fixed coordinates, , change this value to 'roll (Φacc)' and 'pitch (

acc)', and these values are calculated using the gyro sensor's 'roll (Φgyro)' and 'pitch (

It is used to remove the bias error included in 'gyro)'.

The geomagnetic sensor measures the direction of the magnetic north point of the three axes of the aircraft coordinates x, y, and z of the unmanned aerial vehicle 100, and calculates a 'yaw' value for the NED coordinates of the aircraft coordinates using this value.

The GPS sensor uses signals received from GPS satellites to determine the translational motion state of the unmanned aerial vehicle 100 on NED coordinates, that is, latitude (Pn.GPS), longitude (Pe.GPS), altitude (hMSL.GPS), and latitude. Calculate the velocity (Vn.GPS), the velocity in the longitude phase (Ve.GPS), and the velocity in the altitude phase (Vd.GPS). Here, the subscript MSL means Mean Sea Level (MSL).

The barometric pressure sensor may measure the altitude (hALP.baro) of the unmanned aerial vehicle 100 . Here, the subscript ALP means air pressure (Air-Level Pressor), and the air pressure sensor calculates the current altitude from the take-off point by comparing the air pressure at the time of take-off of the unmanned aerial vehicle 100 and the air pressure at the current flight altitude.

The camera sensor includes at least one optical lens and an image sensor (eg, CMOS image sensor) configured to include a plurality of photodiodes (eg, pixels) that are imaged by light passing through the optical lens; It may include a digital signal processor (DSP) that configures an image based on signals output from the photodiodes. The digital signal processor may generate a still image as well as a moving picture composed of frames composed of still images.

The unmanned aerial vehicle 100 includes a communication module 170 that receives or receives information and outputs or transmits information. The communication module 170 may include a drone communication unit 175 that transmits and receives information with other external devices. The communication module 170 may include an input unit 171 for inputting information. The communication module 170 may include an output unit 173 for outputting information.

Of course, the output unit 173 may be omitted in the unmanned aerial vehicle 100 and formed in the terminal 300 .

For example, the unmanned aerial vehicle 100 may receive information directly from the input unit 171 . As another example, the unmanned aerial vehicle 100 may receive information input to the separate terminal 300 or the server 200 through the drone communication unit 175 .

For example, the unmanned aerial vehicle 100 may output information directly to the output unit 173 . As another example, the unmanned aerial vehicle 100 may transmit information to a separate terminal 300 through the drone communication unit 175 and cause the terminal 300 to output information.

The drone communication unit 175 may be provided to communicate with the external server 200 , the terminal 300 , and the like. The drone communication unit 175 may receive information input from the terminal 300 such as a smartphone or a computer. The drone communication unit 175 may transmit information to be output to the terminal 300 . The terminal 300 may output information received from the drone communication unit 175 .

The drone communication unit 175 may receive various command signals from the terminal 300 and/or the server 200 . The drone communication unit 175 may receive zone information for driving, a driving route, and a driving command from the terminal 300 and/or the server 200 . Here, the zone information may include flight restriction zone (A) information and access restriction distance information.

The input unit 171 may receive On/Off or various commands. The input unit 171 may receive area information. The input unit 171 may receive object information. The input unit 171 may include various buttons, a touchpad, or a microphone.

The output unit 173 may notify the user of various types of information. The output unit 173 may include a speaker and/or a display. The output unit 173 may output information on a discovery detected while driving. The output unit 173 may output identification information of the discovery. The output unit 173 may output location information of the discovery.

The unmanned aerial vehicle 100 includes a controller 140 that processes and determines various information such as mapping and/or recognizing a current location. The controller 140 may control the overall operation of the unmanned aerial vehicle 100 by controlling various components constituting the unmanned aerial vehicle 100 .

The controller 140 may receive and process information from the communication module 170 . The control unit 140 may receive information from the input unit 171 and process it. The control unit 140 may receive and process information from the drone communication unit 175 .

The control unit 140 may receive and process sensing information from the sensing unit 130 .

The controller 140 may control the driving of the motor 12 . The controller 140 may control the operation of the work unit 40 .

The unmanned aerial vehicle 100 includes a storage unit 150 for storing various data. The storage unit 150 records various types of information required for control of the unmanned aerial vehicle 100 , and may include a volatile or non-volatile recording medium.

The storage unit 150 may store a map for the driving area. The map may be input by the external terminal 300 capable of exchanging information through the unmanned aerial vehicle 100 and the drone communication unit 175, or may be generated by the unmanned aerial vehicle 100 learning itself. In the former case, the external terminal 300 may include, for example, a remote controller, a PDA, a laptop, a smart phone, a tablet, etc. equipped with an application for setting a map.

3 is a block diagram illustrating a control relationship between main components of an aviation control system according to an embodiment of the present invention.

Referring to FIG. 3 , the flight control system according to an embodiment of the present invention may include an unmanned aerial vehicle 100 and a server 200 , or include an unmanned aerial vehicle 100 , a terminal 300 and a server 200 . can The unmanned aerial vehicle 100, the terminal 300, and the server 200 are connected to each other by a wireless communication method.

The wireless communication method is GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband) CDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc. may be used.

As the wireless communication method, wireless Internet technology may be used. As wireless Internet technology, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), 5G, and the like. In particular, faster response is possible by transmitting and receiving data using the 5G communication network.

In the present specification, the base station has a meaning as a terminal node of a network that directly communicates with the terminal. A specific operation described as being performed by the base station in this specification may be performed by an upper node of the base station in some cases. That is, it is obvious that various operations performed for communication with the terminal in a network including a plurality of network nodes including the base station may be performed by the base station or other network nodes other than the base station. 'Base station (BS: Base Station)' is a fixed station (fixed station), Node B, eNB (evolved-NodeB), BTS (base transceiver system), access point (AP: Access Point), gNB (Next generation NodeB), etc. may be replaced by terms. In addition, 'terminal' may be fixed or have mobility, and UE (User Equipment), MS (Mobile Station), UT (user terminal), MSS (Mobile Subscriber Station), SS (Subscriber Station), AMS ( Advanced Mobile Station), a wireless terminal (WT), a machine-type communication (MTC) device, a machine-to-machine (M2M) device, a device-to-device (D2D) device, and the like.

4 discloses a front surface of the fire extinguishing drone according to an embodiment of the present specification, and FIG. 5 discloses a bottom surface of the fire extinguishing drone according to an embodiment of the present specification. An embodiment of the present specification will be described with reference to FIGS. 1 to 5 above.

Drone for fire extinguishing according to the present specification, a camera; wireless communication unit; body; a propeller connected to an arm radiated in a plurality of directions from the body, and propelling horizontal and suging movement; and a processor for controlling the arrival rate for performing data communication with the server in order to control the arrival rate through the wireless communication unit.

The camera may be provided on the body or may be connected to the outside of the body.

The body, the fire extinguishing ball storage box; and a launch device that fires the fire extinguishing ball in a target direction. The fire extinguishing ball storage box may be provided inside the body, and may be supported on the body through a storage box fixing device.

On the other hand, the fire extinguishing ball launch device is present inside the body, the opening is formed in the body, the launch device can fire the fire extinguishing ball to a target position through the opening.

The processor of the drone may receive target location information of the fire suppression target from the server, and may control the launch device to launch the fire extinguishing ball to the target location.

The fire extinguishing ball may be produced in the form of a fire extinguishing agent in the form of a ball, but the present specification is not limited thereto and any material in which the extinguishing powder material can be implemented in the form of a ball may be used. However, as the fire extinguishing ball is fired from a high-rise height, any material that prevents the fire extinguishing ball from being sprayed due to the influence of wind, etc. may be used while it is fired from the moment it is fired to the target position and is flying.

On the other hand, the processor acquires an image for the target location through the camera, and as a result of analyzing the image, when it is determined that the fire is expanding in an area outside the target location information received from the server, the fire is expanded area may be reset to the target location information, and the firing device may be controlled so that the fire-fighting ball is fired in the reset direction.

The above-described specification can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that includes implementation in the form of. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of this specification are included in the scope of this specification.

Claims (3)

a camera; a wireless communication unit; a body; a propeller connected to an arm radiated in a plurality of directions from the body, and propelling horizontal and suging movement; And A processor for controlling the arrival rate for performing data communication with the server to control the arrival rate through the wireless communication unit; Containing, The body, Fire extinguishing ball storage; and a launch device that fires the fire extinguishing ball in a target direction; wherein the processor receives target location information of a fire suppression target from the server, and sets the launch device to fire the fire extinguishing ball to the target location. A drone for fire extinguishing, characterized in that it controls. The drone for fire extinguishing according to claim 1, wherein the fire extinguishing ball is made of a powdered fire extinguishing agent in the form of a ball. The method of claim 1, wherein the processor acquires an image of the target location through the camera, and as a result of analyzing the image, when it is determined that the fire is expanding in an area outside the target location information received from the server , Fire-extinguishing drone, characterized in that resetting the fire enlarged area to the target location information, and controlling the launch device so that the fire-fighting ball is launched in the reset direction.

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