TWI675680B - Unmanned vehicle aerial extinguisher and extinguishing method - Google Patents

Abstract

The invention proposes an unmanned aerial vehicle fire extinguishing device, which includes a central controller, a wireless communication module, a thermal imager and a fire extinguishing device. The central controller controls the drone vehicle to fly near the source of fire in an indoor environment. The wireless communication module is electrically connected to the central controller, and is used for receiving the smoke signal transmitted by the smoke detector or the temperature signal transmitted by the temperature detector. The thermal imager is electrically connected to the central controller. The thermal imager is used to capture thermal images to search for the location of the fire source. The fire extinguishing device is electrically connected to the central controller. The fire extinguishing device is provided with a fire extinguishing agent. The fire extinguishing device throws or sprays the fire extinguishing agent toward the fire source according to the thermal energy image captured by the thermal energy imager.

Description

UAV fire extinguishing device and fire extinguishing method

A fire extinguishing device, especially a drone fire extinguishing device and a fire extinguishing method.

In today's social environment, there are many fire incidents that are frequently reported from newspapers, magazines, or TV news. Anyone who runs a wire, firecrackers and firecrackers, flammable materials, or man-made arson can cause great harm. Therefore, how to quickly extinguish the source of fire is an extremely important subject. Drones are often used for outdoor aerial photography to understand the topography or the survey of the number of people at the venue. However, in the prior art, few solutions have been proposed for extinguishing fires by drones.

In view of the shortcomings of the prior art, the present invention proposes a drone fire extinguishing device and a fire extinguishing method.

The invention proposes a drone fire extinguishing device, which has a drone vehicle, and the drone vehicle includes a plurality of flying devices, which are used to control the flight path of the drone vehicle to approach the fire source. The drone fire extinguishing device includes a central controller, a wireless communication module, a thermal imager and a fire extinguishing device. The central controller controls the drone vehicle to fly near the source of fire in an indoor environment through multiple flight modes. The wireless communication module is electrically connected to the central controller. The wireless communication module is used to receive the smoke signal transmitted by the smoke detector and / or the temperature signal transmitted by the temperature detector. When the smoke signal is higher than the smoke preset value And / or when the temperature signal is higher than the temperature preset value, the central controller controls the drone vehicle to fly close to the fire source. The thermal imager is electrically connected to the central controller. The thermal imager is used to capture thermal images to search for the location of the fire source. The fire extinguishing device is electrically connected to the central controller. The fire extinguishing device is provided with a fire extinguishing agent. The fire extinguishing device throws or sprays the fire extinguishing agent toward the fire source according to the thermal energy image captured by the thermal energy imager.

In one embodiment, when the location of the fire source searching for the thermal imager is directly below the drone fire extinguishing vehicle, the fire extinguishing device throws or sprays the fire extinguishing agent toward the fire source. Wherein, when the position of the fire source searching for the thermal energy imager is not directly below the drone fire extinguishing vehicle, the fire extinguishing device throws the fire extinguishing agent at or sprays the fire source in a parabolic manner. The central controller controls the drone vehicle through multiple flight modes including spiral flight, zigzag flight, side-by-side flight or random flight.

In one embodiment, the thermal imager has at least one wide-angle lens, and the wide-angle lens is used to capture a thermal image of the panorama to determine the position of the fire source.

In one embodiment, the drone fire extinguishing device further includes: a photographic pan / tilt, electrically connected to the central controller, the photographic pan / tilt has a plurality of hydraulic devices for fixing the direction of the lens of the thermal imager toward the position of the fire source.

In one embodiment, the drone vehicle starts flying from the starting point to search for the location of the fire source. In one embodiment, the drone vehicle first flies below the smoke detector and / or the temperature detector, and searches for a fire source.

In one embodiment, the drone fire extinguishing device further includes: an automatic charging device for providing electric power to the electronic components of the drone vehicle, and when the automatic charging device provides power to the drone vehicle, the stand of the drone vehicle Collapse or expand automatically.

In one embodiment, the automatic charging device is a wired / wireless charging device or a magnetic charging device.

In one embodiment, the UAV vehicle generates map data on the indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. The central controller relatively restricts the flight path of the drone vehicle based on the distribution of doors and windows displayed on the map data. The central controller sets the drone vehicle to fly between the first height and the second height according to the map data, the first height is adjacent to the ceiling of the indoor environment, and the second height is adjacent to the floor of the indoor environment. The central controller relatively adjusts the UAV vehicle to fly between the first altitude and the second altitude according to the obstacle distribution displayed on the map data.

In one embodiment, the smoke detector and the temperature detector are wirelessly or wiredly connected to the transceiver, and the transceiver transmits the smoke signal and / or the temperature signal to the wireless communication module, the mobile device or the remote console. The wireless communication module is used to receive the control signal transmitted by the mobile device. The control signal is used to control the flight path of the drone vehicle and the fire extinguishing device to throw or spray the fire extinguishing agent to the fire source. The fire extinguishing agent is detachably installed in the fire extinguishing device.

In one embodiment, the drone fire extinguishing device further includes: a detection module electrically connected to the central controller. The detection module is used to detect the central controller, wireless communication module, thermal imaging device, fire extinguishing device, and photography cloud. Are the operating functions of the platform, ranging device, and automatic charging device maintained in good condition? In one embodiment, the wireless communication module is used to receive the detection signal transmitted by the mobile device, and the detection signal is used to control the UAV base station to detect the central controller, the wireless communication module, the thermal imager, the fire extinguishing device, and the photography cloud. Are the operating functions of the platform, ranging device, and automatic charging device maintained in good condition?

The invention provides a fire extinguishing method, which is suitable for a drone fire extinguishing device and has a drone vehicle. The drone vehicle includes a plurality of flying devices for controlling a flight path of the drone vehicle to approach a fire source. The fire extinguishing method includes: the central controller controls the drone vehicle to fly near the fire source in an indoor environment through multiple flight modes; the wireless communication module receives the smoke signal transmitted by the smoke detector and / or receives the temperature signal transmitted by the temperature detector Temperature signal. When the smoke signal is higher than the smoke preset value and / or the temperature signal is higher than the temperature preset value, the central controller controls the drone vehicle to fly close to the fire source; the thermal image is captured by the thermal imager To search for the location of the fire source; and to cast or spray the fire extinguishing agent on the fire source according to the thermal energy image captured by the thermal imager, wherein the fire extinguishing device is provided with the fire extinguishing agent.

In one embodiment, when the location of the fire source searching for the thermal imager is directly below the drone fire extinguishing vehicle, the fire extinguishing device throws or sprays the fire extinguishing agent toward the fire source. Wherein, when the position of the fire source searching for the thermal energy imager is not directly below the drone fire extinguishing vehicle, the fire extinguishing device throws the fire extinguishing agent at or sprays the fire source in a parabolic manner. The central controller controls the drone vehicle through multiple flight modes including spiral flight, zigzag flight, side-by-side flight or random flight.

In one embodiment, the UAV vehicle generates map data on the indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. The central controller relatively restricts the flight path of the drone vehicle based on the distribution of doors and windows displayed on the map data. The central controller sets the drone vehicle to fly between the first altitude and the second altitude according to the map data. The first height is adjacent to the ceiling of the indoor environment, and the second height is adjacent to the floor of the indoor environment. The central controller relatively adjusts the UAV vehicle to fly between the first altitude and the second altitude according to the obstacle distribution displayed on the map data.

In one embodiment, the smoke detector and the temperature detector are wirelessly or wiredly connected to the transceiver, and the transceiver transmits the smoke signal and / or the temperature signal to the wireless communication module, the mobile device or the remote console. The wireless communication module is used to receive the control signal transmitted by the mobile device. The control signal is used to control the flight path of the drone vehicle and the fire extinguishing device to throw or spray the fire extinguishing agent to the fire source. The fire extinguishing agent is detachably installed in the fire extinguishing device.

According to the above, a drone fire extinguishing device provided by the present invention, when the wireless communication module receives a thick smoke signal higher than a thick smoke preset value and / or a temperature signal is higher than a temperature preset value, the central controller controls the drone The vehicle was flying close to the source of fire. The wide-angle lens of the thermal imager is used to capture thermal images or photograph the pan / tilt to search for the location of the fire source. The fire extinguishing device then throws or sprays the fire extinguishing agent to the fire source to quickly and accurately extinguish the fire source. The central controller relatively restricts the flight path of the drone vehicle based on the distribution of doors and windows displayed on the map data, and sets the drone vehicle to fly between the first height and the second height according to the map data to dynamically adjust the drone vehicle indoors Flight accuracy. In addition, the function of the electronic components of the drone vehicle is automatically detected through the detection module or receiving the detection signal to increase the functionality.

Please refer to FIG. 1, which is a schematic block diagram of a drone fire extinguishing device according to an embodiment of the present invention. The drone fire extinguishing device 1 includes a drone vehicle 100. The drone vehicle 100 includes a plurality of flying devices. For example, the flying device may be a propeller for controlling a flight path of the drone vehicle 100 to approach a fire source and perform fire fighting. The drone vehicle 100 includes a central controller 110, a wireless communication module 120, a thermal imager 130, a fire extinguishing device 140, a photographing head 150, a ranging device 160, and a detection module 170. The central controller 110 is electrically connected to the wireless communication module 120, the thermal imager 130, the fire extinguishing device 140, the photographic head 150, the ranging device 160, and the detection module 170.

The central controller 110 is used to control the UAV vehicle 100 to fly near an ignition source in an indoor environment through multiple flight modes. The wireless communication module 120 is configured to receive a smoke signal transmitted from a smoke detector and / or a temperature signal transmitted from a temperature detector. For example, the smoke detector may be a smoke detector and the temperature detector may be a temperature sensor. When the smoke signal is higher than the smoke preset value and / or the temperature signal is higher than the temperature preset value, the central controller 110 controls the UAV vehicle 100 to fly close to the fire source. For example, when the smoke signal is higher than the smoke preset value, the central controller 110 controls the drone vehicle 100 to fly close to the fire source. When the temperature signal is higher than the temperature preset value, the central controller 110 controls the UAV vehicle 100 to fly close to the fire source. When the thick smoke signal is higher than the thick smoke preset value and the temperature signal is higher than the temperature preset value, the central controller 110 may control the UAV vehicle 100 to accelerate the flight close to the fire source.

The thermal imager 130 is used to capture thermal energy images to search for the location of the fire source. For example, the thermal energy image can distinguish the location of the fire source by different colors on the image. The fire extinguishing device 140 is provided with a fire extinguishing agent, and the fire extinguishing device 140 throws or sprays the fire extinguishing agent on the fire source according to the thermal energy image captured by the thermal energy imager 130. Further, the fire extinguishing device 140 may project or spray the fire extinguishing agent on the fire source according to the color of the thermal energy image captured by the thermal energy imager 130. Fire extinguishing agents generally refer to various extinguishable substances or materials. For example, fire extinguishing agents can be fire extinguishing bombs or sea dragon substitutes.

When the location of the fire source for the thermal imager 130 is directly below the drone fire extinguishing vehicle 100, the fire extinguishing device 140 throws or sprays the fire extinguishing agent toward the fire source. The fire extinguishing device 140 may include one or more automatic switches. When the thermal imager 130 searches for the location of the fire source, the fire extinguishing device 140 turns on the automatic switch and throws or sprays the fire extinguishing agent to the fire source. When the thermal energy imager 130 searches for a fire source location that is not directly below the drone fire extinguishing vehicle 100, the fire extinguishing device 140 throws or sprays fire extinguishing agents in a parabolic manner. Further, when the location of the fire source is not directly below the drone fire extinguishing vehicle 100, the fire extinguishing device 140 throws or sprays the fire extinguishing agent at an oblique angle to the fire source. The central controller 110 controls the UAV vehicle 100 through a plurality of flight modes including spiral flight, zigzag flight, side-by-side flight or random flight. Further, the spiral flight is the flight direction of the drone vehicle 100, such as a spiral type, the zigzag flight is the flight direction of the drone vehicle 100, such as the Z character, and the sideways flight is the flight direction of the drone vehicle 100. Around the edge of the wall in the room, the random flight is that the flying direction of the drone vehicle 100 is random.

The thermal imager 130 has at least one wide-angle lens (not shown). The wide-angle lens is used to capture a thermal image of the panorama to determine the position of the fire source. For example, a wide-angle lens can be used to capture thermal images from 180 ^O to 360 ^O to determine the location of the fire source. The photographic head 150 has a plurality of hydraulic devices for fixing the direction of the lens of the thermal imager 130 toward the fire source position. Further, the drone vehicle 100 may determine the position of the fire source through the wide-angle lens of the thermal imager 130, and the drone vehicle 100 may also determine the position of the fire source by photographing the hydraulic device of the gimbal 150.

The drone vehicle 100 may start flying from a starting point to search for a fire source location. For example, the starting point of the drone vehicle 100 may be a center point or a corner of an indoor environment. The drone vehicle 100 first flies under the smoke detector and / or the temperature detector, and then searches for the fire source. For example, the drone vehicle 100 may first fly below the smoke detector and search for a fire source. The drone vehicle 100 may also fly below the temperature detector and search for a source of fire. The drone vehicle 100 may also fly to the vicinity of the smoke detector and the temperature detector and search for a fire source.

Please refer to FIG. 2, which is a schematic block diagram of a drone fire extinguishing device according to another embodiment of the present invention. The fire extinguishing device 2 includes a drone vehicle 100 and an automatic charging device 200. The automatic charging device 200 is used to provide electric power to the electronic components of the drone vehicle 100. When the automatic charging device 200 provides power to the drone vehicle 100, the tripod of the drone vehicle 100 is automatically retracted or unfolded. For example, when the drone vehicle 100 receives power, the tripod of the drone vehicle 100 can be automatically retracted to save the use space of the drone vehicle 100. For example, the automatic charging device 200 is a wired / wireless charging device or a magnetic charging device. The automatic charging device 200 may be a magnetic induction charging device or a magnetic resonance charging device.

Please refer to FIG. 1 again, the drone vehicle 100 includes a ranging device 160. For example, the ranging device 160 may be an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. UAV vehicle 100 can generate map data for indoor environment through ultrasonic ranging device, optical ranging device, infrared ranging device, laser ranging sensor or indoor positioning system. Relatively speaking, drone vehicle 100 can An electronic door is generated according to the map data. The electronic door is, for example, a virtual door and window structure, so that the UAV vehicle 100 does not fly to the outdoor environment. The central controller 110 can relatively restrict the flight path of the drone vehicle 100 according to the distribution of doors and windows or obstacles shown in the map data, prohibit the drone vehicle 100 from hitting the ceiling, obstacles or walls, and also prevent the drone vehicle 100 from falling. Falling to the floor. The central controller 110 sets the drone vehicle 100 to fly between the first height and the second height according to the map data. For example, the first height is close to the ceiling of the indoor environment, the second height is close to the floor of the indoor environment, and the second height It may also be a ceiling adjacent to the indoor environment, and the first height may also be a floor adjacent to the indoor environment. The central controller 110 relatively adjusts the UAV vehicle 100 to fly between the first altitude and the second altitude according to the obstacle distribution displayed on the map data. For example, the central controller 110 dynamically adjusts the UAV vehicle 100 to fly between the first altitude and the second altitude according to the beam and column distribution displayed on the map data.

The smoke detector and temperature detector of the drone vehicle 100 are wirelessly or wired connected to the transceiver. The transceiver can be built in the drone vehicle 100, and the transceiver can also be located on the ceiling of the indoor environment. The present invention does not use a transceiver. The position is restricted. The transceiver transmits the smoke signal and / or the temperature signal to the wireless communication module 120, the mobile device, or a remote console. For example, the remote console may be a security center, a government agency, or a fire brigade report center. The mobile device can be a user ’s tablet, smart watch, smartphone, or laptop. The wireless communication module 120 is used to receive control signals transmitted by the mobile device. The control signals are used to control the flight path of the drone vehicle 100 and the fire extinguishing device to throw or spray fire extinguishing agents at the fire source. For example, the user can Download the software that controls the drone vehicle 100 to control the drone vehicle 100 to fly to the location of the fire source and spray a large amount of fire extinguishing agent to facilitate rapid fire suppression. The fire extinguishing agent is detachably installed in the fire extinguishing device 140, so that the user can conveniently install the fire extinguishing agent, replace the fire extinguishing agent, or directly use the fire extinguishing agent manually.

The detection module 170 is used to detect whether the operation functions of the central controller 110, the wireless communication module 120, the thermal imaging device 130, the fire extinguishing device 140, the photographing head 150, the ranging device 160, and the automatic charging device 200 are maintained in a good state . When the detection module 170 detects that at least one of the central controller 110, the wireless communication module 120, the thermal imaging device 130, the fire extinguishing device 140, the photographing head 150, the ranging device 160, and the automatic charging device 200 has an abnormal operation function At this time, the maintenance signal can be transmitted to the user's mobile device through the wireless communication module 120. In addition, the wireless communication module 120 is used to receive the detection signal transmitted by the mobile device, and the detection signal is used to control the UAV base station (not shown) to detect the central controller 110, the wireless communication module 120, the thermal imager 130, Whether the operation functions of the fire extinguishing device 140, the photographing head 150, the ranging device 160, and the automatic charging device 200 are maintained in a good state.

FIG. 3 is a method flowchart of a fire suppression method according to an embodiment of the present invention. The fire extinguishing method provided by the present invention is applicable to a drone fire extinguishing device and has a drone vehicle. The drone vehicle includes a plurality of flying devices for controlling the flight path of the drone vehicle to approach the source of the fire. In step S301, the wireless communication module receives a dense smoke signal transmitted from a dense smoke detector and / or receives a temperature signal transmitted by a temperature detector. In step S303, when the smoke signal is higher than the smoke preset value and / or the temperature signal is higher than the temperature preset value, the central controller controls the UAV vehicle to fly close to the fire source. In step S305, a thermal image is captured by the thermal imager to search for a fire source position. In step S307, the fire extinguishing device casts or sprays the fire extinguishing agent on the fire source according to the thermal energy image captured by the thermal energy imager, wherein the fire extinguishing device is provided with the fire extinguishing agent.

Among them, when the location of the fire source searching for the thermal energy imager is directly below the drone fire extinguishing vehicle, the fire extinguishing device throws the fire extinguishing agent at or sprays the fire source. Among them, when the position where the thermal imager searches for the fire source is not directly below the drone fire extinguishing vehicle, the fire extinguishing device throws or extinguishes the fire extinguishing agent in a parabolic manner. Fire extinguishing agents generally refer to various extinguishable substances or materials. For example, fire extinguishing agents can be fire extinguishing bombs or sea dragon substitutes. The central controller controls the drone vehicle through multiple flight modes including spiral flight, zigzag flight, side-by-side flight or random flight. Among them, the UAV vehicle generates map data on the indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. The central controller relatively restricts the flight path of the drone vehicle based on the distribution of doors and windows displayed on the map data. The central controller sets the drone vehicle to fly between the first height and the second height according to the map data, the first height is adjacent to the ceiling of the indoor environment, and the second height is adjacent to the floor of the indoor environment. The central controller relatively adjusts the UAV vehicle to fly between the first altitude and the second altitude according to the obstacle distribution displayed on the map data. The smoke detector and temperature detector are wirelessly or wiredly connected to the transceiver, and the transceiver transmits the smoke signal and / or temperature signal to the wireless communication module, mobile device or remote console. The wireless communication module is used to receive the control signal transmitted by the mobile device. The control signal is used to control the flight path of the drone vehicle and the fire extinguishing device to throw or spray the fire extinguishing agent to the fire source. The fire extinguishing agent is detachably installed in the fire extinguishing device.

The above is only a description of the embodiments of the present invention, and does not limit the scope of the present invention.

1, 2‧‧‧ drone fire extinguishing device

100‧‧‧ drone vehicle

110‧‧‧central controller

120‧‧‧Wireless communication module

130‧‧‧ Thermal Imager

140‧‧‧ fire extinguishing device

150‧‧‧Photo head

160‧‧‧ ranging device

170‧‧‧Detection module

200‧‧‧ automatic charging device

S301‧‧‧Receive dense smoke / temperature signal

S303‧‧‧ Control drone vehicle flying close to fire source

S305‧‧‧ Capture thermal image to search for fire source location

S307‧‧‧Put fire extinguishing agent at or spray fire source

FIG. 1 is a schematic block diagram of a drone fire extinguishing device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a drone fire extinguishing device according to another embodiment of the present invention.

FIG. 3 is a flowchart of a method according to an embodiment of the present invention.

Claims (16)

A drone fire extinguishing device has a drone vehicle. The drone vehicle includes a plurality of flying devices for controlling a flight path of the drone vehicle to approach a fire source. The drone fire extinguishing device includes a central control device. Device for controlling the drone vehicle to fly near an ignition source in an indoor environment through multiple flight modes, and the drone vehicle can further pass an ultrasonic ranging device, an optical ranging device, and an infrared ranging device A laser ranging sensor or an indoor positioning system generates a map of the indoor environment. The central controller sets the drone vehicle to fly between a first altitude and a second altitude based on the map data. A ceiling adjacent to the indoor environment at a height, a floor adjacent to the indoor environment at a second height; a wireless communication module electrically connected to the central controller, the wireless communication module being used to receive a thick smoke transmitted by a thick smoke detector Signal and / or receiving a temperature signal transmitted by a temperature detector, when the thick smoke signal is higher than a thick smoke preset value and / or the temperature signal is higher than a temperature preset value, the The central controller controls the flight path of the drone vehicle to fly close to the fire source according to the map data; a thermal imager is electrically connected to the central controller, and the thermal imager is used to capture a thermal image to Search for the location of the fire source; and a fire extinguishing device, electrically connected to the central controller, the fire extinguishing device is provided with a fire extinguishing agent, and the fire extinguishing device throws or sprays the fire extinguishing agent on the fire according to the thermal energy image captured by the thermal imager source. The drone fire extinguishing device according to claim 1, wherein the fire extinguishing device casts or sprays the fire extinguishing agent toward or sprays a fire source when the thermal imager searches for a fire source location directly below the drone fire extinguishing vehicle; When the thermal imager searches for a fire source location that is not directly below the drone fire extinguishing vehicle, the fire extinguishing device throws the fire extinguishing agent at or sprays the fire source in a parabolic manner; the central controller controls the drone vehicle to pass through multiple Each flight mode includes spiral flight, zigzag flight, side-by-side flight or random flight. The drone fire extinguishing device according to claim 1, wherein the thermal imager has at least one wide-angle lens, and the wide-angle lens is used for capturing the thermal image of the panorama to determine the position of the fire source. The drone fire extinguishing device according to claim 1, further comprising: a photographic pan / tilt, electrically connected to the central controller, the photographic pan / tilt has a plurality of hydraulic devices, and is used for the direction of the lens of the thermal imaging device Fixed towards the fire source. The drone fire extinguishing device according to claim 1, wherein the drone vehicle starts flying from a starting point to search for a fire source location. The drone fire extinguishing device according to claim 1, wherein the drone vehicle first flies to the smoke detector and / or the temperature detector and searches for a fire source. The drone fire extinguishing device according to claim 4, further comprising: an automatic charging device for supplying electric power to the electronic components of the drone vehicle. When the automatic charging device provides power to the drone vehicle, the The drone's tripod is automatically retracted or unfolded. The drone fire extinguishing device according to claim 7, wherein the automatic charging device is a wired / wireless charging device or a magnetic charging device. The drone fire extinguishing device according to claim 7, wherein the central controller relatively restricts the flight path of the drone vehicle according to the distribution of doors and windows displayed on the map data; the central controller according to the obstacles displayed on the map data The distribution is relatively adjusted. The drone vehicle flies between the first altitude and the second altitude. The drone fire extinguishing device according to claim 1, wherein the smoke detector and the temperature detector are wirelessly or wiredly connected to a transceiver, and the transceiver transmits the smoke signal and / or the temperature signal to the wireless communication Module, a mobile device or a remote console; the wireless communication module is used to receive a control signal transmitted by the mobile device, the control signal is used to control the flight path of the drone vehicle and the fire extinguishing device will The fire extinguishing agent is thrown or sprayed on the fire source; the fire extinguishing agent is mounted on the fire extinguishing device in a removable manner. The drone fire extinguishing device according to claim 9, further comprising: a detection module electrically connected to the central controller, the detection module is used to detect the central controller, the wireless communication module, and the thermal imaging Whether the operation functions of the fire extinguisher, the fire extinguishing device, the photographic head, the distance measuring device or the automatic charging device are maintained in a good state. The drone fire extinguishing device according to claim 9, wherein the wireless communication module is used to receive a detection signal transmitted by a mobile device, and the detection signal is used to control a drone base station to detect the central controller, the wireless Whether the operation function of the communication module, the thermal imager, the fire extinguishing device, the photographic head, the distance measuring device, or the automatic charging device is maintained in a good state. A fire extinguishing method suitable for a drone fire extinguishing device having a drone vehicle, the drone vehicle including a plurality of flying devices for controlling a flight path of the drone vehicle to approach a fire source, the fire fighting method includes : Generate a map data of the indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor or an indoor positioning system, and set the drone based on the map data The device flies between a first height and a second height, the first height is adjacent to the ceiling of the indoor environment, and the second height is adjacent to the floor of the indoor environment, and a wireless communication module receives the transmitted smoke detector. A thick smoke signal and / or receiving a temperature signal transmitted by a temperature detector, when the thick smoke signal is higher than a thick smoke preset value and / or the temperature signal is higher than a temperature preset value, the central controller Controlling the drone vehicle to fly close to the source of fire through multiple flight paths based on the map data; capturing a thermal image by a thermal imager to search for the location of the source of fire; and According to the apparatus of the thermal image captured by the thermal imager or spraying the fire extinguishing agent toward the source, wherein the device is provided with a fire extinguishing agent. The fire extinguishing method according to claim 13, wherein the fire extinguishing device casts or sprays the fire extinguishing agent toward the fire source when the position of the fire source searching for the fire source is directly below the drone fire extinguishing vehicle; When the position where the imager searches for the fire source is not directly below the drone fire extinguishing vehicle, the fire extinguishing device throws the fire extinguishing agent at or sprays the fire source in a parabolic manner, and the central controller controls the drone vehicle to pass multiple flights. The methods include spiral flight, zigzag flight, side-by-side flight or random flight. The fire extinguishing method according to claim 13, wherein the central controller relatively restricts the flight path of the drone vehicle according to the distribution of doors and windows displayed on the map data; the central controller relatively restricts the obstacle distribution displayed on the map data The UAV vehicle is adjusted to fly between the first altitude and the second altitude. The fire extinguishing method according to claim 13, wherein the smoke detector and the temperature detector are wirelessly or wiredly connected to a transceiver, and the transceiver transmits the smoke signal and / or the temperature signal to the wireless communication module. A mobile device or a remote console; the wireless communication module is used to receive a control signal transmitted by the mobile device, the control signal is used to control the flight path of the drone vehicle and the fire extinguishing device applies the fire extinguishing agent The fire source is thrown or sprayed; the fire extinguishing agent is detachably installed in the fire extinguishing device.