WO2015152492A1 - Unmanned aerial vehicle for reconnaissance of scene of fire and fire suppression - Google Patents

Unmanned aerial vehicle for reconnaissance of scene of fire and fire suppression Download PDF

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Publication number
WO2015152492A1
WO2015152492A1 PCT/KR2014/011889 KR2014011889W WO2015152492A1 WO 2015152492 A1 WO2015152492 A1 WO 2015152492A1 KR 2014011889 W KR2014011889 W KR 2014011889W WO 2015152492 A1 WO2015152492 A1 WO 2015152492A1
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WO
WIPO (PCT)
Prior art keywords
fire
unit
extinguishing solution
tank
ampoules
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PCT/KR2014/011889
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French (fr)
Korean (ko)
Inventor
안정철
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안정철
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Publication of WO2015152492A1 publication Critical patent/WO2015152492A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent

Definitions

  • the present invention relates to an unmanned aerial vehicle, and more particularly, to a drone for fire scene reconnaissance and fire extinguishing, which is suitable for quickly entering a fire site difficult for firefighters to enter.
  • various fire extinguishing facilities such as portable fire extinguishers, fire trucks, sprinklers, fire helicopters and fire robots are widely known and used as means for extinguishing various fires.
  • the present invention has been proposed to solve the above-mentioned conventional problems, and to provide a drone for fire scene reconnaissance and fire suppression, which is suitable for quickly grasping a fire situation by quickly entering a fire site that is difficult for firefighters to enter. There is this.
  • Fire scene reconnaissance and fire suppression drone a flight unit capable of wireless flight;
  • a fire suppression unit mounted on a lower surface of the flight unit and having a plurality of fire extinguishing solution ampoules mounted therein for firing and dropping the fire extinguishing solution ampoules at a fire site;
  • a camera transmission unit mounted on the fire suppression unit and photographing a fire scene situation and a moving path of a fire extinguishing solution ampoule and transmitting in real time;
  • a control unit which displays a fire scene image received from the camera transmitting unit and transmits a fire and drop signal of the fire extinguishing solution ampoule to the fire suppression unit;
  • a control unit controlling the flight unit and the fire suppression unit according to the control signal received from the control unit.
  • the flight unit includes: a main body; A flight unit receiver installed in the main body and receiving a first control signal transmitted from the control unit and transmitting a first control signal to the control unit; And a plurality of wings installed on the side of the main body; It is preferable to include.
  • the fire suppression unit may include: a first tank disposed on a lower surface of the flight unit and having a storage space therein and having a fire extinguishing solution ampoule opening formed at a lower end of the front surface; A second tank disposed on a lower surface of the first tank and having an opening space therein and having an opening and closing means at a bottom thereof; A plurality of spherical extinguishing solution ampoules stored in the inner space of the first tank; A compressed air tank installed at an inner rear surface of the first tank and configured to launch the spherical extinguishing solution ampoules into a fire site; A plurality of rod-type fire extinguishing solution ampoules stored in the inner space of the second tank; And a servo installed inside the second tank and controlling the opening and closing of the opening and closing means to drop the rod-type fire extinguishing solution ampoules onto a fire site. It is preferable to include.
  • a first storage space is formed in the first tank, the spherical extinguishing solution ampoules are accommodated in the first storage space, and a first hole having a size through which the spherical extinguishing solution ampoules passes is formed on the first tank.
  • An inclined surface is formed on the bottom surface of the hole, and the launching port is disposed under the first storage space and is disposed in the movement path of the compressed air coming out of the compressed air tank to descend through the first hole. It is desirable to be fired.
  • a second storage space is formed in the second tank, wherein the rod-type fire extinguishing solution ampoules are accommodated in the second storage space, and a second hole through which the rod-type fire extinguishing solution ampoules passes is formed in the second tank. It is preferable that the inclined surface is formed in the bottom surface centering on a hole.
  • the camera transmission unit includes: a camera for photographing the movement of the fire site and the extinguishing solution ampoule; And a transmitter for transmitting a video signal photographed from the camera to the control unit. It includes, it is preferable that the camera is provided to move the angle of the fire extinguishing solution ampoule fired and dropped.
  • the control unit includes: a display device for displaying an image received from the camera transmission unit; And second and third control signals for firing and dropping spherical extinguishing solution ampoules and rod-type extinguishing solution ampoules for fire suppression based on the first control signal for flying the flight unit and the image displayed on the display device.
  • Transmitting radio regulator It is preferable to include.
  • the short-range flight is possible and is configured to fly unattended, regardless of the fire occurrence area can be quickly put into the fire site, in particular, in real time by shooting the fire situation with a camera to transmit to the control unit Therefore, by accurately grasping the situation of the fire site, effective fire suppression can be made possible.
  • the unmanned aircraft for fire scene reconnaissance and fire suppression according to the present invention, it is possible to quickly identify the fire situation and extinguish the fire, so that the fire extinguishing efficiency can be increased, so that the damage caused by fire, in particular, It can effectively reduce human injury.
  • FIG. 1 is a perspective view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
  • Figure 2 is a front view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
  • FIG 3 is a side view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
  • Figure 4 is a front view for explaining the control unit of the drone for fire scene reconnaissance and fire suppression according to the present invention.
  • 5 and 6 are views for explaining the use of the drone for fire scene reconnaissance and fire suppression according to the present invention.
  • the present invention is a flight unit capable of wireless flight;
  • a fire suppression unit mounted on a lower surface of the flight unit and having a plurality of fire extinguishing solution ampoules mounted therein for firing and dropping the fire extinguishing solution ampoules at a fire site;
  • a camera transmission unit mounted on the fire suppression unit and photographing a fire scene situation and a moving path of a fire extinguishing solution ampoule and transmitting in real time;
  • a control unit which displays a fire scene image received from the camera transmitting unit and transmits a fire and drop signal of the fire extinguishing solution ampoule to the fire suppression unit;
  • a control unit controlling the flight unit and the fire suppression unit according to the control signal received from the control unit.
  • Embodiments of the invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described in detail below. That is, the embodiments of the present invention are provided to explain the present invention in detail to those skilled in the art. Therefore, the shape of the components in the drawings, etc. may be exaggerated in order to emphasize a more clear description, it should be noted that the same member in each drawing is shown with the same reference numerals.
  • FIG. 1 is a perspective view illustrating a drone for fire reconnaissance and fire suppression according to the present invention
  • Figure 2 is a front view showing a drone for fire reconnaissance and fire suppression according to the present invention
  • Figure 3 is a side view illustrating a drone for fire reconnaissance and fire suppression
  • FIG. 4 is a front view illustrating a control unit of a drone for fire reconnaissance and fire suppression according to the present invention.
  • the fire scene reconnaissance and fire suppression drone 100 includes a flight unit 10, fire suppression unit 20, the camera transmission unit 30 and the control unit 40. .
  • the drone 100 according to the present invention may further include a control unit.
  • the flight unit 10 is provided so that the drone 100 according to the present invention, for example, short-range wireless flight within 3 km, is installed on the main body 12, the main body 12, the control unit 40 A receiver 14 and a wing 16 installed on the side of the main body 10 for receiving the first control signal transmitted from the control unit and transmitted to the control unit.
  • the wing 16 may include a propeller portion 16-1 installed at its end.
  • two to eight wings may be installed on the side of the main body 12, including the propeller 16-1, more than that can be installed.
  • the wing 16 is shown to be fixedly installed on the side of the body 12, it can be installed in a foldable.
  • the propeller unit 16-1 may be rotatably installed at the end of the wing 16.
  • reference numeral 18 which is not described, indicates a landing member for landing on the ground of the drone 100 according to the present invention.
  • the fire suppression unit 20 is provided for fire suppression at the fire site, for example, may be mounted on the lower surface of the main body 12 of the flight unit 10.
  • the fire extinguishing unit 20 has a storage space therein, the opening of the spherical fire extinguishing solution ampoule 26 at one side, that is, the lower end of the surface corresponding to the front surface of the drone 100 according to the present invention.
  • (22-2) and the first tank 22, for example, is installed on the lower surface of the first tank 22, but having a second storage space (24-1) inside the opening and closing means (27)
  • the second tank 24 having the second hole opened and closed by the second tank 24 and the storage spaces 22-1 and 24-1 inside the first tank 22 and the second tank 24, respectively.
  • the second tank 24 may be installed on any one side surface of the first tank 22 rather than on the lower surface of the first tank 22.
  • the first tank 22 is a launch port 22-2 provided below the first storage space 22-1 and the first storage space 22-1 in which the spherical extinguishing solution ampoules 26 are accommodated. It includes, the bottom of the first storage space (22-1) is fired while being provided with its inclined surface (22a) has a lower surface for easy movement of the spherical extinguishing solution ampoules (26) to the launching opening (22-2) It is connected to the sphere (22-2) and has a first hole (22b) of the same size or 1.5 times larger than the diameter of the spherical extinguishing solution ampoule (26).
  • the plurality of spherical extinguishing solution ampoules 26 accommodated in the first storage space 22-1 passes through the first hole 22 b by the inclined surface 22 a of the first storage space 22-1. It may be moved to the launching port 22-2.
  • the inclined surface 22a is preferably provided in a form having a gradient gradually lowered around the first hole 22b.
  • the fire suppression unit 20 in the drone 100 according to the present invention further includes a compressed air tank 23 installed on the inner rear side of the first tank 22.
  • the compressed air tank 23 is installed to fire the spherical extinguishing solution ampoule 26 located at the launching port 22-2 according to the second control signal received from the control unit 40, but is not shown in detail. It can be understood that the compressed air outlet of the compressed air tank 23 is arranged on the same line as the launch port 22-2.
  • the second tank 24 has a second storage space 24-1 in which the plurality of rod-type fire extinguishing solution ampoules 28 are accommodated, and has a size equal to or slightly larger than the size of the rod-type fire extinguishing solution ampoule 28 at the bottom thereof.
  • the bottom surface of the second storage space 24-1 is also provided to have an inclined surface 24a of a gradient gradually lowered about the second hole 24b.
  • the fire suppression unit 20 in the unmanned aerial vehicle 100 according to the present invention further includes a servo 25 installed inside the second tank 24.
  • the servo 25 may be understood to be provided to control the opening and closing of the opening and closing means 27 provided on the bottom surface of the second tank 24 according to the third control signal received from the control unit 40.
  • the spherical or rod type fire extinguishing solution ampoules 26 and 28, which are not described in detail herein, are already widely used for fire suppression, and are made in a highly concentrated ampoule state so that the extinguishing solution explodes at a temperature of 100 ° C. or higher. It is known that its digestibility is excellent despite its small size.
  • the rod-type extinguishing solution ampoule 28 has a circular cross section and a rod shape as a whole.
  • the fire suppression unit 20 is not the first and second tanks in which the spherical and rod-type fire extinguishing solution ampoules are accommodated, but the fire extinguishing solution tank containing the extinguishing solution directly flows through the unit 10. It can also be attached to the configuration.
  • an injection nozzle may be added for the injection of the extinguishing solution, and a connection pipe connecting the injection nozzle and the extinguishing solution tank may be added.
  • the extinguishing solution contained in the extinguishing solution tank may be understood as having an excellent extinguishing ability even in a small amount, similarly to that of the ampoule state.
  • the camera transmitting unit 30 photographs the fire situation and continuously photographs the positions of the ampoules 26 and 28 fired or dropped from the fire suppression unit 20 to transmit to the control unit 40.
  • It is provided for, and includes a camera 32 and an image transmitter 34 for transmitting a video signal photographed from the camera 32 to the control unit 40.
  • the camera 32 moves the fired or dropped ampoules 26 and 28 in order to increase the accuracy when the fire extinguishing ampoules 26 and 28 are fired.
  • the camera 32 may have an auto tracking function to track the ampoules 26 and 28 fired or dropped, and the detailed description thereof is omitted since the auto tracking function is a known technique.
  • the control unit 40 is provided to command the control signals for the operation of the wireless flight and fire suppression unit 20 of the unmanned aerial vehicle 100 according to the present invention, the fire received from the camera transmission unit 30 First and second tanks 22 and 2 of the display device 42 for displaying the field image and the movement of the ampoules 26 and 28 and the flight and fire suppression unit 20 of the drone 100 according to the present invention. And a radio-controller 44 which transmits control signals for firing and dropping the fire extinguishing solution ampoules 326 and 28 contained in the 24.
  • the radio controller 44 includes a first manipulator 44-1 which commands a first control signal for controlling the flight of the unmanned aerial vehicle 100 according to the present invention, and a first tank in the fire suppression unit 20. 22) a second operation unit 44-2 which commands a second control signal for firing the spherical extinguishing solution ampoule 26 at the fire site through the operation of the compressed air tank 23 installed therein, and the second tank ( 24) A third control unit 44-3 is provided which commands a third control signal for dropping the rod-type fire extinguishing solution ampoule 28 to the fire site through the operation of the servo 25 installed therein.
  • the first control unit 44-1 in the radio controller 44 is preferably provided in the form of a joystick for convenience, but may also be provided in the form of a direction button, and the second control unit 44-2 and the third control unit. (44-3) is preferably provided in a switch form for convenience, but may be provided in other forms.
  • the display device 42 and the radio controller 44 of the control unit 40 according to the present invention may be provided to have a variety of shapes other than the shape shown in FIG.
  • switches having various functions may be additionally installed.
  • control unit may include a printed circuit board and a plurality of active and passive elements mounted on the printed circuit board.
  • the control unit controls the flight of the flight unit 10 in accordance with the first control signal from the control unit 40 received through the receiver 14 of the flight unit 10, and also from the control unit 40
  • the operation of the compressed air tank 23 and the servo 25 of the fire suppression unit 20 is controlled according to the received second and third control signals.
  • the fire suppression unit 20 is not the receiver 14 installed in the flight unit 10, but the second and third control signals transmitted from the control unit 40. It may further include a separate receiver for receiving them directly. In this case, it can be understood that an additional receiver for receiving the second and third control signals is installed in the fire suppression unit 20 and connected to the control unit. Alternatively, an additional receiver for operating the compressed air tank 23 and the servo 25 of the fire suppression unit 20 may be added to the camera transmission unit 30.
  • 5 and 6 are views for explaining an example of the use of the drone for fire scene reconnaissance and fire suppression according to the present invention, as follows.
  • the receiver 14 provided in the flight unit 10 receives the first control signal transmitted from the control unit 40 and the unmanned aerial vehicle 100 according to the present invention moves to a fire site.
  • firefighters can not be easily accessed, of course, but easily accessible, in the case of the drone 100 according to the present invention, very quickly, for example, within 1 minute You can travel more than 2km and get over the fire site.
  • the camera 32 of the camera transmission unit 30 photographs the fire scene in real time and controls the control unit 40 through the transmitter 34.
  • the fire situation is displayed on the display device 42 of.
  • the first tank 22 of the fire suppression unit 20 through the operation of the second control unit 44-2 or the third control unit 44-3 provided in the radio controller 44 of the control unit 40.
  • the compressed air tank 23 or the servo 25 respectively installed in the second tank 24, and thus, the first and second tanks 22 and 24 are accommodated.
  • the spherical extinguishing solution ampoule 26 or the rod-type extinguishing solution ampoule 28 is fired or dropped onto the target of the fire scene.
  • the fire site is the upper floor of a high-rise building, as shown in Figure 5, by operating the compressed air tank 23 provided in the first tank 22, the spherical extinguishing solution ampoule 26 located at the launching opening 22-2.
  • the rod-type extinguishing solution ampoule 28 is dropped by opening the opening and closing means 27 by operating the servo 25 provided in the second tank 24.
  • the camera 32 of the camera transmission unit 30 fires or drops the fire extinguishing solution ampules 26 and 28.
  • the screen of the fire extinguishing solution ampoules 26 and 28 dropped on the display unit 42 of the control unit 40 while the angle is moved by following the movement path of the fire extinguishing solution ampules 26 and 28 is discharged. Or the accuracy of the release will be aimed at.
  • the extinguishing solution ampoule (26, 28) when exhausted, it can be charged directly at the fire site to perform continuous fire scene reconnaissance and fire suppression mission.
  • the fire crew can quickly approach the upper floor of a high-rise building, a dense area of a high-rise building, a dwelling area, and a wildfire fire site that are difficult or inaccessible within a minute. It is possible to accurately show the fire scene situation, and also to quickly extinguish the fire by firing or dropping the fire extinguishing solution ampoule in the core fire area, such as the ignition point, accordingly, the fire scene reconnaissance and fire suppression according to the present invention
  • the use of drones can significantly reduce fire damage, including casualties.
  • the present invention can be used in the drone for fire scene reconnaissance and fire suppression.

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Abstract

The present invention relates to an unmanned aerial vehicle for reconnaissance of a scene of a fire and fire suppression, which is suitable to be dispatched to the scene of a fire which a firefighter cannot easily access.

Description

화재현장 정찰 및 화재진압용 무인비행기Drones for fire reconnaissance and fire suppression
본 발명은 무인비행기에 관한 것으로, 더욱 상세하게는, 소방대원이 진입하기 어려운 화재현장에 빠르게 투입시키기에 적합한 화재현장 정찰 및 화재진압용 무인비행기에 관한 것이다.The present invention relates to an unmanned aerial vehicle, and more particularly, to a drone for fire scene reconnaissance and fire extinguishing, which is suitable for quickly entering a fire site difficult for firefighters to enter.
주지된 바와 같이, 각종 화재를 진화하기 위한 수단으로서 휴대용소화기, 소방차, 살수차, 소방헬기 및 소방로봇 등의 다양한 소방설비가 널리 알려져 사용되고 있다. As is well known, various fire extinguishing facilities such as portable fire extinguishers, fire trucks, sprinklers, fire helicopters and fire robots are widely known and used as means for extinguishing various fires.
한편, 신속한 화재진압을 위해서는 소방대원이 화염의 진원지에 좀더 가까이 접근해야만 하는데, 화재가 일어난 곳에서는 대개 뜨거운 화염과 유독가스가 발생하기 때문에 소방대원의 접근이 쉽지 않다. 특히, 고온의 화염이 발생하고, 폭발위험이 있는 화재현장에는 소방대원의 접근조차 쉽지 않으며, 따라서, 이러한 화재지역의 경우, 소방대원이 신속하게 투입된다 하더라도 화재를 효과적으로 진압하기는 어렵다. On the other hand, firefighters need to get closer to the epicenter of the fire to explode the fire quickly, and it is not easy for the firefighters to approach the fire because hot flames and toxic gases are usually generated. In particular, it is not easy for firefighters to access fire scenes where hot flames are generated and there is a risk of explosion. Therefore, even in such fire zones, it is difficult to effectively extinguish a fire even if firefighters are promptly introduced.
예컨대, 대규모 화학단지나 주유소 등에서 일어나는 화재나, 산에서 일어나는 화재의 경우, 화염의 열기가 대단히 뜨겁기 때문에 소방대원은 물론 철구조물로 이루어진 소방차량도 화재현장에 쉽게 접근할 수가 없다. 또한, 고층 건물에서의 상층부 화재현장을 포함하여 상기한 화재현장 등의 경우에는 화재현장 진입에 많은 시간이 소요될 뿐만 아니라, 화재현장의 상황, 즉, 화재상황을 제대로 파악하지 못함으로써, 화재진압에 많은 어려움을 겪게 되고, 그래서, 인재사고라 불릴 만큼 화재로 인한 피해가 더 늘어날 수밖에 없는 실정이다. For example, in the case of a fire occurring in a large chemical complex or a gas station, or in a mountain fire, since the heat of flame is very hot, not only firefighters but also fire trucks made of steel structures cannot easily access the fire site. In addition, in case of the above-mentioned fire site including the fire site of the upper part in a high-rise building, it takes not only a lot of time to enter the fire site, but also does not properly grasp the situation of the fire site, that is, the fire situation. You will have a lot of difficulties, so the damage caused by fire is inevitably increased.
현재, 이러한 문제를 해결하기 위해서 화재현장에 사람 대신에 투입할 수 있게 제작한 여러 가지 소방로봇 및 소방기기 등이 개발되고 있다. Currently, to solve these problems, various firefighting robots and firefighting devices are being developed that can be used instead of humans at fire sites.
그러나, 현재까지 개발 완료되었거나 제안되고 있는 소방로봇 및 소방기기 등은 단순히 화재현장에 소방수를 공급하기 위한 소방포만을 구비하고 있기 때문에 화재진압에 효과적으로 이용되지는 못하고 있는 실정이며, 특히, 화재현장에 신속하게 투입할 수 없음의 문제는 여전히 존재한다. 따라서, 소방대원의 진입이 어려운 화재현장에 대한 신속하고 정확한 정찰 및 효과적인 화재진압이 매우 절실하다.However, the fire-fighting robots and fire-fighting devices that have been developed or proposed so far have not been effectively used for extinguishing fires because they only have fire cannons for supplying fire water to the fire site. There is still a problem of not being able to do it quickly. Therefore, the rapid and accurate reconnaissance and effective fire extinguishing of the fire site where the firefighters are difficult to enter is very urgent.
[선행기술문헌][Preceding technical literature]
등록특허공보 10-1009456Patent Publication 10-1009456
등록특허공보 10-1304529Patent Registration Publication 10-1304529
본 발명은 전술한 종래의 문제점을 해결하기 위한 제안된 것으로서, 소방대원이 진입하기 어려운 화재현장에 신속하게 투입하여 화재상황을 정확하게 파악하는데 적합한 화재현장 정찰 및 화재진압용 무인비행기를 제공함에 그 목적이 있다.The present invention has been proposed to solve the above-mentioned conventional problems, and to provide a drone for fire scene reconnaissance and fire suppression, which is suitable for quickly grasping a fire situation by quickly entering a fire site that is difficult for firefighters to enter. There is this.
본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기는, 무선 비행이 가능한 비행유닛; 상기 비행유닛의 하면에 장착되며, 내부에 복수의 소화용액 앰플이 탑재되어 화재현장에 상기 소화용액 앰플들을 발사 및 투하하는 화재진압유닛; 상기 화재진압유닛에 장착되며, 화재현장 상황 및 소화용액 앰플의 이동 경로를 촬영하여 실시간 송신하는 카메라 송신유닛; 상기 카메라 송신유닛으로부터 수신된 화재현장 영상을 표시하고 상기 화재진압유닛에 상기 소화용액 앰플의 발사 및 투하 신호를 송신하는 관제유닛; 및 상기 관제유닛으로부터 수신된 관제신호에 따라 상기 비행유닛 및 화재진압유닛을 제어하는 제어유닛;을 포함한다.Fire scene reconnaissance and fire suppression drone according to the present invention, a flight unit capable of wireless flight; A fire suppression unit mounted on a lower surface of the flight unit and having a plurality of fire extinguishing solution ampoules mounted therein for firing and dropping the fire extinguishing solution ampoules at a fire site; A camera transmission unit mounted on the fire suppression unit and photographing a fire scene situation and a moving path of a fire extinguishing solution ampoule and transmitting in real time; A control unit which displays a fire scene image received from the camera transmitting unit and transmits a fire and drop signal of the fire extinguishing solution ampoule to the fire suppression unit; And a control unit controlling the flight unit and the fire suppression unit according to the control signal received from the control unit.
상기 비행유닛은: 본체; 상기 본체에 설치되어 상기 관제유닛으로부터 송신된 제1관제신호를 수신하여 상기 제어유닛에 제1관제신호를 전달하는 비행유닛 수신기; 및 상기 본체의 측면에 설치된 복수의 날개; 를 포함하는 것이 바람직하다.The flight unit includes: a main body; A flight unit receiver installed in the main body and receiving a first control signal transmitted from the control unit and transmitting a first control signal to the control unit; And a plurality of wings installed on the side of the main body; It is preferable to include.
상기 화재진압유닛은: 상기 비행유닛의 하면에 배치되며, 내부에 수납공간을 가지면서 전면의 하단부에 소화용액 앰플 발사구가 형성된 제1탱크; 상기 제1탱크의 하면에 배치되며, 내부에 수납공간을 가지면서 저면에 개폐수단이 구비된 제2탱크; 상기 제1탱크의 내부 공간에 수납된 복수의 구형 소화용액 앰플; 상기 제1탱크의 내부 후면에 설치되며, 상기 구형 소화용액 앰플들을 화재현장에 발사시키기 위한 압축공기탱크; 상기 제2탱크의 내부 공간에 수납된 복수의 막대형 소화용액 앰플; 및 상기 제2탱크 내부에 설치되며, 상기 개폐수단의 개폐를 제어하여 상기 막대형 소화용액 앰플들을 화재현장에 투하시키기 위한 서보; 를 포함하는 것이 바람직하다.The fire suppression unit may include: a first tank disposed on a lower surface of the flight unit and having a storage space therein and having a fire extinguishing solution ampoule opening formed at a lower end of the front surface; A second tank disposed on a lower surface of the first tank and having an opening space therein and having an opening and closing means at a bottom thereof; A plurality of spherical extinguishing solution ampoules stored in the inner space of the first tank; A compressed air tank installed at an inner rear surface of the first tank and configured to launch the spherical extinguishing solution ampoules into a fire site; A plurality of rod-type fire extinguishing solution ampoules stored in the inner space of the second tank; And a servo installed inside the second tank and controlling the opening and closing of the opening and closing means to drop the rod-type fire extinguishing solution ampoules onto a fire site. It is preferable to include.
상기 제1탱크에는 제1수납공간이 형성되되, 상기 제1수납공간에는 상기 구형 소화용액 앰플들이 수납되고, 저면에 상기 구형 소화용액 앰플들이 통과하는 크기의 제1홀이 형성되며, 상기 제1홀을 중심으로 저면에 경사면이 형성되고, 상기 발사구는 상기 제1수납공간 아래에 배치되면서 상기 압축공기탱크로부터 나오는 압축공기의 이동 경로에 배치되어 상기 제1홀을 통과하여 내려온 상기 구형 소화용액 앰플이 발사되는 것이 바람직하다.A first storage space is formed in the first tank, the spherical extinguishing solution ampoules are accommodated in the first storage space, and a first hole having a size through which the spherical extinguishing solution ampoules passes is formed on the first tank. An inclined surface is formed on the bottom surface of the hole, and the launching port is disposed under the first storage space and is disposed in the movement path of the compressed air coming out of the compressed air tank to descend through the first hole. It is desirable to be fired.
상기 제2탱크에는 제2수납공간이 형성되되, 상기 제2수납공간에는 상기 막대형 소화용액 앰플들이 수납되고, 저면에 상기 막대형 소화용액 앰플들이 통과하는 제2홀이 형성되며, 상기 제2홀을 중심으로 저면에 경사면이 형성된 것이 바람직하다.A second storage space is formed in the second tank, wherein the rod-type fire extinguishing solution ampoules are accommodated in the second storage space, and a second hole through which the rod-type fire extinguishing solution ampoules passes is formed in the second tank. It is preferable that the inclined surface is formed in the bottom surface centering on a hole.
상기 카메라 송신유닛은: 화재현장 및 소화용액 앰플의 이동을 촬영하는 카메라; 및 상기 카메라로부터 촬영된 영상신호를 상기 관제유닛에 송신하는 송신기; 를 포함하며, 상기 카메라는 발사 및 투하된 소화용액 앰플을 쫓아 그의 각도가 움직이도록 마련된 것이 바람직하다.The camera transmission unit includes: a camera for photographing the movement of the fire site and the extinguishing solution ampoule; And a transmitter for transmitting a video signal photographed from the camera to the control unit. It includes, it is preferable that the camera is provided to move the angle of the fire extinguishing solution ampoule fired and dropped.
상기 관제유닛은: 상기 카메라 송신유닛으로부터 수신된 영상을 표시하는 표시장치; 및 상기 비행유닛의 비행을 위한 제1관제신호와 상기 표시장치에 표시되는 영상을 토대로 화재진압을 위한 구형 소화용액 앰플 및 막대형 소화용액 앰플의 발사 및 투하를 위한 제2 및 제3 관제신호를 송신하는 무선조정기; 를 포함하는 것이 바람직하다.The control unit includes: a display device for displaying an image received from the camera transmission unit; And second and third control signals for firing and dropping spherical extinguishing solution ampoules and rod-type extinguishing solution ampoules for fire suppression based on the first control signal for flying the flight unit and the image displayed on the display device. Transmitting radio regulator; It is preferable to include.
본 발명에 따르면, 근거리 비행이 가능하면서 무인으로 비행하도록 구성되기 때문에 화재 발생 지역들에 상관없이 화재현장에 신속하게 투입될 수 있으며, 특히, 실시간으로 화재현장 상황을 카메라로 촬영하여 관제유닛에 송신하기 때문에 화재현장의 상황을 정확하게 파악함으로써 효과적인 화재진압이 가능하도록 할 수 있다. According to the present invention, since the short-range flight is possible and is configured to fly unattended, regardless of the fire occurrence area can be quickly put into the fire site, in particular, in real time by shooting the fire situation with a camera to transmit to the control unit Therefore, by accurately grasping the situation of the fire site, effective fire suppression can be made possible.
따라서, 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 이용하는 경우, 화재현장에 대한 신속한 상황 파악 및 화재진압이 가능하므로, 화재진압 효율을 높일 수 있고, 그래서, 화재로 인한 피해, 특히, 인명피해를 효과적으로 줄일 수 있다.Therefore, when using the unmanned aircraft for fire scene reconnaissance and fire suppression according to the present invention, it is possible to quickly identify the fire situation and extinguish the fire, so that the fire extinguishing efficiency can be increased, so that the damage caused by fire, in particular, It can effectively reduce human injury.
도 1은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 사시도이다. 1 is a perspective view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
도 2는 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 정면도이다. Figure 2 is a front view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
도 3은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 측면도이다. 3 is a side view showing a drone for fire scene reconnaissance and fire suppression according to the present invention.
도 4는 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기의 관제유닛을 설명하기 위한 정면도이다. Figure 4 is a front view for explaining the control unit of the drone for fire scene reconnaissance and fire suppression according to the present invention.
도 5 및 도 6은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기의 활용 예를 설명하기 위한 도면이다.5 and 6 are views for explaining the use of the drone for fire scene reconnaissance and fire suppression according to the present invention.
본 발명은 무선 비행이 가능한 비행유닛; 상기 비행유닛의 하면에 장착되며, 내부에 복수의 소화용액 앰플이 탑재되어 화재현장에 상기 소화용액 앰플들을 발사 및 투하하는 화재진압유닛; 상기 화재진압유닛에 장착되며, 화재현장 상황 및 소화용액 앰플의 이동 경로를 촬영하여 실시간 송신하는 카메라 송신유닛; 상기 카메라 송신유닛으로부터 수신된 화재현장 영상을 표시하고 상기 화재진압유닛에 상기 소화용액 앰플의 발사 및 투하 신호를 송신하는 관제유닛; 및 상기 관제유닛으로부터 수신된 관제신호에 따라 상기 비행유닛 및 화재진압유닛을 제어하는 제어유닛으로 구성된다.The present invention is a flight unit capable of wireless flight; A fire suppression unit mounted on a lower surface of the flight unit and having a plurality of fire extinguishing solution ampoules mounted therein for firing and dropping the fire extinguishing solution ampoules at a fire site; A camera transmission unit mounted on the fire suppression unit and photographing a fire scene situation and a moving path of a fire extinguishing solution ampoule and transmitting in real time; A control unit which displays a fire scene image received from the camera transmitting unit and transmits a fire and drop signal of the fire extinguishing solution ampoule to the fire suppression unit; And a control unit controlling the flight unit and the fire suppression unit according to the control signal received from the control unit.
본 발명의 실시 예는 여러 가지 형태로 변형될 수 있으며, 본 발명의 범위가 아래에서 상세히 설명하는 실시 예로 한정되는 것으로 해석되어서는 안 된다. 즉, 본 발명 실시 예는 당 업계에서 평균적인 지식을 가진 자에게 본 발명을 더욱 상세하게 설명하기 위해서 제공되는 것이다. 따라서, 도면에서의 구성요소의 형상 등은 보다 명확한 설명을 강조하기 위해서 과장되어 표현될 수 있으며, 각 도면에서 동일한 부재는 동일한 참조부호로 도시한 경우가 있음을 유의하여야 한다. Embodiments of the invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described in detail below. That is, the embodiments of the present invention are provided to explain the present invention in detail to those skilled in the art. Therefore, the shape of the components in the drawings, etc. may be exaggerated in order to emphasize a more clear description, it should be noted that the same member in each drawing is shown with the same reference numerals.
이하, 첨부된 도면들을 참조하여 본 발명의 바람직한 실시 예를 상세하게 설명하도록 한다. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 사시도이며, 도 2는 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 정면도이고, 도 3은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 도시한 측면도이며, 도 4는 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기의 관제유닛을 도시한 정면도이다. 1 is a perspective view illustrating a drone for fire reconnaissance and fire suppression according to the present invention, Figure 2 is a front view showing a drone for fire reconnaissance and fire suppression according to the present invention, Figure 3 FIG. 4 is a side view illustrating a drone for fire reconnaissance and fire suppression, and FIG. 4 is a front view illustrating a control unit of a drone for fire reconnaissance and fire suppression according to the present invention.
도시된 바와 같이, 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기(100)는 비행유닛(10), 화재진압유닛(20), 카메라 송신유닛(30) 및 관제유닛(40)을 포함한다. 또한, 도시되지 않았으나, 본 발명에 따른 무인비행기(100)는 제어유닛을 더 포함할 수 있다. As shown, the fire scene reconnaissance and fire suppression drone 100 according to the present invention includes a flight unit 10, fire suppression unit 20, the camera transmission unit 30 and the control unit 40. . In addition, although not shown, the drone 100 according to the present invention may further include a control unit.
비행유닛(10)은 본 발명에 따른 무인비행기(100)가, 예컨대, 3㎞ 이내의 근거리 무선 비행이 가능하도록 마련되며, 본체(12), 본체(12) 상에 설치되어 관제유닛(40)으로부터 송신된 제1관제신호를 수신하여 제어유닛에 전달하는 수신기(14) 및 본체(10)의 측면에 설치된 날개(16)를 포함한다. 날개(16)는 그의 단부에 설치된 프로펠러부(16-1)를 포함할 수 있다. The flight unit 10 is provided so that the drone 100 according to the present invention, for example, short-range wireless flight within 3 km, is installed on the main body 12, the main body 12, the control unit 40 A receiver 14 and a wing 16 installed on the side of the main body 10 for receiving the first control signal transmitted from the control unit and transmitted to the control unit. The wing 16 may include a propeller portion 16-1 installed at its end.
본 발명의 실시 예에서, 프로펠러(16-1)를 포함하는 날개(16)는 본체(12)의 측면에 2개 내지 8개, 예컨대, 8개가 설치될 수 있으며, 그 이상도 설치 가능하다. 또한, 날개(16)는 본체(12)의 측면에 고정식으로 설치된 것으로 도시되었으나, 접이식으로도 설치 가능하다. 아울러, 프로펠러부(16-1)는 날개(16)의 단부에 회동 가능하게 설치될 수 있다.In the embodiment of the present invention, two to eight wings, for example eight, may be installed on the side of the main body 12, including the propeller 16-1, more than that can be installed. In addition, the wing 16 is shown to be fixedly installed on the side of the body 12, it can be installed in a foldable. In addition, the propeller unit 16-1 may be rotatably installed at the end of the wing 16.
도 1에서, 미설명된 도면부호 18은 본 발명에 따른 무인비행기(100)의 지상에의 착륙을 위한 랜딩부재를 나타낸다. In FIG. 1, reference numeral 18, which is not described, indicates a landing member for landing on the ground of the drone 100 according to the present invention.
상기 화재진압유닛(20)은 화재현장에서의 화재진압을 위해 마련되는 것으로서, 예컨대, 비행유닛(10)의 본체(12) 하면에 장착될 수 있다. 이러한 화재진압유닛(20)은 내부에 수납공간을 가지면서 일측면, 즉 본 발명에 따른 무인비행기(100)의 전면(前面)에 해당하는 면의 하단부에 구형 소화용액 앰플(26)의 발사구(22-2)를 구비한 제1탱크(22)와, 예컨대, 제1탱크(22)의 하면에 설치되되 내부에 제2수납공간(24-1)을 가지면서 하면에 개폐수단(27)에 의해 개폐되는 제2홀을 구비한 제2탱크(24), 그리고, 제1탱크(22)와 제2탱크(24) 내부의 수납공간들(22-1, 24-1) 내에 각각 수납된 복수의 구형 소화용액 앰플들(26)과 복수의 막대형 소화용액 앰플들(28)을 포함한다. 제2탱크(24)는 제1탱크(22)의 하면이 아닌 어느 하나의 측면에 설치되는 것도 가능하다. The fire suppression unit 20 is provided for fire suppression at the fire site, for example, may be mounted on the lower surface of the main body 12 of the flight unit 10. The fire extinguishing unit 20 has a storage space therein, the opening of the spherical fire extinguishing solution ampoule 26 at one side, that is, the lower end of the surface corresponding to the front surface of the drone 100 according to the present invention. (22-2) and the first tank 22, for example, is installed on the lower surface of the first tank 22, but having a second storage space (24-1) inside the opening and closing means (27) The second tank 24 having the second hole opened and closed by the second tank 24 and the storage spaces 22-1 and 24-1 inside the first tank 22 and the second tank 24, respectively. A plurality of spherical extinguishing solution ampoules (26) and a plurality of rod-type extinguishing solution ampoules (28). The second tank 24 may be installed on any one side surface of the first tank 22 rather than on the lower surface of the first tank 22.
여기서, 제1탱크(22)는 구형 소화용액 앰플들(26)이 수납되는 제1수납공간(22-1)과 제1수납공간(22-1) 아래에 마련되는 발사구(22-2)를 포함하며, 제1수납공간(22-1)의 저면은 구형 소화용액 앰플들(26)의 발사구(22-2)로의 용이한 이동을 위해서 그의 하면이 경사면(22a)을 갖도록 마련되면서 발사구(22-2)와 연결되되 구형 소화용액 앰플(26)의 직경과 같거나 1.5배 정도 큰 크기의 제1홀(22b)을 구비한다. Here, the first tank 22 is a launch port 22-2 provided below the first storage space 22-1 and the first storage space 22-1 in which the spherical extinguishing solution ampoules 26 are accommodated. It includes, the bottom of the first storage space (22-1) is fired while being provided with its inclined surface (22a) has a lower surface for easy movement of the spherical extinguishing solution ampoules (26) to the launching opening (22-2) It is connected to the sphere (22-2) and has a first hole (22b) of the same size or 1.5 times larger than the diameter of the spherical extinguishing solution ampoule (26).
따라서, 제1수납공간(22-1)에 수납되는 복수의 구형 소화용액 앰플들(26)은 제1수납공간(22-1)의 경사면(22a)에 의해 제1홀(22b)을 통과해서 발사구(22-2)로 이동될 수 있다. 경사면(22a)은, 도시된 바와 같이, 제1홀(22b)을 중심으로 점차 낮아지는 구배를 갖는 형태로 마련됨이 바람직하다. Accordingly, the plurality of spherical extinguishing solution ampoules 26 accommodated in the first storage space 22-1 passes through the first hole 22 b by the inclined surface 22 a of the first storage space 22-1. It may be moved to the launching port 22-2. As illustrated, the inclined surface 22a is preferably provided in a form having a gradient gradually lowered around the first hole 22b.
본 발명에 따른 무인비행기(100)에서의 화재진압유닛(20)은 제1탱크(22)의 내부 후면 측에 설치된 압축공기탱크(23)를 더 포함한다. 압축공기탱크(23)는 관제유닛(40)으로부터 수신된 제2관제신호에 따라 발사구(22-2)에 위치한 구형 소화용액 앰플(26)을 발사하기 위해 설치되는 것으로, 자세하게 도시되지 않았으나, 압축공기탱크(23)의 압축공기 출구는 발사구(22-2)와 동일 선상에 배치되는 것으로 이해될 수 있다. The fire suppression unit 20 in the drone 100 according to the present invention further includes a compressed air tank 23 installed on the inner rear side of the first tank 22. The compressed air tank 23 is installed to fire the spherical extinguishing solution ampoule 26 located at the launching port 22-2 according to the second control signal received from the control unit 40, but is not shown in detail. It can be understood that the compressed air outlet of the compressed air tank 23 is arranged on the same line as the launch port 22-2.
제2탱크(24)는 복수의 막대형 소화용액 앰플들(28)이 수납되는 제2수납공간(24-1)과, 그의 저면에 막대형 소화용액 앰플(28)의 크기와 같거나 약간 더 큰 크기의 제2홀(24b), 그리고, 제2홀(24b)의 개방 또는 폐쇄하는 개폐수단(27)을 포함한다. 여기서, 제2수납공간(24-1)의 저면 또한 제2홀(24b)을 중심으로 점차 낮아지는 구배의 경사면(24a)을 갖도록 마련된다. The second tank 24 has a second storage space 24-1 in which the plurality of rod-type fire extinguishing solution ampoules 28 are accommodated, and has a size equal to or slightly larger than the size of the rod-type fire extinguishing solution ampoule 28 at the bottom thereof. A large sized second hole 24b, and opening and closing means 27 for opening or closing the second hole 24b. Here, the bottom surface of the second storage space 24-1 is also provided to have an inclined surface 24a of a gradient gradually lowered about the second hole 24b.
또한, 본 발명에 따른 무인비행기(100)에서의 화재진압유닛(20)은 제2탱크(24) 내부에 설치된 서보(servo: 25)를 더 포함한다. 여기서, 서보(25)는 관제유닛(40)으로부터 수신된 제3관제신호에 따라 제2탱크(24)의 하면에 마련된 개폐수단(27)의 개폐를 제어하기 위해 마련되는 것으로 이해될 수 있다. In addition, the fire suppression unit 20 in the unmanned aerial vehicle 100 according to the present invention further includes a servo 25 installed inside the second tank 24. Here, the servo 25 may be understood to be provided to control the opening and closing of the opening and closing means 27 provided on the bottom surface of the second tank 24 according to the third control signal received from the control unit 40.
한편, 상기의 구형 또는 막대형 소화용액 앰플(26, 28)은, 여기에서 자세하게 설명하지는 않지만, 이미 화재진압을 위해 널리 사용되고 있는 것으로, 소화용액이 100℃ 이상의 온도에서 폭발하도록 고농축 앰플 상태로 만들어진 것이기 때문에 작은 크기임에도 불구하고 소화 능력이 매우 탁월한 것으로 알려져 있다. 막대형 소화용액 앰플(28)은 단면이 원형이면서 전체적으로 봉 형상을 갖는다. On the other hand, the spherical or rod type fire extinguishing solution ampoules 26 and 28, which are not described in detail herein, are already widely used for fire suppression, and are made in a highly concentrated ampoule state so that the extinguishing solution explodes at a temperature of 100 ° C. or higher. It is known that its digestibility is excellent despite its small size. The rod-type extinguishing solution ampoule 28 has a circular cross section and a rod shape as a whole.
또한, 본 발명에서의 화재진압유닛(20)은, 도시하지 않았으나, 구형 및 막대형 소화용액 앰플들이 수납된 제1 및 제2 탱크들이 아니라, 소화용액이 담긴 소화용액 탱크를 직접 비행유닛(10)에 장착하여 구성하는 것도 가능하다. 이 경우, 소화용액의 분사를 위해 분사노즐이 추가될 수 있고, 또한, 분사노즐과 소화용액 탱크를 연결하는 연결관이 추가될 수 있다. 이때, 소화용액 탱크에 담기는 소화용액은 앰플 상태의 그것과 마찬가지로, 적은 양으로도 탁월한 소화 능력을 갖는 것으로 이해될 수 있다. In addition, although not shown, the fire suppression unit 20 according to the present invention is not the first and second tanks in which the spherical and rod-type fire extinguishing solution ampoules are accommodated, but the fire extinguishing solution tank containing the extinguishing solution directly flows through the unit 10. It can also be attached to the configuration. In this case, an injection nozzle may be added for the injection of the extinguishing solution, and a connection pipe connecting the injection nozzle and the extinguishing solution tank may be added. At this time, the extinguishing solution contained in the extinguishing solution tank may be understood as having an excellent extinguishing ability even in a small amount, similarly to that of the ampoule state.
계속해서, 상기 카메라 송신유닛(30)은 화재현장 상황을 촬영함과 아울러 화재진압유닛(20)으로부터 발사 또는 투하된 앰플(26, 28)의 위치를 연속 촬영하여 관제유닛(40)에 송신하기 위해 마련되는 것으로, 카메라(32) 및 카메라(32)로부터 촬영된 영상신호를 관제유닛(40)에 송신하는 영상송신기(34)를 포함한다. 여기서, 자세하게 도시되지 않았으나, 카메라(32)는 소화용액 앰플들(26, 28)의 발사 또는 투하 시, 그 정확도를 높이기 위해 발사 또는 투하된 앰플들(26, 28)을 쫓아 그 각도가 움직이도록 마련된다. 즉, 카메라(32)는 오토 트래킹(auto tracking) 기능을 가져 발사 또는 투하된 앰플들(26, 28)을 추적할 수 있는데, 상기 오토 트래킹 기능은 공지된 기술이므로 그 상세한 설명은 생략한다.Subsequently, the camera transmitting unit 30 photographs the fire situation and continuously photographs the positions of the ampoules 26 and 28 fired or dropped from the fire suppression unit 20 to transmit to the control unit 40. It is provided for, and includes a camera 32 and an image transmitter 34 for transmitting a video signal photographed from the camera 32 to the control unit 40. Here, although not shown in detail, the camera 32 moves the fired or dropped ampoules 26 and 28 in order to increase the accuracy when the fire extinguishing ampoules 26 and 28 are fired. Prepared. That is, the camera 32 may have an auto tracking function to track the ampoules 26 and 28 fired or dropped, and the detailed description thereof is omitted since the auto tracking function is a known technique.
상기 관제유닛(40)은 본 발명에 따른 무인비행기(100)의 무선 비행 및 화재진압유닛(20)의 작동을 위한 관제신호들을 명령하기 위해 마련되는 것으로, 카메라 송신유닛(30)으로부터 수신된 화재현장 영상 및 앰플들(26, 28)의 이동을 표시하는 표시장치(42) 및 본 발명에 따른 무인비행기(100)의 비행과 화재진압유닛(20)의 제1탱크(22) 및 제2탱크(24)에 수납된 소화용액 앰플들(326, 28)의 발사 및 투하를 위한 관제신호들을 송신하는 무선조정기(44)를 포함한다.The control unit 40 is provided to command the control signals for the operation of the wireless flight and fire suppression unit 20 of the unmanned aerial vehicle 100 according to the present invention, the fire received from the camera transmission unit 30 First and second tanks 22 and 2 of the display device 42 for displaying the field image and the movement of the ampoules 26 and 28 and the flight and fire suppression unit 20 of the drone 100 according to the present invention. And a radio-controller 44 which transmits control signals for firing and dropping the fire extinguishing solution ampoules 326 and 28 contained in the 24.
무선조정기(44)에는 본 발명에 따른 무인비행기(100)의 비행을 제어하기 위한 제1관제신호를 명령하는 제1조작부(44-1)와, 화재진압유닛(20)에서의 제1탱크(22) 내부에 설치된 압축공기탱크(23)의 조작을 통해 구형 소화용액 앰플(26)을 화재현장에 발사시키기 위한 제2관제신호를 명령하는 제2조작부(44-2), 및 제2탱크(24) 내부에 설치된 서보(25)의 조작을 통해 막대형 소화용액 앰플(28)을 화재현장에 투하하기 위한 제3관제신호를 명령하는 제3조작부(44-3)가 마련된다. The radio controller 44 includes a first manipulator 44-1 which commands a first control signal for controlling the flight of the unmanned aerial vehicle 100 according to the present invention, and a first tank in the fire suppression unit 20. 22) a second operation unit 44-2 which commands a second control signal for firing the spherical extinguishing solution ampoule 26 at the fire site through the operation of the compressed air tank 23 installed therein, and the second tank ( 24) A third control unit 44-3 is provided which commands a third control signal for dropping the rod-type fire extinguishing solution ampoule 28 to the fire site through the operation of the servo 25 installed therein.
여기서, 무선조정기(44)에서의 제1조작부(44-1)는 편의상 조이스틱 형태로 마련되는 것이 바람직하지만, 방향버튼 형태로도 마련될 수 있으며, 제2조작부(44-2) 및 제3조작부(44-3)는 편의상 스위치 형태로 마련됨이 바람직하지만, 그 밖에 다른 형태로도 마련 가능하다. Here, the first control unit 44-1 in the radio controller 44 is preferably provided in the form of a joystick for convenience, but may also be provided in the form of a direction button, and the second control unit 44-2 and the third control unit. (44-3) is preferably provided in a switch form for convenience, but may be provided in other forms.
또한, 본 발명에 따른 관제유닛(40)의 표시장치(42) 및 무선조정기(44)는, 특히, 무선조정기(44)는 도 4에 도시된 모양 이외에 다양한 모양을 갖도록 마련될 수 있으며, 아울러, 제1 내지 제3 조작부(44-1, 44-2, 44-3) 이외에 다양한 기능의 스위치들이 추가로 설치될 수 있다. In addition, the display device 42 and the radio controller 44 of the control unit 40 according to the present invention, in particular, the radio controller 44 may be provided to have a variety of shapes other than the shape shown in FIG. In addition to the first to third manipulation units 44-1, 44-2, and 44-3, switches having various functions may be additionally installed.
상기 제어유닛은, 도시되지 않았으나, 인쇄회로기판 및 인쇄회로기판에 실장되는 복수의 능동 및 수동 소자들을 포함할 수 있다. 이러한 제어유닛은 비행유닛(10)의 수신기(14)를 통해 전달받은 관제유닛(40)으로부터의 제1관제신호에 따라 비행유닛(10)의 비행을 제어하며, 또한, 관제유닛(40)으로부터 수신된 제2 및 제3 관제신호들에 따라 화재진압유닛(20)의 압축공기탱크(23) 및 서보(25)의 동작을 제어한다. Although not shown, the control unit may include a printed circuit board and a plurality of active and passive elements mounted on the printed circuit board. The control unit controls the flight of the flight unit 10 in accordance with the first control signal from the control unit 40 received through the receiver 14 of the flight unit 10, and also from the control unit 40 The operation of the compressed air tank 23 and the servo 25 of the fire suppression unit 20 is controlled according to the received second and third control signals.
한편, 본 발명에 따른 무인비행기(100)에 있어서, 화재진압유닛(20)은 비행유닛(10)에 설치된 수신기(14)가 아닌, 관제유닛(40)으로부터 송신된 제2 및 제3 관제신호들을 직접 수신하기 위한 별도의 수신기를 더 포함할 수 있다. 이 경우, 제2 및 제3 관제신호들을 수신하기 위한 추가 수신기는 화재진압유닛(20)에 설치되고, 제어유닛과 연결되는 것으로 이해될 수 있다. 이와 다르게, 화재진압유닛(20)의 압축공기탱크(23) 및 서보(25)를 동작시키기 위한 추가 수신기는 카메라 송신유닛(30)에 추가되는 것도 가능하다. Meanwhile, in the unmanned aerial vehicle 100 according to the present invention, the fire suppression unit 20 is not the receiver 14 installed in the flight unit 10, but the second and third control signals transmitted from the control unit 40. It may further include a separate receiver for receiving them directly. In this case, it can be understood that an additional receiver for receiving the second and third control signals is installed in the fire suppression unit 20 and connected to the control unit. Alternatively, an additional receiver for operating the compressed air tank 23 and the servo 25 of the fire suppression unit 20 may be added to the camera transmission unit 30.
도 5 및 도 6은 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기의 활용 예를 설명하기 위한 도면으로서, 이를 설명하면 다음과 같다. 5 and 6 are views for explaining an example of the use of the drone for fire scene reconnaissance and fire suppression according to the present invention, as follows.
먼저, 도 5에 도시된 바와 같이, 소방대원이 쉽게 진입할 수 없는 화재지역, 예컨대, 고층 빌딩의 상층부에서 화재가 발생한 경우, 또는, 도 6에 도시된 바와 같이, 산불이 발생한 경우, 관제유닛(40)의 무선조정기(44)에 마련된 제1조작부(44-1)의 조작을 통해 비행유닛(10)의 비행과 관련된 제1관제신호를 명령한다. First, as shown in FIG. 5, in the case of a fire in a fire area, for example, an upper part of a high-rise building, or when a fire occurs, as shown in FIG. Command the first control signal associated with the flight of the flight unit 10 through the operation of the first control unit 44-1 provided in the radio controller 44 of (40).
이렇게 되면, 비행유닛(10)에 마련된 수신기(14)가 관제유닛(40)으로부터 송신된 제1관제신호를 수신하여 본 발명에 따른 무인비행기(100)가 화재현장으로 이동한다. 이때, 고층 빌딩의 상층부 또는 산불 현장의 경우, 소방대원이 신속하게 접근할 수 없음은 물론 쉽게 접근할 수도 없지만, 본 발명에 따른 무인비행기(100)의 경우, 매우 신속하게, 예컨대, 1분 이내에 2㎞ 이상을 이동하여 화재현장 상공에 도착할 수 있다. In this case, the receiver 14 provided in the flight unit 10 receives the first control signal transmitted from the control unit 40 and the unmanned aerial vehicle 100 according to the present invention moves to a fire site. At this time, in the case of the upper floor of the high-rise building or the fire scene, firefighters can not be easily accessed, of course, but easily accessible, in the case of the drone 100 according to the present invention, very quickly, for example, within 1 minute You can travel more than 2km and get over the fire site.
계속해서, 본 발명에 따른 무인비행기(100)가 화재현장 상공에 도착하게 되면, 카메라 송신유닛(30)의 카메라(32)가 화재현장을 실시간 촬영하여 송신기(34)를 통해 관제유닛(40)의 표시장치(42)에 화재현장 상황을 표시하게 된다. 그러면, 관제소에서는 관제유닛(40)의 무선조정기(44)에 마련된 제2조작부(44-2) 또는 제3조작부(44-3)의 조작을 통해 화재진압유닛(20)의 제1탱크(22) 또는 제2탱크(24)의 내부에 각각 설치된 압축공기탱크(23) 또는 서보(25)를 선택적으로 동작시키게 되며, 이를 통해, 제1 및 제2 탱크들(22, 24) 내부에 수납된 구형 소화용액 앰플(26) 또는 막대형 소화용액 앰플(28)을 화재현장의 타깃(target)에 발사 또는 투하한다. Subsequently, when the unmanned aerial vehicle 100 according to the present invention arrives over the fire scene, the camera 32 of the camera transmission unit 30 photographs the fire scene in real time and controls the control unit 40 through the transmitter 34. The fire situation is displayed on the display device 42 of. Then, in the control station, the first tank 22 of the fire suppression unit 20 through the operation of the second control unit 44-2 or the third control unit 44-3 provided in the radio controller 44 of the control unit 40. ) Or selectively operate the compressed air tank 23 or the servo 25 respectively installed in the second tank 24, and thus, the first and second tanks 22 and 24 are accommodated. The spherical extinguishing solution ampoule 26 or the rod-type extinguishing solution ampoule 28 is fired or dropped onto the target of the fire scene.
예컨대, 도 5에서와 같이 화재현장이 고층 빌딩의 상층부인 경우, 제1탱크(22)에 마련된 압축공기탱크(23)를 동작시켜 발사구(22-2)에 위치한 구형 소화용액 앰플(26)을 발사시키게 되며, 도 6에서와 같이 산불 현장의 경우, 제2탱크(24)에 마련된 서보(25)를 동작시켜 개폐수단(27)을 개방시킴으로써 막대형 소화용액 앰플(28)을 투하한다. For example, when the fire site is the upper floor of a high-rise building, as shown in Figure 5, by operating the compressed air tank 23 provided in the first tank 22, the spherical extinguishing solution ampoule 26 located at the launching opening 22-2. In the case of a fire scene, as shown in FIG. 6, the rod-type extinguishing solution ampoule 28 is dropped by opening the opening and closing means 27 by operating the servo 25 provided in the second tank 24.
이때, 화재진압유닛(20)으로부터 소화용액 앰플들(26, 28)을 발사 또는 투하하는 과정에서, 카메라 송신유닛(30)의 카메라(32)는 발사 또는 투하된 소화용액 앰플(26, 28)의 이동 경로를 쫓아 그 각도가 움직이면서 관제유닛(40)의 표시장치(42)에 투하된 소화용액 앰플(26, 28)의 화면을 송신하며, 이를 통해, 소화용액 앰플(26, 28)의 발사 또는 투하의 정확성을 도모하게 된다. At this time, in the process of firing or dropping the fire extinguishing solution ampoules 26 and 28 from the fire suppression unit 20, the camera 32 of the camera transmission unit 30 fires or drops the fire extinguishing solution ampules 26 and 28. The screen of the fire extinguishing solution ampoules 26 and 28 dropped on the display unit 42 of the control unit 40 while the angle is moved by following the movement path of the fire extinguishing solution ampules 26 and 28 is discharged. Or the accuracy of the release will be aimed at.
한편, 본 발명에 따른 무인비행기(100)의 경우, 소화용액 앰플(26, 28)의 소진 시, 화재현장에서 바로 충전하여 지속적인 화재현장 정찰 및 화재진압 임무를 수행할 수 있다. On the other hand, in the case of the unmanned aerial vehicle 100 according to the present invention, when the extinguishing solution ampoule (26, 28) is exhausted, it can be charged directly at the fire site to perform continuous fire scene reconnaissance and fire suppression mission.
이와 같이 본 발명에 따른 무인비행기를 이용하는 경우, 소방대원이 접근하기 어렵거나 신속하게 접근할 수 없는 화재 현장인 고층 빌딩의 상층부 및 주택 밀집지역이나 등산로 및 산불 화재현장에 1분 이내로 신속하게 접근하여 화재현장 상황을 정확하게 보여줄 수 있으며, 또한, 발화 지점과 같은 핵심 화재지역에 소화용액 앰플을 발사 또는 투하시켜 신속하게 화재진압을 할 수 있으며, 이에 따라, 본 발명에 따른 화재현장 정찰 및 화재진압용 무인비행기를 이용함으로써 인명피해를 포함하는 화재 피해를 현저하게 감소시킬 수 있다. As such, when using the unmanned aerial vehicle according to the present invention, the fire crew can quickly approach the upper floor of a high-rise building, a dense area of a high-rise building, a dwelling area, and a wildfire fire site that are difficult or inaccessible within a minute. It is possible to accurately show the fire scene situation, and also to quickly extinguish the fire by firing or dropping the fire extinguishing solution ampoule in the core fire area, such as the ignition point, accordingly, the fire scene reconnaissance and fire suppression according to the present invention The use of drones can significantly reduce fire damage, including casualties.
이상, 여기에서는 본 발명을 특정 실시 예들에 관련하여 도시하고 설명하였지만 본 발명이 그에 한정되는 것은 아니며, 이하의 특허청구범위는 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 본 발명이 다양하게 개조 및 변형이 이루어질 수 있다는 것을 당 업계에서 통상의 지식을 가진 자가 용이하게 알 수 있다. Hereinbefore, the present invention has been illustrated and described with reference to specific embodiments, but the present invention is not limited thereto, and the following claims are variously modified and modified without departing from the technical spirit of the present invention. It will be readily apparent to those skilled in the art that modifications may be made.
본 발명은 화재현장 정찰 및 화재진압용 무인비행기에 이용될 수 있다.The present invention can be used in the drone for fire scene reconnaissance and fire suppression.

Claims (7)

  1. 무선 비행이 가능한 비행유닛; A flight unit capable of wireless flight;
    상기 비행유닛의 하면에 장착되며, 내부에 복수의 소화용액 앰플이 탑재되어 화재현장에 상기 소화용액 앰플들을 발사 및 투하하는 화재진압유닛; A fire suppression unit mounted on a lower surface of the flight unit and having a plurality of fire extinguishing solution ampoules mounted therein for firing and dropping the fire extinguishing solution ampoules at a fire site;
    상기 화재진압유닛에 장착되며, 화재현장 상황 및 소화용액 앰플의 이동 경로를 촬영하여 실시간 송신하는 카메라 송신유닛; A camera transmission unit mounted on the fire suppression unit and photographing a fire scene situation and a moving path of a fire extinguishing solution ampoule and transmitting in real time;
    상기 카메라 송신유닛으로부터 수신된 화재현장 영상을 표시하고 상기 화재진압유닛에 상기 소화용액 앰플의 발사 및 투하 신호를 송신하는 관제유닛; 및 A control unit which displays a fire scene image received from the camera transmitting unit and transmits a fire and drop signal of the fire extinguishing solution ampoule to the fire suppression unit; And
    상기 관제유닛으로부터 수신된 관제신호에 따라 상기 비행유닛 및 화재진압유닛을 제어하는 제어유닛;A control unit for controlling the flight unit and the fire suppression unit according to the control signal received from the control unit;
    을 포함하는 화재현장 정찰 및 화재진압용 무인비행기.Fire scene reconnaissance and fire fighting drone comprising a.
  2. 제 1 항에 있어서, The method of claim 1,
    상기 비행유닛은: The flight unit is:
    본체; main body;
    상기 본체에 설치되어 상기 관제유닛으로부터 송신된 제1관제신호를 수신하여 상기 제어유닛에 제1관제신호를 전달하는 비행유닛 수신기; 및 A flight unit receiver installed in the main body and receiving a first control signal transmitted from the control unit and transmitting a first control signal to the control unit; And
    상기 본체의 측면에 설치된 복수의 날개;A plurality of wings installed on the side of the main body;
    를 포함하는 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.Fire scene reconnaissance and fire suppression drones comprising a.
  3. 제 1 항에 있어서, The method of claim 1,
    상기 화재진압유닛은: The fire suppression unit is:
    상기 비행유닛의 하면에 배치되며, 내부에 수납공간을 가지면서 전면의 하단부에 소화용액 앰플 발사구가 형성된 제1탱크; A first tank disposed on a lower surface of the flight unit, the first tank having a storage space therein and having a fire extinguishing solution ampoule formed at a lower end of the front surface;
    상기 제1탱크의 하면에 배치되며, 내부에 수납공간을 가지면서 저면에 개폐수단이 구비된 제2탱크; A second tank disposed on a lower surface of the first tank and having an opening space therein and having an opening and closing means at a bottom thereof;
    상기 제1탱크의 내부 공간에 수납된 복수의 구형 소화용액 앰플; A plurality of spherical extinguishing solution ampoules stored in the inner space of the first tank;
    상기 제1탱크의 내부 후면에 설치되며, 상기 구형 소화용액 앰플들을 화재현장에 발사시키기 위한 압축공기탱크; A compressed air tank installed at an inner rear surface of the first tank and configured to launch the spherical extinguishing solution ampoules into a fire site;
    상기 제2탱크의 내부 공간에 수납된 복수의 막대형 소화용액 앰플; 및 A plurality of rod-type fire extinguishing solution ampoules stored in the inner space of the second tank; And
    상기 제2탱크 내부에 설치되며, 상기 개폐수단의 개폐를 제어하여 상기 막대형 소화용액 앰플들을 화재현장에 투하시키기 위한 서보; A servo installed inside the second tank and controlling the opening / closing of the opening / closing means to drop the rod-type fire extinguishing solution ampoules into a fire site;
    를 포함하는 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.Fire scene reconnaissance and fire suppression drones comprising a.
  4. 제 3 항에 있어서, The method of claim 3, wherein
    상기 제1탱크에는 제1수납공간이 형성되되, A first storage space is formed in the first tank,
    상기 제1수납공간에는 상기 구형 소화용액 앰플들이 수납되고, 저면에 상기 구형 소화용액 앰플들이 통과하는 크기의 제1홀이 형성되며, 상기 제1홀을 중심으로 저면에 경사면이 형성되고, The spherical extinguishing solution ampoules are accommodated in the first storage space, and a first hole having a size through which the spherical extinguishing solution ampoules passes is formed on the bottom surface, and an inclined surface is formed on the bottom surface of the first hole.
    상기 발사구는 상기 제1수납공간 아래에 배치되면서 상기 압축공기탱크로부터 나오는 압축공기의 이동 경로에 배치되어 상기 제1홀을 통과하여 내려온 상기 구형 소화용액 앰플이 발사되는 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.And the launching port is disposed under the first storage space and is disposed in a movement path of the compressed air coming out of the compressed air tank to fire the spherical extinguishing solution ampoule that has passed through the first hole. A drone for firefighting.
  5. 제 3 항에 있어서, The method of claim 3, wherein
    상기 제2탱크에는 제2수납공간이 형성되되,A second storage space is formed in the second tank,
    상기 제2수납공간에는 상기 막대형 소화용액 앰플들이 수납되고, 저면에 상기 막대형 소화용액 앰플들이 통과하는 제2홀이 형성되며, 상기 제2홀을 중심으로 저면에 경사면이 형성된 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.The rod-type fire extinguishing solution ampoules are accommodated in the second storage space, and a second hole through which the rod-type fire extinguishing solution ampoules passes is formed on a bottom surface thereof, and an inclined surface is formed on a bottom surface of the second hole. Unmanned aerial vehicle for fire reconnaissance and fire suppression.
  6. 제 1 항에 있어서, The method of claim 1,
    상기 카메라 송신유닛은: The camera transmission unit is:
    화재현장 및 소화용액 앰플의 이동을 촬영하는 카메라; 및 A camera photographing the movement of the fire site and the extinguishing solution ampoule; And
    상기 카메라로부터 촬영된 영상신호를 상기 관제유닛에 송신하는 송신기;A transmitter for transmitting a video signal photographed from the camera to the control unit;
    를 포함하며,Including;
    상기 카메라는 발사 및 투하된 소화용액 앰플을 쫓아 그의 각도가 움직이도록 마련된 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.The camera is fired and drone for fire reconnaissance and fire suppression, characterized in that to move the angle of the fire extinguishing solution ampoules dropped.
  7. 제 1 항에 있어서, The method of claim 1,
    상기 관제유닛은: The control unit is:
    상기 카메라 송신유닛으로부터 수신된 영상을 표시하는 표시장치; 및 A display device for displaying an image received from the camera transmitting unit; And
    상기 비행유닛의 비행을 위한 제1관제신호와 상기 표시장치에 표시되는 영상을 토대로 화재진압을 위한 구형 소화용액 앰플 및 막대형 소화용액 앰플의 발사 및 투하를 위한 제2 및 제3 관제신호를 송신하는 무선조정기;Transmit the second and third control signals for firing and dropping the old fire extinguishing solution ampoule and the rod-type fire extinguishing solution ampoule for fire suppression based on the first control signal for the flight of the flight unit and the image displayed on the display device. A radio regulator;
    를 포함하는 것을 특징으로 하는 화재현장 정찰 및 화재진압용 무인비행기.Fire scene reconnaissance and fire suppression drones comprising a.
PCT/KR2014/011889 2014-04-01 2014-12-05 Unmanned aerial vehicle for reconnaissance of scene of fire and fire suppression WO2015152492A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020140038614A KR101437323B1 (en) 2014-04-01 2014-04-01 Unmanned plane for fire reconnaissance and fire-fighters
KR10-2014-0038614 2014-04-01

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CN105292451A (en) * 2015-10-28 2016-02-03 东莞市吉飞机器人有限公司 Fireproof unmanned aerial vehicle system for fire site surveying
CN105816981A (en) * 2016-03-29 2016-08-03 国网山东省电力公司烟台供电公司 Fire extinguishing apparatus for high-altitude electric power equipment
CN107662700A (en) * 2016-07-28 2018-02-06 沈阳合创旭飞科技有限公司 Ignite unmanned plane
JP2018068471A (en) * 2016-10-26 2018-05-10 日本工機株式会社 Holding device for unmanned floating machine, unmanned floating machine, replacement/loading device of fire extinguisher and automatic fire extinguishing system
KR20190075126A (en) * 2016-12-28 2019-06-28 야마하하쓰도키 가부시키가이샤 Multi-copter
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GR1009307B (en) * 2017-03-20 2018-06-01 Χρηστος Παναγιωτη Μεμος Fire-fighting method applied via a fire-fighting tube carried by three flying multi-propellr aircrafts
CN107158602A (en) * 2017-04-27 2017-09-15 陶霖密 A kind of emission type disaster relief and unmanned plane and fire-extinguishing
US10777051B1 (en) 2018-02-27 2020-09-15 Allstate Insurance Company Emergency incident detection, response, and mitigation using autonomous drones
US11288936B1 (en) 2018-02-27 2022-03-29 Allstate Insurance Company Emergency incident detection, response, and mitigation using autonomous drones
US11875670B2 (en) 2018-02-27 2024-01-16 Allstate Insurance Company Emergency incident detection, response, and mitigation using autonomous drones
WO2020052102A1 (en) * 2018-09-14 2020-03-19 广州市华科尔科技股份有限公司 Fire-fighting drone aiming method
CN110433430A (en) * 2019-08-19 2019-11-12 张荣清 A kind of fire-fighting robot equipment of more injection equipments
CN111552316A (en) * 2020-05-15 2020-08-18 北京未来智能科技有限公司 Stable form unmanned aerial vehicle extinguishing device and control system thereof
CN111552316B (en) * 2020-05-15 2023-06-13 北京未来智能科技有限公司 Stable unmanned aerial vehicle extinguishing device and control system thereof

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