WO2023033228A1 - Système de commande de drone pour surveillance de feu de forêt - Google Patents

Système de commande de drone pour surveillance de feu de forêt Download PDF

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Publication number
WO2023033228A1
WO2023033228A1 PCT/KR2021/013458 KR2021013458W WO2023033228A1 WO 2023033228 A1 WO2023033228 A1 WO 2023033228A1 KR 2021013458 W KR2021013458 W KR 2021013458W WO 2023033228 A1 WO2023033228 A1 WO 2023033228A1
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WIPO (PCT)
Prior art keywords
fire
drone
station
base station
control system
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PCT/KR2021/013458
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English (en)
Korean (ko)
Inventor
손형주
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주식회사 맨든
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Publication of WO2023033228A1 publication Critical patent/WO2023033228A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/14—Central alarm receiver or annunciator arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • 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
    • B64U2101/15—UAVs specially adapted for particular uses or applications for conventional or electronic warfare
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to a drone control system for forest fire monitoring, and more particularly, to a drone control system for forest fire monitoring capable of initially suppressing a forest fire by detecting a fire through a camera image and throwing extinguishing ammunition through a drone.
  • forest fire monitoring which is used not only to determine whether or not a forest fire has occurred, but also to suppress the initial fire by throwing extinguishing ammunition. For example, it is possible to effectively extinguish a fire at an early stage by loading an extinguishing ammunition into a drone, moving it to a fire location, and throwing an extinguishing ammunition in the air above the fire location.
  • one embodiment of the present invention provides a drone control system for forest fire monitoring that can perform intensive fire suppression by linking drones of neighboring stations according to fire detection and fire amount. want to do
  • an embodiment of the present invention is to provide a drone control system for forest fire monitoring that can optimize the dispatch of drones for fire suppression by monitoring the drone status and the amount of extinguishing ammunition of each station.
  • the base station is disposed at at least one position at the edge of the mountainous region to be monitored, acquires an image for a designated range, and stores a drone equipped with an evolutionary bullet. ; a station station disposed at at least one location in the center of the mountain area and replacing a battery of the drone and the extinguishing ammunition; And receiving the acquired image from the base station to determine whether there is a fire, and when a fire occurs, calculate the amount of fire and the location of the fire, and send a dispatch command to the drone stored in the base station to extinguish the fire according to the calculated amount of fire.
  • a drone control system for forest fire monitoring including;
  • control server may calculate the latitude, longitude and altitude of the fire location from the obtained image.
  • control server may extract the fire range from the obtained image and calculate the fire amount according to the fire range.
  • control server transmits a dispatch command to a drone of the nearest base station from the fire location if the amount of fire is less than a threshold value, and if the amount of fire is greater than or equal to the threshold value, the control server is disposed within a distance possible via the stop station.
  • a dispatch command can be transmitted to the drone of the base station.
  • control server may monitor the holding amount of the ammunition of the base station and the station station and determine the dispatch drone according to the holding amount of the ammunition.
  • control server may transmit a dispatch command to a drone of an adjacent base station when the drone subject to the dispatch command is out of order or when the corresponding base station exhausts the ammunition.
  • the station station acquires an image of the location of the fire and transmits the image to the control server, and the control server can monitor residual payments of the location of the fire from the image transmitted from the station station.
  • the station station may replace a battery and an evolutionary ammunition of a drone out of a flight distance of a corresponding base station.
  • the base station may replace a battery and an evolutionary ammunition of a drone of another base station.
  • the station station may simultaneously perform replacement of batteries and extinguishing ammunition for a plurality of drones.
  • a base station disposed at at least one position at the edge of a mountainous region to be monitored, and a communication unit stored in the base station and communicating with a drone equipped with an evolutionary bullet; a fire determination unit that determines whether or not there is a fire by analyzing the video received from the base station; A fire information calculation unit that calculates the amount of fire and the location of fire in case of fire; and a dispatch command unit for transmitting a dispatch command to the drone stored in the base station to extinguish the fire according to the calculated amount of fire.
  • a drone control system for forest fire monitoring performs intensive fire suppression by linking drones of neighboring stations by detecting the location and amount of fire through an image of a camera and determining a drone to dispatch accordingly. Therefore, forest fires can be effectively extinguished at an early stage.
  • the drone control system for forest fire monitoring optimizes the dispatch of drones for fire suppression by monitoring the status of drones and the amount of fire extinguishing ammunition of each station, and continuously extinguishing ammunition through drones during the fire suppression process. can be thrown, which can improve the efficiency of wildfire suppression.
  • the drone control system for forest fire monitoring has a battery replacement function at each station, so that all drones stored in all stations can be linked without being limited to the flight distance of the drone, so that the overall system It can improve wildfire extinguishing ability.
  • the drone control system for forest fire monitoring can accurately determine the state of extinguishing and the completion of extinguishing by monitoring residual fire through a camera at a station placed in the central highlands of the mountain, thereby improving the reliability of fire suppression. can be guaranteed
  • the drone control system for forest fire monitoring performs simultaneous replacement of batteries and extinguishing ammunition at the station station, thereby optimizing the movement of the drone and reducing the waiting time for replacement. efficiency can be improved.
  • FIG. 1 is a block diagram of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 2 is a block diagram of a control server of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 3 is a diagram for explaining forest fire location calculation by a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 4 is a detailed view of a database of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 5 is a block diagram of a station of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 6 is a diagram showing overall facilities of a station of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • a drone control system 10 for monitoring forest fires includes a control server 100, a base station 200, and a stop station 300.
  • the drone control system for forest fire monitoring is a system for monitoring and initial suppression of forest fires installed in mountains in a wide area such as national parks, and detects forest fires based on video monitoring through a camera installed in the base station (200). And, the initial suppression can be performed by throwing an evolutionary bullet through a drone stored in the base station 200.
  • the base station 200 in which drones are stored may be disposed at the edge of a mountainous area to be monitored. At this time, the base station 200 may be disposed in a plurality of locations at regular intervals corresponding to the flight distance of the drone.
  • the stop station 300 may be disposed at the center of a mountainous area to be monitored.
  • the stop station 300 may be located on high ground in a mountainous area to be monitored.
  • the station station 300 may be disposed in a plurality of locations spaced apart at regular intervals corresponding to the flight distance of the drone from the adjacent base station 200 .
  • the control server 100 may manage and control the base station 200 and station station 300 through a communication network. More specifically, the control server 100 may determine whether or not there is a fire by receiving an image obtained from the base station 200 . In addition, the control server 100 may calculate the amount of fire and the location of the fire when determining a fire through the obtained image, that is, when a fire occurs in a mountainous area to be monitored.
  • the control server 100 may transmit a dispatch command to the drone stored in the base station 200 to extinguish the fire according to the calculated amount of fire.
  • the dispatched drone may be a drone stored in a plurality of base stations 200 according to the amount of fire.
  • the drone control system 10 for forest fire monitoring can perform intensive fire suppression by linking not only drones stored in stations close to the fire area but also drones stored in adjacent stations. Forest fires can be effectively extinguished at an early stage.
  • the base station 200 may obtain an image of a range designated for itself in the mountainous area to be monitored and transmit it to the control server 100 .
  • the base station 200 may store a drone equipped with an evolutionary bullet.
  • a plurality of drones may be stored.
  • the base station 200 may store the ammunition to be mounted on the drone and the battery of the drone. That is, the base station 200 may have a function of replacing a battery and an evolutionary bullet in a drone.
  • the base station 200 may replace batteries and ammunition of drones of other base stations. That is, the base station 200 may function as a stop station when the stop station 300 is not disposed nearby. In addition, the base station 200 may function as a stop station when the nearby stop station 300 is unavailable. For example, when all of the charged batteries or firearms of the nearby station station 300 are exhausted, the base station 200 adjacent to the corresponding station station 300 may function as a station station.
  • the station station 300 may replace a battery and an evolutionary ammunition of a drone of the base station 200 . That is, the station station 300 may replace the battery and the firearm of the drone out of the flight distance of the corresponding base station 200 .
  • the station station 300 may have a function of replacing a battery and an evolutionary bullet in a drone.
  • each of the stations 200 and 300 is spaced apart by the flight distance of the drone, which limits the activity range of the drone stored in the base station 200.
  • the drone control system 10 for monitoring forest fires according to an embodiment of the present invention has the station station 300 and at the same time the base station 200 can also function as the station station 300.
  • passing through a specific station means battery replacement of the drone through the passing station.
  • the drone when a drone moves from point A to point B at a diagonal position furthest from point A, the drone may move via the stop station 300 or the base station 200 . That is, in the case of passing only the stop station 300, the drone may move from point A to point B via sequentially passing points C and D. In addition, when passing through the base station 200 together, the drone may move from point A to point B via points C and E. In this case, the base station 200 at point E may function as a stop station.
  • a drone stored at point E or F may move to point B when an adjacent drone needs to be mobilized.
  • the drone stored at point F may move to point B via point D.
  • the drone stored at point E can move directly to point B.
  • the drone stored at point G may move to point B via point E.
  • the base station 200 at point E may function as a stop station.
  • the drone control system 10 for monitoring forest fires is not limited to the flight distance of drones and can link all drones stored in all stations, thereby improving the forest fire extinguishing ability of the entire system.
  • the station station 300 may simultaneously perform replacement of batteries and ammunition for a plurality of drones. That is, since the station station 300 is disposed at the center of the base stations 200 disposed on the outskirts, a plurality of drones from the adjacent base stations 200 can pass through. Therefore, in order to minimize the standby state of the drones, the station station 300 may be provided with replacement means to simultaneously replace batteries and ammunition for a plurality of drones.
  • the drone flies a long distance from the originally stored base station 200 through battery replacement by other stations 200 and 300, and cannot return to the original base station 200, it is placed in the current vicinity. It is possible to make a temporary landing at the other station (200, 300). For example, when a drone stored at point A returns to its original stored location after completing a mission near point B, a return path cannot be configured due to insufficient battery capacity of the stations 200 and 300 to be passed through. In this case, you can make a temporary landing at a specific station (one of C, D, and E) on the return route to the nearest point B or point A.
  • a specific station one of C, D, and E
  • FIG. 2 is a block diagram of a control server of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • control server 100 may include a communication unit 110 , a control unit 120 and a database 130 .
  • the communication unit 110 is stored in the base station 200 and the base station 200 and can communicate with a drone equipped with an evolutionary bullet. Also, the communication unit 110 may communicate with the stop station 300 . Such a communication unit 110 may be implemented in a manner of a communication network used. As an example, the communication unit 110 may communicate in an LTE or 5G scheme, but is not particularly limited thereto.
  • the control unit 120 may control the overall operation of the control server 100 .
  • the controller 120 may be a microprocessor.
  • the control unit 120 may include a fire determination unit 122, a fire information calculation unit 124, an dispatch command unit 126, and a station management unit 128.
  • the fire determination unit 122 may determine whether or not there is a fire by analyzing the video received from the base station 200 . For example, the fire determination unit 122 may determine whether or not there is a fire according to a change in an object such as smoke in the received image. In this case, the fire determination unit 122 may determine a fire state when the object changes from the mountain to the sky.
  • the fire determination unit 122 may determine whether or not the remaining payment for the corresponding fire location is determined from the image transmitted from the station station 300 . That is, the fire determination unit 122 may monitor the residual payment for the corresponding fire location from the image. For example, the fire determination unit 122 may determine whether or not there is a residual fire according to a change in color and fine smoke corresponding to embers in the received image.
  • the drone control system 10 for monitoring forest fires can accurately determine the extinguishing status and completion of extinguishing after throwing an extinguishing bomb by a drone, thereby ensuring reliability of fire suppression.
  • the fire information calculation unit 124 may calculate the amount of fire and the location of the fire based on the video at any time. At this time, the fire information calculation unit 124 may calculate the latitude, longitude and altitude of the fire location from the received image.
  • FIG. 3 is a diagram for explaining forest fire location calculation by a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • the fire information calculation unit 124 when the fire information calculation unit 124 detects a forest fire as shown in (a) by the fire determination unit 122, the fire location may be calculated from the corresponding image as shown in (b). At this time, as shown in (c), the fire information calculation unit 124 may calculate the latitude, longitude and altitude of the corresponding location according to the map information stored in the database 130. For example, the fire information calculation unit 124 may calculate latitude, longitude, and altitude based on contour lines for each location of map information.
  • the fire information calculation unit 124 may calculate map locations corresponding to X coordinates and Y coordinates in the image. At this time, since the image received from the base station 200 represents a fixed range for a location determined according to the viewing angle, the fire information calculation unit 124 may calculate the longitude and latitude of the fire location from the X and Y coordinates. there is. In addition, the fire information calculation unit 124 may calculate the altitude of the fire location according to the location on the contour line in the map information.
  • the fire information calculation unit 124 may calculate the amount of fire from the received image. For example, the fire information calculation unit 124 may extract a fire range according to a smoke generation range or a flame generation range in the received image. Here, since a forest fire mainly burns the same material, such as wood, the amount of fire is proportional to the range of smoke generation or the range of flame generation. Therefore, the fire information calculation unit 124 may calculate the amount of fire according to the fire range extracted from the image.
  • the dispatch command unit 126 may transmit a dispatch command to the drone stored in the base station 200 to extinguish the fire according to the amount of fire calculated by the fire information calculation unit 124 .
  • the dispatch command unit 126 may transmit a dispatch command to the drone of the nearest base station 200 from the corresponding fire location if the extracted fire amount is less than a threshold value. That is, in the case of an initial fire that can be suppressed only by throwing an evolutionary bullet by the drone of the base station 200, the dispatch command unit 126 may transmit a dispatch command to the drone of the nearest base station 200.
  • the dispatch command unit 126 may transmit a dispatch command to the drone of the base station 200 disposed within a distance possible to pass through the station station 300 if the extracted fire amount is greater than or equal to the threshold value. That is, when the fire range is widened and it is difficult to respond initially with only the drone of the nearest base station 200, the dispatch command unit 126 connects the dispatch of drones capable of dispatch via the station station 300 to a plurality of bases. A dispatch command may be transmitted to a drone stored in the station 200 .
  • each base station 200 it is described that one drone is stored in each base station 200, but it is not limited thereto and a plurality of drones may be stored.
  • the dispatch of drones from other base stations 200 does not simply mean that a plurality of drones are dispatched, but means a situation in which additional drones are required because initial suppression is difficult with only the drones of the corresponding base station 200. do.
  • the dispatch command unit 126 may transmit a dispatch command to a drone of an adjacent base station 200 when a drone to be dispatched is out of order. That is, when the dispatch command unit 126 detects a failure state of the drone stored in the base station 200 in the area closest to the fire location, the drone of another base station 200 adjacent to the corresponding base station 200 A dispatch order can be sent.
  • the dispatch command unit 126 may transmit a dispatch command to a drone of an adjacent base station 200 when the corresponding base station 200 exhausts the firearms. That is, the dispatch command unit 126 sends a drone of another base station 200 adjacent to the base station 200 where the dispatch command target drone is stored when all of the held firearms are exhausted during the evolution process or in the current state. A dispatch order can be sent.
  • the station management unit 128 may monitor the quantity of stored ammunition of the base station 200 and station station 300 .
  • the station management unit 128 may monitor the amount of ammunition stored in the base station 200 and station station 300 in the process of extinguishing or at regular intervals.
  • the dispatch command unit 126 may determine dispatch drones according to the amount of firearms held by each station 200 or 300 .
  • the dispatch command unit 126 may determine dispatch drones in consideration of the amount of explosive ammunition held by each station 200 and 300 and the dispatch distance.
  • a or A dispatch command may be transmitted to a drone of the base station 200 disposed more distantly, such as point G.
  • the dispatch command unit 126 when the amount of ammunition held at any one of points B, E, or F is exhausted, the dispatch command unit 126 does not return the drone at that point, and evolves at the stop station 300, such as point C or D. It can be ordered to replace the ammunition and carry out the ammunition administration task. In addition, it goes without saying that the dispatch command unit 126 can replace the extinguishing ammunition in another adjacent base station 200 having the extinguishing ammunition.
  • the drone control system 10 for monitoring forest fires can continuously throw firearms through drones in the course of fire suppression or in the current situation, thereby improving the efficiency of forest fire suppression.
  • the dispatch command unit 126 may generally control the flight of the drone within the mountainous area. As an example, as described above, when the drone flies via the specific stations 200 and 300, the dispatch command unit 126 assigns a flight path or specific stations 200 and 300 to be passed through and issues a movement command to the drone. can transmit That is, in this specification, it should be understood that the movement of the drone is controlled by the dispatch command unit 126 unless specifically limited.
  • the station management unit 128 may monitor the state of drones stored in each base station 200 . For example, the station management unit 128 may monitor whether or not the drone of the base station 200 can fly at regular intervals. At this time, the dispatch command unit 126 may command the drone of the base station 200 to test run.
  • the database 130 may store information managed and monitored by the control server 100 .
  • FIG. 4 is a detailed view of a database of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • the database 130 may include station information 132 , image information 134 , drone information 136 , fire information 138 , and map information 139 .
  • the station information 132 may be information about the base station 200 and the stop station 300 .
  • the station information 132 may include the locations of the base station 200 and station station 300, the amount of explosive ammunition stored, and the battery charge state.
  • the image information 134 may be image information transmitted from the base station 200 and the stop station 300 .
  • the image information 134 is periodically transmitted from each base station 200 and may be image information for an area designated for each base station 200 .
  • the drone information 136 may be drone information stored in each base station 200 .
  • the drone information 136 may include an ID of an individual drone and an ID of the stored base station 200 .
  • the fire information 138 may be fire location information calculated based on images received from each base station 200 . That is, the fire information 138 may include the latitude, longitude, and altitude of the fire location. In addition, the fire information 138 may include the amount of fire for a corresponding fire location.
  • the map information 139 may be overall geographic information about a mountain to be monitored installed in the drone control system 10 for forest fire monitoring.
  • the map information 139 may be 3D data information about a corresponding mountain.
  • the map information 139 may include latitude, longitude, and altitude for each point in the mountain.
  • FIG. 5 is a block diagram of a station of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • the base station 200 may include a camera 210, a replacement unit 220, a communication unit 230, and a control unit 240.
  • the description is based on the base station 200, but it goes without saying that the same can be applied to the stop station 300 as well.
  • some configurations of the camera 210 and replacement means 220 may be different.
  • the camera 210 may obtain an image of an area designated for the base station 200 .
  • the camera 210 may have a constant field of view (FOV) corresponding to the designated area.
  • FOV field of view
  • the camera 210 may have a field of view of 120 degrees.
  • the camera 210 may acquire an image in a form looking from below the corresponding area.
  • the camera 210 can rotate 360 degrees.
  • the camera 210 may sense the surroundings at 360 degrees while rotating at regular time intervals.
  • a plurality of cameras 210 may be provided. That is, a plurality of cameras having a constant viewing angle may be provided. In this case, the camera 210 can sense all directions of 360 degrees in real time.
  • the replacement means 220 may replace batteries and ammunition for drones stored in the base station 200 . At this time, the replacement means 220 may be provided to independently perform replacement for each of the battery and the extinguishing bullet. This replacement means 220 can be driven vertically and horizontally, including a motor and a guide. Optionally, the replacement means 220 may be provided as a robot arm.
  • a plurality of replacement means 220 may be provided.
  • the station station 300 is a temporary landing of a drone to replace a battery or an extinguishing ammunition, and can simultaneously perform battery and extinguishing ammunition replacement for a plurality of drones.
  • the drone control system 10 for forest fire monitoring improves the efficiency of drone control by optimizing the movement of the drone so that the flight distance of the drone is relatively short and reducing the waiting time for replacement. can make it
  • the communication unit 230 may communicate with the control server 100 . Also, the communication unit 110 may communicate with a drone stored in the base station 200 . Such a communication unit 230 may be implemented in a manner of a communication network used. As an example, the communication unit 230 may communicate in an LTE or 5G scheme, but is not particularly limited thereto.
  • the controller 240 may control overall operations of the stations 200 and 300 .
  • the controller 240 may be a microprocessor.
  • the control unit 240 may control the facilities 250 as will be described later. That is, the control unit 240 may control the replacement means 220 and facilities 250 to replace the drone's battery and extinguishing ammunition.
  • FIG. 6 is a diagram showing overall facilities of a station of a drone control system for forest fire monitoring according to an embodiment of the present invention.
  • the facility 250 may include a drone hangar 252 , a battery storage 254 , and an evolutionary ammunition storage 256 .
  • the description is based on the base station 200, but the same can be applied to the station station 300 as well.
  • the drone hangar 252 may be omitted.
  • the battery storage 254 and the ammunition storage 256 may be larger than the base station 200.
  • the station station 300 since the station station 300 is installed in a mountainous highland, it may be provided with a size smaller than that of the station station 300 by the size of the drone hangar 252 .
  • the drone hangar 252 is a space provided on one side of the base station 200 and can store the drone 260 therein.
  • the drone hangar 252 may store a plurality of drones 260 .
  • the battery storage 254 is provided on the other side of the base station 200 and can store the battery 270 therein.
  • the battery storage 254 may include a means for charging the battery 270 .
  • the battery storage 254 may be configured to interwork with the replacement means 220 .
  • the battery storage 254 may be provided in the form of a rotating rotary.
  • the ammunition storage 256 is provided on the other side of the base station 200 and can store ammunition for fire suppression.
  • the evolutionary ammunition storage 256 may be configured to interwork with the replacement unit 220 .
  • the evolutionary ammunition storage 256 may be provided as a lattice-type enclosure.

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Abstract

L'invention concerne un système de commande de drone pour surveillance de feu de forêt. Système de commande de drone pour surveillance de feu de forêt, selon un mode de réalisation de la présente invention, comprenant les étapes suivantes : une station de base qui est disposée dans au moins une position sur le bord d'une zone montagneuse à surveiller, acquiert une image d'une plage désignée, et reçoit un drone équipé d'une bombe d'extinction de feu ; une station d'arrêt qui est disposée dans au moins une position au centre de la zone montagneuse et dans laquelle la bombe d'extinction de feu et la batterie du drone sont remplacées ; et un serveur de commande qui reçoit l'image acquise provenant de la station de base pour déterminer si un feu se déclare, calcule la taille et l'emplacement du feu lorsque le feu se déclare, et transmet une commande de répartition au drone reçu dans la station de base de telle sorte que le drone éteint le feu sur la base de la taille calculée du feu.
PCT/KR2021/013458 2021-09-03 2021-09-30 Système de commande de drone pour surveillance de feu de forêt WO2023033228A1 (fr)

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KR10-2021-0117775 2021-09-03
KR1020210117775A KR20230035183A (ko) 2021-09-03 2021-09-03 산불 감시용 드론 관제 시스템

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170045071A (ko) * 2015-10-16 2017-04-26 조승철 복수의 드론을 이용한 교대형 감시 시스템 및 방법
KR20170118334A (ko) * 2016-04-15 2017-10-25 (주)코어센스 드론을 이용한 산불 감시 및 진압 시스템
KR102051863B1 (ko) * 2019-05-16 2019-12-06 주식회사 천일이앤씨 친환경 에너지를 이용한 소방 경보 시스템
KR102090170B1 (ko) * 2019-07-26 2020-06-01 박수홍 드론을 이용한 산불 감시 장치 및 산불 감시 시스템
KR102281004B1 (ko) * 2020-03-19 2021-07-23 (주)네온테크 소방용 드론 운영시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170045071A (ko) * 2015-10-16 2017-04-26 조승철 복수의 드론을 이용한 교대형 감시 시스템 및 방법
KR20170118334A (ko) * 2016-04-15 2017-10-25 (주)코어센스 드론을 이용한 산불 감시 및 진압 시스템
KR102051863B1 (ko) * 2019-05-16 2019-12-06 주식회사 천일이앤씨 친환경 에너지를 이용한 소방 경보 시스템
KR102090170B1 (ko) * 2019-07-26 2020-06-01 박수홍 드론을 이용한 산불 감시 장치 및 산불 감시 시스템
KR102281004B1 (ko) * 2020-03-19 2021-07-23 (주)네온테크 소방용 드론 운영시스템

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