Fire extinguishing drone

Abstract

A firefighting drone according to the present invention comprises a main body (10) of a drone, at least two frames (100) formed radially from the main body (10), a propeller section (200) installed on the frame (100) that rotates according to control and generates lift, a storage section (300) installed at the bottom of the main body (10) and forming a storage space, a fire extinguishing bomb (400) that is accommodated in the storage space and falls according to control to extinguish a fire, and a control section (500) that controls flight by controlling the propeller section (200) and controls whether the fire extinguishing bomb (400) falls.

Description

Technology Field

[0001] The present invention relates to a firefighting drone. Background Technology

[0003] Prior art document 001 relates to a drone-type fire extinguishing device, and aims to detect a fire source upon recurrence, move via remote flight, and automatically spray a fire extinguishing agent onto the flames to extinguish the fire quickly and clearly. Specifically, Prior art document 001 discloses a technology characterized by comprising: a propeller unit provided with two or more propeller units on each side of a fire extinguishing aircraft; a fire extinguishing mounting rotatable unit provided to rotatably mount a fire extinguisher on the upper part of the fire extinguishing aircraft so as to spray a fire extinguishing agent onto the fire source; a fire extinguishing arm provided to mount a fire extinguishing nozzle on the front upper part of the fire extinguishing mounting rotatable unit and rotate the nozzle up and down to spray onto the fire source; a fire detection unit provided to detect a fire on the front upper part of the fire extinguishing arm; and a fire extinguishing lever operating unit provided to press the upper part of the fire extinguishing lever on the upper side of the fire extinguishing lifting guide.

[0004] Prior art document 002 relates to a drone for spraying pesticides or fire extinguishing agents, and is intended to rapidly spray agents such as liquid mixtures or powders using pressurized water and compressed air, and to prevent damage to the pump and blockage of pipes and nozzles. To this end, prior art document 002 discloses a technology comprising a compressor that supplies compressed air to a water tank, a water tank that pumps pressurized water by the compressed air, a powder or liquid agent containing any one of a pesticide, a fire extinguishing agent, or a decontamination agent that is introduced and stored, a chemical storage unit that receives pressurized water and supplies the powder or liquid agent to a chemical-liquid mixer, a chemical-liquid mixer that mixes the powder or liquid agent supplied from the chemical storage unit with pressurized water through a Venturi action, a control unit that starts or stops the compressor according to an external control signal to control the discharge of the agent from the chemical storage unit and the mixing of the chemical-liquid mixer, and a plurality of nozzles connected to the chemical-liquid mixer through a common pipe to spray the agent flowing in from the chemical-liquid mixer downward, thereby preventing damage to the pump and clogging of the pipe and nozzle by the chemical-liquid mixer, simplifying cleaning of the chemical-liquid mixer, pipe and nozzle, and enabling the discharge of solid materials using the pressurized air of the compressor, as well as reducing the battery consumption of the drone and extending the flight time of the drone.

[0005] Prior art document 003 relates to a fire extinguishing device mounted on a drone, and discloses a fire extinguishing device mounted on a drone to perform fire suppression operations. A fire extinguishing device mounted on a drone comprises a fire extinguishing agent receiving portion for containing a fire extinguishing agent inside, a suction nozzle disposed on the bottom surface of the fire extinguishing agent receiving portion and configured to suck in seawater, and a spray nozzle disposed on the side surface of the fire extinguishing agent receiving portion and configured to selectively communicate with the fire extinguishing agent receiving portion and the suction nozzle, respectively, to spray the fire extinguishing agent contained in the fire extinguishing agent receiving portion or the seawater supplied through the suction nozzle toward a specific point. The suction nozzle and the spray nozzle are configured to have adjustable lengths and to be rotatable around the fire extinguishing agent receiving portion, so that their respective directions of orientation are switched, and are mounted on the drone to be movable in the air. The invention discloses a technology that performs fire extinguishing operations in stages by first spraying the fire extinguishing agent contained in the fire extinguishing agent receiving portion toward a specific point through the spray nozzle, and secondarily spraying the seawater sucked in by the suction nozzle toward a specific point through the spray nozzle.

[0006] Prior art document 004 relates to a vehicle firefighting system using a drone. It describes a vehicle firefighting system using a drone that enables rapid movement to the scene using a drone to extinguish the vehicle fire when a fire occurs in an electric vehicle or a conventional vehicle, thereby demonstrating the effect of responding to the vehicle fire in its early stages. To realize this, Prior art document 004 discloses a technology comprising: a drone equipped with multiple flight wings capable of aerial movement and control via remote control; a firefighting unit including a flame-retardant suffocating cloth mounted on the drone to suppress a fire occurring in a vehicle; and a dropping means equipped on the drone to drop the firefighting unit when approaching the fire scene while the firefighting unit is being stored. Prior art literature

[0008] Prior Art 001: KR 10-2024-0175356 A (Published Dec. 20, 2024) Prior Art 002: KR 10-2019-0109832 A (Published Sep. 27, 2019) Prior Art 003: KR ​​20-2025-0001282 Y (Published Aug. 18, 2025) Prior Art 004: KR 10-2025-0106081 A (Published July 9, 2025) The problem to be solved

[0009] The present invention relates to a firefighting drone. means of solving the problem

[0011] The present invention is devised to solve the problems of the prior art as described above, and comprises a main body (10) of a drone, at least two frames (100) formed radially from the main body (10), a propeller unit (200) installed on the frame (100) that rotates according to control and generates lift, a storage unit (300) installed at the bottom of the main body (10) and forming a storage space, a fire extinguishing bomb (400) accommodated in the storage space and falling according to control to extinguish a fire, and a control unit (500) that controls flight by controlling the propeller unit (200) and controls whether the fire extinguishing bomb (400) falls.

[0012] The present invention is devised to solve the problems of the prior art as described above, wherein the storage unit (300) is movably coupled to the lower part of the main body (10), and the position of the storage unit (300) is controlled by the control unit (500), and the control unit (500) changes the position of the storage unit (300) to compensate for the change in the center of gravity due to the fall of the fire extinguishing bomb (400).

[0013] The present invention is devised to solve the problems of the prior art as described above, wherein a plurality of storage units (300) are arranged at the bottom of the main body (10) to form a storage assembly (20), and the storage assembly (20) is movably coupled to the bottom of the main body (10), and the position of the storage assembly (20) is controlled by the control unit (500), and the control unit (500) changes the position of the storage assembly (20) to compensate for changes in the center of gravity due to the fall of the fire extinguishing projectile (400).

[0014] The present invention is devised to solve the problems of the prior art as described above, and includes a variable frame (710) in which the lower end is connected to the upper end of the storage unit (300) and the upper end is connected to the lower end of the main body (10), and is configured to be adjustable in length according to control, and at least two such frames are arranged between the storage unit (300) and the main body (10). The control unit (500) changes the position of the storage unit (300) by varying the length of the variable frame (710) to compensate for changes in the center of gravity due to the fall of the fire extinguishing bomb.

[0015] The present invention is devised to solve the problems of the prior art as described above, and comprises: a first rail (811) formed in a first direction and installed at the lower part of the main body (10); and a first moving part (812) coupled to the first rail (811) and configured to move along the first rail (811); wherein the storage part (300) is connected to the first moving part (812), and the control part (500) controls the first moving part (812) to change the position of the storage part (300) in order to compensate for the change in the center of gravity due to the fall of the fire extinguishing bomb (400).

[0016] The present invention is devised to solve the problems of the prior art as described above, and includes a storage space formed in an up-and-down direction and a drop determination unit installed inside or outside the storage space to determine the drop of the fire extinguishing bomb (400) and controlled by the control unit (500).

[0017] The present invention has been devised to solve the problems of the prior art as described above, and the fire extinguishing bomb (400) comprises: a fire extinguishing liquid body (410) in which a fire extinguishing liquid is contained; a fire extinguishing nozzle (420) formed in the fire extinguishing liquid body (410) to spray the contained fire extinguishing liquid, wherein the spraying direction is convertible; a camera unit (430) installed in the fire extinguishing liquid body (410) to capture surrounding images; and a fire extinguishing bomb control unit (440) that identifies a fire occurrence area through the image obtained from the camera unit (430), changes the position of the fire extinguishing nozzle (420) so that the fire extinguishing liquid is sprayed toward the identified fire occurrence area, and controls the spraying of the fire extinguishing liquid.

[0018] The present invention is devised to solve the problems of the prior art as described above, and the fire extinguishing bomb (400) comprises: a fire extinguishing liquid body (410) in which a fire extinguishing liquid is contained; and a support frame (450) having one end hinge-connected to the surface of the fire extinguishing liquid body (410) and rotating in a direction away from the surface of the fire extinguishing liquid body (410) when falling. Effects of the invention

[0020] According to the firefighting drone of the various embodiments of the present invention as described above, there is an effect of being able to more easily extinguish or put out fires that occur on slopes or rough terrain where it is difficult for firefighters to enter.

[0021] In addition, according to the present invention, at least two fire extinguishing bombs are contained in a single fire extinguishing drone, and by spraying or ejecting fire extinguishing liquid over a wider area, the effect of suppressing a fire over a wide area is achieved. Brief explanation of the drawing

[0023] FIG. 1 is a perspective view of a firefighting drone according to the present invention. FIG. 2 is a vertical cross-sectional view of a firefighting drone according to the present invention. FIG. 3 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention in which a storage portion is configured to rotate including a first motor. FIG. 4 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention in which a storage assembly comprising a plurality of storage parts including a first motor is configured to be rotatable. FIG. 5 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention, wherein a storage assembly comprising a plurality of storage portions including a first motor and a second motor is configured to be rotatable, and each storage portion is configured to be rotatable. FIG. 6 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention including a variable frame. FIG. 7 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention comprising a first rail and a first moving part. FIG. 8 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention comprising a first rail, a first moving part, a second rail, and a second moving part. FIG. 9 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention comprising a drop determination part composed of a protrusion. FIG. 10 is a vertical cross-sectional view of an embodiment of a firefighting drone according to the present invention comprising a drop determination part composed of a flip door and an opening / closing determination part. FIG. 11 is a schematic diagram of an embodiment in which the direction of the nozzle included in the fire extinguishing projectile of a fire extinguishing drone according to the present invention is changed. FIG. 12 is a schematic cross-sectional view of an embodiment in which a fire extinguishing projectile of a fire extinguishing drone according to the present invention includes a pin. FIG. 13 is a schematic cross-sectional view of an embodiment in which a fire extinguishing projectile of a fire extinguishing drone according to the present invention includes a support frame. Specific details for implementing the invention

[0024] A firefighting drone according to the present invention will be described in detail below with reference to the attached drawings.

[0026] [Example 1-1] The present invention relates to a firefighting drone, comprising: a main body (10) of the drone; at least two frames (100) formed radially from the main body (10); a propeller unit (200) installed on the frame (100) that rotates according to control and generates lift; a storage unit (300) installed at the bottom of the main body (10) and forming a storage space; a fire extinguishing bomb (400) that is accommodated in the storage space and falls according to control to extinguish a fire; and a control unit (500) that controls flight by controlling the propeller unit (200) and controls whether the fire extinguishing bomb (400) falls.

[0027] [Example 1-2] The present invention relates to a firefighting drone, and in Example 1-1, includes a landing unit (600) installed at the bottom of the main body (10).

[0028] [Examples 1-3] The present invention relates to a firefighting drone, and in Example 1-2, the landing portion (600) is formed such that its lower end is lower than the lower end of the storage portion (300).

[0029] [Examples 1-4] The present invention relates to a firefighting drone, wherein in Example 1-1, the propeller unit (200) comprises: a motor (210) installed at the outer end of the frame (100) such that its rotation axis faces upward and is controlled by the control unit (500); and a propeller (220) installed on the rotation axis of the motor (210) and rotates according to the operation of the motor (210) to generate lift.

[0030] [Examples 1-5] The present invention relates to a firefighting drone, wherein in Example 1-1, at least two storage spaces are formed in a single storage unit (300), and the firefighting bombs (400) are accommodated in each of the storage spaces, and at least two are accommodated.

[0031] [Examples 1-6] The present invention relates to a firefighting drone, wherein in Example 1-1, at least one storage unit (300) is installed in the lower part of the main body (10).

[0032] Conventional firefighting methods made it very difficult to secure the golden time when a fire occurred in locations where fire trucks and personnel could not easily access, such as mountainous terrain or high-rise buildings. In addition, since firefighters had to enter the dangerous area where the fire occurred directly, there was always a risk of casualties due to hazards such as fire, suffocation, and gas poisoning, and there were limitations in that firefighting water could not be accurately delivered due to strong winds or geographical features.

[0033] The firefighting drone according to the present invention is devised to resolve the problems of the prior art as described above and includes a main body (10), a frame (100), a propeller section (200), a storage section (300), a fire extinguishing bomb (400), and a control section (500).

[0034] The main body (10), frame (100), and propeller part (200) are components included in a conventional drone.

[0035] More specifically, the main body (10) is the main body of the drone, and a control unit (500) to be described later may be formed inside, or a device such as a battery for driving the propeller unit (200) and a GPS module for generating location information may be installed.

[0036] The frame (100) extends outward from the center of the main body (10), and a plurality of them can be formed radially from the center of the main body (10).

[0037] The propeller part (200) is installed on the frame (100) and rotates according to control to generate lift.

[0038] Specifically, the propeller section (200) may include a motor (210) and a propeller (220).

[0039] The motor (210) can be installed at the outer end of the frame (100) such that the rotation axis faces upward.

[0040] The propeller (220) is installed on the rotating shaft of the motor (210) and rotates according to the operation of the motor (210) to generate lift.

[0041] The storage unit (300) is installed at the bottom of the main body (10), and a storage space is formed. The storage space formed in the storage unit (300) is a portion in which a fire extinguishing bomb (400), to be described later, is received. The fire extinguishing bomb (400) is determined to fall by the control of the control unit (500), to be described later, and falls into an area where a fire has occurred to spray fire extinguishing liquid, or bursts to eject the fire extinguishing liquid contained inside, thereby extinguishing the fire in that area.

[0042] The control unit (500) determines whether the fire extinguishing projectile (400) falls. The control unit (500) may be implemented as a programmed electronic device or an electronic device including an electronic device.

[0043] Although it was previously explained that the control unit (500) is installed inside the main body (10), there may be an embodiment in which the control unit (500) communicates with the main body (10) from outside the main body (10) to determine whether the drone's fire extinguishing projectile (400) falls. In this case, the control module installed in the main body (10) may include a communication module to enable communication with the external control unit (500).

[0044] The control unit (500) can control the flight of the firefighting drone itself according to the present invention by controlling the operation of the propeller unit (200) in addition to whether the firefighting bomb (400) falls.

[0045] The firefighting drone according to the present invention may further include a landing part (600).

[0046] The landing section (600) is installed at the bottom of the main body (10) and serves to assist in the landing of the firefighting drone according to the present invention.

[0047] At least two landing sections (600) may be arranged at a certain distance apart from each other on the lower part of the main body (10) and may be formed in a shape including a frame connected to each other.

[0048] The storage unit (300) can be placed between two landing units (600).

[0049] As previously explained, a storage section (300) is formed in the lower part of the main body (10). The lower end of the landing section (600) is formed to extend further downward than the lower surface of the storage section (300). That is, the lower end of the landing section (600) may be lower than the lower end (or lower surface) of the storage section (300).

[0050] A plurality of storage spaces are formed in the storage section (300), and each storage space can accommodate a fire extinguishing bomb (400). That is, a single storage section (300) can accommodate a plurality of fire extinguishing bombs (400).

[0051] The storage space formed in the storage section (300) may be arranged two-dimensionally for space efficiency. However, the present invention is not limited to a two-dimensional arrangement of the storage space formed in the storage section (300), and there may also be an embodiment in which the storage space in the storage section (300) is formed one-dimensionally by being arranged in a row.

[0052] At least one storage unit (300) may be installed in the lower part of the main body (10).

[0054] [Example 2-1] The present invention relates to a firefighting drone, wherein in Example 1-1, the storage unit (300) is movably coupled to the lower part of the main body (10), and the position of the storage unit (300) is controlled by the control unit (500), and the control unit (500) changes the position of the storage unit (300) to compensate for the change in the center of gravity due to the fall of the firefighting projectile (400).

[0055] [Example 2-2] The present invention relates to a firefighting drone, wherein in Example 2-1, the storage unit (300) is rotatably coupled to the lower part of the main body (10) and includes a first motor (320) coupled to the rotation axis of the storage unit (300) to change the position of the storage unit (300) according to the control of the control unit (500).

[0056] [Example 2-3] The present invention relates to a firefighting drone, wherein in Example 2-1, a single unit of the storage unit (300) is movably coupled to the lower part of the main body (10).

[0057] [Example 2-4] The present invention relates to a firefighting drone, and in Example 2-3, the storage unit (300) is rotatably coupled to the lower part of the main body (10) with a straight line horizontal to the ground as an axis.

[0058] The storage unit (300) itself is movably coupled to the lower part of the main body (10), and the position of the storage unit (300) can be controlled by the control unit (500).

[0059] When the fire extinguishing bomb (400) contained in the storage unit (300) falls, the center of gravity changes. This change in the center of gravity has an adverse effect on the flight of the fire extinguishing drone according to the present invention, and this adverse effect causes problems such as the consumption of the battery required for flight, collision with obstacles, and crashing, and it is necessary to compensate for the change in the center of gravity caused by the fall of the fire extinguishing bomb (400). The control unit (500) changes the relative position of the storage unit (300) and the main body (10) as the fire extinguishing bomb (400) falls, so that the center of gravity is positioned as much as possible in the center part of the fire extinguishing drone.

[0060] In the present invention, there may be various ways in which the storage unit (300) moves from the lower part of the main body (10).

[0061] In the present invention, an embodiment is described in which a storage unit (300) is rotatably coupled to the lower part of a main body (10), and a first motor (320) rotates the storage unit (300) within a predetermined angle range under the control of a control unit (500).

[0062] A portion of the lower surface of the main body (10) may protrude downward, and this portion is referred to as the lower extension portion (11). A single storage portion (300) has a portion protruding upward at the top, and when this portion is referred to as the upper extension portion (310), the lower extension portion (11) and the upper extension portion (310) can be rotatably connected to each other. Here, the axis of rotation may be formed in a horizontal direction from the ground. A first motor (320) may be installed in the lower extension portion (11), and the rotation axis of the first motor (320) is connected to the upper extension portion (310). When a fire extinguishing bomb (400) contained in the storage portion (300) falls, the control unit (500) controls the first motor (320) based on the position information of the fallen fire extinguishing bomb (400) to rotate the storage portion (300) by a predetermined angle. For example, when the fire extinguishing bomb (400) located on the far left falls based on a vertical cross-section, the control unit (500) controls the first motor (320) to lift the right end of the storage unit (300), thereby shifting the center of gravity that is shifted to the right to the center of the drone. Through the center of gravity correction process described above, the fire extinguishing drone according to the present invention can perform more stable flight and fire extinguishing through the dropping of fire extinguishing bombs.

[0064] [Example 3-1] The present invention relates to a firefighting drone, and in Example 2-1, a plurality of storage units (300) are arranged at the bottom of the main body (10) to form a storage assembly (20), and the storage assembly (20) is movably coupled to the bottom of the main body (10), and the position of the storage assembly (20) is controlled by the control unit (500), and the control unit (500) changes the position of the storage assembly (20) to compensate for changes in the center of gravity due to the fall of the firefighting projectile (400).

[0065] [Example 3-2] The present invention relates to a firefighting drone, wherein, in Example 3-1, it includes a connecting frame (30) that connects the upper portions of a plurality of storage portions (300) to each other, and the connecting frame (30) is rotatably coupled to the lower portion of the main body (10).

[0066] [Example 3-3] The present invention relates to a firefighting drone, and in Example 3-2, includes a first motor (320) installed at the part where the connecting frame (30) and the main body (10) are joined, which rotates the connecting frame (30) according to control to move the storage assembly (20).

[0067] [Examples 3-4] The present invention relates to a firefighting drone, and in Example 3-2, a part of the connecting frame (30) is rotatably connected to the lower part of the main body (10) with a straight line horizontal to the ground as an axis.

[0068] [Example 3-5] The present invention relates to a firefighting drone, and in Example 3-2, includes a second motor (330) which is installed at one end of the two ends of the connecting frame (30) on the side of the storage unit (300), and whose rotation axis is connected to the storage unit (300) and rotates the storage unit (300) according to the control of the control unit (500).

[0069] The above-described invention (Examples 2-1 to 2-4) describes a single storage unit (300), and the present invention (Examples 3-1 to 3-5) describes an embodiment in which multiple storage units (300) rotate at a predetermined angle from the lower part of the main body (10).

[0070] In the present invention, a plurality of storage units (300) are arranged at the bottom of the main body (10) to form a storage assembly (20). The storage assembly (20) is formed by connecting the plurality of storage units (300) to each other and rotating together at the bottom of the main body (10).

[0071] The firefighting drone according to the present invention may include a connecting frame (30) to connect a plurality of storage units (300) to each other.

[0072] The connecting frame (30) connects the upper portions of a plurality of storage units (300) to each other. The connecting frame (30) may have a bent shape.

[0073] The connecting frame (30) can be rotatably coupled to the lower part of the main body (10). To this end, the main body (10) may have a lower extension part (11) formed therein, and a part of the connecting frame (30) may have an upper extension part (310) protruding upwardly formed therein, and the lower extension part (11) and the upper extension part (310) may be rotatably coupled to each other. Additionally, as previously described, the first motor (320) is fixed to the lower extension part (11), and its rotation axis is connected to the upper extension part (310) so that it can operate under the control of the control unit (500) to rotate the storage assembly (20).

[0074] The rotation axis of the lower extension part (11) and the upper extension part (310) is an axis formed in a horizontal direction from the ground.

[0075] The method of the storage assembly (20) described above rotating to compensate for the center of gravity is no different from the method described above in the present invention (Examples 2-1 to 2-4). However, since the storage assembly (20) includes a plurality of storage parts (300), it is possible to adjust the center of gravity through a different method, and for this purpose, the firefighting drone according to the present invention may include a second motor (330).

[0076] The second motor (330) is installed at one end of the connecting frame (30) on the side facing the storage unit (300) such that its rotation axis faces downward. The rotation axis of the second motor (330) is connected to the upper end of the storage unit (300) and rotates the storage unit (300) according to the operation. The control unit (500) controls the first motor (320) to rotate the storage assembly (20) itself, and controls the second motor (330) to rotate a single storage unit (300) to compensate for the change in the center of gravity caused by the fall of the fire extinguishing bomb (400).

[0077] When the control unit (500) controls the second motor (330) to rotate the storage unit (300) and change the center of gravity of the drone, the storage space formed in the storage unit (300) can be arranged radially around the rotation axis of the second motor (330).

[0079] [Example 4-1] The present invention relates to a firefighting drone, and in Example 2-1, includes a variable frame (710) in which the lower end is connected to the upper end of the storage unit (300) and the upper end is connected to the lower end of the main body (10), and is configured to be adjustable in length according to control, and at least two such frames are placed between the storage unit (300) and the main body (10); and the control unit (500) changes the position of the storage unit (300) by varying the length of the variable frame (710) to compensate for changes in the center of gravity due to the fall of the firefighting projectile.

[0080] [Example 4-2] The present invention relates to a firefighting drone, wherein in Example 4-1, at least two variable frames (710) are spaced apart in a first direction.

[0081] [Example 4-3] The present invention relates to a firefighting drone, wherein in Example 4-2, at least two variable frames (710) are spaced apart in a second direction that intersects perpendicularly with the first direction.

[0082] [Example 4-4] The present invention relates to a firefighting drone, and in Example 4-1, the lower end of the variable frame (710) and the upper end of the storage unit (300) connected to the lower end of the variable frame (710) are joined to each other by a ball joint.

[0083] [Examples 4-5] The present invention relates to a firefighting drone, and in Example 4-1, the upper part of the variable frame (710) and the lower part of the main body (10) connected to the upper part of the variable frame (710) are joined to each other by a ball joint.

[0084] The present invention places a variable frame (710) with adjustable length between the main body (10) and the storage unit (300). Since the fire extinguishing bomb (400) contained in the storage unit (300) installed at the bottom of the main body (10) has a considerable weight per unit, the entire center of gravity of the drone shifts instantaneously upon dropping, which may cause the fire extinguishing drone according to the present invention to tilt or place a load on flight control. The control unit (500) adjusts the length of the variable frame (710) in real time simultaneously with the dropping of the fire extinguishing bomb (400) to correct the center of gravity by moving the changed center of gravity to the center of the drone by relatively shifting the position of the storage unit (300).

[0085] The variable frame (710) can be formed in a cylinder shape or its length can be varied through a structure of a multi-stage frame and a motor, and the control unit can vary the length of the variable frame (710) by controlling the cylinder or the motor.

[0086] It was explained that a plurality of variable frames (710) are installed, and at least two of the plurality of variable frames (710) are spaced apart in the first direction. This structure changes the center of gravity by moving both ends of the storage unit (300) upward or downward relative to the first direction, thereby adjusting the tilt of the storage unit (300).

[0087] In addition, at least two of the variable frames (710) are spaced apart in a second direction that intersects perpendicularly to the first direction, so that the tilt of the storage unit (300) can also be adjusted in the second direction, thereby adjusting the center of gravity.

[0088] The lower part of the variable frame (710) and the upper part of the storage section (300), and the upper part of the variable frame (710) and the lower part of the main body (10) can be connected by a ball joint structure. The ball joint structure is formed by a ball socket formed as a spherical space with one side open, and a ball stud inserted into the ball socket. This ball joint structure has the effect of compensating for changes in the angle between the variable frame and the storage section (300), or between the variable frame (710) and the main body (10), even if the angle changes due to changes in the inclination of the variable frame (710).

[0090] [Example 5-1] The present invention relates to a firefighting drone, and in Example 2-1 or Example 3-1, it comprises: a first rail (811) formed in a first direction and installed at the lower part of the main body (10); and a first moving part (812) coupled to the first rail (811) and configured to move along the first rail (811); wherein the storage part (300) is connected to the first moving part (812), and the control part (500) controls the first moving part (812) to change the position of the storage part (300) in order to compensate for the change in the center of gravity due to the fall of the firefighting bomb (400).

[0091] [Example 5-2] The present invention relates to a firefighting drone, and in Example 5-1, it comprises: a second rail (821) coupled to the first moving part (812) and formed in a second direction perpendicular to the first direction; and a second moving part (822) coupled to the second rail (821), configured to move along the second rail (821), and connected to the storage part (300); wherein the control part (500) controls at least one of the first moving part (812) and the second moving part (822) to change the position of the storage part (300) in order to compensate for the change in the center of gravity due to the fall of the firefighting bomb (400).

[0092] The method described above compensates for the change in the center of gravity by changing the angle of the storage unit (300) or the storage assembly (20), but in addition to this method, there may be a method to compensate for the change in the center of gravity by moving the storage unit (300) itself.

[0093] To this end, a first rail (811) formed in a first direction may be installed at the lower part of the main body (10), and may include a first moving part (812) configured to be coupled to the first rail (811) and movable along the first rail (811). The first moving part (812) may include a power generating device such as a motor and a power transmission structure capable of transmitting rotational force generated by the motor to the first rail (811). The control unit (500) can control the first moving part (812) to adjust the position of the first moving part (812) on the first rail (811), and since the storage part (300) is connected to the first moving part (812), the control unit (500) can move the position of the storage part (300) in the first direction to correct the center of gravity.

[0094] In addition to the above-described embodiment, a second rail (821) is formed in a direction perpendicular to the first direction on the first moving part (812), and a second moving part (822) is coupled to the second rail (821) so as to be movable along the second rail (821), and a storage part (300) may be coupled to the second moving part (822).

[0095] When a change in the center of gravity occurs in at least one of the first direction and the second direction, the control unit (500) controls at least one of the first moving unit (812) and the second moving unit (822) to change the position of the storage unit (300) and compensate for the center of gravity.

[0096] In the method of rotating the storage unit (300) or storage assembly (20) described above, the rotation angle of the storage unit (300) or storage assembly (20) itself is limited, so it was difficult to completely move the center of gravity to the center of the firefighting drone. However, in the method of moving the position of the storage unit (300) in a two-dimensional plane as in the present invention, as long as the length of the first rail (811) and the second rail (821) is sufficient, the center of gravity can be completely moved to the center of the firefighting drone, thereby compensating for the center of gravity more effectively.

[0098] [Example 6-1] The present invention relates to a firefighting drone, wherein in Example 1-1, the storage space is formed in an up-and-down direction and includes a drop determination unit installed inside or outside the storage space to determine the drop of the firefighting bomb (400) and controlled by the control unit (500).

[0099] [Example 6-2] The present invention relates to a firefighting drone, wherein in Example 6-1, the drop determination part comprises a protrusion (910) formed on the inner surface of the storage space and which protrudes according to control to store the firefighting bomb (400) or is stored on the inner surface and operates to drop the firefighting bomb.

[0100] [Example 6-3] The present invention relates to a firefighting drone, wherein in Example 6-1, the drop determination unit comprises: a flip door (920) hinged to one side of the bottom of the storage space to open and close the bottom of the storage space among the bottom surfaces of the storage unit (300); and an opening / closing determination unit (930) installed on the other side of the bottom of the storage space to determine the opening and closing of the flip door (920) and controlled by the control unit (500).

[0101] [Example 6-4] The present invention relates to a firefighting drone, and in Example 6-3, the opening / closing decision unit (930) supports the lower surface of the flip door (920) according to the control of the control unit (500) so that the flip door (920) operates to close the lower surface of the storage space, or moves in a direction not supporting the lower surface of the flip door (920) so that the flip door (920) operates to open the lower surface of the storage space.

[0102] [Example 6-5] The present invention relates to a firefighting drone, and in Example 6-3, the drop determination part comprises a first elastic winder (921) installed on an axis to which the flip door (920) is hinged, which applies elastic force in the direction in which the flip door (920) opens or closes.

[0103] [Example 6-6] The present invention relates to a firefighting drone, and in Example 6-1, the control unit (500) controls the drop determination unit so that when the firefighting bomb (400) is dropped, the firefighting bomb (400) at a position symmetrical with respect to the horizontal central part of the main body (10) is dropped.

[0104] The firefighting drone according to the present invention includes a drop determination unit to precisely manage the timing of dropping a firefighting bomb (400) contained within a storage space. The drop determination unit converts an electrical signal from a control unit (500) into a physical operation when the firefighting drone according to the present invention reaches a target coordinate above the fire-affected area, thereby preventing the firefighting bomb (400) from falling unintentionally and increasing the accuracy of firefighting.

[0105] The drop determination part can be implemented in various ways.

[0106] For example, the drop determination part may include a protrusion (910).

[0107] The protrusion (910) operates in such a way that it is inserted inward from the inner wall of the storage space or protrudes outward. When the protrusion (910) is protruding inward from the inner surface of the storage space, the protrusion (910) supports the lower part of the fire extinguishing bomb (400). When the protrusion (910) is inserted into the inner surface of the storage space by the control of the control unit (500), the protrusion (910) no longer supports the lower part of the fire extinguishing bomb (400), and the fire extinguishing bomb (400) falls due to gravity. In order to allow the protrusion (910) to be stored in or protrude from the inner surface of the storage space, the present invention may include a motor and a device that transmits the rotational force of the motor to the protrusion (910) inside the storage space.

[0108] The above-described method using the protrusion (910) has a simple structure and a fast response speed, making it advantageous when dropping multiple fire extinguishing bombs in succession.

[0109] As another example, the drop decision unit may adopt a drop method of the fire extinguishing bomb (400) including a flip door (920) and an opening / closing decision unit (930).

[0110] A flip door (920) is installed at the bottom of the storage space to open and close the bottom of the storage space on the lower surface of the storage section (300), and is hinge-connected to one side of the bottom of the storage space.

[0111] The opening / closing decision unit (930) is installed on the other side of the bottom of the storage space and determines whether the flip door (920) is opened or closed. The opening / closing decision unit (930) may have a movable member shape and may support the lower surface of the flip door (920) when the flip door (920) closes the bottom of the storage space, and may move to a position that does not support the lower surface of the flip door (920) when the flip door (920) opens, thereby allowing the flip door (920) to open by gravity. The opening / closing decision unit (930) may be implemented in at least one of a sliding method and a rotating method.

[0112] The flip door (920) opens by the fire extinguisher (400) and its own weight when the opening / closing decision part (930) does not support the lower side, but may further include a first elastic winder (921) installed to make opening the flip door (920) easier or to close the lower part of the storage space by itself after the fire extinguisher (400) has fallen.

[0113] The first elastic winder (921) is installed on the hinge-connected shaft portion of the flip door (920) so that the flip door (920) can operate to apply force in a certain direction.

[0114] When the first elastic winder (921) is wound to apply force in the direction in which the flip door (920) closes, if the opening / closing decision part (930) moves in a direction that does not support the flip door (920), the flip door (920) opens due to the load of the fire extinguishing bomb (400), and the fire extinguishing bomb (400) falls. Afterwards, the flip door (920) closes the lower part of the storage space by the force applied by the first elastic winder (921).

[0115] When the first elastic winder (921) is wound so that force is applied in the direction in which the flip door (920) opens, if the opening / closing decision part (930) moves in a direction that does not support the flip door (920), the flip door (920) opens due to the load of the fire extinguishing bomb (400). In this process, the opening of the flip door (920) is made faster and more accurately depending on the elastic force applied to the flip door (920) by the first elastic winder (921).

[0116] The structure using the flip door (920) described above can stably support the load of a relatively large and heavy fire extinguishing bomb (400) by distributing it, and since the drop opening located at the bottom of the storage space is fully opened, the phenomenon of the fire extinguishing bomb (400) getting stuck when falling can be minimized.

[0117] When the control unit (500) controls the drop determination unit to drop a fire extinguishing bomb (400), it can control the drop determination unit so that a fire extinguishing bomb (400) at a position symmetrical with respect to the horizontal center of the main body (10) is dropped. This is because the center of gravity of the fire extinguishing drone according to the present invention can be maintained more easily only by dropping fire extinguishing bombs (400) located symmetrically to each other.

[0119] [Example 7-1] The present invention relates to a firefighting drone, wherein in Example 1-1, the firefighting bomb (400) comprises: a firefighting liquid body (410) in which a firefighting liquid is contained; a firefighting nozzle (420) formed in the firefighting liquid body (410) to spray the contained firefighting liquid, wherein the spraying direction is convertible; a camera unit (430) installed in the firefighting liquid body (410) to capture surrounding images; and a firefighting bomb control unit (440) that identifies a fire occurrence area through the image obtained from the camera unit (430), changes the position of the firefighting nozzle (420) so that the firefighting liquid is sprayed toward the identified fire occurrence area, and then controls the spraying of the firefighting liquid.

[0120] [Example 7-2] The present invention relates to a fire extinguishing drone, wherein in Example 7-1, the fire extinguishing bomb (400) comprises a pin (460) formed at the lower part of the fire extinguishing liquid body (410) and having a shape in which the area becomes narrower towards the lower side.

[0121] In the present invention, the fire extinguishing bomb (400) is specified.

[0122] The fire extinguishing bomb (400) includes a fire extinguishing liquid body (410), a fire extinguishing nozzle (420), a camera unit (430), and a fire extinguishing bomb control unit (440).

[0123] The digestive fluid body (410) is a type of enclosure in which the digestive fluid is contained.

[0124] The fire extinguishing nozzle (420) is formed in the fire extinguishing liquid body (410) to spray the contained fire extinguishing liquid, and is formed so that the spraying direction can be changed.

[0125] The camera unit (430) is installed on the fire extinguishing liquid body (410) to capture surrounding images. The images obtained from the camera unit (430) are transmitted to the fire extinguishing bomb control unit (440), which will be described later.

[0126] The camera unit (430) can be installed on the top or side of the extinguishing liquid body (410).

[0127] The fire extinguishing bomb control unit (440) identifies the fire occurrence area through the image obtained from the camera unit (430), changes the position of the fire extinguishing nozzle (420) so that the fire extinguishing liquid is sprayed toward the identified fire occurrence area, and then controls the fire extinguishing nozzle (420) to spray the fire extinguishing liquid.

[0128] Unlike conventional methods that simply burst upon impact, this method enables more efficient firefighting by identifying the exact location and scale of the fire and spraying the extinguishing agent in that direction.

[0129] The image obtained from the camera unit (430) can be transmitted to the control unit (500) described above or to an external server. The operation of this camera unit (430) has the effect of also serving as a type of mobile CCTV that allows for remote verification of whether the fire has been completely extinguished.

[0130] The extinguishing bomb (400) may further include a pin (460) formed at the lower part of the extinguishing liquid body (410) and having a shape in which the area becomes narrower towards the lower side.

[0131] The pin (460) is a component that is embedded in the ground when the fire extinguishing bomb (400) falls, so that the fire extinguishing bomb (400) can be stably settled on the ground. The lower end of the pin (460) is formed with an additional weight of a certain amount or more so that when the fire extinguishing bomb (400) falls, the pin (460) can be directed downward.

[0133] [Example 8-1] The present invention relates to a firefighting drone, wherein in Example 1-1, the firefighting bomb (400) comprises: a firefighting liquid body (410) in which a firefighting liquid is contained; and a support frame (450) having one end hinge-connected to the surface of the firefighting liquid body (410) and rotating in a direction away from the surface of the firefighting liquid body (410) when falling.

[0134] [Example 8-2] The present invention relates to a firefighting drone, wherein in Example 8-1, at least two support frames (450) are spaced apart from each other at a certain distance on the surface of the firefighting liquid body (410).

[0135] [Example 8-3] The present invention relates to a firefighting drone, wherein in Example 8-2, at least two support frames (450) are spaced apart from the surface of the firefighting liquid body (410) at a certain angle outward.

[0136] [Example 8-4] The present invention relates to a firefighting drone, wherein in Example 8-1, the firefighting projectile (400) comprises a second elastic winder (451) formed at one end of the support frame (450) and applying a force to rotate the support frame (450).

[0137] [Example 8-5] The present invention relates to a firefighting drone, wherein in Example 8-1 or 8-4, one end of the support frame (450) is located lower than the other end.

[0138] In the firefighting drone according to the present invention, the firefighting projectile (400) may further include a support frame (450).

[0139] The support frame (450) is intended to ensure that the fire extinguishing bomb (400) is supported at a specific location without rolling when the fire extinguishing bomb (400) is on a sloped surface or on a hard surface where the fire extinguishing bomb (400) is not embedded in the ground by the pin (460). One end of the support frame is hinge-connected to the surface of the fire extinguishing liquid body (410) of the embodiment, and operates to rotate away from the surface of the fire extinguishing liquid body (410) when the fire extinguishing bomb (400) falls.

[0140] At least two support frames (450) may be spaced apart at regular intervals on the surface of the extinguishing liquid body (410), and more specifically, a plurality of support frames (450) may be spaced apart at a predetermined angle in the outer direction on the surface of the extinguishing liquid body (410).

[0141] One end of the support frame (450) is hinged to the surface of the fire extinguishing liquid body (410), and a second elastic winder (451) is wound around the hinged portion to apply elastic force to the support frame (450). When the fire extinguishing bomb (400) is contained in the storage space, even if the second elastic winder (451) applies elastic force to the support frame (450), the inner wall of the storage space prevents the support frame (450) from unfolding. Subsequently, when the fire extinguishing bomb (400) falls, the support frame (450) unfolds due to the elastic force of the second elastic winder (451), so that the fire extinguishing bomb (400) is supported without rolling down to the ground.

[0142] For the operation described above, it is preferable that a second elastic winder (451) be formed at the bottom of the support frame (450).

[0144] The present invention is not limited to the embodiments described above and has a diverse scope of application. Furthermore, it is understood that anyone with ordinary knowledge in the field to which the present invention pertains can make various modifications without departing from the essence of the invention as claimed in the claims. Explanation of the symbols

[0146] 10: Main body 11: Lower extension part 20: Storage assembly 30: Connecting frame 100: Frame 200: Propeller section 210: Motor 220: Propeller 300: Storage section 310: Upper extension section 320: 1st motor 330: 2nd motor 400: Fire extinguishing grenade 410: Fire extinguishing grenade body 420: Fire extinguishing nozzle 430: Camera unit 440: Fire extinguishing grenade control unit 450: Support frame 451: 2nd Elastic Winder 460: Pin 500: Control unit 600: Landing unit 700: Variable frame 811: 1st rail 812: 1st moving part 821: 2nd rail 822: Second moving part 910: Protrusion 920: Flip door 921: 1st elastic winder 930: Opening / Closing Decision Unit

Claims

Claim 1 A main body (10) of a drone; at least two frames (100) formed radially from the main body (10); a propeller section (200) installed on the frame (100) that rotates according to control and generates lift; a storage section (300) installed at the bottom of the main body (10) and forming a storage space; a fire extinguishing bomb (400) that is accommodated in the storage space and falls according to control to extinguish a fire; and a control section (500) that controls the flight by controlling the propeller section (200) and controls whether the fire extinguishing bomb (400) falls. The device includes a landing unit (600) installed at the bottom of the main body (10); wherein the storage unit (300) is movably coupled to the bottom of the main body (10), and the position of the storage unit (300) is controlled by the control unit (500); the control unit (500) changes the position of the storage unit (300) to compensate for changes in the center of gravity due to the fall of the fire extinguishing bomb (400); the fire extinguishing bomb (400) comprises: a fire extinguishing liquid body (410) in which fire extinguishing liquid is contained; a fire extinguishing nozzle (420) formed in the fire extinguishing liquid body (410) to spray the contained fire extinguishing liquid, wherein the spraying direction is convertible; a camera unit (430) installed in the fire extinguishing liquid body (410) to capture surrounding images; and a fire occurrence area is identified through the image obtained from the camera unit (430), and the position of the fire extinguishing nozzle (420) is changed so that the fire extinguishing liquid is sprayed toward the identified occurrence area, and then the fire extinguishing liquid is sprayed. A fire extinguishing bomb control unit (440); a support frame (450) having one end hinge-connected to the surface of the fire extinguishing liquid body (410) and rotating in a direction away from the surface of the fire extinguishing liquid body (410) when falling; and a pin (460) formed on the lower part of the fire extinguishing liquid body (410) and having a shape in which the area becomes narrower towards the bottom.A firefighting drone comprising: a pin (460), wherein the lower end of the pin (460) is formed as a weight having a certain amount or more; wherein at least two support frames (450) are formed on the surface of the fire extinguishing liquid body (410) at a certain distance from each other; wherein at least two support frames (450) are formed at a certain angle outward from the surface of the fire extinguishing liquid body (410); and a second elastic winder (451) formed at one end of the support frame (450) to apply a force to rotate the support frame (450). Claim 2 delete Claim 3 A firefighting drone according to claim 1, wherein a plurality of storage units (300) are arranged at the bottom of the main body (10) to form a storage assembly (20), the storage assembly (20) is movably coupled to the bottom of the main body (10), the position of the storage assembly (20) is controlled by the control unit (500), and the control unit (500) changes the position of the storage assembly (20) to compensate for changes in the center of gravity due to the fall of the firefighting bomb (400). Claim 4 A firefighting drone according to claim 1, comprising: a variable frame (710) having a lower end connected to the upper end of the storage unit (300) and an upper end connected to the lower end of the main body (10), configured to be adjustable in length according to control, and having at least two such frames positioned between the storage unit (300) and the main body (10); wherein the control unit (500) changes the position of the storage unit (300) by varying the length of the variable frame (710) to compensate for changes in the center of gravity due to the fall of the firefighting bomb. Claim 5 A firefighting drone according to claim 1 or 3, comprising: a first rail (811) formed in a first direction and installed at the lower part of the main body (10); and a first moving part (812) coupled to the first rail (811) and configured to move along the first rail (811); wherein the storage part (300) is connected to the first moving part (812), and the control part (500) controls the first moving part (812) to change the position of the storage part (300) in order to compensate for the change in the center of gravity due to the fall of the firefighting bomb (400). Claim 6 A firefighting drone according to claim 1, wherein the storage space is formed in an up-and-down direction and includes a drop determination unit installed inside or outside the storage space to determine the drop of the firefighting bomb (400) and controlled by the control unit (500). Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 In claim 1, the landing portion (600) is formed such that its lower end is lower than the lower end of the storage portion (300), forming a firefighting drone. Claim 11 A firefighting drone according to claim 1, wherein the propeller unit (200) comprises: a motor (210) installed at the outer end of the frame (100) such that its rotation axis faces upward and is controlled by the control unit (500); and a propeller (220) installed on the rotation axis of the motor (210) and rotates according to the operation of the motor (210) to generate lift.

Images