Fire extinguishing drone system

Abstract

The present invention relates to a firefighting drone system, comprising a firefighting drone (100) that stores a firefighting bomb (110), and a control unit (200) that controls the firefighting drone (100) to control the flight of the firefighting drone (100) and the dropping of the firefighting bomb (110). The system further comprises a flight step (S100) in which the control unit (200) transmits a control signal to the firefighting drone (100) to fly the firefighting drone (100) to a site where a fire has occurred, a fire location detection step (S200) in which the control unit (200) detects the exact location where the fire has occurred during the flight step (S100), and a firefighting bomb dropping step (S300) in which, after the fire location detection step (S200), the control unit (200) controls the firefighting drone (100) to drop the stored firefighting bomb (110).

Description

Technology Field

[0001] The present invention relates to a firefighting drone system. 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 system. 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 firefighting drone (100) that stores a firefighting bomb (110), and a control unit (200) that controls the firefighting drone (100) to control the flight of the firefighting drone (100) and the dropping of the firefighting bomb (110). The invention further comprises a flight step (S100) in which the control unit (200) transmits a control signal to the firefighting drone (100) to fly the firefighting drone (100) to a site where a fire has occurred, a fire location detection step (S200) in which the control unit (200) detects the exact location where the fire has occurred during the flight step (S100), and a firefighting bomb dropping step (S300) in which, after the fire location detection step (S200), the control unit (200) controls the firefighting drone (100) to drop the stored firefighting bomb (110).

[0012] The present invention has been devised to solve the problems of the prior art as described above, and includes a shooting step (S110) which is performed during the flight step (S100) and before the fire location detection step (S200), wherein a camera unit (130) installed on the firefighting drone (100) acquires an image of the surroundings of the firefighting drone (100) and transmits the acquired image to the control unit (200); wherein in the fire location detection step (S200), the control unit (200) detects the location where a fire has occurred based on the image acquired in the shooting step (S110).

[0013] The present invention has been devised to solve the problems of the prior art as described above. In the fire extinguishing bomb dropping step (S300), the control unit (200) controls the fire extinguishing drone (100) to drop the fire extinguishing bomb (110) while moving horizontally from in front of the fire location to the fire location.

[0014] The present invention is devised to solve the problems of the prior art as described above. In the fire location detection step (S200), the control unit (200) further detects at least one of the size of the fire and the direction of fire progression based on the image acquired in the shooting step (S110), and in the fire extinguishing bomb dropping step (S300), the control unit (200) controls the fire extinguishing drone (100) so that the fire extinguishing bomb (110) is dropped in front of the direction of fire progression.

[0015] The present invention is devised to solve the problems of the prior art as described above, wherein the camera unit (130) includes a thermal imaging camera, and after the fire extinguishing bomb drop step (S300), the fire extinguishing bomb drop location is monitored using the thermal imaging camera for a predetermined time, and if the temperature at the fire extinguishing bomb drop location does not fall below a preset level, the control unit (200) transmits a control signal to the fire extinguishing drone (100) to drop the fire extinguishing bomb (110) again at the corresponding drop location, thereby including a fire extinguishing bomb re-drop step (S400). Effects of the invention

[0017] According to the firefighting drone system of the various embodiments of the present invention as described above, it is possible to rapidly access the scene via a drone and perform initial suppression (golden time) even in mountainous terrain or high-rise buildings where it is difficult for fire trucks or personnel to access, and since fires can be suppressed via remote control without firefighters having to directly enter the dangerous area, the risk of casualties can be fundamentally eliminated.

[0018] In addition, according to the present invention, by using a parabolic trajectory guidance method that drops a fire extinguishing bomb while moving horizontally in front rather than directly above the fire point, the gas can be protected from high heat and strong updrafts at the fire site, and by actively correcting the angle of the storage unit according to the pitching motion of the gas, the dropping angle of the fire extinguishing bomb can be precisely maintained even while moving, thereby maximizing the hit rate at the target point.

[0019] In addition, according to the present invention, not only is it possible to simply extinguish visible flames, but also to predict the direction of fire progression by combining image analysis and wind direction information, and to form an effective fire suppression line by preemptively dropping fire extinguishing bombs in front of it, thereby efficiently preventing the spread into a large-scale fire.

[0020] In addition, according to the present invention, by analyzing environmental data such as temperature and humidity at the site and terrain information such as ground slope and obstacles in three dimensions to dynamically correct the drop speed and position, consistent extinguishing performance can be maintained regardless of weather conditions or complex terrain features.

[0021] In addition, according to the present invention, high-temperature points not visible to the naked eye are tracked through post-monitoring using a thermal imaging camera, and by automatically performing a re-dropping step when necessary, the possibility of rekindling is fundamentally blocked, and firefighting resources can be utilized efficiently. Brief explanation of the drawing

[0023] FIG. 1 is a schematic diagram of a firefighting drone system according to the present invention. FIG. 2 is a schematic diagram of an embodiment in which the control unit of a firefighting drone system according to the present invention is installed on a mobile body. FIG. 3 is a schematic diagram of the fire extinguishing projectile dropping stage of a fire extinguishing drone system according to the present invention. FIG. 4 is a schematic diagram of an embodiment in which a fire extinguishing projectile is dropped in a parabolic trajectory during the fire extinguishing projectile drop stage of a fire extinguishing drone system according to the present invention. FIG. 5 is a schematic cross-sectional view of a firefighting drone of a firefighting drone system according to the present invention. FIG. 6 is a schematic diagram of an embodiment in which, during the fire extinguishing bomb dropping stage of a fire extinguishing drone system according to the present invention, the fire extinguishing bomb is dropped so that it follows a parabolic trajectory, and the fire extinguishing bomb is dropped with the angle adjusted so that the storage part maintains a horizontal position. FIG. 7 is a schematic diagram of an embodiment in which a fire extinguishing bomb is dropped considering the direction of fire progression during the fire extinguishing bomb dropping stage of a fire extinguishing drone system according to the present invention. FIGS. 8 to 12 are flowcharts of various embodiments of a firefighting drone system according to the present invention. Specific details for implementing the invention

[0024] The firefighting drone system 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 system, comprising a firefighting drone (100) that stores a firefighting bomb (110), and a control unit (200) that controls the firefighting drone (100) to control the flight of the firefighting drone (100) and the drop of the firefighting bomb (110); a flight step (S100) in which the control unit (200) transmits a control signal to the firefighting drone (100) to fly the firefighting drone (100) to a site where a fire has occurred; a fire location detection step (S200) in which the control unit (200) detects the exact location where the fire has occurred during the flight step (S100); and a firefighting bomb drop step (S300) in which, after the fire location detection step (S200), the control unit (200) controls the firefighting drone (100) to drop the stored firefighting bomb (110).

[0027] [Example 1-2] The present invention relates to a fire extinguishing drone system, wherein Example 1-1 includes a fire occurrence information receiving step (S90) in which, prior to the flight step (S100), the control unit (200) receives fire occurrence information from the outside.

[0028] [Examples 1-3] The present invention relates to a firefighting drone system, wherein in Example 1-2, the fire occurrence information includes at least one of the location of the fire occurrence and the scale of the fire.

[0029] [Examples 1-4] The present invention relates to a firefighting drone system, wherein in Example 1-2, the control unit (200) and the firefighting drone (100) are installed on a mobile body, and the fire occurrence information reception step (S90) and the flight step (S100) are performed, wherein the control device of the mobile body receives the fire occurrence information including the location of the fire occurrence from the control unit (200) and moves the mobile body to a predetermined distance from the location of the fire occurrence, the mobile body movement step (S91);

[0030] [Examples 1-5] The present invention relates to a firefighting drone system. In Example 1-3, the fire occurrence information includes the location of the fire occurrence, and the flight step (S100) identifies the location information of the firefighting drone (100) from a location identification unit installed on the firefighting drone (100), transmits the identified location information to the control unit (200), and the control unit (200) performs the fire location detection step (S200) when the firefighting drone (100) approaches within a reference distance from the location of the fire occurrence based on the received location information of the firefighting drone (100).

[0031] 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.

[0032] The present invention relates to a firefighting drone system and was devised to solve the conventional technical problems described above.

[0033] The firefighting drone system according to the present invention includes a firefighting drone (100) and a control unit (200).

[0034] The firefighting drone (100) flies under the control of the control unit (200). A firefighting bomb (110) can be stored in the firefighting drone (100).

[0035] The control unit (200) is a device installed on the ground or mounted on a mobile body to control the firefighting drone (100), and transmits a control signal to the firefighting drone (100) to control the firefighting drone (100).

[0036] Considering that the firefighting drone system according to the present invention is a system for operating a firefighting drone to extinguish a fire in an area where a fire has occurred, the control unit (200) may be formed on a mobile body such as a vehicle, and the firefighting drone may be mounted on a mobile body such as the control unit (200) or another mobile body and controlled by the control unit (200).

[0037] The firefighting drone system according to the present invention is performed by the firefighting drone (100) and the control unit (200) described above, and includes a flight step (S100), a fire location detection step (S200), and a fire extinguishing bomb drop step (S300) performed sequentially.

[0038] The flight phase (S100) is a phase in which the control unit (200) transmits a control signal to the firefighting drone (100) and flies the firefighting drone (100) to the site where the fire occurred.

[0039] In order for the control unit (200) to transmit a control signal to the firefighting drone (100) during the flight phase (S100), the control unit (200) and the firefighting drone (100) can communicate with each other wirelessly. The control unit (200) and the firefighting drone (100) can communicate with each other in a manner such as wireless internet, mobile communication network, RF method, or short-range wireless communication, and when the control unit (200) and the firefighting drone (100) communicate with each other in any one of wireless internet, mobile communication network, RF method, or short-range wireless communication, the control unit (200) and the firefighting drone (100) may each include a communication module for communication in that method.

[0040] The fire location detection step (S200) is performed during the flight phase (S100), and the control unit (200) detects the exact location where the fire occurred.

[0041] In the fire location detection step (S200), the control unit (200) can detect the exact location where the fire occurred using various means and methods, and this will be described later.

[0042] In the fire extinguishing bomb dropping step (S300), after the fire location detection step (S200), the control unit (200) controls the fire extinguishing drone (100) to drop the fire extinguishing bomb (110) stored in the fire extinguishing drone (100) to perform fire extinguishing. While the fire extinguishing bomb dropping step (S300) is being performed, the flight step (S100) may also be being performed.

[0043] The firefighting drone system according to the present invention further includes a fire occurrence information receiving step (S90).

[0044] The fire occurrence information reception step (S90) may be performed before the flight step (S100), and the control unit (200) receives fire occurrence information from an external source. The entity receiving the fire occurrence information from the control unit may be at least one of a fire station, a local government, a police station, or a government agency.

[0045] The fire occurrence information may include at least one of the location of the fire and the scale of the fire, and the control unit (200) may use information such as the location of the fire and the scale of the fire included in the received fire occurrence information in other steps to be performed in the future.

[0046] The firefighting drone system according to the present invention may further include a moving body movement step (S91).

[0047] The moving body movement step (S91) is performed between the fire occurrence information reception step (S90) and the flight step (S100).

[0048] The moving body movement step (S91) is a step in which the control device of the moving body receives fire occurrence information including the location of the fire occurrence from the control unit (200) and moves the moving body to a preset distance from the location of the fire occurrence.

[0049] While the movement phase (S91) of the moving body is being performed, the location identification unit installed on the firefighting drone (100) can identify the location information of the firefighting drone (100) and transmit the identified location information to the control unit (200). Based on the received location information of the firefighting drone (100), if the firefighting drone (100) enters within a reference distance from the fire occurrence location, the control unit (200) transmits a control signal to the control device of the moving body (10) to stop the movement of the moving body (10), terminate the movement phase (S91) of the moving body, and allow the flight phase (S100) to be performed.

[0051] [Example 2-1] The present invention relates to a firefighting drone system, wherein Example 1-1 comprises a shooting step (S110) performed during the flight step (S100) and before the fire location detection step (S200), wherein a camera unit (130) installed on the firefighting drone (100) acquires an image of the surroundings of the firefighting drone (100) and transmits the acquired image to the control unit (200); and in the fire location detection step (S200), the control unit (200) detects the location where a fire has occurred based on the image acquired in the shooting step (S110).

[0052] [Example 2-2] The present invention relates to a firefighting drone system, wherein in Example 2-1, the camera unit (130) includes at least one of a thermal imaging camera and a visible light camera.

[0053] [Example 2-3] The present invention relates to a firefighting drone system, wherein in Example 2-2, the camera unit (130) includes a thermal imaging camera and a visible light camera.

[0054] [Example 2-4] The present invention relates to a firefighting drone system, wherein in Example 2-1, in the fire location detection step (S200), the control unit (200) further detects at least one of the size of the fire and the direction of fire progression based on the image obtained in the shooting step (S110).

[0055] [Example 2-5] The present invention relates to a firefighting drone system. In Example 2-1, in the fire location detection step (S200), the control unit (200) detects the direction of fire progression based on wind direction information received from an external agency and an image obtained in the shooting step (S110).

[0056] The shooting step (S110) is performed to accurately determine the location of the fire while the firefighting drone is flying near the fire scene or immediately after arrival.

[0057] When the camera unit (130) mounted on the firefighting drone (100) acquires surrounding visual information during the shooting stage (S110), the video data is transmitted to the control unit (200). The control unit (200) analyzes the video received from the camera unit (130) to identify smoke, flames, heat sources, etc., and uses this as reference data to determine the precise location of the fire.

[0058] The camera unit (130) may include at least one of a general visible light camera and a thermal imaging camera.

[0059] The thermal image obtained from the thermal imaging camera has the effect of enabling the control unit (200) to clearly detect the center of the fire even in environments where visibility is not secured, such as when the area where the fire occurred is filled with smoke or at night.

[0060] The image obtained from the visible light camera can be used by the control unit (200) to identify the situation of the fire in an environment where visibility is secured, such as during the day, or to identify the topography, structures, and color of the smoke at the fire site to monitor the type of fire or surrounding hazards.

[0061] In the present invention, the camera unit (130) includes both a thermal imaging camera and a visible light camera, and can transmit both a general image and a thermal imaging image together to the control unit (200). Since this method identifies fire information using different types of images, it has the effect of reducing malfunctions and maximizing the reliability of detection.

[0062] In the fire location detection step (S200), the control unit (200) analyzes the video collected from the camera unit (130) to determine the scale (size) and direction of progression of the fire in real time.

[0063] The control unit (200) can quantify the current power of the fire and the direction in which it is spreading by calculating, using an algorithm, the change in the area of ​​the flame or the movement path of the heat source within the image collected from the camera unit (130). The operation of the control unit (200) as described above serves as a decisive basis for setting the point to concentrate the extinguishing liquid or the priority evacuation zone when establishing a fire extinguishing strategy.

[0064] In the fire location detection step (S200), the control unit (200) can improve the accuracy of predicting the direction of fire progression by combining a variable called wind direction information received from an external agency. Since the spread of a fire is most significantly affected by the wind at the site, the method of fused analysis of real-time wind direction data received from an external agency, such as the Korea Meteorological Administration, with captured video allows the control unit (200) to derive not only the current direction of the flames but also the predicted path where the flames are at high risk of spreading in the future. In particular, this method has the effect of enabling highly reliable predictions by utilizing external information, even in extreme situations where it is difficult to identify the direction of spread based on video alone due to thick smoke.

[0066] [Example 3-1] The present invention relates to a firefighting drone system. In Example 2-1, during the firefighting bomb dropping step (S300), the control unit (200) controls the firefighting drone (100) to drop the firefighting bomb (110) while moving horizontally from the front of the fire location to the fire location.

[0067] [Example 3-2] The present invention relates to a firefighting drone system. In Example 3-1, the firefighting drone (100) comprises a main body (140), a storage unit (150) rotatably formed at the bottom of the main body (140), a first motor (160) for controlling the rotation angle of the storage unit (150), and a firefighting bomb (110) that is received in the storage unit (150) and falls according to the control. In the firefighting bomb falling step (S300), the control unit (200) controls the main body (140) to tilt so that the firefighting drone (100) moves in a horizontal direction, while controlling the first motor (160) so that the bottom surface of the storage unit (150) is kept horizontal or the bottom of the firefighting bomb (110) received in the storage unit (150) faces the location of the fire, thereby adjusting the angle of the storage unit (150).

[0068] [Example 3-3] The present invention relates to a firefighting drone system. In Example 3-1, during the firefighting bomb dropping step (S300), the control unit (200) determines the horizontal speed of the firefighting drone (100) according to the relative position between the firefighting drone (100) and the fire occurrence location, and controls the firefighting drone (100) to drop the firefighting bomb (110) while moving horizontally at the determined speed.

[0069] [Example 3-4] The present invention relates to a firefighting drone system. In Example 3-1, in the fire location detection step (S200), the control unit (200) detects the size of the fire based on the image obtained in the shooting step (S110), and in the fire extinguishing bomb drop step (S300), the control unit (200) determines the altitude of the firefighting drone (100) according to the size of the fire at the fire location, and controls the firefighting drone (100) so that the fire extinguishing bomb (110) is dropped while flying the firefighting drone (100) at the determined altitude and horizontal speed.

[0070] [Example 3-5] The present invention relates to a firefighting drone system. In Example 3-1, the firefighting drone (100) is equipped with a sensing unit (170) that senses at least one of temperature and humidity and transmits the sensing value to the control unit (200). In the firefighting bomb drop step (S300), the control unit (200) determines the horizontal speed of the firefighting drone (100) and the drop position of the firefighting bomb (110) based on the sensing value, and then controls the firefighting drone (100) to drop the firefighting bomb (110) according to the determined horizontal speed of the firefighting drone (100) and the drop position of the firefighting bomb (110).

[0071] [Example 3-6] The present invention relates to a firefighting drone system. In Example 3-1, in the fire location detection step (S200), the control unit (200) further identifies at least one of the slope of the fire occurrence location, the condition of the ground, and obstacles based on the image acquired in the shooting step (S110). In the fire extinguishing bomb drop step (S300), the control unit (200) determines the horizontal speed of the firefighting drone (100) and the drop position of the fire extinguishing bomb (110) based on the identified fire occurrence location and at least one of the slope of the fire occurrence location, the condition of the ground, and obstacles. Then, the control unit (200) controls the firefighting drone (100) to drop the fire extinguishing bomb (110) according to the determined horizontal speed of the firefighting drone (100) and the drop position of the fire extinguishing bomb (110).

[0072] The control unit (200) according to the present invention controls the firefighting drone (100) to drop firefighting bombs while maintaining a constant speed in a horizontal direction moving from in front of the fire location toward the fire location, rather than simply stopping above the fire location to drop the firefighting bombs during the firefighting bomb drop step (S300).

[0073] The above-described control method provides an inertial force to the dropped fire extinguishing bomb according to the movement speed of the drone, thereby inducing the fire extinguishing bomb to reach the target point by drawing a parabolic trajectory instead of falling vertically. This method can protect the fire extinguishing drone (100) from strong updrafts, high heat, and smoke generated directly above the fire site, and since the fire extinguishing bomb is dropped outside the direct influence zone of the fire, it prevents damage to the fire extinguishing drone (100) and increases flight stability. In addition, by dropping the fire extinguishing bomb while the fire extinguishing drone (100) is moving, the angle of incidence and speed at which the fire extinguishing bomb hits the ground can be controlled, which has an advantageous effect for spraying fire extinguishing agents over a wide area in line with the direction of fire spread compared to simple vertical drop.

[0074] The firefighting drone (100) used in the present invention is a multirotor type drone that includes multiple propellers. In order for a multirotor type drone to move horizontally in a specific direction, a pitching motion in which the body (main body) is tilted at a certain angle in the direction of movement is essential. However, when the body of the firefighting drone (100) is tilted, the dropping angle of the fire extinguishing bomb vertically contained inside is also tilted, and this causes an error in the initial vector of the fire extinguishing bomb when dropped, which causes a decrease in the accuracy of the drop point.

[0075] In order to solve this, the control unit (200) controls horizontal movement by tilting the main body (140) and simultaneously drives a first motor (160) connected to the rotation axis of a storage unit (150) that is rotatably configured at the bottom of the main body (140) to actively adjust the rotation angle of the storage unit (150). For example, even if the main body (140) of the firefighting drone (100) tilts forward during the firefighting bomb drop stage (S300), the first motor (160) can be controlled so that the storage unit (150) rotates in the opposite direction, thereby maintaining the lower surface of the storage unit (150) horizontally with the ground or maintaining the lower end of the firefighting bomb (110) facing the fire source, thereby improving the drop precision of the firefighting bomb (110).

[0076] In the fire extinguishing bomb drop phase (S300), the control unit (200) determines the horizontal speed of the fire extinguishing drone (100) based on the relative position between the fire extinguishing drone (100) and the location of the fire. This is to determine what kind of parabolic trajectory the fire extinguishing bomb (110) falling from the fire extinguishing drone (100) will trace.

[0077] In the fire location detection step (S200), the control unit (200) can detect information on the size of the fire based on the image acquired in the shooting step (S110). In the fire extinguishing bomb dropping step (S300), the control unit (200) determines the altitude of the fire extinguishing drone (100) according to the detected size of the fire, and causes the fire extinguishing bomb (110) to drop while flying the fire extinguishing drone (100) at the determined altitude and horizontal speed. This is to prevent damage to the fire extinguishing drone (100) by dropping the fire extinguishing bomb (110) from the outside, away from the influence of the fire, because the fire extinguishing drone (100) may be damaged by smoke and heat generated from the fire depending on the size of the fire.

[0078] The firefighting drone (100) according to the present invention includes a sensing unit (170) that measures ambient temperature and humidity in real time, and the control unit (200) dynamically adjusts flight parameters such as the horizontal speed of the firefighting drone (100) and the drop point of the firefighting bomb (110) based on these sensing values. The temperature and humidity of the atmosphere have a direct effect on the density and viscosity of the air, which changes the drag force generated when the firefighting bomb is dropped. In particular, the high-temperature environment of the fire site can form a strong updraft, which can distort the expected drop trajectory of the firefighting bomb. Therefore, the control unit (200) receives sensing values ​​from the sensing unit (170) installed on the firefighting drone (100) to receive temperature and humidity information of the site, and analyzes environmental data based on the received temperature and humidity information to correct the horizontal movement speed and drop point (position) of the firefighting drone (100) so that the firefighting bomb (110) can land accurately at the target point. The effect of reflecting such environmental variables is to maintain consistent drop accuracy regardless of changes in atmospheric conditions due to season, weather, and fire intensity, and to increase firefighting efficiency by calculating in advance the drift phenomenon of the fire extinguishing bomb (110) caused by the high-temperature updraft generated by the fire and dropping it.

[0079] The control unit (200) of the present invention analyzes the captured video to go beyond simply finding the location of the fire and to three-dimensionally identify topographical information such as the slope of the ground, conditions (soil, bedrock, soft ground, etc.), and surrounding obstacles. This is because if the fire point is on a slope, the impact zone may be skewed downwards or the fire extinguishing bomb (110) may roll away after dropping, and if there are high obstacles nearby, there is a risk that the parabolic drop path will be blocked. In the fire extinguishing bomb drop stage (S300) of the present invention, the control unit (200) determines the optimal entry angle and horizontal speed by considering the topographical characteristics of the site. For example, on a slope, the drop position is adjusted upward to account for slipping, or the optimal combination of altitude and speed that can avoid obstacles is calculated and controlled.

[0080] The operation of the control unit (200) in the fire extinguishing bomb drop stage (S300) described above enables the dropping of fire extinguishing bombs optimized for ground characteristics even in mountainous terrain or complex urban fires rather than flat terrain, and by recognizing obstacles in advance and calculating the drop trajectory, it ensures the efficient dropping of the fire extinguishing bomb (110) and the safety of the fire extinguishing drone (100) body, and predicts the scattering range according to the ground condition so that the fire extinguishing agent is concentrated in the center of the fire without waste.

[0082] [Example 4-1] The present invention relates to a firefighting drone system. In Example 2-1, in the fire location detection step (S200), the control unit (200) further detects at least one of the size of the fire and the direction of fire progression based on the image obtained in the shooting step (S110), and in the fire extinguishing bomb drop step (S300), the control unit (200) controls the firefighting drone (100) so that the fire extinguishing bomb (110) is dropped in front of the direction of fire progression.

[0083] The control unit (200) of the present invention does not merely utilize planar location information of the point where the fire occurred during the fire location detection step (S200), but calculates the scale of the fire and the direction of combustion spread in real time through image analysis. This goes beyond a 'post-fire response' of simply extinguishing the place where the fire started, and prevents the spread of the fire by predicting and blocking the path of the fire's progression.

[0084] The control unit (200) determines the direction of fire progression determined by wind direction, combustible material placement, terrain, etc., and determines a certain point in front of the point where the fire is currently burning as the drop target. The firefighting drone (100) causes the firefighting bomb (110) to fall at the calculated location, thereby forming a firefighting blocking line to prevent the fire from spreading further.

[0085] The method of dropping fire extinguishing bombs (110) as described above blocks the path of fire before it spreads to new combustible materials, so the extent of damage can be drastically reduced in large fires with a fast spread rate, such as wildfires, and the fire extinguishing efficiency can be increased by concentrating the fire extinguishing agent on unburned areas to be protected rather than on areas that have already been completely burned and have low fire extinguishing benefits.

[0087] [Example 5-1] The present invention relates to a firefighting drone system, wherein in Example 2-1, the camera unit (130) includes a thermal imaging camera, and after the firefighting bomb drop step (S300), the firefighting bomb drop location is monitored using the thermal imaging camera for a predetermined time, and if the temperature at the firefighting bomb drop location does not fall below a preset level, the control unit (200) transmits a control signal to the firefighting drone (100) to drop the firefighting bomb (110) again at the corresponding drop location, thereby including a firefighting bomb re-drop step (S400).

[0088] This invention determines the success of fire extinguishing after dropping fire extinguishing bombs based on data and responds immediately. Even immediately after dropping the bombs, there is a risk of re-ignition at the fire scene at any time due to residual combustible materials or the heat from the fire core, and it is difficult to confirm visually whether the fire has been extinguished due to smoke.

[0089] The control unit (200) of the present invention includes a fire extinguishing bomb re-dropping step (S400) in which, after the fire extinguishing bomb drop step (S300) is completed, the area is intensively monitored through a thermal imaging camera for a certain period of time. In the fire extinguishing bomb re-dropping step (S400), if the surface temperature of the point does not fall below a preset safety threshold or shows a trend of rising, the control unit (200) automatically determines this as a 'insufficient fire extinguishing' situation, and accordingly, the control unit (200) transmits a control signal to the fire extinguishing drone (100) to immediately re-drop the fire extinguishing bomb (110), thereby additionally dropping the fire extinguishing bomb (110) at the same coordinates.

[0090] The fire extinguishing bomb re-dropping stage (S400) has the effect of preventing large fires, such as forest fires, which have a high probability of re-ignition, by tracking down and eliminating high-temperature points that are not visible to the naked eye. In addition, the fire extinguishing bomb re-dropping stage (S400) does not simply drop multiple fire extinguishing bombs (110) at the same location, but rather extinguishes the fire by additionally dropping fire extinguishing bombs (110) only in areas where the temperature does not drop, thus having the effect of efficiently utilizing the fire extinguishing bombs (110).

[0092] 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

[0094] 10: Mobile unit 100: Firefighting drone 110: Fire extinguisher 130: Camera unit 140: Main body 150: Storage compartment 160: 1st motor 170: Sensing unit 200: Control Unit S90: Fire Occurrence Information Reception Stage S91: Movement phase of the moving body S100: Flight phase S110: Recording stage S200: Fire location detection stage S300: Fire extinguishing grenade drop phase S400: Fire extinguishing grenade re-drop phase

Claims

Claim 1 The firefighting drone (100) that stores a fire extinguishing bomb (110), and a control unit (200) that controls the firefighting drone (100) to control the flight of the firefighting drone (100) and the dropping of the fire extinguishing bomb (110); a flight step (S100) in which the control unit (200) transmits a control signal to the firefighting drone (100) to fly the firefighting drone (100) to the site where a fire has occurred; a fire location detection step (S200) in which the control unit (200) detects the exact location where the fire has occurred during the flight step (S100); and a fire extinguishing bomb dropping step (S300) in which the control unit (200) controls the firefighting drone (100) to drop the stored fire extinguishing bomb (110) after the fire location detection step (S200); and during the flight step (S100) and before the fire location detection step (S200). The method includes a shooting step (S110) in which a camera unit (130) installed on the firefighting drone (100) acquires an image of the surroundings of the firefighting drone (100) and transmits the acquired image to the control unit (200); in the fire location detection step (S200), the control unit (200) detects the location where a fire has occurred based on the image acquired in the shooting step (S110); in the fire extinguishing bomb drop step (S300), the control unit (200) controls the firefighting drone (100) to drop the fire extinguishing bomb (110) while moving horizontally from in front of the fire location to the fire location; the camera unit (130) includes a thermal imaging camera; after the fire extinguishing bomb drop step (S300), the fire extinguishing bomb drop location is monitored using the thermal imaging camera for a predetermined time; and if the temperature at the fire extinguishing bomb drop location does not fall below a preset level, the control unit (200) A fire extinguishing bomb re-dropping step (S400) in which a control signal is transmitted to the fire extinguishing drone (100) above to re-drop the fire extinguishing bomb (110) at the corresponding drop location;A firefighting drone system comprising: a main body (140); a storage unit (150) rotatably formed at the bottom of the main body (140); a first motor (160) for controlling the rotation angle of the storage unit (150); and a firefighting bomb (110) received in the storage unit (150) and dropped according to control; wherein, in the firefighting bomb dropping step (S300), the control unit (200) controls the main body (140) to tilt to move the firefighting drone (100) in a horizontal direction, and controls the first motor (160) so that the bottom of the firefighting bomb (110) received in the storage unit (150) faces the location of the fire, thereby adjusting the angle of the storage unit (150). Claim 2 delete Claim 3 delete Claim 4 A firefighting drone system according to claim 1, wherein in the fire location detection step (S200), the control unit (200) further detects at least one of the size of the fire and the direction of fire progression based on the image obtained in the shooting step (S110), and in the fire extinguishing bomb drop step (S300), the control unit (200) controls the firefighting drone (100) so that the fire extinguishing bomb (110) falls in front of the direction of fire progression. Claim 5 delete Claim 6 A firefighting drone system comprising, in claim 1, a fire occurrence information receiving step (S90) in which the control unit (200) receives fire occurrence information from the outside prior to the flight step (S100). Claim 7 In paragraph 6, the fire occurrence information includes at least one of the location of the fire and the scale of the fire, in a firefighting drone system. Claim 8 A firefighting drone system according to claim 6, wherein the control unit (200) and the firefighting drone (100) are installed on a mobile body, and the fire occurrence information receiving step (S90) and the flight step (S100) are performed between the control unit (200) and the flight step, wherein the control device of the mobile body receives the fire occurrence information including the location of the fire occurrence from the control unit (200) and moves the mobile body to a predetermined distance from the location of the fire occurrence. Claim 9 A firefighting drone system according to claim 7, wherein the fire occurrence information includes the location of the fire occurrence, and the flight step (S100) identifies the location information of the firefighting drone (100) from a location identification unit installed on the firefighting drone (100), transmits the identified location information to the control unit (200), and the control unit (200) performs the fire location detection step (S200) when the firefighting drone (100) approaches within a reference distance from the location of the fire occurrence based on the received location information of the firefighting drone (100).

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