Firefighting robot

Abstract

To provide a firefighting robotic device, system, and method capable of extinguishing fires, wildfires, forest fires, building and home fires, general fires, and the like, by precisely directing water and / or fire extinguishing agents at the flames.SOLUTION: A firefighting robot uses sensors to pinpoint the direction, extent, and temperature of a fire in order to accurately aim a hose nozzle at the fire. This could be a skydiving robot diving into a remote wildfire, or in the case of a drone, helicopter, or fire engine, a robotic arm or nozzle with at least two degrees of freedom. Using sensors and a network that can transmit the fire's location, extent, and temperature to the robot, it can ensure optimal use of water and / or extinguishing agents.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to an apparatus, system, and method for a firefighting robot that can extinguish fires such as fires, wildfires, forest fires, building and / or house fires, and general fires by accurately directing water and / or fire extinguishing agents towards the flames. It uses sensors to pinpoint the direction, extent, and temperature of the fire in order to accurately direct the nozzle of the hose towards the fire. This can also be a drone, a helicopter, or a robotic arm of a fire truck. The robot can be the same as the "Skydiving Robot" (U.S. trademark) (hereinafter referred to as the "Skydiving Robot") equipped with the logic of the technology of the following patent (Patent No. 7184566, hereinafter referred to as the "Skydiving Tracking Device Patent" or simply the "Patent"). However, these skydiving robots carry water when the water supply is scarce, and further, a heat sensing and range detection sensor can be provided either on the robot or on the water tank, and may have a network capable of transmitting fire information to the robot. The present invention also relates to an apparatus, system, and method for a skydiving robot that delivers military or civilian payloads, such as skydiving using off-the-shelf or custom-made parachutes and dropping humanitarian supplies in the air during disasters such as earthquakes, floods, and forest fires. The skydiving robot can free fall, deploy the parachute and maneuver towards the target location, carry the payload, and accurately land during the day or at night using the guidance of GPS (Global Positioning System). When the skydiving robot jumps out of an airplane at an altitude above ground level (AGL) of 30,000 feet (about 9.1 km), the final target location can be miles away. The skydiving robot is an ideal reconnaissance team with a sensor array such as a camera, can carry the payload, and can accurately land within a few feet of the target location.

Background Art

[0002] The devices, systems, and methods according to the present invention enable a skydiving robot to skydive, carry a payload, scout ahead of a human skydiver, or land simultaneously during special military operations or other military or non-military missions.

[0003] Military free fall (MFF) provides an ideal method for dropping personnel and supplies from a transport aircraft. The transport aircraft flies at an altitude of 35,000 feet (about 10.7 km) or more to avoid enemy surface-to-air missiles (SAMs). Next, the jumpers and supplies then jump out and use either HALO (high altitude low opening) or HAHO (high altitude high opening). The skydiving robot uses HALO to be scouted in advance, free falls at a speed exceeding 120 miles per hour (about 193 km per hour), and lands in just 3 minutes after jumping out of an aircraft at an altitude of 30,000 feet (about 9.1 km) or more. On the other hand, some variations such as opening with HAHO or opening at 15,000 feet (about 4.6 km) (due to limited oxygen) enable special forces to stay in the air longer and securely while waiting for all to be clear from the scouting robot. If the landing point is clear, the skydiver can proceed to the target point. Otherwise, they may land at an alternate point several miles from the original target point.

[0004] Jumping with HAHO enables the skydiver to glide more than 40 miles (about 64 km) from the drop point. If the robot detects that the original target point is inadequate, the troops can continue to glide for miles to an alternate landing point.

[0005] The inventor of the present invention, Mark Haley, is a university professor in Japan and has developed ground and aerial robots, including one that ranked sixth in an international competition. The inventor is also the inventor of the above-mentioned "patent" for the "Skydiving Tracking Device" for training skydivers. The logic in that technology is part of the important logic required for a skydiving robot to land accurately at the target location. In the initial research, the inventor referred to skydiving as a "six-minute dance with death". Combining a skydiving robot with an actual special forces jumper is more difficult and dangerous, and complex teamwork like a complex dance ensemble between the robot and humans is required to complete the mission safely and efficiently. Since the technology of the above-mentioned skydiving tracking device patent serves as the background art for the fire-fighting robot of the present invention, the full text is cited at the end of this specification.

[0006] Supply system The skydiving robot is ideal for landing accurately and quickly to deliver supplies. It can be operated at speeds of over 150 miles per hour (about 241 km per hour) even in strong winds.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] To provide an apparatus, system, and method for a fire-fighting robot that did not exist conventionally and can extinguish fires such as fires, wildfires, forest fires, building and / or house fires, and general fires by accurately directing water and / or fire extinguishing agents towards the flames. The fire-fighting robot can also be a drone, a helicopter, or a robotic arm of a fire truck. Furthermore, it can be the same as the skydiving robot.

Means for Solving the Problem

[0009] A fire-fighting robot having a water pump, a power source, and a water / fire extinguishing agent source discriminates obstacles using a LiDAR (Light Detection And Ranging) sensor. Further, in order to accurately direct a fixed and / or movable nozzle on a hose towards a fire, it shows whether to calculate the direction, range, and temperature of the fire using an imaging infrared sensor. By overlapping these sensor data, information on the target fire is confirmed. The first data on the GPS position of the fire is from satellite data, some of which provide approximately real-time data within 1 minute from the start of the fire with an accuracy of 30 meters or closer. Next, when a drone or robot automatically approaches the fire, the exact final position of the fire is provided by sensors on the drone or robot, and the drone or robot automatically moves to that location to extinguish the fire. Images arranged over time of these show relative movement and range. The sensor data indicates, in particular, when to discharge water and the optimal direction to direct the water hose and nozzle so as to surely prevent the spread of fire at the initial stage of the fire, thereby accurately extinguishing the fire using a minimum amount of water. In the case of a fixed nozzle, the sensor accurately positions the drone itself above the fire. The sensor is either part of a separate pumping system through which fire information is transmitted to the robot via a Wi-Fi network, or the sensor, and even the water system, is part of the robot, and the robot can be a humanoid robot. Or, when mounting the robot on a drone, a helicopter, or a fire truck, since legs are not required to handle and direct the hose and nozzle, in order to reduce weight, it can be only a robot arm or a robot nozzle having a spray nozzle that is deformable in at least two degrees of freedom and in many directions. This target determination information for accurately directing water can also be transmitted to human firefighters to ensure more effective fire extinguishing activities.

Brief Description of the Drawings

[0010]

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DETAILED DESCRIPTION OF THE INVENTION

[0011] The apparatus, system and method of the fire robot of the present disclosure provide an integrated method using a skydiving robot. These humanoid robots work as a fire brigade using off-the-shelf parachutes and fire fighting equipment. These robots can be recharged by additional power sources and / or solar power units to enhance their on-ground capabilities and extend their active time during missions. For illustrative purposes, a solar panel is shown on the face of the skydiving robot. This can provide an important backup power source in case the battery runs out before completing an important mission.

[0012] Figure 1 schematically shows the capabilities of a skydiving robot, which enables these humanoid robots to jump using off-the-shelf military parachutes and use standard digestive appliances on the ground. Block 102 shows the technical skills to operate an off-the-shelf parachute, namely, free fall, parachute opening, steering towards the target point of the parachute, braking, and landing. Block 103 shows a robot handling off-the-shelf weapons.

[0013] However, the design of the robot can be cost - considered. For example, if it is difficult and too costly for a robot to operate standard tools, custom - made tools may be required. Further, even if it is more cost - effective to use standard military parachutes, custom - made parachutes may also be necessary. Still, generally, a robot can "see" with a camera, find and grip a control toggle, and then move its arm up and down. These skills are all the skills necessary to operate a parachute.

[0014] Figure 2 shows the basic capabilities required of a skydiving robot. The skydiving robot must be able to move its arm holding the parachute toggle up and down. When the arm is fully raised, the parachute glides in a straight line at maximum speed. When one arm is lowered, the parachute rotates in that direction. When both arms are lowered to the waist, it is in a state known as half - brake, and the parachute moves forward but decelerates. When both arms are fully lowered, it is in a state known as full - brake or flaring, and the parachute moves forward at only a low speed. However, if full - brake is held for longer than a few seconds, it can stall and create a dangerous flight state. Therefore, the robot's logic, like that of an actual skydiver, must include the ability to gently apply full - brake only during the final landing.

[0015] Blocks 201, 202, and 203 further illustrate the skills required by the skydiving robot. An inexpensive GPS system, and other sensors including the assumed wind speed, can provide guidance towards the target location (inexpensive GPS systems are available for a few hundred dollars). At that time, the robot has to move the toggle of the parachute up and down by simply moving its arm up and down while grasping the toggle of the parachute. When both hands are fully raised, the parachute glides forward at the maximum speed. When both arms are lowered, it is a hard brake and the parachute rapidly decelerates and finally results in a dangerous stall. When only the left arm or only the right arm is lowered, the parachute rotates to the left or right respectively.

[0016] Figure 3 shows an example of the ground scouting team of the skydiving robot (block 301). If fire-fighting equipment is required on the ground, it can be incorporated into the robot. The supply robot can be useful as it can deliver important additional supplies required by the robot, such as a power unit to charge the skydiving robot, and additional weapons and supplies for the humans (troops) assigned to the mission. Analytical Software Inc. has demonstrated a low-cost version that can deliver a 200-pound (about 91 kg) payload.

[0017] Main technical challenges for manufacturing a skydiving robot with high cost-effectiveness The main challenge is to have a lightweight humanoid hand that can grasp the parachute control toggle and further hold the trigger of a gun. A second technical challenge for cost - effectiveness is to coordinate the robot's vision with the robot hand to provide the ability to find and grasp the toggle and further find and hold the gun. Finally, the robot needs vision and grasping ability and further needs to distinguish friend or foe using either a simple network link to identify the position of a human skydiver or a vision system using a designed patch or both. Solving these technical hurdles, the skydiving robot can complete tasks automatically and cost - effectively. In summary, the skydiving robot requires vision and the ability to grasp the toggle, which it uses to control the parachute, move the arm up and down, and pilot the parachute to land.

[0018] Early adoption of this patented technology Mark Haley, the inventor of this patent, has already held patents (U.S. Patent No. 7,184,566, "Skydiving Tracking Device: Integrated System for Flight Data Collection and Virtual Reality Simulator to Improve Skydiving Safety" and U.S. Patent No. 10,782,524) for training military and civilian jumpers to become proficient skydivers with all types of military and civilian parachutes. Incorporating the logic of this technology into skydiving robots can enable these skydiving robots to quickly become proficient skydivers regarding all types of parachutes under all kinds of weather conditions around the mission. The main feature is the ability to handle a number of emergencies that often occur during skydiving, which include parachute malfunctions that require detachment of the parachute and opening of a reserve parachute. That is, the skydiving robot requires the same skydiving skills as a skydiver, and the following describes further background for achieving this goal.

[0019] Figure 4 highlights how the system can help dramatically improve the training of a team of skydivers (human or robotic) and help prevent the main causes of death in skydiving, including mid-air collisions and landings in dangerous areas such as lakes or power lines. By collecting flight data from jumps, the system is continuously improved. Skydiving flight data is used to track and debrief jumpers (human and / or robotic) who board an aircraft, and has been used in hundreds of jumps, successfully tracking and debriefing accidents in minutes that previously took months for accident analysis. This data is then plotted on an interactive map at any location in the world for skydivers to use. Figure 4 shows with emphasis one of the most important features that it is possible to train a team of more than 12 jumpers together. GPS data from more than 12 jumpers continuously updates the database of flight data used for accident investigation and debriefing, improves the virtual reality simulator, and also improves data error checking by cross-checking the flight data between jumpers (landing altitude and exit position, which helps cross-check and correct GPS data from 12 jumpers). In Block 1, a low-cost tracker is used from any wide range of trackers (trackers widely used for automobiles, hiking, and digital watches and customizable for any dedicated system) together with the dedicated error checking of the present invention to generate error-free flight data (latitude, longitude, altitude, etc.). There are numerous error checking techniques we use, ranging from basic to more advanced (the customer agrees not to reverse engineer this technology as part of the user's consent every time the program is started without seeing any of these. Without consent, the program cannot be started). GPS data can be defective for many reasons. Usually, multiple satellites provide this information, but on the ground, forests, hills, or mountains are interspersed, and the available data is less, resulting in failed readings of latitude, longitude, and altitude. Additionally, when a jumper is on board the aircraft, they may be seated, which also provides insufficient data. This technology evaluates trackers. Some of the best-selling digital watches are not that excellent, and even trackers widely used for automobiles or hiking may show readings of being 300 feet (about 91 m) underground when the jumper lands. Trackers are continuing to evolve, and the best and most cost-effective options are evaluated and ranked. For further details of these error checking techniques, please refer to the end of this specification. Tracking data affects four other features: In Block 2, the flight data is continuously used to add detailed flight data for hundreds of jumps to a dedicated skydiving database. In Block 3, the flight data continues to enhance a virtual reality (VR) 3D flight simulator that enables a team of more than 12 jumpers connected by a network to train together. In Block 4, the flight data generates an excellent 3D interactive flight path of the jumper / aircraft for debriefing / accident investigation. In Block 5, the flight data optionally provides real-time commands to the jumper to guide them to the target location. In block 6, continue to enhance the VR simulator, also using feedback from experienced jumpers. Error-free dedicated skydiving and other databases that continue to evolve will ultimately improve the VR simulator and 3D mapping of flight data for debriefing and accident investigation without end. In block 7, the current training system for skydivers provides pre-jump simulation, in-jump guidance, and post-jump debriefing. Finally, in block 8, additional jumps using additional tracking improve the training of jumpers, pilots, and reconnaissance teams, and further strengthen the database and VR simulator.

[0020] What makes this technology unique is the following: (1) a low-cost tracker starting from $100, customizable for high-cost trackers that provide error-free flight data (by processing GPS data with many errors using this technology); (2) using this flight data for accident investigation, jump debriefing, and for reliable data for virtual reality simulators (where robots and humans jump together, practice together, and debrief together); (3) related maps that continuously monitor teams in the air and on the ground for simulation and actual missions; (4) the simulator uses both this data and feedback from experienced jumpers for a number of types of parachutes, such as round parachutes, older technology parachutes, and the currently widely used precise and fast RAM parachutes; (5) using commercially available 3D low-cost maps that can be used on PCs and mobile phones and the current system that trains skydiver teams in networked, realistic, interactive jumps. One of the most important features of this system is that a team of jumpers wearing headsets costing only $500 can be networked to train together with 12 jumpers, robots, and / or humans (Figure 6), and at that time, the virtual 3D world can also be projected onto a screen such as a TV or a projector, enabling an observer to watch / evaluate the jumpers. The main elements and contributions of this system include a way to perform efficient data integration and immediate intuitive feedback from a number of sensors. These provide rapid training, real-time tracking and status notifications, as well as post-jump accident investigation and skydiver flight debriefing. This system also incorporates a simulator that can be used before a jump. For actual jumps (more than 400 in total), quantitative and qualitative evaluations were performed, and the results were positive indications of the use of this system for all skydivers from training to post-jump feedback. For real-time data acquisition, an all-inclusive approach for jump analysis is used, thereby integrating data from GPS, a priori topological terrain data, flight paths, and pilot and scout team information to rapidly notify jumpers of qualitative feedback. This low-cost approach uses the leveraging effect of a number of types of inexpensive and lightweight sensors and rule-based classifiers, and further, by identifying and extrapolating only reliable sensor information from a huge number of relevant data points, it is more robust compared to readings from a defective global positioning system (GPS). This method is further expanded and improved using a number of simultaneous jumpers. The more jumpers there are, the more data is provided for cross-checking and consistency. In addition to new data acquisition and processing, this system extracts relevant data during or immediately after a jump and converts that data into intuitive 3D visual feedback. The 3D aircraft flight path, jump path, and landing accuracy are just some of the analysis performances that are generated immediately. The technological progress of the jumper is also calculated and displayed. Such information is useful, for example, for debriefing both the reconnaissance team and the jumper to prepare for a safe and accurate landing at the target location. Since the tracking system can adapt to various types of tracker sensors and hardware, it can provide a basis for quantitative comparison between the hardware when the hardware is related to skydiving tracking. Different from the system proposed in this application, other currently used methods rely on single-mode sensing and expensive non-robot tracking instruments and procedures, and may require months for analysis and refinement of data before a reliable accident investigation can be conducted. This method can be further expanded and improved for a large number of simultaneous jumpers. With more jumpers, additional data is provided for cross-checking and consistency. The injury incident in 2016 was analyzed within 15 minutes after receiving the flight data, and detailed 3D flight paths, data, and graphics were generated. The cause of the accident was identified, the best camera angle for that jump was shown, and at the same time, the flight data was displayed while also evaluating the jumper, the reconnaissance team, and the pilot. Furthermore, data during training from 12 jumpers, who are experienced jumpers in the Rocky Mountains, was collected. This consisted of 75 individual jumps over a two-week period, and using the intelligent tracking system, the tracked data provided quantitative evidence of the diver's skill improvement. Using the tracking and feedback system, jumpers in the Rocky Mountains improved their overall landing accuracy by twofold from the first week of jumps to the second week of jumps. The inventor has developed a "skydiver tracking device", which is a skydiving training / safety technology. It has been purchased by the US government, successfully tested in hundreds of jumps, and as mentioned by a manager of a certain skydiving training, "it enables teaching parachute operation to novice jumpers and helping experienced jumpers refine their skills... Your concept of a GPS-guided cargo delivery system also has advantages for us." This is because "the risk of the mission is reduced by being able to stay at a higher altitude to deliver the cargo package." These interrelated technologies improve skydiving training / safety using: (1) a virtual reality (VR) simulator that enables practice of simulated jumps before actual skydiving anywhere in the world, and (2) a tracker that weighs 2 ounces (about 57g) and costs $100, generating actual flight data / 3D graphics that far exceed existing performance as shown in jumps into the Grand Canyon for post-jump debriefing / accident investigation. This technology should be used for each jump for humans / robots, especially during teamwork training. This black box (low-cost tracker with additional options) provides flight data, as well as interactive 3D maps and videos, which can be used for (1) debriefing for reconnaissance teams, pilots, and jumpers after skydiving, and further, (2) it provides important flight data for accident investigation. Headsets and sensors enable the user to move their arms as in actual skydiving and practice jumps anywhere in the world. Figure 5 shows a smoke jumper 501 (wearing gear) training in the non-virtual reality (VR) version of the invention, but also shows a VR headset 504 without the need for the more powerful option of a display unit 502. The sensor 503 tracks the user's arm movements as in actual skydiving. The jumper pulls an imaginary (or actual) toggle to control the parachute. Raising the arm straight up results in flying straight forward at top speed, while lowering one arm, i.e., the left arm, causes rotation to the left.

[0021] Team training Training is conducted for teams of 12 or more jumpers, which includes any combination of humans / skydiving robots. Figure 6 shows how a low-cost jump VR simulator (601, 609) can be set up in minutes to train a team. The skydiving instructor looks down on all the jumpers from above in daylight visibility and displays their flight data and all topologies on the 3D color map of screen 616. Due to limited space, Figure 6 shows 12 skydivers (jumpers J1 - J12) on the map and only 9 headsets of those practicing together in the team. The team can train in the same room or over a network around the world. During this mission, they are circling around an island. For night jumps, each jumper's headset shows only the pitch-black sky and has small indicator lights to avoid collisions with each other.

[0022] Skydiving robot carrying a payload The important final feature of the skydiving robot is that it includes the option to carry military or civilian payloads, and the robot can deliver them accurately. If the mission is for firefighting using water, the important payload is water. After emerging from an aircraft using its skydiving ability, the robot can skydive and move more than 30 miles (about 48 km), and the escape point from the aircraft is at an altitude of 25,000 feet (about 7.6 km) or more, i.e., above sea level. Since human special forces skydivers often carry hundreds of pounds of supply payloads during jumps, the robot can carry hundreds of pounds of payload using off-the-shelf military parachutes. Still, when a human skydiver adds and suspends additional supplies, the speed of the parachute decreases. Fortunately, the skydiving robot is designed to be relatively lightweight, i.e., less than 100 pounds (about 45 kg), and the payload can be placed in the aerodynamically designed body and / or leg spaces of the robot to easily carry payloads exceeding 150 pounds (about 68 kg). At this time, the robot can be aerodynamically manufactured to have a weight of 250 pounds (about 113 kg) or more, like a human, minimizing resistance and maximizing the gliding speed to 30 miles per hour (about 48 km per hour) or more. Using the robot's precise skydiving performance, it can land within a few feet of the target location, and the robot can operate alone or as part of a team of robots to land deep behind enemy lines more than 30 miles (about 48 km) away, ideally landing at night so as not to be detected by the enemy. After landing, the robot can act as a reconnaissance team for any military or civilian mission before humans skydive to ensure that the area is a safe place for human skydivers to land. In the case of a military mission, the robot is designed to explode when the mission is completed to prevent the enemy from obtaining information from the robot.

[0023] Deployment of the skydiving robot The aircraft that deploys the robot can, for safety reasons, stay away from the enemy's front line. However, if the aircraft flies into enemy territory and deploys the robot, the robot can land hundreds or thousands of miles behind the enemy's front line, covering the entire territory of any country in the world. Furthermore, if the aircraft that deploys the robot is an autonomous unmanned aircraft, human lives are not at risk in the task of deploying the skydiving robot. Finally, when the skydiving robot is deployed using HALO (High Altitude Low Opening), the robot exits the aircraft at an altitude of up to 30,000 feet (about 10 km) or more and free-falls at a terminal velocity of about 120 miles per hour (about 193 km per hour), landing within a few feet of the target point in just two or three minutes, thereby making it very difficult to be shot down.

[0024] Environment where GPS is not available GPS guides the robot to the target point inexpensively. Options for backup in environments where GPS is not available include visual assistance navigation including cameras and maps, celestial navigation that tracks stars, or those that include microelectromechanical systems (MEMS) and inertial measurement units (IMU).

[0025] Simulated free fall Skydiving involves freefall before the parachute deploys, and then the parachute is steered to land (Figure 2). A wind tunnel enables freefall training for only $100 per jump, but does not include the headset related to the "Skydiving Tracking Device" shown in Figure 5. A virtual reality headset that connects to a network to display a virtual 3D world and track the movements of the jumper's arms and legs enables simulated freefall practice for a team of humans and / or skydiving robots, with or without using a wind tunnel, because the headset tracks the movements of the jumper's arms / legs regardless of whether the jumper is floating horizontally or standing up in the wind tunnel, enabling the jumper to practice missions in the world including HALO or HAHO jumps, and continue the simulation even after the parachute deploys, tracking the complete mission from exiting the plane to landing, in which case the virtual 3D world is also projected onto a screen like a TV or projector, enabling viewers to see / evaluate the jumper.

[0026] Weather balloons such as for placing the robot Hundreds of skydiving robots can be deployed by large military transport aircraft, and the cost of each robot is less than just $10,000. However, the air force defense system uses missiles that cost up to $200,000 each or more to destroy airplanes that cost up to $100,000,000 or more, effectively creating a no-fly zone. An alternative deployment is ideally a balloon deployment at night, which can carry a payload of up to 8,000 pounds (about 3629 kg) and can carry unmanned aerial vehicles (UAVs), skydiving robots, etc. up to an altitude of 160,000 feet (about 49 km). Jet streams flow at speeds of up to 250 miles per hour (about 402 km per hour) from an altitude of about 30,000 feet (about 9 km) to about 50,000 feet (about 15 km), usually from west to east, as predicted by meteorologists, providing a cost-effective method of intrusion in the air force defense system and enabling accurate landing anywhere along the jet stream around the world. Jet streams vary by location and change daily. Figure 8 shows that a balloon launched into the jet stream at 100 miles per hour (about 161 km per hour) in LA (Los Angeles) could theoretically reach Chicago in about 18 hours. Pilots use the jet stream to fly faster or fly above the jet stream to avoid headwinds. Skydiving robots are 5×2×1.5 feet (about 152×61×46 cm) or smaller and are smaller than powered UAVs and gliders that are easy to shoot down. The robots are aerodynamically designed to maximize speed like a human skydiving speed record holder, free fall from a height of up to 80,000 feet (about 24 km) or higher, reach the target location in a few minutes, and can use a technique called tracking where a skydiver changes posture to rotate or move horizontally. Tracking can be practiced using simulators such as "skydiving tracking devices" and / or actual jumps, and the robots can land accurately without opening a parachute. Wind tunnels are not ideal for horizontal training.

[0027] Figure 7 (upper left) shows a skydiver in an aerodynamically stable position with no horizontal movement. When the skydiver places their arms to the side of their body like a guided missile and aligns both legs straight, they can move horizontally up to 180 miles per hour (about 290 km / h) or more, and vertically up to 300 miles per hour (about 482 km / h) or more (right figure in Figure 7, unstable form). In cases where the mission is to accurately collide with a target and extinguish a wildfire by spraying water in the initial stage, a parachute is not necessary, which can greatly reduce the cost and complexity of the robot. In this case, to minimize the impact on the environment, the robot can be mainly made of biodegradable materials, or an emergency parachute can be opened at 500 feet (about 152 meters) from the ground to drop the payload at the target location. Then, the robot lands, takes time to charge with solar panels, and walks back to the base or at least sends a signal to be picked up. However, a backup parachute with a standard automatic deployment device (ADD) can be used to handle failures during the robot's free fall. Surprisingly, this technology enables accurate landing within 50 feet (about 15 m) from target locations thousands of miles away around the world using robots costing less than $5,000. The wing suit in Figure 7 (lower left top view) with a horizontal speed up to 240 miles per hour (about 386 km / h) or more can be used, but only the retractable wing helps with pinpoint landing while maintaining a horizontal speed of 0 miles per hour (0 km / h).

[0028] Figure 9 shows how a fire robot with a water pump, a power source, and a water / fire suppressant source discriminates obstacles using a LiDAR sensor and further calculates the direction, range, and temperature of a fire using an imaging infrared sensor to accurately direct a fixed and / or movable nozzle on a hose towards the fire. By overlapping their sensor data, information about the target fire is confirmed. The first data about the GPS location of the fire is from satellite data such as GOES-18, some of which provide near real-time data within one minute of the start of the fire with an accuracy of 30 meters or closer. Next, when a drone or robot automatically approaches the fire, the exact final location of the fire is provided by sensors on the drone or robot, and the drone or robot automatically moves to that location to extinguish the fire. Images arranged over time of these show relative movement and range. The sensor data indicates, in particular, when to discharge water and the optimal direction to point the water hose and nozzle, especially in the early stages of a fire, to prevent the spread and thereby accurately extinguish the fire using a minimum amount of water. In the case of a fixed nozzle, the sensor accurately positions the drone itself above the fire. The sensor is either part of a separate pumping system where fire information is transmitted to the robot via a Wi-Fi network, or the sensor, and even the water system, is part of the robot, which can be a humanoid robot such as the illustrated Tesla Bot Version 2.0. Or, when mounting the robot on a drone, helicopter, or fire truck, since legs are not needed to handle and direct the hose and nozzle, it can consist of only a robot arm or robot nozzle with a spray nozzle that is deformable in at least two degrees of freedom and in many directions to reduce weight. This target determination information for accurately directing water can also be transmitted to human firefighters to ensure more effective fire extinguishing operations.

[0029] Figure 10 shows one of a number of ways of placing nozzles on the bottom of an autonomous drone or a manned aircraft such as a helicopter. The nozzles are fixed (for simplicity) or movable, and their spray parts are deformable sprays or (for simplicity) fixed, and they are placed on the bottom or side of the drone so that the nozzles can be directed in various directions. The three options for spraying water and / or fire extinguishing agents are as follows. (1) A skydiving robot descends towards the fire by parachute, and the robot approaches as close as possible until the temperature monitor determines that the shortest distance is such that the robot will not be damaged. Next, the robot sprays water or a fire extinguishing agent onto the fire. Additionally, the robot can also simply exit from the landed drone. (2) When the drone is in the air or landed, a robotic arm can spray water. (3) While the drone is in the air above the fire, the nozzles can spray water.

[0030] Figure 11 shows other options. Using one or more water balloons or bags made of silicone, plastic, or rubber, each with a capacity of 5 gallons (about 19 liters) or more, it can be accurately dropped at the precise GPS location of a new fire. A sensor is used to pinpoint the highest temperature of the fire and instruct a drone or manned aircraft to accurately position itself above the fire. Further, the temperature sensor ensures that the drone or manned aircraft does not get too close to the fire. Additionally, there is a mechanism to cut the rope holding the balloon or bag at the optimal timing. Moreover, there is a small metal pin attached to a base of plastic, metal, or wood gently fixed to the bottom of the balloon or bag, which causes the balloon and / or bag to rupture upon impact. This option is probably less expensive than other options, but simply put, its technical elegance lies in being combined with a sensor that pinpoints where and when to drop the water, so as not to get too close to the fire. Further, all options, the fire-fighting robot, the nozzle spray, the robotic arm, or the balloon or bag, can be used alone or in combination.

[0031] Skydiving tracking device patent (Patent No. 7184566) The full text of the specification and claims of the inventor's skydiving tracking device patent is cited below. In the description of the following specification text, "the present invention" refers to the invention of the skydiving tracking device patent. Note that the figure numbers from Figure 12 to Figure 22 in the reference drawings in the following description are the figures from Figure 12 to Figure 22 of the drawings attached to this application, and in that regard, it is not merely a copy of the patent. However, since the reference signs in Figures 12 to 22 remain those of the drawings of the skydiving tracking device patent, the reference signs in the description of Figures 12 to 22 are limited to Figures 12 to 22 and have no relation to the reference signs used in Figures 1 to 11 of this application, so care must be taken not to confuse them.

[0032] Following is a substantial copy of the specification of Patent No. 7184566 "Title of the Invention" Skydiving Tracker: An Integrated System for Flight Data Collection and Virtual Reality Simulators to Improve Skydiving Safety "Detailed Description of the Invention" "Technical Field" The present invention relates to skydiving training and safety, comprising an associated 3D virtual reality (VR) simulator and integrated GPS tracking data collection for 3D mapping for debriefing and accident investigation, and also relates to the continuous improvement of the simulator using an extended dedicated database of skydiving flight data. The present invention focuses on training teams of 2 to 12 or more skydivers on board an aircraft, such as smokejumpers (firefighters who skydive towards remote fires) or military teams, for important missions. Existing systems are expensive, difficult to handle, and take too much time to use. "Background Art" Skydivers exit an aircraft in a short or long free fall. Next, the jumper opens the parachute and steers towards the target. Existing patents for skydiving training are not designed to train teams of skydivers. For example, Patent Document 2 corresponding to Patent Document 1 uses an expensive wind tunnel for training. Another technique involves having students wear a harness, which is difficult to handle and is expensive, each costing over $100,000 (GSA price list as of June 2016). The lightweight system of the present applicant can be set up in a few minutes, and the hardware cost is less than $5,000 (i.e., one-twentieth of the cost of the above harness system), and in addition, it can train teams of multiple jumpers connected by a network (Figure 14). According to experts, the best training is real skydiving where beginners start tandem jumps with an instructor and progress to become certified skydivers. Also, existing training systems do not provide sufficient training for malfunctions such as rotations at 60 rpm, like the tragic death of Mark Urban in "BLM Final Accident Investigation". Urban may not have practiced simulated malfunctions like the applicant's August 2017 video based on real flight data at 45 rpm. Dangerous YouTube (R) Spin (viewed sitting) - https: / / youtu.be / U_Q82cvzQHA "Prior Art Documents" "Patent Documents" "Patent Document 1" Japanese Patent Application Laid-Open No. 2004-519730 "Patent Document 2" U.S. Patent No. 6,929,480 "Summary of the Invention" "Problems to be Solved by the Invention" In 2013, 3.2 million jumps were made in the United States, with hundreds injured and dozens killed each year. This technology makes skydiving safer by using better pre-jump training and post-jump debriefing, including a stunning 3D interactive map. "Means for Solving the Problems" The system for pre-jump skydiving training and post-jump debriefing according to the present invention includes a pre-jump simulator having a computer with basic options of only keystroke control, or a state-of-the-art virtual reality headset having a sensor that tracks arm movements similar to those of a real skydiver where the up and down movement of the user's arm controls the rotation and speed of the parachute, A tracker in which GPS and other data obtained from jumps are automatically error-corrected, and this corrected data strengthens the skydiving database, whereby the simulator is continuously improved and a 3D interactive map for debriefing is also generated, the tracker and having. Also, the system according to the present invention further includes a long-distance digital radio or network for real-time communication with the ground or with an airplane in flight, which provides continuously updated data for a simulated or real-time 3D map of personnel in the air or on the ground on an important mission, and even if there is a problem with the cellular phone communication of the personnel, this system can provide real-time tracking of the team, and this real-time tracking may be integrated into a cellular phone network or other network. Also, in the system according to the present invention, the above data may be used to generate a virtual reality skydiving simulator, and this virtual reality skydiving simulator may be continuously improved by feedback from the tracker database and experienced skydivers. Also, in the system according to the present invention, the above data may be converted into an interactive map or video that can be used for flights including skydiving and for tours of the greatest geological and artificial places in the universe that can be networked in a 120-360 degree interactive video room on a 65-inch display by a museum. Moreover, the system according to the present invention may further include a virtual reality headset that can be carried with only a PC and a tracking sensor for arm movements (for the jumper to control his own turns and speed), which can simulate round parachutes and ram-air parachutes anywhere in the world and can be used inexpensively and compactly inside an airplane during flight to immerse the user in a 3D world that can be explored by simply turning his head. Moreover, the system according to the present invention may further include optional simulated flight data shared locally or remotely via a network, which existing technologies do not address, for viewing night or day jumps and for practicing close formations to avoid collisions and perform as a team by viewing one or more jumpers simultaneously, and this technology may enable a jumper team to practice quickly and start a mission immediately with high cost-effectiveness. Moreover, the system according to the present invention may further include an option for earphones or a headset that provides voice instructions during a jump. The system for real-time or non-real-time tracking during a jump according to the present invention includes a real-time or non-real-time tracker that calculates wind speed and direction before a team jump, and a long-range digital radio that relays data to an airplane to indicate to the pilot the optimal flight path to fly the airplane and where to drop a team of skydivers based on the landing location and mission. and includes. "Brief Description of the Drawings" "Figure 12" Flowchart logic of the summary of the claims of Patent No. 7184566 (hereinafter "the Patent") "Figure 13" showing the training of smoke jumpers using the technology of the Patent "Figure 14" showing a networked version that enables multiple skydivers to work as a team "Figure 15" shows a diagram of 13 jumpers in VR "Figure 16" shows that this system automatically evaluates skydivers "Figure 17" shows a real-time tracker that plots the flight path of an airplane from takeoff to landing "Figure 18" shows how tracker data identifies the type of movement (i.e., airplane, skydive, etc.) and the optimal angle for viewing the plot "Figure 19" shows how tracker data identifies the type of movement (i.e., airplane, skydive, etc.) and the optimal angle for viewing the plot "Figure 20" shows how tracker data identifies the type of movement (i.e., airplane, skydive, etc.) and the optimal angle for viewing the plot "Figure 21" shows how tracker data identifies the type of movement (i.e., airplane, skydive, etc.) and the optimal angle for viewing the plot "Figure 22" shows how tracker data identifies the type of movement (i.e., airplane, skydive, etc.) and the optimal angle for viewing the plot "Mode for Carrying Out the Invention" The present invention provides an integrated state-of-the-art skydiving safety and training system with a surprising combination of sensors, hardware technologies, and software technologies that improve the safety of individual skydivers or teams of skydivers during skydiving. Figure 12 emphasizes how this system can (1) dramatically improve the training of teams of skydivers and (2) help prevent the main causes of death from skydiving, including mid-air collisions In Block 1, a low-cost tracker (a tracker with a cost of less than $1,000) with the applicant's proprietary error checking function creates clean flight data (latitude, etc.). The GPS / INS data fusion was studied using a Kalman filter. When three or more jumpers are on board the aircraft, the system automatically and accurately cross-checks the data between the jumpers. A 3D interactive plot showing the flight path of the aircraft, the exit / landing points, and the paths of each jumper is created. Also, the technology evaluates a tracker that shows that the best-selling digital watch indicating that the jumper was 300 feet underground at the time of landing is very inaccurate. Detailed flight data is added to a proprietary skydiving database that can include any number of jumps (i.e., one jump or millions of jumps) (Block 2), which can be used for accident investigation / debriefing and also improves the accuracy of the simulator. The networked simulator allows teams of multiple jumpers to train together (Block 3). The flight data creates a 3D interactive flight path of the jumper / aircraft (Block 4). Optionally, the jumper is provided with real-time commands to guide towards the target via earphones or a headset (Block 5). Feedback from experienced jumpers enhances this simulator (Block 6). This amazing skydiving training system provides pre-jump simulation, in-jump guidance, and post-jump debriefing (Block 7). Similar technology for an interactive 3D tour of the greatest places in the universe (Grand Canyon, etc.) (Block 8). The tracked jumps improve the training of jumpers, pilots, and spotters (Block 9). The "Sky Diver Tracker" has been purchased / used by the U.S. government in hundreds of jump training sessions. One sky diver training manager wrote that it "is useful for teaching parachute operations to new jumpers and for experienced jumpers to refine their skills. ... Your GPS-guided cargo delivery system concept is of interest to us" because it can stay at a higher altitude to deliver the cargo package, reducing the risk of the mission. Amazing "YouTube" Skydiving Simulation to the Grand Canyon - http: / / youtu.be / n2srxXJlQs8 Figure 13 shows a smoke jumper (gear equipped) 201 training in the applicant's non-virtual reality (VR) version. A more powerful option shows a VR headset 204 that does not require a display 202. Sensor 203 tracks the user's arm movements like in real skydiving. The jumper pulls a virtual (or real) toggle to control the shoot. When their arms are straight up, they fly straight forward at maximum speed, while when one (i.e., left) arm is down, they turn left. This technology trains both ram jumpers and round jumpers. The U.S. Forest Service's "U.S. Forest Service Ram-Air Parachute System Implementation Project" (June 2015) determined that "the currently used round FS-14 parachute system will ultimately be replaced by a square ram-air parachute system, ... most jumpers thought that ram-air was more likely to lead to ending their careers due to injury or death", but this simulator that can be used at work and at home can ease their concerns. The flight data of the tracker can simulate the types of parachutes and payloads used using data from just a few jumps. A simulator that cannot be customized based on the performance of real flight data is just a game. Figure 14 shows how low-cost jump VR simulators (simulators costing less than $5,000) 301, 309 can be set up in a few minutes for team training. The instructor views all the jumpers with their flight data in a top-down view on a 3D color map 316. For example, jumper 1 wearing the headset 301 is at J1 on the map at 1200 feet (365.76 meters) AGL. The team's goal is the north side of this island. Their equipment is a laptop PC and a sensor / headset, which can be set up in 10 minutes. The team can train on the network, in the same room, or around the world. The 13 jumpers within this VR view must avoid collisions with other jumpers during the mission (Figure 15). Also, this technology enables science museums to provide wonderful educational virtual reality tours of the world's and the solar system's greatest geological and man-made locations. This technology is overwhelming yet affordable and can be customized for a spectacular 120 - 360-degree video room on a 65-inch display. Important skydiving database Using this skydiving tracker, over 400 skydives have been tracked, which are part of an ever-growing jump history. For debriefing / accident investigation, with just three clicks, all flight data about the plane / jumper is available, along with an interactive 3D map / video, and is immediately accessible. Mark Urban's BLM accident report was issued eight months after his death. Also, they used a defective data logger that (despite investing thousands of dollars) "didn't waste data, but increased the degree of uncertainty associated with each data point... and provided no information about the plane's airspeed." The left side of Figure 16 shows ten new smoke jumpers exiting the plane at distances of 782 - 1209 feet (about 238.35 - about 368.50 meters) from the target (the cross inside the box). They exited at 1478 - 1580 feet (450.4944 - 481.584 meters) AGL (height above ground). The Applicant's proprietary logic automatically calculated a wind speed of 8 mph (about 12.87 kph), the type of plane, and the type of parachute used (round parachute). They usually exited two at a time (e.g., jumpers 6 and 7), and jumper 7 landed closest to the target (the best in the group at 89 feet (about 27.13 meters)). The line connecting jumpers 6 and 7 indicates the flight path of the plane. The plane circled six times and released all ten jumpers. The gray and black areas are trees and thickets. This technology automatically converts millions of data points from the tracker into a 3D interactive map and evaluates spotters, pilots, and jumpers. Skilled jumpers usually land within 50 feet (15.24 meters) of the target. During two weeks of training in 2016, several newbies on the plane used this tracker (Figure 16). The new jumpers landed, on average, more than 200 feet (60.96 meters) from the target in the first week, but by the second week, they landed within 100 feet (30.48 meters) of the target location, showing a dramatic improvement. Further options The applicant uses an inexpensive digital radio under $400 together with an antenna to provide real-time flight data to the pilot on the ideal flight path in order to notify the jumper of the timing to jump out of the plane. Also, a simple streamer tests the wind conditions, but the latest wind conditions are transmitted to notify the pilot and the jumper using the applicant's integrated solution. In short, real-time data for tracking both in the air and on the ground is provided, and a supply robot is created using this real-time guidance system (shown below). Emergency medical system The applicant's proven technology can land within 30 feet (about 9.14 meters) of the target. When the parachute opens, the motor pulls the nylon cord attached to the toggle and autonomously guides the parachute to the target landing location as shown in the first successful robot test flight. "YouTube" Robot Flight Test - https: / / www.youtube.com / watch?v=jEDibD18O4E&feature=youtube_gdata The US military has an expensive system that functions in large open areas (different from forests scattered by forest fires). However, during the Syrian war, the robot supply unit landed 1 / 2 mile (about 0.8 kilometers) away from the target without landing accurately, so the US Department of Defense delivered $1 million worth of weapons to terrorists. This failure indicates the need to override manually like the VR of this application to land a small payload accurately, and this option is not available in more expensive units. Emergency warning network Track in real time ground crews such as the 20 firefighters who died in Yarnell due to a malfunction in cellular phone communication. Customize a 900 MHz network with long-range digital radios (digital radios with a range of up to 100 miles, Figure 17). Their accident report (June 30, 2013) states that "when the shelter was deployed, the VLAT (Very Large Air Tanker) remained stationary above the fire and waited to drop the retardant as soon as the crew's position was determined." With this technology, (1) could their positions have been automatically broadcast to indicate where to drop the retardant on the VLAT, or (2) in the event of a VLAT failure, could a skydiving robot have usefully delivered water precisely to douse the trapped firefighters? The real-time tracker 1202 has a radio, GPS, and a parachute, costs less than $1000, and weighs 2 pounds (about 907 grams). The real-time tracker 1202 broadcasts its position within the airplane until it exits the airplane, then accurately relays the wind speed / and the flight direction 1201 of the airplane, and confirmed that an airplane turning at 10,000 feet (about 3048 meters) can constantly monitor the exact GPS positions of smokejumpers and firefighters on the ground. Figures 18 - 22 show how tracker data is used to identify the type of movement (airplane, skydiving, etc.), correct data errors, and calculate the optimal angles and viewpoints for viewing plots in a 3D interactive map or video. The skydiving tracker revolutionizes the training and safety of individual and team skydiving for skydivers with a virtual reality team simulator that far exceeds existing capabilities, enabling practice at any real-world location around the world before a jump, and a low-cost tracker (a tracker costing less than $1000) weighing 4 ounces (about 113 grams) or less that creates flight data used to customize the simulator for the exact parachutes and payloads used by the skydiver's team, and for 3D graphics for post-jump debriefing / accident investigation. This skydiving tracker should be used for every jump. "Description of Signs" 202 Display 203 Sensor 204 VR Headset 301, 309 Jump VR Simulator 316 3D Color Map 1202 Real-Time Tracker

[0033] Following is a substantial copy of the claims of Patent No. 7184566 The following (1) to (7) correspond to the claims in the claims of the above tracking device patent. (1) In a system for pre-jump skydiving training and post-jump debriefing, A pre-jump simulator, comprising a computer with basic options of only keystroke control, or a state-of-the-art virtual reality headset having sensors that track arm movements similar to those of a real skydiver where the up and down movement of the user's arm controls the rotation and speed of the parachute, A tracker, wherein GPS data obtained from jumps is automatically error-corrected, and the corrected data strengthens the skydiving database, thereby continuously improving the simulator and generating a 3D interactive map for debriefing, the tracker A system characterized by having (2) Further including a long-distance digital radio or network for real-time communication with the ground or with an airplane in flight, providing continuously updated data for a simulated or real-time 3D map of personnel in the air or on the ground on important missions, and the system being able to provide real-time tracking of the team even if there is a problem with the cellular phone communication of the personnel, and the real-time tracking being integratable into the cellular phone network, the system according to (1). (3) The system according to (1), wherein the data generates a virtual reality skydiving simulator, and the virtual reality skydiving simulator is continuously improved by the tracker database and feedback from experienced skydivers. (4) The system according to (1), wherein the data is converted into an interactive map or video that can be used for flights including skydiving and for tours of the greatest geological and man-made places in the universe that can be networked in a 120-360 degree interactive video room on a 65-inch display by a museum. (5) Anywhere in the world, simulating round parachutes and ram-air parachutes, and for a unique training system that can be used inexpensively and compactly in an airplane during flight to the mission area of a skydiving team, portable with only a PC and a tracking sensor for arm movements (for the jumper to control their turn and speed), and further including a virtual reality headset for the user to immerse in a 3D world explored by simply turning their head, the system described in (1). (6) The existing technology does not address the option to view night or day jumps and practice close formations to view one or more jumpers simultaneously and perform as a team to avoid collisions, and further includes simulation flight data shared via a local or remote network, which enables the jumper team to practice quickly and start the mission immediately with high cost-effectiveness, the system described in (1). (7) The system described in (1) further includes an option for earphones or a headset to provide verbal instructions during the jump.

Industrial Applicability

[0034] The present invention is useful in the field of material transportation via airplanes and the like. It is useful in military activities, civilian activities, and also in scenarios of support activities to deliver humanitarian materials to disaster areas and victims during disasters such as earthquakes, floods, and forest fires.

Claims

1. In a system for a skydiving robot, the skydiving robot uses an off-the-shelf or custom-made parachute to start jumping at an altitude above ground level (AGL) of 30,000 feet (about 9.1 km) or higher, and then skydive like a human, grab the toggle of the parachute, open the parachute, then control the parachute, and then move its arms up and down like a human to rotate, maneuver, and then land near the target point, the system includes a humanoid hand for the robot to grab the toggle of the parachute, open the parachute, perform control operations on the parachute, and optionally operate a weapon for military missions, a global positioning system (GPS) that tracks the skydiving and indicates the position of the skydiving robot relative to the target point, and other sensors including the assumed wind speed, so that an actual skydiver can control the movement of the parachute by moving their arms up and down, and the robot can control the control toggle of the parachute using the movements of its arms and hands to maneuver and land near the target point, a computer vision camera system that enables the robot to find and pull the toggle to open the parachute and the control toggle of the parachute, then guide the humanoid hand to grab the toggle, simply pull the toggle up and down using the movement of the robot's arm to control the parachute to maneuver, rotate, and control the speed, flare, and landing of the parachute, and further find a release in case of emergency and pull a reserve parachute. The skydiving robot can use the technology in which a skydiver, called tracking, changes his or her posture to rotate or move horizontally during free fall. Tracking can be practiced to land accurately using a simulator and / or an actual jump. When the skydiving robot is in an aerodynamically stable posture like a human, there is no horizontal movement. However, when the skydiving robot places its arms beside the body and aligns both legs straight like a guided missile, it can move horizontally up to 180 miles per hour (about 290 km / h) or more, and vertically up to 300 miles per hour (about 482 km / h) or more. System. **Claim 2** The ability to perform skydiving using military or civilian parachutes, carry military or civilian payloads, and handle numerous emergency situations that may occur during skydiving, including parachute failures that require detachment of the parachute and opening of the reserve parachute. The system further includes the ability of the robot to grasp a toggle, detach the main parachute, open the reserve parachute, track using a camera to avoid collisions with other skydivers, and be programmed after a simulation of a skydiver team. When using the camera to clearly examine the landing area and the first location is considered unreachable or unsafe, the system has the ability to select an alternative landing site. The system according to claim 1. **Claim 3** The system further includes low-cost, low-bandwidth long-distance digital wireless or a network for real-time communication with an airplane in flight that continuously provides updated data for a real-time (simulated or actual) 3D map of the ground, other skydivers, or personnel both in the air and on the ground. The long-distance digital wireless or the network is important for the mission in case of failure of personnel's mobile phone communication. The system tracks the team in real time to ensure the success of the mission. The data can be integrated into a wider secure mobile phone network or other networks. Furthermore, the system according to claim 1, which also has the option of guiding the robot using visual assistance navigation including a camera and a map, celestial navigation tracking stars, or alternative methods such as microelectromechanical systems (MEMS) and inertial measurement units (IMU) even in an environment where GPS is not available.

4. The data is used to generate a virtual reality skydiving simulator with or without using a headset with a display unit, and the data is continuously improved by a tracker database and feedback from experienced skydivers to track and review the movement and accuracy of the robot after the mission, and the capabilities of the skydiving robot can be continuously improved. The system according to claim 1.

5. Further including a virtual reality headset for immersing in a virtual 3D world that can be carried only by a PC, Some standalone headsets do not require a PC, The virtual 3D world is projected onto a screen like a TV or a projector, enabling a person who sees it to view / evaluate a jumper, and the headset or the sensor tracks the movement of the arm (for the jumper to control their turn and speed), The user can explore a unique training system that simulates round parachutes and ram-air parachutes at any location in the world simply by rotating their head, and it can also be used inexpensively and compactly inside an airplane in which military troops or other skydivers are flying on a mission, and it can be used for high-altitude high-opening (HAHO) deployment techniques for jumping at altitudes higher than 30,000 feet (about 9.1 km), and can also be used for night jumps. The system according to claim 1.

6. Further including simulated flight data shared locally or remotely via a network, Have the option to view jumps at night or during the day, meet more than 12 jumpers, train simultaneously with robots, which is a major requirement for elite units to practice approaching formations, prevent collisions and operate as a team. Existing technologies have not addressed this, but this technology is highly cost-effective and enables a team of more than 12 jumpers to practice, start a mission immediately, and train with a skydiving robot. The system according to claim 1.

7. Further comprising a control system, When the plan is changed during the mission, the human skydiver overrides the operation of the skydiving robot. The system according to claim 1.

8. When options for a simpler arrangement are recommended based on the limits of the vision and gripping ability of the skydiving robot, further include the option of deploying the skydiving robot using the supply system of an existing robot. As soon as the supply robot lands, the skydiving robot simply escapes from the supply robot, continues the mission, and can perform reconnaissance ahead of the human skydiver. The system according to claim 1.

9. The robot can find a weapon, grip it with the humanoid hand, and further use vision and / or network performance to determine whether it is a friendly or enemy. In the case of an enemy, the gripping hand has the ability to aim at the enemy and fire the weapon. Using a number of backup check parts, firing the weapon is only allowed when the vision and / or network performance, or a combination thereof, determines whether it is a friendly or enemy, a robot or a human. A computer vision camera system for confirmation, Further include the ability to maintain an optimal defensive posture like a human, lie down when firing a weapon, make noise to alert, and avoid being hit by an enemy weapon. The system according to claim 1.

10. Further include the vision combined with the operating ability of the arm of the robot, In the air, it is controlled to move away from other skydivers closer than the set range, and further, when landing, it avoids objects such as trees. The system according to claim 1.

11. In a method for a skydiving robot to perform skydiving like a human using a ready-made or custom-made parachute, the robot has a camera that enables it to find and grasp the control toggle of the parachute, and then operates its arms and hands up and down like a human to control the toggle that operates the parachute, enabling the parachute to rotate, glide, and land near the target point. The jump starts at an altitude above ground level (AGL) of 30,000 feet (about 9.1 km) or higher, and the robot lands before a human skydiving and scouts before a human skydiver lands. Further, with similar capabilities, it finds and holds a weapon and then aims and fires the weapon at the enemy.

12. further including the ability of the skydiving robot to carry an explosive, i.e., a bomb payload, the explosive weighs hundreds of pounds and can explode on impact after the robot lands precisely using the parachute. The explosive is placed in the body and / or leg space of the robot that is aerodynamically designed to enable the robot to glide at a maximum speed surely. On the other hand, human special forces skydivivers (special forces or special forces) often carry hundreds of pounds of supplies suspended and transported, which slows down the parachute. However, the aerodynamically smooth robot glides at a speed exceeding 30 miles per hour (about 48 km per hour) from the exit position of an airplane when placed at an altitude of 25,000 feet (about 7.6 km) or higher, i.e., sea level altitude, and lands precisely within 1 foot of the target point. Ideally, the robot is placed hidden in the dark so as not to be discovered by the enemy. As a further option, it lands without exploding and operates as a scouting team and explodes when the enemy approaches, i.e., within 70 feet (about 21 m) of the robot. The system according to claim 1.

13. further including the option of flying an airplane deep into the enemy's front line when placing the skydiving robot and landing the robot hundreds or thousands of miles behind the front line, covering the entire territory of any country in the world exactly. When the aircraft for deploying the skydiving robot is an autonomous unmanned aircraft, the life of a human is not at risk in the task of deploying the robot. Further, when the skydiving robot jumps in HALO (High Altitude Low Opening), the robot exits the aircraft at an altitude of 30,000 feet (about 0.1 km) or more, free-falls at a terminal velocity of 120 miles per hour (about 193 km per hour), and lands within a few feet of the target point in just two or three minutes, thereby making it very difficult to be shot down. The system according to claim 1.

14. An option having a virtual reality headset that connects to a network, displays a virtual 3D world, and tracks the movements of the jumper's arms and legs, further included, enabling practice of simulated free fall with or without a wind tunnel for a team of humans and / or skydiving robots. The headset tracks the movements of the jumper's arms / legs regardless of whether the jumper is floating horizontally or standing up in the wind tunnel, enabling the jumper to practice tasks in the world including HALO or HAHO jumps. The simulation continues even after the parachute opens, tracking the complete mission from exiting the aircraft to landing. In that case, the virtual 3D world is projected onto a screen like a TV or projector, enabling a viewer to see / evaluate the jumper. The system according to claim 1.

15. The ability of a skydiving robot or unmanned aerial vehicle (UAV) deployed by an aircraft or, more effectively, by an inserted weather or other balloon, further included, ideally deployed at night to escape from an air force defense system that uses missiles to destroy the aircraft, wherein the balloon can carry a payload of up to 8,000 pounds (about 3629 kg) to an altitude of up to 160,000 feet (about 49 km) or more, and can land accurately anywhere along the jet stream around the world using the jet stream that usually flows from west to east at a speed of up to 200 miles per hour (about 322 km per hour). The skydiving robot is 5×2×1.5 feet (about 152×61×46 cm) or smaller, smaller than powered UAVs or gliders, and can be easily shot down. It is aerodynamically designed to maximize speed like a human skydiving speed record holder and can free fall from a position of 80,000 feet (about 24 km) or higher and reach the target point in a few minutes. During free fall, it can use a technique called tracking where a skydiver changes posture to rotate or move horizontally. Tracking can be practiced using a simulator and / or actual jumps. When the robot is in an aerodynamically stable posture like a human, there is no horizontal movement. However, when the skydiving robot places its arms beside the body and aligns both legs straight like a guided missile, it can move horizontally up to 180 miles per hour (about 290 km / h) or more and vertically up to 300 miles per hour (about 482 km / h) or more. For the task of colliding with an explosive target, a parachute is not required, which can greatly reduce the cost and complexity of the robot. However, a backup parachute with a standard automatic deployment device (ADD) can be used in case of a failure during the robot's free fall. A wing suit with a horizontal speed of up to 240 miles per hour (about 386 km / h) or more can be used, but only a retractable wing can help with pinpoint landing by maintaining a horizontal speed of 0 miles per hour (0 km / h). The system according to claim 1.

16. In a system for an automatic fire-fighting robot, a water pump, a power source, a water / fire extinguishing agent source, a LiDAR sensor for discriminating obstacles, an imaging infrared sensor for calculating the direction, range, and temperature of a fire in order to accurately direct a fixed and / or movable nozzle with a fixed and / or deformable spray part towards the fire are included. The duplication of these sensor data enables the confirmation of information about the target fire. The first data regarding the GPS position of the fire is from satellite data with an accuracy of 30 meters or closer within one minute from the start of the fire. Next, when a drone or a robot automatically approaches the fire, the exact final position of the fire is provided by the sensors on the drone or the robot. The drone or the robot automatically goes to that location to extinguish the fire. The images arranged over time show relative movement and range. This data indicates, in particular, when to discharge water and the optimal direction to point the water hose and nozzle so as to reliably prevent the spread of the fire in the initial stage of the fire, thereby accurately extinguishing the fire with a minimum amount of water. In the case of a fixed nozzle, the sensor accurately positions the drone itself above the fire. The sensor can be part of a separate pumping system where fire information is transmitted to the robot via a Wi-Fi network, or alternatively, the sensor and the water system are part of the robot. The robot can be a humanoid robot, or when mounting the robot on a drone, helicopter, or fire truck, it can be a robot arm or robot nozzle with at least two degrees of freedom and a spray nozzle that can be fixed and / or deformed in multiple directions to reduce weight. It can be a humanoid robot that can skydived towards the fire, and the robot arm and / or nozzle can be used alone or in combination. Further, this target determination information for accurately directing water can also be transmitted to human firefighters to ensure more effective fire extinguishing activities. Claim 17 One or more water balloons or bags made of silicone, plastic or rubber, each over 5 gallons (about 19 liters), capable of being accurately dropped at the precise GPS location of a fire, using sensors to pinpoint the highest temperature of the fire and instructing a drone or manned aircraft to accurately position itself above the fire, further, the temperature sensor preventing the drone or manned aircraft from getting too close to the fire, further, having a mechanism for cutting the cable holding the balloon or bag at the optimal timing, further, having a small metal pin attached to a base of plastic, metal or wood fixed to the bottom of the balloon or bag and directed towards the balloon / bag, such that upon impact the balloon and / or bag will surely burst, the system according to claim 16, wherein a fire-fighting robot, nozzle spray, robot arm, or the balloon or bag can be used alone or in combination.

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