Icicle removal unmanned aerial system using a laser based on a mirror unit and a vehicle base station unit

Abstract

The present invention relates to an unmanned aerial system for removing icicles formed on high-altitude structures that are difficult to access, such as high-rise buildings or bridges. More specifically, the invention relates to an unmanned aerial system for removing icicles based on heterogeneous data and physical computation, wherein a vehicle base station unit mounted on a vehicle emits a laser, and a mirror unit mounted on a flight unit controls the direction of travel of the laser to irradiate the icicle to cut it, while ensuring flight stability and reducing the possibility of fire and debris scattering accidents by calculating power and communication conditions and environmental variables in real time. Additionally, power supply to the flight unit may be performed through at least one of power supply via a wired cable or power supply via a battery unit, and communication between the flight unit and the vehicle base station unit may be performed through at least one of wired or wireless communication.

Description

Technology Field

[0001] The present invention relates to an unmanned aerial system for removing icicles formed on high-altitude structures that are difficult to access, such as high-rise buildings or bridges. More specifically, the invention relates to an unmanned aerial system for removing icicles based on heterogeneous data and physical computation, wherein a vehicle base station unit mounted on a vehicle emits a laser, and a mirror unit mounted on a flight unit controls the direction of travel of the laser to irradiate the icicle to cut it, while ensuring flight stability and reducing the possibility of fire and debris scattering accidents by calculating power and communication conditions and environmental variables in real time. Additionally, power supply to the flight unit may be performed through at least one of power supply via a wired cable or power supply via a battery unit, and communication between the flight unit and the vehicle base station unit may be performed through at least one of wired or wireless communication. Background Technology

[0002] Icicles that form under bridges, at tunnel entrances, or on the exterior walls of high-rise buildings during the winter are a hazardous element that can cause fatal casualties and property damage to pedestrians and vehicles upon falling. Traditionally, removal methods primarily involved mobilizing aerial work platforms or manual labor relying on ropes; however, these methods posed significant risks to workers and caused traffic congestion due to road closures.

[0003] Recently, technology has been proposed to equip drones with heating elements or striking devices to address this issue, but there are limitations such as the inability to operate for extended periods due to limited battery capacity and the difficulty of maintaining a precise posture in high-altitude windy environments. In particular, in the case of laser cutting methods, there is a constant risk of fire on the exterior walls of structures when high-output energy is irradiated, and there is a lack of technical means to actively control voltage drop and instability caused by cable tension during wired power supply, as well as secondary damage to the ground caused by falling debris.

[0004] Furthermore, there is a risk to the surroundings due to falling icicles or debris during the icicle removal process. Precautions are required regarding fire hazards to the building or surroundings during laser removal, and the risk of fire caused by control malfunctions must also be considered. Moreover, if the operation time is prolonged, the flight unit's battery capacity alone may be insufficient for continuous operation; therefore, the parallel use of wired power supply or an equivalent power supply method may be required. The problem to be solved

[0005] The problem that the present invention aims to solve is as follows.

[0006] Technical means are provided to monitor in real time the voltage drop and cable tension changes occurring during power supply through a wired cable, and to control the flight unit to satisfy the minimum voltage and tension threshold conditions for flight maintenance.

[0007] A control logic is provided to stop or limit the laser emission of the vehicle base station unit when critical conditions corresponding to thermal damage or fire signs of the building exterior material are met by physically calculating the temperature rise and accumulated irradiation energy at the laser irradiation point.

[0008] An attitude correction means is provided to reduce deviation in the laser irradiation direction by linking the directional angle control of a mirror unit mounted on the flight unit with the correction of the aircraft tilt according to the cable tension and external wind speed.

[0009] It provides a means to ensure the safety of pedestrians on the ground by predicting the debris scattering distance based on the physical quantities of falling objects and wind speed, and variably setting the danger alert radius.

[0010] The problems of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0012] According to an embodiment of the present invention for solving the above problem

[0013] In an icicle removal unmanned aerial system using a laser based on a mirror unit and a vehicle base station unit that removes high-altitude targets by receiving power from the ground via a wired cable or through a battery unit,

[0014] A flying unit that stays in the air and flies toward an object;

[0015] A ground power supply unit that continuously supplies high-capacity power to the above flight unit;

[0016] A vehicle base station unit mounted on a vehicle that emits a laser;

[0017] A mirror unit mounted on the flight unit above and controlling the direction of travel of a laser incident from the vehicle base station unit to irradiate the target object;

[0018] A temperature measuring unit that measures the surface temperature around a target point where the laser is irradiated in milliseconds; and

[0019] A safety control unit that automatically transmits control commands instructing flight attitude thrust correction and laser output increase or decrease by processing real-time sensing data obtained from the flight unit, the ground power supply unit, the vehicle base station unit, the mirror unit, and the temperature measurement unit in parallel;

[0020] Includes,

[0021] The above ground power supply unit compares the ground transmission end voltage and the flight unit reception end voltage in real time and automatically transmits loss voltage data, which is proportional to the resistance of the wired cable, to the safety control unit, and

[0022] The above safety control unit adds the output watt of the vehicle base station unit in proportion to the volume of the object, and when it is determined that the loss voltage data approaches the physical limit of the drive motor of the flight unit, transmits a pulse width modulation control signal that linearly suppresses and subtracts the laser output value calculated in proportion to the volume so as to maintain the flight stability of the aircraft, thereby reducing the possibility of the aircraft motor shutting off and crashing due to power shortage and voltage drop in a high-altitude environment.

[0023] The above temperature measuring unit measures the surface temperature within the radius of the target point where the laser strikes using an infrared thermal imaging sensor, and transmits data on the temperature rise rate per unit time calculated by calculating the temperature difference between the previous time point and the current time point.

[0024] The above safety control unit applies a thermal capacity calculation formula that divides the thermal energy applied to an object by the product of mass and specific heat to set a value of 10 degrees per second, at which physical damage to the building exterior material begins, as the allowable limit temperature reference value, and if the temperature rise rate data exceeds 10 degrees per second, objectively determines it as a sign of fire occurrence and automatically transmits a command to immediately lower the output of the vehicle base station unit or forcibly cut it off to 0 watts, thereby limiting or cutting off the output to reduce the possibility of overheating and fire of insulation materials, etc.

[0025] A load sensor for measuring real-time downward tension is positioned at the lower cable connection part of the above flight unit, and an inertial measurement device for measuring the front-back and left-right tilt angles of the fuselage is installed inside the fuselage.

[0026] The above safety control unit is characterized by operating a vector force decomposition formula to overcome the physical phenomenon in which the tension of the cable acts downward and rearward when the flight unit is tilted forward for laser aiming, calculating the magnitude of the horizontal deflection force by multiplying the total tension pulling the aircraft by the sine value of the aircraft's tilt angle, and automatically transmitting a control signal that quantitatively adds the lift force to the forward rotors of the flight unit in proportion to the calculated magnitude of the horizontal deflection force, thereby reducing the possibility of the aircraft's position shifting so that the aiming point deviation is maintained within a preset aiming error tolerance even amidst gusts under high-rise bridges and heavy cable loads.

[0027] The above safety control unit is characterized by generating and transmitting a rotor output correction command of the flight unit based on the change in attitude and the change in wind speed obtained from an inertial measurement unit and an anemometer mounted on the flight unit, and by adding the lift for each rotor in proportion to the magnitude of the horizontal deflection force calculated by the change in cable tension, thereby maintaining the aiming angle control of the mirror unit with respect to the target point.

[0028] The safety control unit may be characterized by pre-setting a tension threshold of 20 kilograms force in memory to determine a flight-incapable state based on the maximum safe lift range that the drive motor of the flight unit can generate, and if the measured cable tension is determined to exceed the 20 kilograms force after smoothing the data collected through the load sensor by applying a noise filtering algorithm, it is determined that the wired cable is caught on a surrounding structure or that the motor is in a physical overload state, and by immediately stopping the laser irradiation and transmitting a safety mode switching signal to lower the altitude of the aircraft, thereby preventing hardware damage and aircraft crash accidents. Effects of the invention

[0030] The laser icicle removal unmanned flight system based on heterogeneous data and physical computation according to the present invention produces the following effects.

[0031] By remotely removing icicles via drones without the need for personnel to be directly deployed at high altitudes, the risk of human casualties is reduced, and continuous operation for extended periods is possible through a wired power supply without battery replacement.

[0032] Beyond simply measuring temperature, signs of overheating are detected in milliseconds through a thermal capacity calculation formula and cumulative energy integration logic, and the possibility of fire is reduced by limiting or blocking the laser output of the vehicle base station unit when a preset threshold condition is met.

[0033] A control environment is provided that corrects complex disturbances, such as cable tension and changes in external wind speed, according to the principle of vector force decomposition, so that the aiming angle control of the mirror unit with respect to the target point is maintained even in an environment with changing weather conditions.

[0034] By variably managing the danger zone through fragment scattering prediction based on the laws of physics, the possibility of fragment impact accidents occurring outside the control zone is reduced.

[0035] Even when communication disconnection or sensor errors are detected, the system switches to a safe mode through safe mode switching logic and heterogeneous data parallel monitoring, thereby reducing the possibility of accidents caused by unmanned equipment malfunction.

[0036] The effects according to the present invention are not limited to those exemplified above, and a wider variety of effects are included within the present invention. Brief explanation of the drawing

[0038] Figure 1 illustrates an organic flowchart between all components according to the present invention. Figure 2 illustrates a dynamic laser output control flowchart according to the present invention. Figure 3 illustrates a flowchart of attitude correction based on streamline tension and wind speed according to the present invention. Figure 4 illustrates a flowchart of a variable danger radius based on a falling object scattering trajectory according to the present invention. Figure 5 illustrates a laser immediate blocking flowchart according to the present invention. FIG. 6 illustrates an example of the arrangement between a base station vehicle and a drone according to the present invention. Specific details for implementing the invention

[0039] Hereinafter, various embodiments are described in more detail with reference to the attached drawings. The embodiments described in this specification may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, specific embodiments disclosed in the attached drawings are intended only to facilitate understanding of various embodiments. Accordingly, the technical concept is not limited by specific embodiments disclosed in the attached drawings, and it should be understood that it includes all equivalents or substitutions that fall within the spirit and scope of the invention.

[0040] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the aforementioned terms. The aforementioned terms are used solely for the purpose of distinguishing one component from another.

[0041] In this specification, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. When a component is described as being “connected” or “connected” to another component, it should be understood that it may be directly connected to or connected to that other component, or that there may be other components in between. On the other hand, when a component is described as being “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

[0042] Meanwhile, a "module" or "part" for a component as used in this specification performs at least one function or operation. Furthermore, a "module" or "part" may perform a function or operation by hardware, software, or a combination of hardware and software. Additionally, a plurality of "modules" or a plurality of "parts," excluding a "module" or "part" that must be performed on specific hardware or on at least one processor, may be integrated into at least one module. A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0043] Detailed circuit diagrams regarding the universal communication protocol, universal power conversion circuit, and universal motor driving circuit disclosed in this specification may be simplified to the extent that they are obvious to those skilled in the art. However, matters concerning the laser emission control of the vehicle base station unit, the aiming angle control of the mirror unit, the calculation of the temperature rise rate of the temperature measurement unit, and the output limiting / blocking logic of the safety control unit, which are necessary for the implementation of the present invention, are described in detail below.

[0044] Furthermore, in describing the present invention, if it is determined that a detailed description of related known functions or configurations may unnecessarily obscure the essence of the invention, such detailed description is abbreviated or omitted.

[0045] The laser icicle removal unmanned flight system based on heterogeneous data and physical computation according to the present invention may include a flight unit (100), a ground power supply unit (200), a vehicle base station unit (300), a mirror unit (310), a temperature measurement unit (400), a danger notification unit (500), and a safety control unit (600) to safely remove ice from high-altitude structures and prevent fire and fall accidents that may occur during operation.

[0046] The flight unit (100) may include wired drone hardware that approaches a work site, such as a high-rise bridge or building, stays in the air, and maintains a targeting posture.

[0047] The ground power supply unit (200) may include a power infrastructure that continuously supplies high-voltage power from the ground to the flight unit (100) via a wired cable and monitors the voltage drop condition.

[0048] Additionally, according to one embodiment, the flight unit (100) may fly by receiving power through an internal battery unit instead of power supply through a wired cable. The safety control unit (600) may periodically receive the remaining charge or receiving terminal voltage of the battery unit and, if it is predicted to be below a preset remaining charge threshold corresponding to the minimum voltage for maintaining flight, transmit a control signal to switch the flight unit (100) to return flight or maintain hovering. Additionally, in an embodiment where communication between the flight unit (100) and the vehicle base station unit (300) is performed via wireless communication, the safety control unit (600) may monitor the number of communication delays or packet omissions and, if a preset condition is exceeded, transmit a laser output limit or safety mode switching command.

[0049] The vehicle base station unit (300) may include an energy emitting device mounted on the vehicle that emits a laser to a target for removal, such as an icicle.

[0050] The temperature measuring unit (400) may include a sensing device that collects thermal change data by scanning the surface temperature of the point where the laser is irradiated and the surrounding structure in real time.

[0051] The danger notification unit (500) may include a ground safety control device that prevents secondary casualties by visually and audibly controlling the safety radius on the ground when a falling object occurs.

[0052] The safety control unit (600) may include an integrated control board that performs parallel computation on heterogeneous data collected from the above components and transmits power control, flight attitude correction, danger radius expansion, and emergency power cut-off commands.

[0053] The above components perform mutually organic data communication and transmit control signals that secure the operational reliability and safety of the system based on physical computation through the four control processes (laser output control, flight attitude correction, variable danger radius setting, and heterogeneous data-based immediate blocking) described below.

[0054] The flight unit (100) is an unmanned flying hardware device that stays in the air and moves to remove icicles, and automatically transmits data on function execution and assembly status. The flight unit (100) receives power from the ground power supply unit (200), which will be described later, and flies, and transmits control signals to maintain a targeting attitude by adjusting multiple rotor lifts according to multiple correction thrust commands calculated by the safety control unit (600). The flight unit (100) can transmit operational status data that differentially adds rotor output in a specific direction to correct horizontal deflection force of tension calculated according to a vector force decomposition formula and body attitude errors caused by changes in external wind speed and cable tension. The mirror unit (310) and the temperature measurement unit (400) are assembled side by side on the front of the flight unit (100), and a load sensor coupling part connected to the wired cable of the ground power supply unit (200) may be placed at the center of the bottom. The flight unit (100) can be configured such that the total payload is approximately 10 kilograms, even if it includes the mirror unit (310), the temperature measuring unit (400), and the wired cable connection part. Here, the total payload refers to the sum of the masses of the components mounted on the flight unit (100) and is distinguished from the mass of the icicle described later. The flight unit (100) automatically transmits control signals obtained by measuring in real-time the volume of the object, the front-back and left-right tilt angles of the fuselage, external wind speed, and altitude relative to the ground using a 3D depth scan camera, an inertial measuring device, an ultrasonic wind direction and speed meter, and an altimeter mounted inside the airframe. The flight unit (100) transmits an example command to maintain stable flight at an altitude of 20 m by additionally applying lift to the front rotor based on data where the horizontal deflection force according to the cable tension of 15 kgf is calculated as 3.88 kgf when the airframe tilts forward by 15 degrees in a gust environment.

[0055] The ground power supply unit (200) is a hardware device deployed on the ground that supplies high-capacity power to the flight unit (100) and automatically transmits power supply status data. The ground power supply unit (200) continuously supplies power through a wired cable and transmits a control signal that monitors the real-time voltage drop occurring during the transmission process. When the calculated voltage drop approaches the physical limit of motor driving, the ground power supply unit (200) automatically transmits a hardware status information command to the safety control unit (600) to prevent the aircraft from crashing in order to prevent system overload. The ground power supply unit (200) is fixedly deployed in a safety zone on the ground at the work site and includes a rotary winding reel structure inside, which unwinds or winds the wired cable according to altitude and transmits deployment status data that is electrically directly coupled to the lower power receiving part of the flight unit (100). The ground power supply unit (200) compares and measures the ground transmission voltage and the receiving voltage of the flight unit (100) in real time to obtain loss voltage data that occurs in proportion to the cable length and resistance, and automatically transmits a control signal. The ground power supply unit (200) measures that a voltage drop of 15 V occurs due to cable resistance during the process of supplying power to the aircraft working in the air, and transmits this to induce the safety control unit (600) to lower the laser output, thereby transmitting example data.

[0056] The vehicle base station unit (300) is a hardware device mounted on a vehicle that emits a laser toward a target point and can transmit operational status data. The vehicle base station unit (300) can vary the output and emission duration of the laser according to the output control signal received from the safety control unit (600). Additionally, the vehicle base station unit (300) can adjust the emission direction using a rotary drive unit installed on the vehicle so that the laser is incident on the mirror unit (310) mounted on the flight unit (100). The vehicle base station unit (300) automatically transmits a signal that adds or subtracts the output energy by reflecting the volume of the icicle and the temperature rise of the structure. The vehicle base station unit (300) is mounted by being coupled to a gimbal structure capable of up, down, left, and right rotation control installed on the vehicle, and transmits structural status data that adjusts the emission direction to aim toward the target point even when the vehicle is not moving. The vehicle base station unit (300) obtains the number of laser pulses emitted per second through an internal optical oscillator operation signal and obtains the single point cumulative irradiation time as a digital value through the power application duration, and automatically transmits a control signal. The vehicle base station unit (300) increases the output to 180 W to irradiate a thick icicle with a volume of 2000 cm³, and then transmits an example command to safely emit by lowering the output to 90 W as soon as it receives a warning data on the rise in the structure temperature.

[0057] The temperature measuring unit (400) is a hardware device that detects thermal changes around the laser irradiation point in real time and automatically transmits measurement data. The temperature measuring unit (400) scans the surface temperature of the target and surrounding structures in milliseconds and transmits a control signal that calculates the rate of temperature increase per unit time. The temperature measuring unit (400) automatically transmits key indicator data for monitoring signs of fire by comparing it with an allowable limit temperature reference value, such as 10°C per second, derived through a thermal capacity calculation formula. The temperature measuring unit (400) transmits assembly relationship data that is coupled side-by-side with the mirror unit (310) on the front of the flight unit (100) and is positioned to maintain a field of view corresponding to the target point where the laser hits, in conjunction with the change in the directional angle of the mirror unit (310). The temperature measuring unit (400) uses an infrared thermal imaging sensor to measure the surface temperature within a radius of 50 cm of the point where the laser hits, obtains data on the rate of temperature increase per unit time through a calculation of subtracting the temperature at the previous point from the temperature at the current point, and automatically transmits a control command. The temperature measuring unit (400) detects that the temperature of the outer wall insulation material has risen by 11.5°C in 1 second while the laser is irradiated at 400 W, and transmits this data to the safety control unit (600) to transmit an example signal indicating signs of fire, such as carbonization of the paint material.

[0058] The above-mentioned danger alert unit (500) is a hardware device for controlling and warning pedestrians and vehicles within a ground working radius in preparation for falling icicle fragments, and automatically transmits warning control data. The above-mentioned danger alert unit (500) transmits a control command to widen the projection angle of the ground safety line display projector in accordance with variable radius data calculated based on potential energy calculation formulas and fragment scattering weights. The above-mentioned danger alert unit (500) automatically transmits a signal to defend against the risk of physical collision by increasing the output intensity of the directional speaker and warning light when a pedestrian approaches within the radius. The above-mentioned danger alert unit (500) can transmit warning control data as a hardware device for controlling and warning pedestrians and vehicles within a ground working radius in preparation for falling icicle fragments. The above-mentioned danger alert unit (500) is deployed on the ground around the vehicle where the vehicle base station unit (300) is installed, and includes a ground safety line display projector and a directional speaker, which can adjust the projection radius and warning intensity according to the variable radius data. In addition, the above-mentioned danger notification unit (500) counts the approach of pedestrians or vehicles within a radius based on images obtained from a camera installed on the ground, and can increase the warning intensity stepwise when the number of approaches or the duration of stay satisfies preset conditions.

[0059] The safety control unit (600) is an integrated control board that monitors the overall operating status of the system and automatically transmits comprehensive control signals by evaluating heterogeneous data and physical calculation formulas in parallel to generate drive and cut-off commands. The safety control unit (600) transmits control data that monitors thermal status, optical signs, accumulated irradiation energy amount, and communication packet status in the form of a multi-safety network. When a specific threshold set based on energy accumulation calculation formulas is exceeded, the safety control unit (600) automatically transmits a command to immediately cut off power by physically opening the main power relay switch of the vehicle base station unit (300) or activating the interlocking cut-off device. The safety control unit (600) is built into a sealed main control box inside the flight unit (100) with a shock-resistant structure and transmits hardware placement data that is electrically and logically interconnected with each unit via data bus cables. The safety control unit (600) automatically transmits control signals obtained by receiving sensing data and hardware operation status data in real time from the flight unit (100), the ground power supply unit (200), and various sensors through a wired / wireless communication network and internal wiring. The safety control unit (600) transmits an example command to immediately open a relay and forcibly cut off the laser output to 0 W when any of the following conditions are met: the accumulated energy exceeds 5000 J, the temperature rise exceeds 10 ℃ per second, or the communication control signal is missed three or more times consecutively.

[0060] The safety control unit (600) transmits control commands based on a plurality of physical variables as judgment criteria to variably determine the irradiation energy of the vehicle base station unit (300). The safety control unit (600) automatically transmits data including a preset laser basic output value as a judgment criterion, the volume of the icicle identified by the flight unit (100), the rate of temperature rise of the surrounding structure per unit time detected by the temperature measurement unit (400), and the real-time voltage drop of the cable connected from the ground power supply unit (200). The safety control unit (600) transmits a signal to provide a safety mechanism that increases cutting efficiency in proportion to the size of the icicle while gradually blocking the fire risk of the structure and the hardware overload of the wired power supply.

[0061] The safety control unit (600) transmits a control command using a weighted calculation method that determines the final output by sequentially adding or subtracting multiple independent conditions rather than a single condition. The safety control unit (600) automatically transmits a control signal, determining that although the required energy increases as the volume of the icicle increases, if the volume becomes excessive beyond a certain level, increasing the energy linearly may cause the equipment to overheat. Accordingly, the safety control unit (600) transmits a command to correct the energy addition ratio to a non-linear proportional relationship so that it gradually slows down as the increase in volume increases. Additionally, the safety control unit (600) determines that a rise in temperature or a severe voltage drop is a sign of danger to the system and surrounding environment, and transmits a signal combined with a logical OR-based subtraction condition that offsets the increase in energy and lowers the output when the values ​​approach a preset threshold.

[0062] The 3D depth camera mounted on the flight unit (100) scans an object to generate point cloud data and converts it into a volume of 1500 cm³, automatically transmitting the acquired data. The infrared thermal imaging sensor, which is the temperature measurement unit (400), measures the surface temperature within a 50 cm radius around the laser irradiation point at 1-second intervals, calculates the temperature change amount, such as a rise of 4.5 ℃ per second compared to the previous point in time, and transmits the data. It automatically transmits data measuring the voltage loss, such as a 12 V drop due to cable resistance, by comparing the output voltage of the ground power supply unit (200) and the receiving end voltage of the flight unit (100) in real time. The control data finally calculated through the safety control unit (600) is used to vary the duty cycle ratio of the pulse width modulation signal applied to the output element of the vehicle base station unit (300), thereby transmitting a command to control the amount of physical energy released.

[0063] The safety control unit (600) automatically transmits a command to process data in chronological order. The safety control unit (600) transmits a signal to set a preset laser basic output value, such as 100 W, as the initial irradiation energy. Subsequently, if the sensed icicle volume is 1000 cm³ or more, the safety control unit (600) transmits a control command to calculate a first correction energy by adding energy in proportion to the volume, but reducing the output range added per unit volume as the volume increases, for example, adding 50 W when it is 1000 cm³ and adding 80 W when it is 2000 cm³. Additionally, if the temperature rise rate per second exceeds a preset safety standard, such as 2°C per second, the safety control unit (600) automatically transmits a signal to calculate a second correction energy by gradually increasing the reduction range from the first correction energy according to the rate at which the temperature rise rate approaches an allowable limit, such as 10°C per second. Furthermore, the safety control unit (600) transmits a control command to determine the final irradiation energy by linearly subtracting the secondary correction energy by the ratio of the current drop amount to the remaining allowable amount when the real-time voltage drop amount exceeds 50 percent of the preset maximum allowable drop amount, such as 20 V.

[0064] The safety control unit (600) transmits a command to filter noise by applying a moving average value of the last 3 seconds to the temperature rise rate data to prevent malfunctions caused by temporary errors in the sensor. When an exception occurs where data communication with the flight unit (100) is interrupted for more than 2 seconds, the safety control unit (600) stops the conditional operation and automatically transmits a pulse signal to hardware-cut off the power to the vehicle base station unit (300). In the prior art, energy was wasted or flight instability due to voltage drop could occur because the operator manually operated it or performed the inspection with a fixed output value of 150 W, but the present invention automatically transmits a control command to dynamically increase the output up to 180 W if the volume of the icicle is large. The safety control unit (600) transmits a signal to reduce the risk of fire by lowering the output to 60 W or less when the outer wall temperature rises by 5 ℃ per second during the inspection. In addition, the safety control unit (600) transmits a command to maintain the flight stability of the flight unit (100) by adjusting the output when a voltage drop is detected.

[0065] The safety control unit (600) sets a judgment rule based on simulation data according to multiple conditions and transmits a control signal. When the icicle volume is 500 cm³, the temperature rise rate is 1.0 ℃ per second, and the voltage drop is 2.0 V, the safety control unit (600) calculates the value as 120 W after volume correction and transmits a final normal operation command of 120 W. When the volume is 1000 cm³, the temperature rise rate is 1.5 ℃ per second, and the voltage drop is 3.0 V, the safety control unit (600) calculates the value as 150 W after volume correction and automatically transmits a normal operation command of 150 W. When the volume is 2000 cm³, the temperature rise rate is 2.0 ℃ per second, and the voltage drop is 5.0 V, the safety control unit (600) transmits a high-output operation signal of 180 W. The above safety control unit (600) transmits a control command to lower the power to 90 W by reflecting a temperature warning when the volume is 2000 cm³, the temperature rise rate is 6.0 ℃ per second, and the voltage drop is 5.0 V. When the volume is 2000 cm³, the temperature rise rate is 2.0 ℃ per second, and the voltage drop is 15.0 V, the above safety control unit (600) automatically transmits a signal to lower the power to 110 W to defend against the voltage drop.

[0066] The safety control unit (600) transmits a maximum output of 200 W operation command when the volume is 3000 cm³, the temperature rise rate is 1.5 ℃ per second, and the voltage drop is 5.0 V. When the volume is 3000 cm³ and the temperature rise rate is 8.0 ℃ per second, the safety control unit (600) transmits a control signal to reduce the output to 40 W according to the temperature risk. When the volume is 500 cm³ and the temperature rise rate is 1.0 ℃ per second but the voltage drop is 18.0 V, the safety control unit (600) transmits a signal to reduce the output to 60 W for hardware protection. When the volume is 1500 cm³ and the temperature rise rate is 9.5 ℃ per second and the voltage drop is 10.0 V, the safety control unit (600) transmits a command to limit the output to 5 W to prevent reaching the threshold. The above safety control unit (600) automatically transmits a control signal to limit the output to 15 W to prevent power cutoff when the volume is 1500 cm³, the temperature rise rate is 2.0 ℃ per second, and the voltage drop is 19.5 V.

[0067] In this way, the safety control unit (600) transmits a command applying proportional addition when the volume increases and other conditions fall below safety standards, transmits a signal to subtract in proportion to the increase in temperature when the temperature reaches a warning level, and automatically transmits a command to subtract more than a certain percentage of the total output energy when the temperature reaches a danger level. The safety control unit (600) transmits a signal to subtract linearly by the ratio of the voltage shortage when there is a power shortage, and transmits a command to cut off the laser output when the voltage drop exceeds a limit. The temperature reduction and voltage drop subtraction rules set in the safety control unit (600) automatically transmit control commands by reflecting the physical environment, such as the ignition point characteristics of the site structure and the minimum maintenance voltage for driving the motor of the wired drone. The safety control unit (600) transmits a control signal to cool the heat before the surface thermal accumulation leads to a fire by reducing the output when the temperature rise rate exceeds 8°C per second.

[0068] The safety control unit (600) sequentially applies quantitative evaluations based on multiple variables rather than fixed output, and transmits control commands to increase output for thick icicles to shorten the work time. The safety control unit (600) automatically transmits a signal to control output by detecting signs of fire or power shortage situations. The safety control unit (600) transmits base data to ensure safety at the work site and flight stability of the aircraft while performing non-contact cutting without physical collision. The temperature rise rate per unit time transmits data calculated by reflecting the difference between the current temperature measured by the temperature measurement unit (400) and the previous temperature. The allowable limit temperature reference value is a temperature change setting value at which deformation and ignition of the exterior wall material may begin; it is initially set to 10°C per second at the beginning of system operation and automatically transmits a control signal that is variably adjusted according to the type of material based on the manager's input. The above voltage drop is a voltage magnitude lost in proportion to the resistance and distance of the wired cable, and is monitored within 20 V to maintain the minimum flight maintenance voltage of the flight unit (100) and transmits control commands.

[0069] The above safety control unit automatically transmits data applying a known thermal capacity formula to set an allowable limit temperature reference value to prevent thermal damage to the structure. The above thermal capacity formula transmits a command to calculate the temperature rise of the structure's surface based on the physical law that the value obtained by dividing the thermal energy applied to an object by the product of the object's mass and specific heat is equal to the temperature change. The above safety control unit predicts the temperature rise per unit time by inputting the mass and specific heat of a typical concrete exterior material when the laser output increases in increments of 100 watts, and transmits a control signal to set a safety threshold based on this.

[0070] [Table 1] 10 simulation data for setting temperature rise rate threshold

[0071]

[0072] Based on the simulation results of [Table 1] above, the safety control unit objectively identifies when physical damage to the exterior material begins if the temperature rise exceeds 10 degrees per second and automatically transmits data setting 10 degrees per second as the allowable limit temperature reference value.

[0073] [Table 2] Simulation for Verification of Effects Based on Application of Set Threshold (10 degrees per second)

[0074]

[0075] Through the above effect verification simulation, the safety control unit applies an allowable limit temperature reference value (10 degrees per second) calculated based on a thermal capacity calculation formula, and transmits a command to limit or cut off the laser output when signs of overheating of the structure exceed the reference value.

[0077] The safety control unit (600) transmits control commands based on a plurality of physical variables as criteria to offset disturbances that occur when the flight unit (100) stays in the air for laser aiming. The safety control unit (600) automatically transmits data including the load of the flight unit (100), the real-time measured tension of the cable connected from the ground power supply unit (200), the body tilt angle for laser aiming, the flight altitude, and the external wind speed as criteria.

[0078] The safety control unit (600) transmits a control command using a multi-condition correction method that goes beyond simple horizontal maintenance control and distributes lift to each rotor by linking the tilt of the aircraft and the vector direction of the cable tension. The safety control unit (600) automatically transmits a differential lift correction signal proportional to the tilt angle, reflecting the phenomenon where cable tension causes a greater load on a rotor in a specific direction as the aircraft tilts. Additionally, when horizontal deflection caused by wind increases depending on the external wind speed and flight altitude, the safety control unit (600) transmits a command combining control conditions that add an attitude maintenance thrust correction amount proportional to the magnitude of the wind speed.

[0079] A load cell sensor mounted on the lower cable connection part of the flight unit (100) measures a tension, such as 5 kgf, being pulled downward in real time and automatically transmits the data. An inertial measurement device mounted inside the aircraft acquires the pitch and roll angles of the fuselage relative to the ground, such as a forward tilt of 15 degrees, and transmits the signal. An ultrasonic wind direction and speed meter mounted outside the flight unit (100) measures the wind velocity of a gust, such as 7 m / s, in 1-second intervals and transmits a control command. The multi-corrected thrust data calculated through the safety control unit (600) is transmitted to the flight controller of the flight unit (100), and this is transmitted as a control signal to individually increase or decrease the motor rotation speed of the electronic transmission driving each rotor.

[0080] The safety control unit (600) sets the initial hovering lift based on the basic load of the aircraft and transmits a command to start flight. The safety control unit (600) detects that a cable tension of 5 kgf acts downward and rearward when the aircraft is tilted forward by 15 degrees for icicle aiming, and automatically transmits a first thrust correction signal that adds the lift of the forward rotors in proportion to the magnitude of the tension and the tilt angle to offset this. When the flight altitude is 20 m and the wind speed is detected as 7 m / s, which exceeds the preset standard of 5 m / s, the safety control unit (600) evaluates that the positional deflection caused by the wind is increasing and transmits a second thrust correction command in proportion to the magnitude of the wind speed and altitude.

[0081] The safety control unit (600) automatically transmits a command to smooth out noise by applying a Kalman filter to the collected sensor data, as momentary errors may occur in the sensor data due to gusts or turbulence. When the measured cable tension exceeds a preset tension threshold of 20 kgf that threatens the maximum lift limit of the aircraft, the safety control unit (600) recognizes this as an exceptional situation where the cable gets caught on a surrounding structure, immediately stops the laser irradiation, and transmits a signal to switch to a safety mode that lowers the aircraft's altitude. In conventional technology, deviation in the direction of laser irradiation could occur because the cable tension and changes in wind speed could not be corrected in conjunction, but the present invention transmits a control command to pre-distribute lift to each rotor by calculating the component of the tension according to the tilt angle.

[0082] The safety control unit (600) transmits a command to maintain basic hovering thrust when the tilt angle is below the reference angle, the tension is below the threshold, and the wind speed is within the safety criteria. When the tilt angle is greater than the reference angle and the tension is below the threshold, the safety control unit (600) automatically transmits a primary thrust correction signal that increases lift in a specific direction in proportion to the tension and tilt. When the wind speed exceeds the reference, the safety control unit (600) transmits a secondary thrust correction command that increases the total lift in proportion to the magnitude of the wind speed. When the tension exceeds the threshold, the safety control unit (600) automatically transmits a safety mode command to forcibly stop laser irradiation and lower the altitude.

[0083] The tension offset and wind speed-based correction rules set in the above safety control unit (600) transmit control commands by reflecting physical phenomena based on vector dynamics and horizontal deflection force caused by wind. The above safety control unit (600) evaluates the moment change due to the load of the wired cable and the tilt of the fuselage and the horizontal deflection caused by the external wind speed, and transmits a signal to offset this through stepwise lift correction.

[0084] The above safety control unit (600) automatically transmits data to which a known vector force decomposition formula is applied to calculate attitude correction thrust according to cable tension and fuselage tilt. The above vector force decomposition formula transmits a command to calculate the magnitude of the deflection force pushing the aircraft in the horizontal direction by multiplying the total tension of the cable pulling the aircraft by the sine value of the aircraft's tilt angle. The above safety control unit automatically transmits a control signal to quantitatively increase the rotor lift in the opposite direction to overcome the calculated deflection force.

[0085] [Table 3] 10-Simulation Data for Tension and Slope Threshold Settings

[0086]

[0087] Referring to the simulation data in [Table 3] above, the safety control unit determines the point at which the tension exceeds 20 kilograms-force or the horizontal deflection force exceeds the maximum lift allowable range of the motor as the fall risk limit and automatically transmits data to set the tension threshold to 20 kilograms-force.

[0088] [Table 4] Simulation for Verification of Effects Based on Application of Set Threshold (Tension 20 Kilogram-Force)

[0089]

[0090] Through the above effect verification simulation, the safety control unit derives the physical external force acting on the aircraft using a calculation formula, distributes thrust appropriate to the situation, and transmits control commands to prevent a crash.

[0092] The above-mentioned danger notification unit (500) transmits control commands based on multiple environmental variables as criteria for judgment to prevent secondary damage caused by flying debris when the removed icicle falls to the ground. The above-mentioned danger notification unit (500) automatically transmits judgment criteria data including a preset basic warning radius reference value, the height of the icicle relative to the ground, the estimated mass of the icicle, a debris scattering weight according to the ground material, wind speed measured at high altitude, and the number of pedestrians and vehicles identified within the work radius. The above-mentioned danger notification unit (500) transmits a signal that dynamically varies the danger radius on the ground by reflecting the physical impact of the falling object and changes in the trajectory caused by the wind, beyond the fixed control zone setting.

[0093] The above-mentioned danger notification unit (500) automatically transmits a control command of a multi-condition expansion method that fuses a mechanical measure in which potential energy is converted into kinetic energy during free fall and the scattering distance of fragments due to rebound elasticity upon impact with the ground, rather than a simple distance proportional method. The above-mentioned danger notification unit (500) transmits a signal that expands the radius in the first and second stages by combining wind speed variables and the hardness of the ground as weights, reflecting the physical characteristics that the collision energy increases and fragments fly farther as the mass of the icicle is large and the fall height is high. In addition, the above-mentioned danger notification unit (500) automatically transmits adaptive control condition data that finally adjusts the output intensity of the warning medium according to pedestrian density, which is a dynamic variable.

[0094] The altimeter and distance measuring sensor of the flight unit (100) automatically transmit data by measuring the distance from the tip of the icicle to the ground as 15 m and estimating the mass as 10 kg by multiplying the density of the ice by the 3D depth scan volume. The downward camera of the flight unit (100) transmits a control signal that obtains a fragment scattering weight, such as 1.5 if it is asphalt and 0.8 if it is a snow-covered flowerbed, by determining the ground material at the point of impact through vision image analysis. The wind speed sensor mounted on the aircraft measures the wind speed at the time of cutting the icicle as 6 m / s and transmits data. The object recognition artificial intelligence algorithm automatically transmits control commands by digitally counting the number of pedestrians and vehicles approaching within a radius of 30 m in real-time at 1-second intervals, such as 3 people. The variable radius data calculated through the above-mentioned danger notification unit (500) automatically transmits a signal to widen the irradiation angle of the safety line marking laser projector projected toward the ground or to control the audio warning volume and siren flashing cycle of the directional speaker.

[0095] The above-mentioned danger notification unit (500) follows a processing procedure in chronological order, sets a preset minimum radius of 5 m as the primary danger zone at the start of the operation, and automatically transmits a command to project a warning laser. If the distance height of the sensed icicle is 15 m and the mass is 10 kg, exceeding a preset threshold, the danger notification unit (500) determines that the falling energy is large and transmits a signal to calculate a secondary danger zone by proportionally expanding the radius of the primary danger zone to 10 m. If the above-mentioned danger notification unit (500) detects that the wind speed at high altitude is 6 m / s and determines that the ground is asphalt with high repulsion force and applies a weight of 1.5, it automatically transmits a control command to further expand the radius of the secondary danger zone to 15 m by reflecting the trajectory displacement and fragmentation phenomena caused by the wind. The above-mentioned danger notification unit (500) immediately increases the speaker volume to a preset maximum level and increases the flashing frequency of the visual warning light when three pedestrians approaching within the radius, thereby transmitting a signal to induce active avoidance.

[0096] The above-mentioned danger notification unit (500) automatically transmits a fail-safe logic activation command to forcibly assign the debris scattering weight and the number of pedestrians to the maximum values ​​within the system in consideration of safety when the visibility of the downward camera is not secured due to snowfall or dense fog, making it impossible to distinguish the ground material or pedestrians. The above-mentioned danger notification unit (500) transmits a control signal to prevent accidents by conservatively setting the danger radius wide even in the event of a sensor error. In conventional technology, there was a risk of accidents where debris crossed the control line due to strong winds and struck pedestrians because personnel arbitrarily set a fixed control zone, but the present invention automatically transmits a command to vary the predicted debris arrival range by calculating the flight altitude, wind speed, and ground material. The above-mentioned danger notification unit (500) transmits data reflecting environmental changes so that secondary damage can be structurally prevented even if the work environment changes.

[0097] The above-mentioned danger alert unit (500) transmits a basic primary danger zone setting signal that maintains a minimum radius when the height and mass are below a threshold, the floor is buffered, the wind speed is within the standard, and there are no pedestrians. When the height and mass exceed the threshold, the above-mentioned danger alert unit (500) automatically transmits a control command to expand the radius to the first level in proportion to the potential energy. When the floor is high-rebound and strong winds are blowing, the above-mentioned danger alert unit (500) transmits a signal to expand the radius to the second level by reflecting debris scattering and trajectory displacement. When pedestrian approach is detected, the above-mentioned danger alert unit (500) transmits a command to fix the projection radius to the maximum and increase the audiovisual warning intensity.

[0098] The radius expansion rule set in the above-mentioned danger notification unit (500) automatically transmits control signals based on valid algorithm data derived from the kinetic energy formula of a free-falling object and hydrodynamic drift phenomena. The above-mentioned danger notification unit (500) transmits control commands by reflecting the physical principle that the debris scattering distance varies depending on the coefficient of restitution of the ground, and that the higher the altitude, the longer the time exposed to wind, resulting in a longer fall deflection. The above-mentioned danger notification unit (500) adopts dynamic danger radius logic to transmit data that enhances the safety of the work environment by responding to unpredictable trajectories without ground control personnel or the installation of physical fences. The above-mentioned separation height relative to the ground refers to the vertical physical distance from the icicle cutting point to the surface of the ground, and automatically transmits danger data calculated based on this. The above-mentioned debris scattering weight is a value that quantifies the degree to which ice breaks and bounces off when colliding with the ground, and transmits control signals using conversion factor data that is pre-set to 1.0 or less for soil or snowfields and greater than 1.0 for asphalt.

[0099] The above-mentioned danger alert unit automatically transmits danger radius data based on a known potential energy calculation formula to predict the scattering distance of the debris. The above-mentioned potential energy calculation formula calculates the total energy just before falling by multiplying the mass of the icicle, the acceleration due to gravity, and the height of fall, and transmits a command to calculate the process in which this energy is converted into kinetic energy that causes the debris to fly horizontally upon impact with the ground. The above-mentioned danger alert unit transmits a control signal that determines the final danger warning radius by multiplying the calculated debris travel distance by a rebound weighting factor based on the ground material.

[0100] [Table 5] 10-Simulation Data for Radius Expansion (Based on Asphalt Floor)

[0101]

[0102] Based on the simulation results of [Table 5] above, the risk notification unit automatically transmits data to gradually expand the warning radius to 10 meters and 15 meters, etc., in proportion to the physical fall energy, starting from the point when the predicted debris scattering distance exceeds the basic safety distance of 5 meters.

[0103] [Table 6] Simulation for Verification of Effects Based on Application of Calculated Flying Distance

[0104]

[0105] Through the above effect verification simulation, the risk notification unit applies a kinematic calculation formula to control the maximum distance of flying debris so that it is reflected in the risk notification radius, thereby transmitting a variable radius control command to reduce the possibility of debris impact accidents occurring outside the control area.

[0107] The safety control unit (600) transmits control commands based on heterogeneous data as a judgment criterion to prevent fire accidents or hardware inability to control that may occur during the laser irradiation process. The safety control unit (600) automatically transmits data including the rate of rapid temperature rise of the structure per unit time, the rate of temperature rise for risk judgment, the number of abnormal optical sparks per second, the amount of accumulated irradiation energy at a single point, a preset allowable accumulated energy reference value, and the number of communication control signal errors counted as judgment criteria. The safety control unit (600) detects fire precursor symptoms and communication abnormalities faster than the operator's perception speed and transmits a signal to immediately restore the system to the safest state before it leads to a major accident. To avoid relying on errors in a single sensor, the safety control unit (600) individually monitors conditions with different physical characteristics, such as heat, light, accumulated energy, and communication status, and automatically transmits control commands based on a logical OR-based multi-safety network method that cuts off the output if any of these exceed a threshold. The above safety control unit (600) transmits a signal to perform an immediate physical power cutoff by evaluating in parallel warning signs such as a sudden rise in surface temperature or the continuous occurrence of minute sparks and risk factors such as loss of control due to loss of communication packets.

[0108] The temperature measurement unit (400) samples the temperature of a specific target point in milliseconds and automatically transmits data on the amount of temperature change, such as a rise of 15°C in one second. The high-speed frame camera applies a visible light filter and digitally counts the number of flash patterns bouncing off the laser cutting surface using an image processing algorithm, such as 5 times per second, and transmits a control command. The safety control unit (600) transmits data calculating a total accumulated energy, such as 5000 J, by integrating the time and output value during which a pulse width modulation signal is applied while there is no change in the hovering position of the flight unit (100). The ground power supply unit (200) and the flight unit (100) check the status of control signal packet transmission and reception and automatically transmit a control signal counting the number of times the response time limit is exceeded without a response, such as three consecutive omissions. Based on the result of determining a dangerous state, the above safety control unit (600) transmits a control command to physically open the main power relay switch directed to the vehicle base station unit (300) and activate the interlock circuit inside the oscillator to block the release of energy.

[0109] The safety control unit (600) automatically transmits a command to activate the monitoring of heat, light, accumulated energy, and communication packets as a back-processing procedure simultaneously with the initiation of laser irradiation. The safety control unit (600) evaluates whether the sensed temperature rise exceeds a preset reference temperature rise of 10°C per second, as the detected rise is 15°C per second, and if it exceeds this, it immediately transmits a cutoff signal through the controller. The safety control unit (600) independently recognizes the state immediately before ignition and automatically transmits a cutoff command if it is calculated that the number of sparks per second is 5 or more, or that the drone has continuously irradiated energy of 5000 J or more at a single point without moving. The safety control unit (600) transmits a signal to cut off the power itself to prevent the laser from being continuously emitted without a control signal if the flight unit (100) fails to receive three consecutive control packets for more than 300 ms from the ground. The safety control unit (600) transmits a control command to immediately stop all oscillations and send an emergency notification to the operator when any of the monitored conditions are met. The safety control unit (600) automatically transmits condition data to filter only patterns in which a specific wavelength band and pixel brightness are maintained for 10 ms or more as valid sparks in order to prevent the laser from being blocked by mistaking simple reflections for sparks.

[0110] In conventional technology, there was a risk that the fire would spread during the reaction time or that the aircraft would fall with the laser still on if communication was interrupted, as the operator manually turned off the switch after visually confirming the flame. However, the present invention detects signs of impending ignition in milliseconds and transmits a signal to automatically cut off the output. The safety control unit (600) automatically transmits a valid control command to protect the hardware by operating its own safety logic even when communication is interrupted. The safety control unit (600) transmits a signal to maintain normal laser output when the temperature rise and the number of sparks are below a standard, the accumulated energy is within the allowable limit, and communication is received normally. If the temperature rise exceeds the standard by more than 10°C per second, the safety control unit (600) detects this as a sign of fire and automatically transmits a command to immediately cut off the laser power. If the number of sparks exceeds the standard by more than 5 times per second, the safety control unit (600) detects this as a sign of ignition and transmits a control signal to cut off the power. The safety control unit (600) detects localized thermal accumulation when the accumulated energy exceeds 5000 J and transmits a command to immediately cut off the power. The safety control unit (600) detects loss of control when control packets are missed three or more times in a row and automatically transmits a signal to cut off the laser power.

[0111] The multi-condition blocking rule applied to the above safety control unit (600) transmits reasonable algorithm data designed based on the physical limit of the building exterior material being deformed by heat or reaching the ignition point, and the maximum delay time allowed under the control communication standards of the unmanned vehicle. The above safety control unit (600) applies parallel heterogeneous data monitoring logic to automatically transmit commands that control the risk of secondary accidents caused by the laser device even amidst unpredictable field variables, such as changes in the exterior wall material or cable disconnection caused by strong winds. The above safety control unit (600) transmits control signals that provide safety reliability in unmanned operation of icicle removal, which is a high-risk task. The above reference temperature rise range automatically transmits commands based on risk judgment scale data pre-set at a rate of change of 10°C or more per second to filter out temperature changes caused by solar radiation, etc., and to identify only abnormal heating caused by high-energy lasers. The above single-point accumulated irradiation energy is the total sum of thermal energy accumulated on a target when a laser is fired at a single coordinate without the gas moving; considering that a fire may occur if irradiated for a long time even at a low output, this is monitored as a time and output accumulation monitoring indicator, and a control signal is transmitted.

[0112] The above safety control unit automatically transmits data to which a known cumulative energy integration formula is applied to detect signs of fire at a single point. The above cumulative energy integration formula transmits a command to calculate the total amount of accumulated energy at a specific point by multiplying the output watt value of the vehicle base station unit by the second value of the time during which the pulse is applied. The above safety control unit identifies a phenomenon where energy is concentrated in one place without the target point moving, and automatically transmits a control signal to cut off the power if the threshold is exceeded.

[0113] [Table 7] 10-Simulation Data for Cumulative Energy Threshold Setting

[0114]

[0115] Based on the simulation data in [Table 7] above, the safety control unit recognizes the physical limit at which paint soot and sparks occur from the point where the accumulated energy exceeds 5,000 joules regardless of output intensity, and automatically transmits data to set 5,000 joules as the allowable accumulated energy reference value.

[0116] [Table 8] Simulation for Verification of Effects Based on Application of Set Threshold (Accumulated Energy 5,000 Joules)

[0117]

[0118] Through the above effect verification simulation, the safety control unit objectively predicts, using a calculation formula, the accumulated thermal accumulation accidents caused by prolonged investigation time even at low output, and automatically transmits a control command to immediately cut off the hardware power.

[0120] In one embodiment according to the present invention, the system may be performed as follows.

[0121] The flight unit (100) automatically transmits state data to take off and begin flight while connected to the ground power supply unit (200) via a wired cable to remove a large icicle with a volume of 2000 cm³ and a mass of 10 kg suspended from the underside of a bridge 20 m high from the ground. The ground power supply unit (200) continuously supplies power to the flight unit (100) and transmits data to the safety control unit (600) that an initial voltage drop of 10 V has occurred by comparing the real-time voltage difference between the transmitting and receiving ends. The safety control unit (600) automatically transmits a control command to activate the variable risk alert radius logic prior to the full-scale cutting operation. When the distance measuring sensor of the flight unit (100) transmits separation height data of 20 m and the ultrasonic wind direction and speed meter acquires and transmits gust data of 7 m / s, the danger notification unit (500) applies a potential energy calculation formula and ground material rebound weighting to calculate data for a drop energy of 1960 J and a predicted debris scattering distance of 14.5 m. Based on the calculation result, the danger notification unit (500) automatically transmits a signal to control the projection angle of the ground safety line marking projector by expanding the basic radius of 5 m to 15 m. When a pedestrian approaching within the radius is detected, the danger notification unit (500) transmits a warning signal to increase the volume of the directional speaker to the maximum level. After the safety zone is secured, the safety control unit (600) activates the flight attitude correction logic and automatically transmits a command to aim at the target. The flight unit (100) acquires and transmits data in which a 15 kgf tension of the cable connected from the ground power supply unit (200) acts downward when tilted forward 15 degrees toward the icicle. The safety control unit (600) applies a vector force decomposition formula to pull the aircraft.By calculating a horizontal deflection force of 88 kgf and adding the lift of the forward rotor in proportion to this, an attitude control signal is automatically transmitted so that the aircraft's flight position is not pushed back even in gusts and tension.

[0122] When aiming is complete, the safety control unit (600) activates the dynamic laser output control logic and transmits a command to start cutting. The vehicle base station unit (300) automatically transmits a signal that emits energy in the form of pulses by increasing the output to 180 W in proportion to the volume of 2000 cm³. The flight unit (100) periodically transmits cable tension, body tilt angle, wind speed, and altitude data even during laser irradiation, and the safety control unit (600) transmits a lift correction command per rotor to reduce positional deviation based on the data. The temperature measurement unit (400) scans the surface temperature of the bridge structure around the cutting surface in milliseconds and transmits temperature change data. When the safety control unit (600) detects that the temperature rise of the structure increases by 5°C per second during irradiation, it automatically transmits a control command to lower the output of the vehicle base station unit (300) to 90 W based on a thermal capacity calculation formula to prevent thermal damage. The above ground power supply unit (200) transmits a signal to further suppress the laser output to prevent a shortage of motor driving power when the detected voltage drop increases to 15 V. The above safety control unit (600) automatically transmits control commands to monitor dangerous situations by operating a heterogeneous data-based immediate shutdown logic in parallel. The above safety control unit (600) calculates the amount of accumulated energy for a single point by operating an accumulated energy integration formula and transmits data that compares and evaluates in real time the temperature rise of the above temperature measurement unit (400), the number of abnormal sparks per second through the high-speed camera, and the number of communication packets missed with the above ground power supply unit (200).The safety control unit (600) automatically transmits a signal to immediately open the main power relay switch to forcibly cut off the laser output to 0 W for system protection when signs of ignition are detected, such as when the accumulated energy at a single point exceeds 5000 J, when the aircraft shakes due to strong winds and communication packets are missed three times in a row, or when the number of sparks exceeds 5 times per second. The safety control unit (600) transmits a command to switch to a safety mode to descend the flight unit (100) to the ground. The safety control unit (600) automatically transmits a control signal indicating that all operations have been successfully completed, by safely cutting the icicle without fire or falling accidents through a complex and organic physics-based multi-control procedure and dropping it within a set danger radius.

[0123] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above. Various modifications are possible by those skilled in the art without departing from the essence of the invention as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present invention. Explanation of the symbols

[0125] Flight unit (100) Ground power supply unit (200) Laser irradiation unit (300) Temperature measuring unit (400) Danger alert unit (500) Safety control unit (600)

Claims

Claim 1 An unmanned aerial system for removing icicles using a laser based on a mirror unit and a vehicle base station unit, which receives power from the ground via a wired cable or via a battery unit, comprising: a flight unit that stays in the air and flies toward the target; a ground power supply unit that continuously supplies high-capacity power to the flight unit; a vehicle base station unit mounted on a vehicle that emits a laser; a mirror unit mounted on the flight unit that controls the direction of travel of the laser incident from the vehicle base station unit and irradiates the target; a temperature measurement unit that measures the surface temperature around a target point where the laser is irradiated in milliseconds; and a safety control unit that automatically transmits control commands instructing flight attitude thrust correction and laser output increase or decrease by processing real-time sensing data acquired from the flight unit, the ground power supply unit, the vehicle base station unit, the mirror unit, and the temperature measurement unit in parallel.The system includes a load sensor for measuring real-time downward tension at the lower cable connection part of the flight unit, and an inertial measurement unit for measuring the forward-backward and left-right tilt angles of the fuselage is mounted inside the fuselage; the safety control unit operates a vector force decomposition formula to overcome the physical phenomenon where the tension of the wired cable acts downward and rearward when the flight unit tilts forward for laser aiming, calculates the magnitude of the horizontal deflection force by multiplying the total tension pulling the aircraft by the sine value of the aircraft's tilt angle, and automatically transmits a control signal that quantitatively adds lift to the forward rotors of the flight unit in proportion to the calculated magnitude of the horizontal deflection force, thereby reducing the possibility of the aircraft's position shifting so that the aiming point deviation remains within a preset aiming error tolerance even amidst gusts under high-rise bridges and heavy cable loads; the safety control unit presets a tension threshold of 20 kilograms-force in memory to determine a flight-incapable state based on the maximum safe lift range that the flight unit's drive motor can generate, and the load An unmanned flight system for removing icicles using a mirror unit and a vehicle base station unit-based laser, characterized by preventing hardware damage and aircraft crash accidents by immediately stopping laser irradiation and transmitting a safety mode switching signal to lower the aircraft altitude, if the tension of the wired cable measured after smoothing the data collected through a sensor by applying a noise filtering algorithm is determined to exceed the 20 kilogram force, thereby identifying that the wired cable is caught on a surrounding structure in an exceptional situation or that the motor is in a physical overload state. Claim 2 An unmanned flight system for removing icicles using a mirror unit and a vehicle base station unit-based laser, characterized in that, in claim 1, the ground power supply unit compares the ground transmission end voltage and the flight unit reception end voltage in real time and automatically transmits loss voltage data generated in proportion to the resistance of the wired cable to the safety control unit, and the safety control unit adds the output watt of the vehicle base station unit in proportion to the volume of the object, and when it is determined that the loss voltage data approaches the physical limit of the flight unit's drive motor, transmits a pulse width modulation control signal that linearly suppresses and subtracts the laser output value calculated in proportion to the volume so as to maintain the flight stability of the aircraft, thereby reducing the possibility of the aircraft motor shutting off and crashing due to power shortage and voltage drop in a high-altitude environment. Claim 3 An unmanned aerial system for removing icicles using a laser based on a mirror unit and a vehicle base station unit, characterized in that, in claim 1, the temperature measuring unit measures the surface temperature within the radius of a target point where the laser strikes using an infrared thermal imaging sensor and transmits data on the temperature rise rate per unit time calculated by calculating the temperature difference between a previous time point and a current time point, and the safety control unit applies a thermal capacity calculation formula that divides the thermal energy applied to an object by the product of mass and specific heat to set a value of 10 degrees per second, at which physical damage to the building exterior material begins, as the allowable limit temperature reference value, and if the temperature rise rate data exceeds 10 degrees per second, objectively determines it as a sign of fire occurrence and automatically transmits a command to immediately lower the output of the vehicle base station unit or forcibly cut it off to 0 watts, thereby limiting or cutting off the output to reduce the possibility of overheating and fire of insulation materials, etc. Claim 4 delete Claim 5 An unmanned flight system for removing icicles using a laser based on a mirror unit and a vehicle base station unit, wherein, in claim 1, the safety control unit generates and transmits a rotor output correction command of the flight unit based on the amount of attitude change and the amount of wind speed change obtained from an inertial measurement device and a wind direction and speed meter mounted on the flight unit, and adds the lift for each rotor in proportion to the magnitude of the horizontal deflection force calculated by the change in wire cable tension, thereby maintaining the aiming angle control of the mirror unit with respect to the target point. Claim 6 delete

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