Control vehicle for swarming unmanned aerial vehicles that doubles as a coolant and its thermal management method

Abstract

A control vehicle for a swarm of unmanned aerial vehicles that also serves as a coolant, and a thermal management method thereof are disclosed. A control vehicle for a swarm of unmanned aerial vehicles according to one aspect of the present invention comprises: a water tank in which firefighting water to be supplied to the unmanned aerial vehicles is stored; a control panel including a computing device for controlling the swarm of unmanned aerial vehicles; a closed-loop cooling channel for circulating a cooling liquid between the control panel and the water tank; a heat exchanger disposed on the cooling channel for exchanging heat between the firefighting water and the cooling liquid in the water tank; a supply unit for supplying the firefighting water from the water tank to the unmanned aerial vehicles; a sensor unit for detecting the water temperature and water level of the water tank; and a control unit for controlling the devices, wherein the compartment housing the control panel is sealed without an external air intake, heat generated from the control panel is transferred to the heat exchanger by the cooling liquid circulating in the closed-loop cooling channel and transferred to the firefighting water in the water tank, and the firefighting water, which has absorbed heat and whose temperature has risen, is supplied to the unmanned aerial vehicles by the supply unit and is discharged to the outside of the vehicle, thereby discharging waste heat from the control panel to the outside.

Description

Technology Field

[0001] The present invention relates to a vehicle for operating a swarm of unmanned aerial vehicles in extreme environments such as wildfire sites, and more specifically, to a swarm of unmanned aerial vehicle control vehicle and a heat management method thereof, wherein a water tank storing firefighting water to be supplied to the unmanned aerial vehicles doubles as a coolant (heat sink) for the control panel, and firefighting water that has absorbed waste heat generated from the control panel is supplied to the unmanned aerial vehicles and then discharged to the outside, thereby resolving the problem of heat accumulation. Background Technology

[0003] In the operation of swarms of unmanned aerial vehicles (UAVs) for wildfire suppression, vehicles responsible for UAV takeoffs and landings, water supply, and swarm control computations must be deployed close to the fire line to maintain communication links and reduce round-trip times. However, vehicles located close to the fire line are continuously exposed to extreme radiant heat from the flames, flying sparks falling after landing, and large amounts of smoke and ash.

[0004] Control panels equipped with high-performance computing units for real-time control of multiple unmanned aerial vehicles inevitably generate significant heat. Conventional control vehicles have employed methods to dissipate this heat by drawing in outside air to air-cool the control panel or by dissipating heat to the outside air through radiators.

[0005] However, since the ambient temperature itself is raised by radiant heat, these conventional cooling methods suffer from significantly reduced cooling performance, leading to a contradiction where cooling efficiency actually decreases as the heat load increases.

[0006] Furthermore, the external air intake formed in the vehicle body serves as a pathway for flammable materials to enter, increasing the risk of ignition inside the vehicle. Thirdly, a large amount of floating mist and ash rapidly clogs the intake filter, causing the cooling flow rate to drop sharply over time.

[0007] In addition, if the control panel overheats due to these causes and the operation stops, it leads directly to the fatal result of losing control of the entire swarm of unmanned aerial vehicles.

[0008] To avoid this, separating the vehicle from the fire line reduces the suppression continuity of the unmanned aerial vehicle; therefore, there is an urgent need for a new thermal management method that does not require an external air intake and does not increase the vehicle's payload capacity. Prior art literature

[0010] Republic of Korea Registered Patent No. 10-2599693 Fire suppression system and firefighting aircraft equipped with the same The problem to be solved

[0011] Accordingly, the present invention has been devised to solve the aforementioned problems and aims to provide a control vehicle for a swarm of unmanned aerial vehicles that also uses fire extinguishing water as a coolant, thereby enabling the heat generated by the control panel to be discharged without contact with the outside air and fundamentally eliminating the outside air intake of the vehicle body, and a thermal management method thereof.

[0012] In addition, the present invention aims to fundamentally solve the problem of fire intrusion and filter clogging caused by smoke at a wildfire site by eliminating the presence of an outside air intake in the vehicle, and to provide a swarm unmanned aerial vehicle control vehicle that also uses fire extinguishing water as a coolant to achieve thermal management without adding a separate heavy thermal storage medium or large air conditioner, taking into account the limited payload weight of the unmanned aerial vehicle operation vehicle.

[0013] Furthermore, the present invention aims to provide a control vehicle for a swarm of unmanned aerial vehicles that also uses firefighting water as a coolant, thereby resolving the problem of continuous heat accumulation within the system that inevitably occurs in a closed-loop cooling system, and ensuring the continuity of suppression by maintaining stable control panel cooling even when the vehicle is deployed close to the front line of the fire. The invention also provides a thermal management method for the same.

[0014] Other objects of the present invention will become more apparent through the preferred embodiments described below. means of solving the problem

[0016] According to one aspect of the present invention, a vehicle for controlling a swarm of unmanned aerial vehicles is provided, comprising: a tank for storing firefighting water to be supplied to an unmanned aerial vehicle; a control panel including a computing device for controlling a swarm of unmanned aerial vehicles; a closed-loop cooling channel for circulating a cooling liquid between the control panel and the tank; a heat exchanger disposed on the cooling channel for exchanging heat between the firefighting water in the tank and the cooling liquid; a supply unit for supplying the firefighting water in the tank to the unmanned aerial vehicle; a sensor unit for detecting the water temperature and water level of the tank; and a control unit for controlling the devices, wherein the compartment housing the control panel is sealed without having an external air intake, heat generated from the control panel is transferred to the heat exchanger by the cooling liquid circulating in the closed-loop cooling channel and transferred to the firefighting water in the tank, and the firefighting water, which has absorbed heat and whose temperature has risen, is supplied to the unmanned aerial vehicle by the supply unit and discharged to the outside of the vehicle, thereby discharging waste heat from the control panel to the outside.

[0017] Here, the control unit sets an amount corresponding to the minimum heat capacity required for cooling the control panel among the remaining amount of fire extinguishing water as the cooling reserve amount, and when the water level detected by the sensor unit reaches the cooling reserve amount, the supply of fire extinguishing water to the unmanned aerial vehicle by the supply unit can be restricted.

[0018] In addition, the cooling retention amount set by the control unit is variably set in real time based on a calculation formula that includes at least one of the real-time load of the computing device, the temperature outside the vehicle, and the current water temperature of the fire extinguishing water in the tank as a variable, and is dynamically calculated such that the cooling retention amount increases proportionally as the predicted heat load increases.

[0019] In addition, it further includes an auxiliary radiator that extends to the outside of the vehicle body to dissipate the heat of the coolant to the outside air only when the water temperature of the above-mentioned tank exceeds a preset reference value and the above-mentioned water level is below the above-mentioned cooling retention amount.

[0020] Additionally, it further includes a suction hose connectable to an external water source; and a self-suction pump, wherein the control unit drives the self-suction pump to automatically replenish firefighting water from an external water system when the water level of the water tank reaches the cooling retention amount and an additional sortie of the unmanned aerial vehicle is scheduled.

[0021] In addition, if the water temperature of the tank detected by the sensor unit exceeds a preset reference value, the control unit forcibly promotes the supply of firefighting water to the waiting unmanned aerial vehicle, thereby inducing the discharge of heated firefighting water and the refilling of low-temperature firefighting water.

[0022] Additionally, the device further includes a heat-insulating layer formed on the outer shell of the vehicle body; and an outer shell temperature sensor for measuring the temperature of the outer shell, wherein the control unit increases the circulation flow rate of the coolant in the closed-loop cooling path in proportion to the increase in the temperature detected by the outer shell temperature sensor.

[0023] In addition, the above-mentioned tank is divided into a low-temperature zone and a high-temperature zone by a porous partition that delays internal fluid movement, the heat exchanger is positioned in the low-temperature zone, and the supply unit is connected to preferentially supply fire extinguishing water from the high-temperature zone to the unmanned aerial vehicle.

[0024] In addition, the control unit monitors the real-time computational load and communication traffic of the computational device, and if a surge in computational load is predicted, it preemptively increases the output of the circulation pump of the closed-loop cooling path before an actual temperature rise of the control panel is detected.

[0025] Additionally, the vehicle body spray unit for spraying fire extinguishing water on the exterior of the vehicle is further included, wherein when the temperature around the control panel compartment reaches a dangerous level due to flame radiant heat, the control unit performs defense through latent heat of evaporation by directly spraying a portion of the fire extinguishing water inside the water tank onto the exterior of the vehicle through the vehicle body spray unit.

[0026] In addition, the above-mentioned closed-loop cooling channel is configured in a redundancy with a first cooling channel and a second cooling channel provided independently thereof, and if a leakage of the cooling liquid or a pump failure is detected in either channel, it immediately switches to the other channel to maintain cooling.

[0027] In addition, a Phase Change Material (PCM) panel is attached inside the sealed compartment without an external air intake at a location adjacent to the control panel, so that in the event of a failure in the cooling path or a sudden heat load, it temporarily absorbs heat from the control panel to delay the shutdown of operations.

[0029] According to another aspect of the present invention, a thermal management method for a swarm of unmanned aerial vehicles is provided, comprising the steps of: performing calculations to control the swarm of unmanned aerial vehicles in a control panel housed in a sealed compartment without an external air intake, and when heat is generated, circulating a cooling liquid through a closed-loop cooling path connecting the control panel and a tank storing fire extinguishing water; transferring the heat generated in the control panel to the fire extinguishing water by exchanging heat between the cooling liquid and the fire extinguishing water in the tank through a heat exchanger on the closed-loop cooling path; and discharging waste heat from the control panel to the outside by supplying the fire extinguishing water, which has absorbed heat and whose temperature has risen, to the unmanned aerial vehicle and expelling it outside the vehicle.

[0030] Herein, the method may further include the steps of: a sensor unit detecting the water level and water temperature of the water tank; setting an amount corresponding to the minimum heat capacity required for cooling the control panel among the remaining amount of fire extinguishing water as a cooling reserve amount; and, when the detected water level reaches the cooling reserve amount, restricting the supply of fire extinguishing water to the unmanned aerial vehicle to prevent loss of cooling due to exhaustion of fire extinguishing water.

[0031] Additionally, the method further includes a step of determining whether the condition is satisfied in which the detected water temperature exceeds a preset reference value and the detected water level is less than or equal to the cooling retention amount; and, if the condition is satisfied, deploying an auxiliary radiator provided on the exterior of the vehicle body to dissipate the heat of the coolant to the outside air.

[0032] Additionally, the method further includes a step of a sensor unit detecting the water temperature of the water tank; and a step of lowering the water temperature of the water tank by controlling the supply of firefighting water to a waiting unmanned aerial vehicle when the detected water temperature exceeds a preset reference value, thereby inducing the external discharge of the firefighting water with increased temperature and the refilling of low-temperature firefighting water.

[0034] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention. Effects of the invention

[0036] According to the present invention, since the heat generated by the control panel is transferred to the fire extinguishing water through a sealed closed circuit, an external air intake is unnecessary. Consequently, the intrusion of sparks and filter clogging are completely prevented. Furthermore, since the medium used for cooling is fire extinguishing water with a high heat capacity rather than hot external air, the cooling performance does not deteriorate even if the heat load of the wildfire line increases.

[0037] In addition, according to the present invention, since the fire extinguishing water, which must be mounted on a vehicle anyway to supply to an unmanned aerial vehicle, is used as a heat sink, a large heat capacity can be secured without an additional increase in weight.

[0038] Furthermore, according to the present invention, the fire extinguishing water supply circulation functions as a waste heat discharge circulation, and through the setting of cooling retention amounts, forced drone sortie linked to water temperature, auxiliary radiators and self-contained body sprayers in exceptional situations, and phase change material (PCM) backup, the loss of computation in the control panel is prevented even in unpredictable fire scenes, and the survivability of the vehicle is maximized. Brief explanation of the drawing

[0040] FIG. 1 is an overall conceptual diagram of a swarm unmanned aerial vehicle control vehicle being operated at a wildfire site according to one embodiment of the present invention. FIG. 2 is a basic configuration diagram of a closed-loop thermal management system that utilizes fire extinguishing water as a thermal infusion according to one embodiment of the present invention. FIG. 3 is a system control block diagram for intelligent thermal management of a control vehicle according to an embodiment of the present invention. FIG. 4 is an internal cross-sectional view of a water tank with a porous partition applied according to one embodiment of the present invention. FIG. 5 is an expanded configuration diagram of a thermal management system with multiple safety means additionally combined according to another embodiment of the present invention. FIG. 6 is a cross-sectional view showing the state in which a phase change material (PCM) panel is applied inside a sealed compartment according to one embodiment of the present invention. FIG. 7 is a flowchart illustrating an active thermal management and supply method for a swarm unmanned aerial vehicle control vehicle according to an embodiment of the present invention. Specific details for implementing the invention

[0041] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0042] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0043] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, terms such as "first threshold," "second threshold," etc., to be described later may be pre-designated as thresholds that are substantially different or partially identical; however, since there is a possibility of confusion when expressed using the same word "threshold," the terms "first," "second," etc., will be used together for the convenience of distinction.

[0044] The terms used herein are merely for describing specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the presence 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.

[0045] Furthermore, the components of the embodiments described with reference to each drawing are not limited to the respective embodiments and may be implemented to be included in other embodiments within the scope of maintaining the technical spirit of the present invention. It is also obvious that multiple embodiments may be re-implemented as a single embodiment that integrates multiple embodiments, even if a separate description is omitted.

[0046] Furthermore, in the description referring to the attached drawings, identical components are assigned the same or related reference numerals regardless of drawing symbols, and redundant descriptions thereof are omitted. In describing the present invention, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the present invention, such detailed description is omitted.

[0048] FIG. 1 is an overall conceptual diagram of a swarm unmanned aerial vehicle control vehicle operating at a wildfire site according to one embodiment of the present invention, and FIG. 2 is a basic configuration diagram of a closed-loop thermal management system utilizing firefighting water as a thermal needle according to one embodiment of the present invention.

[0049] Referring to FIGS. 1 and 2, a swarm unmanned aerial vehicle control vehicle (100) according to one embodiment of the present invention is positioned close to a fire line for wildfire suppression. Since the surrounding environment is surrounded by radiant heat, sparks, and a large amount of smoke, the sealed compartment (420) in which the control panel (400) is housed does not have an outside air intake at all.

[0050] High heat generated by the computational device of the control panel (400) is transferred to the cooling liquid circulating through the closed-circuit cooling path. The heated cooling liquid is moved by the circulation pump (520) to the heat exchanger (510) located inside the water tank (300), where it performs heat exchange with hundreds of liters of fire extinguishing water stored in the water tank (300) to be cooled, and then returns to the control panel (400).

[0051] Firefighting water that has absorbed heat and risen in temperature is supplied to the unmanned aerial vehicle (200) and discharged outside the vehicle (fire line). An amount of low-temperature firefighting water is refilled into the water tank (300) from an external water supply source.

[0052] For example, assuming that a water tank (300) with a capacity of 1,000L is filled with water at 15°C, the water temperature can rise to 30°C due to heat generated by the control panel (400). At this time, if 10 unmanned aerial vehicles take off carrying a total of 200L of heated water, with each carrying 20L, the vehicle achieves the effect of discharging waste heat to the outside. Subsequently, when 200L of water at 15°C is newly charged, the total water temperature drops again, and the cooling performance is continuously maintained.

[0054] FIG. 3 is a system control block diagram for intelligent thermal management of a control vehicle according to an embodiment of the present invention, and FIG. 7 is a flowchart showing an active thermal management and supply method for a swarm unmanned aerial vehicle control vehicle according to an embodiment of the present invention.

[0055] Referring to the control block diagram of FIG. 3 and the flowchart (S10~S60) of FIG. 7, the central control unit performs active thermal management based on data from the sensor unit (water temperature / water level).

[0056] In S30 to S31, the minimum amount of water required for the control panel (400) to withstand without overheating is set as the 'cooling reserve amount (e.g., 150L)'. If the water level of the water tank (300) drops below 150L (No. of S30), the control unit immediately stops supplying water to the unmanned aerial vehicle (S31) to prevent the control panel cooling medium from being depleted.

[0057] At this time, the [cooling retention amount] set by the control unit is not a fixed constant value, but can be variably set in real time based on a calculation formula that uses the current ambient temperature, the real-time load of the calculation device (410), and the current water temperature of the fire extinguishing water in the water tank as variables. The cooling retention amount is dynamically calculated so that it increases as the heat load increases.

[0058] In S50 to S51, conversely, if the water level is sufficient but the water temperature of the tank exceeds a critical threshold (e.g., 40°C) (Yes in S50), the control unit forcibly supplies water to the waiting unmanned aerial vehicles regardless of the fire suppression command and launches them (S51). This is an active heat dissipation action to quickly discard the hot water and receive cold water (S60).

[0059] For example, if the swarm control data (e.g., simultaneous control of 50 drones) increases, the increase in the load of the computing device (CPU / GPU occupancy) is detected first before the temperature of the control panel actually rises, and the RPM of the circulation pump (520) is preemptively increased from 3,000 to 5,000 to prevent heat spikes.

[0061] FIG. 4 is an internal cross-sectional view of a water tank with a porous partition applied according to one embodiment of the present invention.

[0062] Referring to FIG. 4, a porous partition with a plurality of fine holes is installed inside the tank (300) to physically divide the tank space into a [low temperature zone] and a [high temperature zone].

[0063] The heat exchanger (510) is positioned in a low-temperature zone to maximize cooling efficiency by bringing the high-temperature coolant from the control panel into contact with the coldest water. On the other hand, the supply piping connected to the unmanned aerial vehicle is positioned in a high-temperature zone.

[0064] For example, the porous baffle slows down the rate at which water mixes. Water heated around the heat exchanger (510) moves slowly over the baffle to the high-temperature zone by convection. As a result, the low-temperature zone is maintained at 20°C, and the high-temperature zone becomes 35°C. The supply unit prioritizes supplying water at 35°C to the unmanned aerial vehicle, thereby enabling the most efficient removal of waste heat.

[0065] Here, according to one example, the porous partition inside the water tank (300) is configured to utilize the difference in specific gravity between hot and cold water. A heat exchanger is positioned in the lower part of the low-temperature zone, which has a relatively high specific gravity, to cool the cooling liquid to the maximum extent, and a supply port is positioned in the upper part of the high-temperature zone, which has absorbed heat and has a lighter specific gravity, thereby forming a stratification thermal management structure in which the most heated firefighting water is first discharged to the unmanned aerial vehicle.

[0067] FIG. 5 is an expanded configuration diagram of a thermal management system with multiple safety means additionally combined according to another embodiment of the present invention.

[0068] Referring to FIG. 5, multiple safety devices are provided to prepare for situations where the aforementioned water tank cooling cycle reaches its limit or the external environment deteriorates to an extreme degree.

[0069] The water tank temperature is very hot at 45°C, but the water level is below the 'cooling reserve (150L)', so a stalemate may occur where water cannot be drained out. At this time, the control unit unfolds the auxiliary radiator that was folded on the outside of the vehicle body to temporarily dissipate heat through external air.

[0070] In addition, when a flame approaches within 10m of the vehicle and the [outer shell temperature sensor] mounted inside the thermal insulation layer detects a temperature of 100°C or higher, the control unit sprays a portion of the water from the tank onto the outside of the vehicle (e.g., a sprinkler) to protect the vehicle body from the flame through latent heat of evaporation.

[0071] In addition, when the water level reaches the cooling reserve amount because the fire extinguishing water supply vehicle does not arrive on time, the self-contained suction pump and hose equipped in the vehicle are thrown into a nearby valley or stream, and water from an external water system is automatically sucked in to fill the water tank (300).

[0072] According to one example, the closed-loop cooling system is independently configured into a first and second channel. If the first channel piping is damaged due to vibrations in unpaved mountainous terrain, causing coolant leakage, the valve is immediately shut off, and the second channel and backup pump are activated to prevent the control panel from shutting down.

[0073] In addition, the control unit detects the radiant heat environment outside the vehicle in real time through an outer shell temperature sensor installed inside the thermal insulation layer, and can preemptively increase the circulation flow rate of the coolant in the closed-loop cooling path by proportionally controlling the output of the circulation pump in preparation for increased heat transfer to the control panel compartment as the detected outer shell temperature rises.

[0074] In addition, a vehicle according to another example of the present invention may further include an emergency drain valve provided at the bottom of the water tank (300) to forcibly discharge firefighting water to the outside of the vehicle. When the water temperature of the water tank (300) exceeds a critical threshold while the unmanned aerial vehicle (200) is unable to launch, the control unit opens the emergency drain valve to directly discharge the heated firefighting water to the outside of the vehicle and refills low-temperature firefighting water from an external water supply source, thereby maintaining the cooling performance of the control unit regardless of whether the unmanned aerial vehicle is in operation.

[0076] FIG. 6 is a cross-sectional view showing the state in which a phase change material (PCM) panel is applied inside a sealed compartment according to one embodiment of the present invention.

[0077] Referring to FIG. 6, a phase change material (PCM) panel is extensively attached to the inner wall of a sealed compartment (420) without an external air intake or to the case surface of a control panel (400).

[0078] PCM has the characteristic of changing from a solid to a liquid phase at a specific temperature (e.g., 35°C) and absorbing a large amount of surrounding heat (latent heat).

[0079] For example, if the worst-case scenario occurs where the closed-loop cooling system completely shuts down due to a pump failure or tank damage, the temperature inside the sealed compartment will skyrocket. At this point, the PCM panel, which melts at 35°C, begins to absorb the heat emanating from the control panel. This buys about 20 to 30 minutes for the PCM to turn completely into liquid, and during this golden time, the control panel can safely transmit 'Right to Safe Zone (RTH) and Landing' commands to the airborne swarm of unmanned aerial vehicles without a shutdown.

[0081] A computer program stored on a computer-readable medium may be provided to perform the thermal management method of a swarm unmanned aerial vehicle control vehicle according to the present invention described above.

[0082] In addition, the thermal management method of the aforementioned swarm unmanned aerial vehicle control vehicle can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording media in which data that can be decoded by a computer system is stored. Examples include ROM (Read Only Memory), magnetic tape, magnetic disk, optical data storage device, etc. Furthermore, computer-readable recording media can be distributed across computer systems connected via a computer network and stored and executed as code that can be read in a distributed manner.

[0083] Furthermore, although the present invention has been described above with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0085] 100: Swarm Unmanned Aerial Vehicle Control Vehicle 120: Thermal insulation layer (envelope and temperature sensor) 200: Unmanned aerial vehicle 300: Water tank (firefighting water storage) 310: Porous partition 400: Control panel 410: Arithmetic Unit 420: Sealed compartment

Claims

Claim 1 A vehicle for controlling a swarm of unmanned aerial vehicles, comprising: a tank for storing firefighting water to be supplied to an unmanned aerial vehicle; a control panel including a computing device for controlling a swarm of unmanned aerial vehicles; a closed-loop cooling channel for circulating a cooling liquid between the control panel and the tank; a heat exchanger disposed on the cooling channel for exchanging heat between the firefighting water and the cooling liquid in the tank; a supply unit for supplying the firefighting water in the tank to the unmanned aerial vehicle; a sensor unit for detecting the water temperature and water level of the tank; and a control unit for controlling the devices, wherein the compartment housing the control panel is sealed without an external air intake, heat generated from the control panel is transferred to the heat exchanger by the cooling liquid circulating in the closed-loop cooling channel and transferred to the firefighting water in the tank, and the firefighting water, having absorbed heat and whose temperature has risen, is supplied to the unmanned aerial vehicle by the supply unit and discharged to the outside of the vehicle, thereby discharging waste heat from the control panel to the outside. Claim 2 A swarm unmanned aerial vehicle control vehicle according to claim 1, wherein the control unit sets an amount corresponding to the minimum heat capacity required for cooling the control panel among the remaining amount of fire extinguishing water as a cooling reserve amount, and restricts the supply of fire extinguishing water to the unmanned aerial vehicle by the supply unit when the water level detected by the sensor unit reaches the cooling reserve amount. Claim 3 A swarm unmanned aerial vehicle control vehicle according to claim 2, wherein the cooling retention amount set by the control unit is variably set in real time based on a calculation formula including at least one of the real-time load amount of the computing device, the temperature outside the vehicle, and the current water temperature of the fire extinguishing water in the water tank as a variable, and is dynamically calculated such that the cooling retention amount increases proportionally as the predicted heat load increases. Claim 4 A swarm unmanned aerial vehicle control vehicle according to claim 2, further comprising an auxiliary radiator that extends to the outside of the vehicle body to dissipate the heat of the coolant to the outside air only when the water temperature of the water tank exceeds a preset reference value and the water level is less than or equal to the cooling retention amount. Claim 5 A swarm unmanned aerial vehicle control vehicle according to claim 2, further comprising: a suction hose connectable to an external water source; and a self-suction pump, wherein the control unit drives the self-suction pump to automatically replenish firefighting water from an external water system when the water level of the water tank reaches the cooling retention amount and an additional sortie of the unmanned aerial vehicle is scheduled. Claim 6 A swarm unmanned aerial vehicle control vehicle according to claim 1, wherein the control unit forcibly promotes the supply of fire extinguishing water to the waiting unmanned aerial vehicle when the water temperature of the water tank detected by the sensor unit exceeds a preset reference value, thereby inducing the discharge of heated fire extinguishing water and the refilling of low-temperature fire extinguishing water. Claim 7 A swarm unmanned aerial vehicle control vehicle according to claim 1, further comprising: a heat-insulating layer formed on the outer shell of a vehicle body; and an outer shell temperature sensor for measuring the temperature of the outer shell, wherein the control unit proportionally increases the coolant circulation flow rate of the closed-loop cooling path as the temperature detected by the outer shell temperature sensor rises. Claim 8 A swarm of unmanned aerial vehicles control vehicle according to claim 1, wherein the tank is divided into a low-temperature zone and a high-temperature zone by a porous partition that delays internal fluid movement, the heat exchanger is positioned in the low-temperature zone, and the supply unit is connected to preferentially supply fire extinguishing water from the high-temperature zone to the unmanned aerial vehicles. Claim 9 A swarm unmanned aerial vehicle control vehicle according to claim 1, wherein the control unit monitors the real-time computational load and communication traffic of the computational device and, when a surge in computational load is predicted, preemptively increases the output of the circulation pump of the closed-loop cooling path before the actual temperature rise of the control panel is detected. Claim 10 A swarm unmanned aerial vehicle control vehicle according to claim 1, further comprising a body spray unit that sprays fire extinguishing water to the outside of the vehicle, wherein the control unit performs defense through latent heat of evaporation by directly spraying a portion of the fire extinguishing water inside the water tank to the outside of the vehicle through the body spray unit when the temperature around the control panel compartment reaches a dangerous level due to flame radiant heat. Claim 11 A swarm unmanned aerial vehicle control vehicle according to claim 1, wherein the closed-loop cooling channel is configured in a redundancy with a first cooling channel and a second cooling channel provided independently thereof, and if a leakage of the coolant or a failure of the pump is detected in either channel, it immediately switches to the other channel to maintain cooling. Claim 12 A swarm unmanned aerial vehicle control vehicle according to claim 1, wherein a phase change material (PCM) panel is attached in a position adjacent to the control panel within the sealed compartment without an external air intake, so as to temporarily absorb heat from the control panel in the event of a failure of the cooling path or a sudden heat load, thereby delaying the shutdown of operations. Claim 13 A thermal management method for a swarm of unmanned aerial vehicles, comprising: a step of performing calculations to control the swarm of unmanned aerial vehicles in a control panel housed in a sealed compartment without an external air intake, and when heat is generated, circulating a cooling liquid through a closed-loop cooling path connecting the control panel and a tank storing fire extinguishing water; a step of transferring the heat generated in the control panel to the fire extinguishing water by exchanging heat between the cooling liquid and the fire extinguishing water in the tank through a heat exchanger on the closed-loop cooling path; and a step of discharging waste heat from the control panel to the outside by supplying the fire extinguishing water, which has absorbed heat and whose temperature has risen, to the unmanned aerial vehicles and expelling it outside the vehicle. Claim 14 A thermal management method for a swarm of unmanned aerial vehicles, comprising: a step of a sensor unit detecting the water level and water temperature of the water tank; a step of setting an amount corresponding to the minimum heat capacity required for cooling the control panel among the remaining amount of fire extinguishing water as a cooling reserve amount; and a step of restricting the supply of fire extinguishing water to the unmanned aerial vehicle to prevent loss of cooling due to exhaustion of fire extinguishing water when the detected water level reaches the cooling reserve amount. Claim 15 A thermal management method for a swarm of unmanned aerial vehicles, comprising: a step of determining whether the condition is satisfied in which the detected water temperature exceeds a preset reference value and the detected water level is less than or equal to the cooling retention amount; and, if the condition is satisfied, a step of deploying an auxiliary radiator provided on the exterior of the vehicle body to dissipate the heat of the coolant to the outside air. Claim 16 A thermal management method for a swarm of unmanned aerial vehicles control vehicle according to claim 13, further comprising: a step of a sensor unit detecting the water temperature of the water tank; and a step of lowering the water temperature of the water tank by controlling to promote the supply of fire extinguishing water to a waiting unmanned aerial vehicle when the detected water temperature exceeds a preset reference value, thereby inducing the external discharge of fire extinguishing water with a raised temperature and the refilling of low-temperature fire extinguishing water.

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