Mobile robot-type fire suppression device

Abstract

A mobile robot-type fire suppression device comprises a mobile robot having a frame and a plurality of wheels provided at the bottom of the frame; a first storage tank provided within the frame for storing fire extinguishing water; a first pipe for guiding the fire extinguishing water from the first storage tank; a first rotating structure rotatably coupled to the first pipe; a plurality of first extension structures provided to be exposed from the frame and provided to be extendable or retractable from the first rotating structure; a first spraying unit having a first spray nozzle provided on a first extension structure provided at an end among the first extension structures; and a control unit for driving the first rotating structure and the plurality of first extension structures so that the first spray nozzle is directed toward a fire area.

Description

Technology Field

[0001] The present invention relates to a mobile robot-type fire suppression device, and more specifically, to a mobile robot-type fire suppression device that is linked with a home IoT system, moves to a fire area when a fire occurs, sprays extinguishing water, and rapidly suppresses a fire by adjusting the spraying direction toward the fire area. Background Technology

[0002] Conventionally, fires were suppressed in their early stages by uniformly spraying extinguishing water through sprinklers fixed to the ceiling. Since the spray direction and range of sprinklers are fixed, if the actual location of the fire or its spread path does not align with the fixed spray range, the water may not reach the fire source accurately and could instead disperse to the surrounding area. When a fire moves or spreads widely rather than being confined to a specific space, it is difficult to respond effectively and in a timely manner, which is highly likely to lead to failure in initial suppression. Conventional devices lack the capability to accurately detect the fire source in real time or to actively adjust the spray direction toward the detected fire area; consequently, rapid and precise suppression is virtually impossible when fires occur at multiple locations or within complex structures. Consequently, there was a problem where the spread of fire could not be prevented if the fire source was not included within the spray range or if the spray pressure and direction deviated from the fire's progression, leading to increased casualties and property damage. The problem to be solved

[0003] One objective of the present invention is to provide a mobile robot-type fire suppression device capable of rapidly and effectively suppressing a fire by accurately identifying a fire area in real time when a fire occurs, moving toward the identified fire area, and precisely spraying extinguishing water toward the identified fire area. means of solving the problem

[0004] A mobile robot-type fire suppression device according to exemplary embodiments for achieving one objective of the present invention comprises: a mobile robot having a frame and a plurality of wheels provided at the bottom of the frame; a first storage tank provided within the frame for storing fire extinguishing water; a first pipe for guiding the fire extinguishing water from the first storage tank; a first rotating structure rotatably coupled to the first pipe; a plurality of first extension structures provided to be exposed from the frame and provided to be extendable or retractable from the first rotating structure; a first spraying unit having a first spray nozzle provided on a first extension structure provided at an end among the first extension structures; and a control unit for driving the first rotating structure and the plurality of first extension structures so that the first spray nozzle is directed toward a fire area.

[0005] In exemplary embodiments, the second injection unit further comprises a second storage tank provided within the frame for storing the fire extinguishing water, a second pipe for guiding the fire extinguishing water from the second storage tank, a second rotating structure rotatably coupled to the second pipe, a plurality of second extension structures provided to be exposed from the frame and capable of extending or contracting from the second rotating structure, and a second injection unit having a second injection nozzle provided on a second extension structure provided at an end among the second extension structures.

[0006] In exemplary embodiments, the first spray unit includes a first pump for spraying the fire extinguishing water at a first discharge pressure, and the second spray unit includes a second pump for spraying the fire extinguishing water at a second discharge pressure greater than the first discharge pressure.

[0007] In exemplary embodiments, the first spray unit further comprises a first fire extinguishing agent supplyer coupled to the first pipe to supply a non-conductive fire extinguishing agent to the fire extinguishing water moving within the first pipe, and the second spray unit further comprises a second fire extinguishing agent supplyer coupled to the second pipe to supply a foam fire extinguishing agent to the fire extinguishing water moving within the second pipe.

[0008] In exemplary embodiments, the frame has a rectangular shape having side walls, and the mobile robot further includes a plurality of cameras installed at least two on each of the side walls.

[0009] In exemplary embodiments, the control unit generates an Around View Monitor (AVM) image based on images captured through the plurality of cameras.

[0010] In exemplary embodiments, the control unit identifies the fire area from images collected through the plurality of cameras using a deep learning-based fire identification algorithm.

[0011] In exemplary embodiments, the number of the plurality of first extension structures is within the range of 5 to 15.

[0012] In exemplary embodiments, the first extension structures and the second extension structures are exposed on the frame in opposite directions. Effects of the invention

[0013] According to exemplary embodiments, a mobile robot-type fire suppression device may include a mobile robot having a frame and a plurality of wheels provided at the bottom of the frame, a first storage tank provided within the frame for storing fire extinguishing water, a first pipe for guiding the fire extinguishing water from the first storage tank, a first rotating structure rotatably coupled on the first pipe, a plurality of first extension structures provided to be exposed from the frame and provided to be extendable or retractable from the first rotating structure, a first spraying unit having a first spray nozzle provided on a first extension structure provided at an end among the first extension structures, and a control unit for driving the first rotating structure and the plurality of first extension structures so that the first spray nozzle is directed toward a fire area.

[0014] Accordingly, the mobile robot-type fire suppression device comprises a rotatable first rotating structure and a plurality of first extension structures that can extend or retract from the first rotating structure, thereby allowing the position of the extinguishing water spray to be flexibly adjusted according to the location and direction of the fire occurrence. In particular, rotational control of the spraying direction is possible through the first rotating structure rotatably coupled to the first pipe, and the first rotating structure and the first extension structures are aligned so that the first spray nozzle is directed accurately toward the fire area according to the driving of the control unit, thereby enabling precise spraying of extinguishing water toward the center of the actual fire source, unlike a fixed sprinkler. As a result, the extinguishing water is not wasted in meaningless spaces but reaches the fire source directly, thereby significantly improving the efficiency and speed of initial fire suppression.

[0015] Furthermore, the mobile robotic fire suppression device described above can move within a building via its multiple wheels, allowing it to directly enter the fire scene. Since it can move freely without structural constraints within the building, it offers the flexibility to be applied to various spatial environments. Because the spray angle and length can be controlled in the event of a fire, the extinguishing water can reach areas that are difficult to access due to high-temperature smoke or blind spots, enabling fire response in larger areas and complex structures compared to traditional fixed sprinklers. In addition, since the spray direction can be automatically controlled, water damage caused by unnecessary multi-directional spraying (e.g., water-sensitive electronic equipment, documents, etc.) can be minimized, providing excellent additional benefits in terms of protecting facility assets.

[0016] However, the effects of the present invention are not limited to the effects mentioned above and may be extended in various ways without departing from the spirit and scope of the present invention. Brief explanation of the drawing

[0017] FIG. 1 is a perspective view showing a mobile robot-type fire suppression device according to exemplary embodiments. Figure 2 is a cross-sectional view taken along the A-A' line of Figure 1. Figure 3 is a flowchart showing the process of operating the mobile robot-type fire suppression device of Figure 1. FIGS. 4 to 7 are drawings illustrating the operation process of a mobile robot-type fire suppression according to exemplary embodiments. Specific details for implementing the invention

[0018] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0019] In each drawing of the present invention, the dimensions of the structures are depicted enlarged compared to the actual dimensions for the sake of clarity of the present invention.

[0020] In the present invention, 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.

[0021] The terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, 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.

[0022] With respect to the embodiments of the present invention disclosed in the text, specific structural or functional descriptions are provided merely for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and should not be interpreted as being limited to the embodiments described in the text.

[0023] That is, the present invention is capable of various modifications and may take various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed forms, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0024] FIG. 1 is a perspective view showing a mobile robot-type fire suppression device according to exemplary embodiments. FIG. 2 is a cross-sectional view taken along the line A-A' of FIG. 1.

[0025] Referring to FIGS. 1 and 2, a mobile robot-type fire suppression device (10) may include a movable mobile robot (100), a first storage tank (200) for storing fire extinguishing water (L), a first pipe (310), a first rotating structure (320), first extension structures (330), and a first spraying unit (300) having a first spray nozzle (340), and a control unit (400) for driving the first spraying unit (300). The mobile robot-type fire suppression device (10) may further include a plurality of cameras (130).

[0026] In exemplary embodiments, the mobile robot-type fire suppression device (10) may provide a structure capable of identifying the location of a fire in real time, moving to the identified fire area, and actively controlling the spray direction and angle so that the extinguishing water (L) can reach the identified fire area precisely. To this end, the mobile robot-type fire suppression device (10) may include a first spray unit (300) having a rotatable first rotating structure (320) and first extendable and retractable structures (330). The mobile robot-type fire suppression device (10) can overcome the limitations of a conventional sprinkler that sprays extinguishing water (L) uniformly in a fixed direction by enabling the first spray nozzle (340) to accurately aim at the center of the fire through a control unit (400) that drives the structures. Furthermore, this structure can move flexibly even within buildings with spatial constraints and can form various spray paths depending on the fire spread range or building structure, thereby maximizing actual fire suppression efficiency and minimizing unnecessary water damage.

[0027] In exemplary embodiments, the mobile robot-type fire suppression device (10) can operate in conjunction with an IoT (Internet of Things) system configured with various home appliances installed within a smart home environment. Unlike conventional passive and limited detection-based fire response systems, this configuration can support more sensitive and precise fire detection and response by utilizing sensors and communication modules attached to each home appliance. For example, an IoT platform connected to an electric stove in the kitchen, a smart air conditioner in the living room, an air quality sensor in the bedroom, etc., can collect and analyze various indicators in real time, such as temperature, smoke, carbon dioxide concentration, and current anomalies. By transmitting this information to the control unit of the mobile robot-type fire suppression device (10), it can provide a basis for quickly identifying initial signs of fire and responding preemptively.

[0028] In addition, multiple 360-degree rotatable camera lenses installed inside a house or factory can collect images of the entire space in real time and analyze the images to detect visual anomalies such as smoke, flames, and temperature changes. The image data collected from the camera lenses is transmitted to the data processing process of the mobile robot fire suppression device (10), allowing the initial point of ignition to be accurately and quickly identified. As a result, the mobile robot fire suppression device (10) can respond more precisely and quickly than existing sensor-based detection systems.

[0029] The mobile robot-type fire suppression device (10) can predict the location of a fire by synthesizing the results of the IoT system and video data analysis, or if there is a high probability that the fire originated from a specific device, it can move directly to that location and start fire suppression. In this process, the mobile robot-type fire suppression device (10) can learn the indoor structure in advance or set an optimal movement path by referring to cloud-based map data, and can reach the fire area quickly and stably by applying obstacle avoidance functions or autonomous driving technology. By combining this mobile robot-type fire suppression device (10) with IoT technology and real-time video analysis technology, it can go beyond simple fire extinguishing functions to form an intelligent and autonomous fire suppression ecosystem, and can operate as an advanced disaster prevention system suitable for future smart homes and smart factories.

[0030] In exemplary embodiments, the mobile robot (100) may include a frame (110) and a plurality of wheels (120) that move the frame (110). The frame (110) provides a space to accommodate a fire extinguishing water storage tank and various control modules inside, and the plurality of wheels (120) may be rotatably mounted to enable movement in all directions and are individually controlled by an electric motor or drive module so that the robot can move autonomously or under remote control at a fire site. Through this, the mobile robot (100) can provide a foundation to approach a fire suppression target location and stably perform fire response operations.

[0031] The frame (110) can serve as a main body to support the overall structure of the mobile robot-type fire suppression device (10) and to accommodate internal components. The frame (110) can move freely within a building. The frame (110) can increase space utilization, allow the device to move while avoiding surrounding objects so as not to interfere with human movement paths or indoor structures, and enable it to perform fire suppression functions over a wide area. The frame (110) can be designed so that various internal components, such as sprayers, control circuits, sensors, and extension structures, can be stably embedded or combined.

[0032] The frame (110) may include a dome structure (111) provided on the upper part. The dome structure (111) may be provided to be rotatable on the upper part. The dome structure (111) may accommodate a control unit (400) and protect it from the outside.

[0033] The frame (110) may have a rectangular shape having side walls (112a, 112b, 112c, 112d). According to one embodiment, the frame (110) may be formed in the rectangular shape including the side walls (112a, 112b, 112c, 112d). The rectangular shape facilitates securing internal space and enables modular arrangement of various components. The plurality of side walls (112a, 112b, 112c, 112d) allow components such as cameras, sensors, and nozzle control mechanisms to be distributed on each face, and in particular, by securing a field of view and spray range in different directions for each side wall, it can support multi-directional monitoring and fire suppression.

[0034] The frame (110) may include a door (114) capable of opening or closing at least some of the side walls (112a, 112b, 112c, 112d). Since the frame (110) contains core components, it may have a closed structure to protect these components from the external environment during movement and to maintain a neat and tidy appearance in normal times. The door (114) is installed on at least some of the side walls (112a, 112b, 112c, 112d) of the frame (110) so that when the device is in a standby state, it is completely sealed to block the entry of foreign matter, dust, moisture, mechanical shock, etc. from the outside, and can also naturally harmonize with the space in terms of aesthetics.

[0035] When a fire is detected and the device needs to operate, the door (114) may be automatically opened under the control of the control unit (400) to allow the first extension structures (330) stored inside the frame (110) to be rapidly deployed to the outside. The door (114) can be implemented in various structures such as an up-and-down opening type, a sliding type, or a rotary type, and can be designed to minimize the delay in the operation of the device along with emergency opening operations in response to heat or smoke detection. The material of the door (114) may be composed of a flame-retardant or thermal insulation material, so that stable opening operations without damage can be performed even in the event of a fire while maintaining the protection performance of the internal device. Such a door (114) configuration can satisfy both conflicting conditions of routine protection of the device and rapid operation in emergency situations, thereby contributing to simultaneously improving the durability and responsiveness of the system.

[0036] In exemplary embodiments, the mobile robot fire suppression device (10) may further include a plurality of cameras (130) installed on each of the side walls (112a, 112b, 112c, 112d) of the frame (110). At least two of the plurality of cameras (130) may be arranged on each side wall (112), and through this configuration, the mobile robot fire suppression device (10) can identify the fire source more precisely and three-dimensionally.

[0037] Each of the multiple cameras (130) is installed at a different position or angle and configured to capture the same space from different viewpoints, thereby enabling real-time estimation of depth information and three-dimensional structural information of the space beyond simple surveillance functions based on two-dimensional images. In particular, stereo image data obtained by installing at least two cameras (130) on each of the side walls (112a, 112b, 112c, 112d) is used to analyze the distance, height, and three-dimensional coordinates of the location where the fire occurred, and the stereo image data can be used as basic data for aligning the first spraying unit (300) in a more accurate direction.

[0038] For example, if a fire occurs on a floor or furniture located at a certain distance from the mobile robot-type fire suppression device (10), it is difficult to accurately determine the depth or height with a single camera, so there may be limitations in controlling the direction of the first spray nozzle (340) as the first rotating structure (320) rotates and the first extension structures (330) extend or contract toward the center of the fire. In this case, the stereo image data obtained from multiple cameras (130) can be utilized, and not only the location of the fire but also the relative distance, direction, and height between the location and the device can be precisely recognized. The result of this recognition is transmitted to the control unit (400) and can be used to adjust the angle of the first extension structures (330) so that the first spray nozzle (340) of the first spray unit (300) accurately faces the fire area. Therefore, the efficiency of fire suppression can be maximized by ensuring that extinguishing water (L) reaches the actual fire source directly, without wasting it in unnecessary areas. Furthermore, this precise response enables stable fire response even in spaces with complex indoor structures or limited visibility, and can contribute to minimizing casualties and property damage through a more accurate and rapid response in the early stages of a fire.

[0039] Alternatively, multiple cameras (130) may be provided on a dome structure (111). The dome structure (111) may distribute components such as cameras, sensors, and nozzle control mechanisms. The dome structure (111) may arrange multiple cameras (130) radially. The dome structure (111) may rotate multiple cameras (130) to efficiently photograph the surrounding area. By arranging multiple cameras (130) radially to secure a field of view and spray range in different directions, the dome structure (111) may support multi-directional monitoring and fire suppression. The shape of the dome structure (111) may be made of metal or flame-retardant synthetic resin material, taking into consideration heat resistance, seismic resistance, etc.

[0040] In exemplary embodiments, the first storage tank (200) may temporarily store fire extinguishing water (L). When a large volume of fire extinguishing water is required immediately upon the occurrence of a fire, there may be a possibility that the water pressure from the external water supply is unstable or delayed. To prepare for such a situation, a certain amount of fire extinguishing water (L) can be pre-stored by separately providing the first storage tank (200) within the device, and preemptive suppression may be possible by delivering the fire extinguishing water (L) to the first spray unit (300) within a short period of time immediately after the initial fire is detected.

[0041] The first storage tank (200) can deliver fire extinguishing water (L) to the first spray unit (300). The first storage tank (200) is fluidically connected to the first spray unit (300), so that after fire identification, fire extinguishing water (L) can be rapidly supplied along the first pipe (310) through the first pump (350) or an intermediate pressure delivery means under the control of the control unit (400). The fire extinguishing water (L) stored in the first storage tank (200) may be prepared in a form in which a fire extinguishing agent is mixed in advance, and can be usefully applied in structures with unstable indoor water pressure, high-rise buildings, or when used as a standalone fire suppression device. The first storage tank (200) can be designed to be installed inside the device or near the frame (110) to maintain a stable flow rate and pressure without compromising space efficiency. Such a configuration can have great technical utility in that it enables autonomous supply of fire extinguishing water by the device itself without relying on external infrastructure in situations where a response within seconds immediately after a fire occurs is critical.

[0042] In exemplary embodiments, the first spray unit (300) may include a first pipe (310) for guiding fire extinguishing water (L) from a first storage tank (200), a first rotating structure (320) rotatably coupled to the first pipe (310), a plurality of first extension structures (330) provided to extend or contract from the first rotating structure (320), and a first spray nozzle (340) provided on a first extension structure (330d) provided at the end of the first extension structures (330).

[0043] The first spray unit (300) is configured to be extendable so that the spraying direction and position can be accurately aligned with the fire area when a fire occurs, thereby providing the effect of significantly improving fire response precision compared to the conventional method of uniformly spraying extinguishing water (L) from a fixed position. The first spray unit (300) can adjust its length or angle according to the location and distance of the fire area, so even if the actual fire source occurs in a space a certain distance away from the mobile robot (100), the first spray unit (300) can be extended to reach that location and directly spray extinguishing water (L). Accordingly, the extinguishing water (L) is supplied concentratedly at the center of the fire, thereby reducing unnecessary water loss and maximizing fire suppression efficiency without wasting extinguishing water (L). This active extension spraying function operates effectively, especially in environments where the indoor structure is complex or obstacles exist, and can contribute to simultaneously increasing the speed and accuracy of the initial fire response.

[0044] The first pipe (310) can guide fire extinguishing water (L) from the first storage tank (200). The first pipe (310) can function as a fluid transfer path to efficiently guide the fire extinguishing water (L) supplied from the first storage tank (200) toward the first spray unit (300). The first pipe (310) extends through the inside or outside of the fire suppression device (10) and stably receives the fire extinguishing water (L) branched from the first storage tank (200) and transfers it to the flow path connected to the first spray unit (300), thereby supplying the fire extinguishing water (L) required for the spraying process in real time. When a fire occurs, a large amount of fire extinguishing water (L) can be supplied at high pressure instantaneously, and the first pipe (310) is maintained in a structure that can stably transport the fire extinguishing water (L) without flow loss or pressure drop; such a flow rate transfer function can serve as an important factor in determining the speed and responsiveness of the entire fire suppression system. The first pipe (310) can operate flexibly within a certain range according to changes in the spray position or direction, and can create an effective fire suppression environment by preventing leakage or loss during the delivery of fire extinguishing water.

[0045] The first rotating structure (320) can be rotatably coupled to the first pipe (310). The rotatable structure of the first rotating structure (320) acts as an axis that allows the first rotating structure (320) to adjust the direction of the entire spraying section, thereby enabling the extinguishing water (L) to be flexibly aimed according to the location of the fire rather than in a specific fixed direction. A fire can occur unexpectedly at any location indoors, and if it occurs to the left, right, or obliquely in a structure that the mobile robot (100) cannot enter, it may be difficult to respond effectively with a fixed spraying direction. When the first rotating structure (320) is formed to be rotatable, the entire rotational range of the first spraying section (300) can be widely secured, thereby providing a basis for the first spray nozzle (340) to be flexibly aligned around the fire area.

[0046] The first rotating structure (320) may be configured to extend or contract in the horizontal direction (X direction). Since the first rotating structure (320) is configured to extend or contract in the horizontal direction (X direction), even if the fire location occurs in a space a certain distance from the mobile robot (100), for example, a location where the mobile robot (100) cannot enter, the first spray nozzle (340) can be guided to approach the fire point. If spraying occurs only at a fixed location, a problem may arise where the extinguishing water (L) does not sufficiently reach the actual fire area due to the drop range and pressure loss of the extinguishing water (L). However, by utilizing the first rotating structure (320) which is adjustable in length in the horizontal direction (X direction), the entire first spray unit (300) can be extended or contracted to align with the center of the fire, thereby minimizing the drop of the extinguishing water (L) and maximizing spraying efficiency.

[0047] Multiple first extension structures (330) may be provided to be extendable or retractable from the first rotating structure (320). The multiple first extension structures (330) can actively adjust the spray range according to the location of fire occurrence or the spread range, and can effectively respond to cases where the fire area is not fixed but widely distributed, or where suppression is difficult with only direct vertical drop spray due to obstacles. The multiple first extension structures (330) are extended in the direction required for fire suppression, and by inducing the first spray nozzle (340) to approach the center of the fire, the spraying efficiency of the extinguishing water (L) is increased, and coverage of a wide area without blind spots can be provided. When the first extension structures (330) are retracted, the device can maintain a compact state under normal conditions, which may be advantageous in terms of space efficiency and maintaining aesthetics.

[0048] Multiple first extension structures (330) may be provided to be extendable or retractable from the first rotation structure (320) with a preset inclination (θ) in the horizontal direction (X direction). Unlike vertical or completely horizontal arrangements, the multiple first extension structures (330) can provide a functional advantage of being able to target the actual fire location in three dimensions through the preset inclination (θ). For example, in a space where visibility is limited due to smoke and heat, or in the case of a fire occurring at a specific location between the ceiling and the floor, the multiple first extension structures (330) can implement a wider and more accurate diagonal spray than a structure that simply spreads horizontally through the preset inclination (θ). The multiple first extension structures (330) enable three-dimensional response to the fire location through the preset inclination (θ), and allow the position of the first spray nozzle (340) to be adjusted at various angles compared to the existing one, thereby securing an optimal spray path regardless of the relative position to the fire source. This slope-based extension structure can achieve spatial adaptability and precise injection performance that are difficult to provide with conventional sprinklers or fixed injection devices.

[0049] The first spray nozzle (340) may be provided on the first extension structure (330d) which is provided at the end of a plurality of first extension structures (330). The first spray nozzle (340) can support spraying the extinguishing water (L) at a location closer to the actual fire occurrence area by extending the spray point of the extinguishing water (L) from the center of the fire suppression device (10) to the outer edge. When the first extension structures (330) are combined with the extended structure, the first spray nozzle (340) operates at a distance from the main body of the device, thereby reducing the distance from the fire source compared to a fixed spray method and providing the effect of delivering the extinguishing water (L) more directly and intensively. Since fire can occur at various locations in the indoor space and spread not only away from the mobile robot (100) but also to the sides or diagonally, a configuration in which the first spray nozzle (340) is located at the end of the first extension structures (330) can contribute to ensuring high response flexibility even in such complex spatial conditions.

[0050] Since the first spray nozzle (340) is located at the end, the spray direction itself can be controlled more precisely during the process in which the first extension structures (330) are extended or rotated by the control unit (400), thereby preventing the extinguishing water (L) from being sprayed into unnecessary areas and guiding it to be sprayed efficiently only at the center of the fire. This structure provides the effect of reducing the waste of extinguishing water (L) while minimizing water damage, and can have the technical advantage of simultaneously securing accuracy and economic efficiency in fire suppression. This end-spray method is also advantageous in terms of securing spray distance, so it can maintain a sufficient spray range even in situations requiring high-pressure spraying, and can exhibit consistent performance regardless of the relative position between the fire location and the device.

[0051] In exemplary embodiments, the number of multiple first extension structures (330) may be within the range of 5 to 15. The number of multiple first extension structures (330) may be a numerical range set considering the structural stability of the device and installation space constraints, while ensuring the overall spraying range of the fire suppression device (10). When the number of first extension structures (330) is secured above a certain level, the first spraying unit (300) can extend the first spray nozzle (340) in various directions, allowing for effective response even when the fire occurs in a widely spread fire zone or in an irregular space. In particular, since the direction of each extension bar can be set differently, the spray coverage increases as the number of bars increases, and a precise fire suppression system capable of covering the entire indoor space without blind spots can be implemented.

[0052] An excessive number of extension bars can unnecessarily increase the size of the device, increase the possibility of interference or collision during operation, and place a burden on the precise control of the first spray nozzle (340). Therefore, by setting the number of the first extension structures (330) to between 5 and 15, a balance between structural efficiency and mechanical stability can be maintained, and an optimized effect can be obtained in terms of fire extinguishing performance and space utilization. The above range can be set as a standard that provides a sufficient number of spray directions for actual fire suppression purposes while maintaining the complexity of the control algorithm without excessively increasing. In addition, within the above range, multiple modified spray patterns can be implemented by combining the individual lengths, rotation angles, and inclinations of the extension bars, thereby providing scalability that can flexibly respond to various building structures or fire scenarios.

[0053] In exemplary embodiments, the control unit (400) can control a plurality of wheels (120) so that the mobile robot-type fire suppression device (10) can move to a fire area. The control unit (400) can move the mobile robot (100) forward or backward or rotate it through the plurality of wheels (120).

[0054] The control unit (400) can drive the first rotating structure (320) and a plurality of first extension structures (330) so that the first spray nozzle (340) is directed toward the fire area. Since the fire area may occur randomly in various spaces rather than at a fixed location and requires a rapid response depending on the location or direction of spread, a control function capable of automatically adjusting the spray direction can function as a core element of the fire suppression device (10). The control unit (400) can calculate the extension length and angle of the first rotating structure (320) and the first extension structures (330) in real time based on fire detection results, image information, and preset spray patterns, and thereby guide the first spray nozzle (340) to precisely aim at the center of the fire source. This process operates effectively even in situations where direct access to the fire source is difficult due to complex indoor structures or obstacles, thereby ensuring that the extinguishing water (L) can accurately reach the location where the fire occurred. This automatic driving function is particularly effective during the initial fire response phase when manual operation is impossible or delayed, and can provide technical effects that significantly improve the device's response speed, spray accuracy, and fire suppression performance.

[0055] In exemplary embodiments, the control unit (400) can generate an Around View Monitor (AVM) image based on images captured through a plurality of cameras (130). The AVM image is an image in the form of an up-and-down perspective that virtually constructs an all-around view of the device's surroundings, and may be a technology for grasping the surrounding situation at a glance when parking or driving a vehicle. In the present invention, the AVM image can be extended and applied for indoor fire monitoring and response. The plurality of cameras (130) are installed on each side wall (112a, 112b, 112c, 112d) of the frame (110) or on a dome structure (111) to collect images of the device's surroundings while securing non-overlapping viewing ranges, and the control unit (400) can integrate the images to form a single integrated virtual viewpoint image, i.e., the AVM image. This allows for the visual identification of the real-time fire situation in the entire space, both above, below, left, and right, based on the center of the device, and can also be applied with an image processing algorithm that corrects distortion between images collected from multiple cameras (130) or naturally connects the boundaries between images.

[0056] The AVM image generated by the control unit (400) is not limited to merely observing the surroundings, but can subsequently operate in conjunction with core functions of the fire suppression device, such as determining the spray direction, estimating the location of the fire, and supplementing blind spots. In particular, when the fire is obscured by the building's structure or is not within the direct line of sight due to a complex indoor environment, the indirect line of sight information obtained from multiple cameras (130) through the AVM image is converted into a single spatial information, thereby allowing the entire fire situation to be clearly recognized. This function can serve as a foundational technology that provides the control unit (400) with basic information necessary for controlling the direction of the first spray nozzle (340) and adjusting the deployment angle of the extension bar, and enables the accuracy of fire suppression and the expansion of the response range.

[0057] In exemplary embodiments, the control unit (400) can identify a fire area by applying a deep learning-based fire identification algorithm to images collected through multiple cameras (130). The deep learning-based fire identification algorithm can analyze visual features such as smoke, flames, and heat more precisely than general image processing techniques, and can identify a fire with high accuracy even under complex variables such as lighting changes, reflections, and obstructions of view in various indoor environments. The control unit (400) receives real-time images from multiple viewpoints collected from multiple cameras (130) as input data, analyzes characteristic patterns of fire occurrence within the images through a learned neural network model, and can identify whether a specific area within the image corresponds to an actual fire based on this. By comprehensively considering multiple elements such as the shape of the flames, vibration period, color spectrum, smoke concentration, and movement, the deep learning-based fire identification algorithm can achieve much higher precision and a lower false positive rate than simple image processing techniques.

[0058] When the control unit (400) identifies the fire area through the deep learning-based fire identification algorithm, the first spraying unit (300) can concentrate and spray extinguishing water (L) only in the space where the fire actually occurred, thereby reducing water damage caused by excessive spraying in unnecessary areas or malfunctions. Since the deep learning-based fire identification algorithm can be improved through various training data, it can develop into a self-extinguishing system that can improve fire identification accuracy over the long term by accumulating various environmental data and learning from it while the fire suppression device (10) is continuously operated. Such artificial intelligence-based fire recognition technology can provide not only early response to fire occurrences but also a high level of response precision and reliability for complex and unpredictable fire scenarios.

[0059] In exemplary embodiments, the fire suppression device (10) may further include a second storage tank (210) for storing fire extinguishing water (L). The fire suppression device (10) may further include a second spraying unit (500) having a second pipe (510), a second rotating structure (520), second extension structures (530), and a second spray nozzle (540). The second spraying unit (500) may include a second pipe (510) for guiding fire extinguishing water (L) from the second storage tank (210), a second rotating structure (520) rotatably coupled to the second pipe (510), a plurality of second extension structures (530) provided to extend or contract from the second rotating structure (520), and a second spray nozzle (540) provided on a second extension structure (530d) provided at an end among the second extension structures (530). The second injection unit (500) is substantially identical or similar to the first injection unit (300). Accordingly, identical or similar components are indicated by identical or similar reference numerals, and repeated descriptions of identical components are omitted.

[0060] In exemplary embodiments, the first extension structures (330) and the second extension structures (530) may be exposed on the frame (110) facing opposite directions. This structural arrangement allows the mobile robot-type fire suppression device (10) to flexibly respond to fire situations that may occur simultaneously in both directions, such as the front and the rear, and can effectively respond, in particular, when multiple fire suppression targets are adjacent or when a fire spreads to both sides in a narrow indoor space. Since the first extension structures (330) are equipped with a first spray nozzle (340) and the second extension structures (430) are equipped with a second spray nozzle (440), the first spray unit (300) and the second spray unit (500) can be selectively activated according to fire detection information.

[0061] Since the mobile robot (100) can rotate freely through the wheels (120), the main body can be controlled to rotate according to the location or direction of the fire, so that the first spray unit (300) or the second spray unit (500) can accurately aim at the fire area. Through this, the mobile robot-type fire suppression device (10) is not limited to a specific direction and can respond to fires in a 360-degree omnidirectional manner. It can also select a more appropriate suppression method and angle depending on the location, direction of spread, or type of fire, thereby maximizing overall fire suppression efficiency. This structure is particularly advantageous in environments such as complex indoor spaces, passageways, and warehouses, and can effectively solve the blind spot problem of existing fixed sprinkler systems.

[0062] In exemplary embodiments, the first spray unit (300) may include a first pump (350) for spraying fire extinguishing water (L) at a first discharge pressure. The second spray unit (500) may include a second pump (550) for spraying fire extinguishing water (L) at a second discharge pressure greater than the first discharge pressure.

[0063] Since the first discharge pressure and the second discharge pressure are set differently from each other, fire suppression can be performed by selecting the required spray pressure according to the cause and characteristics of the fire. The first spray unit (300) can be used to suppress fires that occur over a wide area mainly due to electrical factors, and in this case, a relatively low hydraulic pressure that can spray uniformly over a wide area rather than a direct strong pressure may be suitable. Since there is a risk of electric shock in electrical fires, excessive pressure or moisture accumulation may actually cause danger, and a method of suppressing the spread of combustion through a fine spray method may be effective.

[0064] In contrast, the second spray unit (500) may have a structure for responding to high-temperature and high-density fires caused by flammable liquids such as oil, fuel, or lubricating oil. Since such fires spread rapidly locally and maintain high temperatures, it may be necessary to quickly suppress the center of the flames by spraying extinguishing water (L) at a stronger pressure. Since such fires often only react on the surface and do not penetrate into the fire source under normal pressure, the second pump (550) can provide the effect of directly cooling the internal heat source of the fire and blocking its spread by spraying extinguishing water (L) at high pressure. Therefore, by designing the first pump (350) and the second pump (550) to be driven at different discharge pressures, the fire suppression device (10) can respond to various types of fires in a customized manner, and can maximize fire suppression efficiency through selective adjustment of the spray pressure while preventing unnecessary damage or malfunctions.

[0065] In exemplary embodiments, the first spray unit (300) may further include a first fire extinguishing agent supply unit (360) for supplying a non-conductive fire extinguishing agent to fire extinguishing water (L) moving within the first pipe (310) by being coupled to the first pipe (310). The first fire extinguishing agent supply unit (360) is configured to respond to fires caused by electrical factors, and by mixing a non-conductive fire extinguishing agent that does not impart conductivity to the fire extinguishing water (L), it is possible to effectively suppress the fire while blocking the risk of electric shock. Electrical fires occur due to leakage current, short circuits, overheating of electronic devices, etc., and since simple water-based fire extinguishing methods entail the risk of current conduction, a safe suppression method utilizing an agent with insulating properties may be required. The first fire extinguishing agent supply unit (360) precisely mixes the non-conductive fire extinguishing agent that satisfies the conditions to a predetermined concentration and injects it into the spray line, thereby enabling the first spray unit (300) to respond quickly to a fire that occurs near indoor electrical equipment without electrical damage or casualties.

[0066] The second spray unit (500) may further include a second fire extinguishing agent supply unit (560) for supplying a foam fire extinguishing agent to fire extinguishing water (L) moving within the second pipe (510) by being coupled to the second pipe (510). The second fire extinguishing agent supply unit (560) is used to respond to oil fires caused by flammable liquids such as cooking oil, gasoline, and lubricating oil, and can suppress the spread of fire by forming a barrier over the combustion surface and blocking the oxygen supply by mixing a foam component into the fire extinguishing water (L). In the case of an oil fire, since simple water spraying poses a risk of actually spreading the fire, a foam agent that covers the entire surface to block the combustion reaction may be essential. The second fire extinguishing agent supply unit (560) provides a rapid and intensive fire suppression effect by mixing the foam fire extinguishing agent into the fire extinguishing water at a stable concentration and delivering it directly to the fire point through the second spray unit (500), and can be particularly effective against high-temperature, high-density localized fires. Thus, the dual configuration of the fire extinguishing agent supply unit to respond to different types of fire can realize a complex response capability that allows for customized responses to various types of fire within a single device.

[0067] Below, we will explain the process of extinguishing a fire using the mobile robot-type fire suppression device of Fig. 1.

[0068] FIG. 3 is a flowchart showing the process of operating the mobile robot type fire suppression device of FIG. 1. FIG. 4 to 7 are drawings showing the operation process of the mobile robot type fire suppression according to exemplary embodiments.

[0069] Referring to FIGS. 1 to 7, first, when a fire occurs, the fire suppression device (10) can identify the fire area and analyze spatial information (S100).

[0070] In exemplary embodiments, the fire suppression device (10) analyzes the location, size, and direction of spread of a fire based on image data collected through a plurality of cameras (130), and thereby can calculate three-dimensional spatial information such as the center coordinates of the fire, the degree of openness of the space surrounding the fire, and the distance from the ceiling and walls. In particular, the control unit (400) can increase the accuracy of fire detection and reduce the false detection rate by applying a deep learning-based fire identification algorithm to comprehensively determine various visual and thermal characteristics such as smoke, flames, and heat.

[0071] Multiple viewpoint images collected from multiple cameras (130) are reconstructed into an Around View Monitor (AVM) image, thereby securing field of view information of the entire space extending up, down, left, right, and diagonal directions relative to the center of the device, and the control unit (400) can comprehensively determine the relative position of the point where the fire occurred, the height difference, and the presence or absence of surrounding obstacles based on the image. This spatial information analysis serves as a key criterion for determining the extension direction, spray distance, and spray angle of the first spray unit (300), and can play an important role as an initial step for the fire suppression device (10) to precisely reach the actual fire point with extinguishing water.

[0072] Next, the mobile robot (100) can move to the fire area and be positioned in a posture to extinguish the fire (S110).

[0073] In exemplary embodiments, the mobile robot (100) can approach the vicinity of the fire source via autonomous driving or remote control based on fire source location information received from a fire detection sensor, an image recognition device, or an external control system. While moving, it drives stably using an obstacle avoidance algorithm or a path optimization algorithm, and when it reaches an appropriate location where fire suppression is possible, it can stop driving and adjust its posture to a state where suppression operation is possible.

[0074] In the posture adjustment process, the direction of the frame (110) can be automatically adjusted by considering the slope of the ground, the presence or absence of obstacles, the spray angle, etc., or the rotation and alignment of the main body can be performed through the rotation of each wheel (120). In this process, the mobile robot (100) is automatically positioned so that the first extension structures (330) or the second extension structures (430) face the direction of the fire center, and the angle adjustment and extension operation of the spray nozzles for efficient spraying of the fire extinguishing water (L) can be performed together.

[0075] The above posture adjustment process enables precise aiming at the center of the fire, and by securing a position in an optimal location and direction rather than merely reaching it, the fire suppression effect can be maximized. In particular, even in structures where conventional fire extinguishing equipment has difficulty accessing, such as narrow passages or blind spots, the mobile robot (100) can adjust its posture on its own to switch to a state capable of suppression, thereby providing much higher flexibility and responsiveness compared to existing systems.

[0076] Next, the first rotating structure (320) can be rotated to align the basic direction of the first injection part (300) (S120).

[0077] In exemplary embodiments, the control unit (400) may extend or rotate the first rotating structure (320) in the horizontal direction (X direction) after the fire area is identified and the spatial information is analyzed to align the height and basic direction of the first spray unit (300). Since the fire may occur at various heights, such as near the ceiling, at a medium height, or near the floor, if the first spray unit (300) is located at a fixed height, there may be limitations in accurately reaching the fire extinguishing water to the actual fire point. The first rotating structure (320) is formed to be rotatable so that the first spray nozzle (340) is directed toward the fire according to the height at which the fire occurs, and may be configured to actively correct the height gap between the device body and the first spray unit (300).

[0078] The first rotating structure (320) is rotatably driven so that the direction of the entire spray unit can be accurately aligned toward the center of the fire. If the fire is located on the side or at an angle rather than in front of the fire suppression device (10), accurate aiming is impossible with only a simple vertical extension, so the rotation function of the first rotating structure (320) can serve as a key element for controlling the spray direction. These extension and rotation adjustment functions are automatically performed according to spatial information calculated in real time by the control unit (400), such as the distance between the fire source and the device, the difference in elevation, and the rotation angle, thereby providing a basis for the first spray nozzle (340) to be aligned at an optimal position and angle. Therefore, regardless of the location and height of the fire, the first spray unit (300) can be positioned in the most effective direction toward the fire source, enabling precise spraying operations in subsequent stages.

[0079] Next, a plurality of first extension structures (330) can be extended toward the fire area (S130).

[0080] In exemplary embodiments, the first extension structures (330) are configured to be radially or multi-directionally extendable from the first rotational structure (320) and each is driven independently to be deployed at various angles and lengths depending on the location of the fire. Such extension operation improves physical accessibility to the center of the fire and creates spatial conditions that allow the first spray nozzle (340) to spray extinguishing water (L) at a location closer to the fire source. In particular, in cases where the indoor structure is complex or obstacles are present, the horizontally extendable structure eliminates blind spots and can respond to locations where direct vertical drop is difficult.

[0081] The control unit (400) can guide the entire spray structure to optimally reach a single fire point or multiple fire points by adjusting the extension amount of each extension structure by considering the direction and distance of the fire center and the location of surrounding obstacles. The first extension structures (330) are formed to extend while maintaining a preset inclination (θ), allowing them to approach the fire point via a three-dimensional path rather than a simple horizontal direction (X direction), and this structure can be particularly advantageous for precisely targeting fires occurring in diagonal directions or at low locations. Therefore, the extension of the first extension structures (330) can serve as a basis for maximizing the efficiency and precision of fire suppression by securing a physical path for the first spray nozzle (340) to reach near the actual fire point and minimizing the reach range and pressure loss of the extinguishing water (L).

[0082] Next, the first spray nozzle (340) can be aligned to accurately aim at the fire area (S140).

[0083] In exemplary embodiments, the control unit (400) can align the first spray nozzle (340) to accurately aim at the fire area after the extension and rotation operations of the first rotating structure (320) and the plurality of first extension structures (330) are completed. Since the first spray nozzle (340) is the final operating part of the fire suppression and is the location where the extinguishing water is actually sprayed, the alignment accuracy of the first spray nozzle (340) can have a decisive effect on the fire suppression efficiency. To this end, the control unit (400) can calculate the error between the fire center coordinates and the current position and direction of the first spray nozzle (340) in real time and finely adjust the length, inclination, and rotation angle of the extension bars so that the error is within an allowable range.

[0084] This alignment is not limited to simply aligning the direction of the nozzle, but can be performed as a multidimensional alignment that considers the nozzle's elevation, tilt, and the expected trajectory of the fire extinguishing water spray. In particular, if a fire occurs at an oblique or side position rather than directly in front of or below the device, the spray trajectory can be optimized through precise angle adjustment so that the fire extinguishing water (L) can reach the fire point directly. Additionally, during the alignment process, the possibility of interference with surrounding obstacles is also considered based on the AVM image or 3D coordinate information. This allows for a prior determination of whether there are any obstacles in the spray path, and if necessary, the spray direction can be slightly adjusted to enable stable and accurate suppression. The first spray nozzle (340) aligned in this way is equipped with the conditions to effectively spray the fire extinguishing water (L) without waste, and can then naturally lead to the full-scale spraying stage for fire suppression.

[0085] Next, fire extinguishing water (L) is sprayed from the first spray nozzle (340) to suppress the fire (S150) and the first extension structures (330) can be contracted (S160).

[0086] In exemplary embodiments, since precise aiming and alignment of distance and direction for the fire area are completed in the preceding step, the sprayed extinguishing water (L) can reach the center of the fire point directly, thereby maximizing extinguishing efficiency. The control unit (400) controls the spray pressure, spray time, and extinguishing agent mixing ratio according to the nature of the fire, and can determine in real time whether the fire remains by analyzing video information collected through the cameras (130) even during spraying. In particular, since the first spray unit (300) is equipped with spraying conditions capable of rapidly suppressing electrical fires or initial fires occurring over a wide area, the immediate suppression effect can be confirmed by monitoring whether smoke and flames are reduced immediately after spraying.

[0087] When it is determined that the fire has been extinguished, the control unit (400) may sequentially retract the plurality of first extension structures (330) and the first rotation structure (320) to return the device to its initial state. The retraction operation is an essential step for maintaining the device's compact standby state and may be a process for switching to a ready mode in preparation for the next fire. The first extension structures (330) are individually retracted to be received inside the main body or aligned to a position that minimizes external interference, and the first rotation structure (320) is retracted in the horizontal direction (X direction) so that the entire first spraying unit (300) can be stably fixed in close contact with the mobile robot (100). Such a return operation not only maintains the physical stability of the device but also contributes to ensuring the device's structural lifespan and functional reliability in a repeated use environment. Furthermore, through this process, the device maintains a state ready for reactivation even after the fire is extinguished and can operate as a flexible system based on automatic return that can respond immediately to the next emergency situation.

[0088] In exemplary embodiments, the second spray unit (500) can also be driven by the control unit (400) in the same manner as described for the first spray unit (300). That is, after the fire area is identified, the second spray unit (500) performs an alignment operation toward the center of the fire by extending or rotating the second rotating structure (520) and a plurality of second extension structures (530), and can accurately aim at the fire area through the second spray nozzle (540) provided at the end of the second extension structures (530). The extinguishing water (L) supplied through the second pipe (510) is mixed with a foam extinguishing agent through the second extinguishing agent supply unit (560) and sprayed by the high-pressure discharge of the second pump (550), and can be operated by combining pressure and agent suitable for rapidly suppressing fires caused mainly by flammable liquids such as oil and fuel. In the second injection unit (500) as well, after fire suppression is completed, the second extension structures (530) and the second rotation structure (520) can be retracted so that the device can return to an initial standby state, and this series of operations can be applied substantially identically to the first injection unit (300) in terms of function and sequence.

[0089] In exemplary embodiments, the first extension structures (330) and the second extension structures (530) are exposed on the frame (110) facing opposite directions, and the first spray unit (300) and the second spray unit (500) can be selectively activated according to fire detection information. The mobile robot (100) can rotate freely through the wheels (120) and position the first extension structures (330) toward a fire (F1) caused by oil, and position the second extension structures (530) toward a fire (F2) caused by electricity. Because the mobile robot (100) arranges the first extension structures (330) and the second extension structures (530) toward the oil fire (F1) and the electric fire (F2), respectively, the mobile robot type fire suppression device (10) can efficiently suppress the oil fire (F1) and the electric fire (F2) simultaneously.

[0090] As described above, the mobile robot-type fire suppression device (10) includes a rotatable first rotating structure (320) and a plurality of first extension structures (330) that can extend or retract from the first rotating structure (320), thereby allowing the position of the extinguishing water spray to be flexibly adjusted according to the location and direction of the fire occurrence. In particular, rotational control of the spraying direction is possible through the first rotating structure (320) which is rotatably coupled to the first pipe (310), and the first rotating structure (320) and the first extension structures (330) are aligned so that the first spray nozzle (340) is directed accurately toward the fire area according to the driving of the control unit (400), thereby enabling precise spraying of extinguishing water toward the center of the actual fire source, unlike a fixed sprinkler. As a result, the extinguishing water (L) is not wasted in meaningless space and reaches the fire source directly, thereby greatly improving the efficiency and speed of initial fire suppression.

[0091] In addition, the mobile robot-type fire suppression device (10) can move within a building via the multiple wheels (120), allowing it to directly enter the fire scene. Since it can move freely without structural constraints within the building, it can provide flexibility applicable to various spatial environments. Because the spray angle and length can be controlled when a fire occurs, fire extinguishing water (L) can reach areas that are difficult to access due to high-temperature smoke or blind spots, enabling fire response to larger areas and complex structures compared to traditional fixed sprinklers. Furthermore, since automatic control of the spray direction is possible, water damage caused by unnecessary multi-directional spraying (e.g., water-sensitive electronic equipment, documents, etc.) can be minimized, allowing for excellent additional benefits in terms of protecting facility assets.

[0092] Although it has been described above that all components constituting an embodiment of the present invention are combined or operate as a single unit, the present invention is not necessarily limited to such an embodiment. That is, within the scope of the purpose of the present invention, all components may be selectively combined in one or more ways to operate.

[0093] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0094] 10: Mobile robotic fire suppression device 100: Mobile robot 110: Frame 111: Dome structure 112: Side walls 114: Door 120: Multiple wheels 130: Cameras 200: 1st Storage Tank 210: 2nd Storage Tank 300: 1st injection section 310: 1st pipe 320: First rotational structure 330: First extension structures 340: First injection nozzle 350: First pump 360: 1st fire extinguishing agent supply unit 400: Control unit 500: 2nd injection section 510: 2nd pipe 520: Second rotational structure 530: Second extension structures 540: Second injection nozzle 550: Second pump 560: Second fire extinguishing agent supply unit

Claims

Claim 1 A mobile robot having a frame and a plurality of wheels provided at the bottom of the frame; a first storage tank provided within the frame for storing firefighting water; a first pipe for guiding the firefighting water from the first storage tank, a first rotating structure rotatably coupled to the first pipe, a plurality of first extension structures provided to be exposed from the frame and configured to extend or contract from the first rotating structure, and a first spray unit having a first spray nozzle provided on a first extension structure provided at an end among the first extension structures; a second storage tank provided within the frame for storing the firefighting water; a second pipe for guiding the firefighting water from the second storage tank, a second rotating structure rotatably coupled to the second pipe, a plurality of second extension structures provided to be exposed from the frame and configured to extend or contract from the second rotating structure, and a second spray unit having a second spray nozzle provided on a second extension structure provided at an end among the second extension structures. A mobile robot-type fire suppression device comprising a control unit that drives the first and second rotating structures and the plurality of first and second extension structures, respectively, so that the first and second spray nozzles are directed toward a fire area, wherein the first extension structures and the second extension structures are exposed on the frame in opposite directions, and the first spray unit further comprises a first fire extinguishing agent supplyer coupled to the first pipe to supply a non-conductive fire extinguishing agent to the fire extinguishing water moving within the first pipe, and the second spray unit further comprises a second fire extinguishing agent supplyer coupled to the second pipe to supply a foam fire extinguishing agent to the fire extinguishing water moving within the second pipe. Claim 2 delete

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