Target fire extinguishing apparatus and operating method thereof

Abstract

The present disclosure relates to a target fire extinguishing device according to an embodiment and an operating method thereof. The target fire extinguishing device according to an embodiment comprises: a water cannon that discharges at least one type of fire extinguishing material; a driving unit which is installed in the water cannon and controls the direction in which the fire extinguishing material is discharged; an imaging module installed at a position adjacent to the water cannon and including at least one camera for capturing an area to be monitored; and a control module for controlling the water cannon and the driving unit to discharge the fire extinguishing material to a fire detection area on the basis of an image obtained from the imaging module.

Description

Target fire extinguishing device and method of operation thereof

[0001] The present disclosure relates to a target fire extinguishing device and an operating method thereof. More specifically, the present disclosure relates to a target fire extinguishing device that emits fire extinguishing agents along an optimal path based on fire detection information, and an operating method thereof.

[0002] Recently, with the advancement of ICT-related element technologies such as communications, video, and sensors, technologies that were difficult to implement in the past have become a reality. As a result, ICT technologies are being actively incorporated into disaster and safety fields, and various disaster prevention systems are being developed to reduce damage caused by disasters.

[0003] In particular, in the case of fire, there is a growing awareness of the need to minimize social damage through the establishment of a rapid and efficient response system. Furthermore, when a disaster occurs, failure to take appropriate response measures to the primary disaster often leads to secondary disasters, making initial response very important.

[0004] Various technologies are being attempted to detect the presence of fire and the location of its origin. However, they are limited in accurately identifying the location of a detected fire and rapidly distributing extinguishing agents according to priority based on the fire risk. Therefore, there is a need to develop technologies that utilize information on fires occurring within the monitored area to efficiently suppress them.

[0005] According to one embodiment, a target fire extinguishing device and an operating method thereof may be provided. More specifically, a target fire extinguishing device and an operating method thereof that emits fire extinguishing agents along an optimal path based on fire detection information may be provided.

[0006] As a technical means for achieving the above-described technical task, according to one embodiment, a target fire extinguishing device may include: a waterproof sheet that emits at least one type of fire extinguishing agent; a driving unit installed in the waterproof sheet that controls a direction in which the fire extinguishing agent is emitted; a photographing module installed at a position adjacent to the waterproof sheet and including at least one camera that photographs a surveillance target area; and a control module that controls the waterproof sheet and the driving unit to emit the fire extinguishing agent to a fire detection area based on an image acquired from the photographing module.

[0007] According to another embodiment for achieving the above-described technical problem, a method for operating a target fire extinguishing device may be provided, comprising: a step of obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; a step of obtaining fire detection information regarding at least one of a type, a location, a size, or a risk level of a fire in the surveillance target area based on the obtained fire identification result; a step of determining at least one target coordinate corresponding to a location of a fire in the surveillance target area and a distance between the location of the fire and the target fire extinguishing device based on the obtained fire detection information; and a step of performing target extinguishing for a fire occurring in the surveillance target area based on the obtained fire detection information and the determined at least one target coordinate.

[0008] According to another embodiment for achieving the above-described technical problem, a method for operating a target fire extinguishing device is provided, comprising: a step of obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; a step of obtaining fire detection information regarding at least one of a type, a location, a size, or a risk level of a fire in the surveillance target area based on the obtained fire identification result; a step of determining at least one target coordinate corresponding to a location of a fire in the surveillance target area and a distance between the location of the fire and the target fire extinguishing device based on the obtained fire detection information; and a step of performing target extinguishing for a fire occurring in the surveillance target area based on the obtained fire detection information and the determined at least one target coordinate. A computer-readable recording medium storing a program for causing the method to be performed may be provided.

[0009] In one embodiment, by controlling the fire blanket by obtaining precise target coordinates for the location of the fire, the extinguishing agent can be more accurately sprayed to the ignition point.

[0010] According to one embodiment, efficient fire suppression can be performed by determining the driving path of the waterproof blanket based on the priority for each fire detection area.

[0011] Figure 1 is a drawing schematically illustrating a process in which a target extinguishing device according to one embodiment operates.

[0012] FIG. 2 is a schematic diagram of a system including a target extinguishing device according to one embodiment.

[0013] Figure 3 is a flowchart illustrating an operation method of a target extinguishing device according to one embodiment.

[0014] Figure 4 is a flowchart illustrating a process for determining target coordinates according to one embodiment.

[0015] Figure 5 is a flowchart showing a specific process for performing target digestion according to one embodiment.

[0016] Figure 6 is a flowchart illustrating a specific process for determining the priority of target digestion according to one embodiment.

[0017] FIG. 7 is a drawing showing a specific method for determining a digestion path according to one embodiment.

[0018] FIG. 8 is a drawing for explaining the interface and software functions of a control module according to one embodiment.

[0019] Figure 9 is a block diagram of a control module according to one embodiment.

[0020] Figure 10 is a block diagram of a control module according to another embodiment.

[0021] Figure 11 is a block diagram of a server according to one embodiment.

[0022] Fig. 12 is a drawing for explaining the structure of a waterproof control unit according to one embodiment.

[0023] A target fire extinguishing device according to one embodiment may include a waterproof sheet that emits at least one type of fire extinguishing agent; a driving unit installed in the waterproof sheet to control a direction in which the fire extinguishing agent is emitted; a photographing module installed at a position adjacent to the waterproof sheet and including at least one camera that photographs a surveillance target area; and a control module that controls the waterproof sheet and the driving unit to emit the fire extinguishing agent to a fire detection area based on an image acquired from the photographing module.

[0024] According to another embodiment, a method for operating a target fire extinguishing device may include: obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; obtaining fire detection information regarding at least one of a type, a location, a size, or a risk level of a fire in the surveillance target area based on the obtained fire identification result; determining at least one target coordinate corresponding to a location of a fire in the surveillance target area and a distance between the location of the fire and the target fire extinguishing device based on the obtained fire detection information; and performing target extinguishing for a fire occurring in the surveillance target area based on the obtained fire detection information and the determined at least one target coordinate.

[0025] According to another embodiment, a method for operating a target fire extinguishing device may include a computer-readable recording medium storing a program for causing a method to be performed, the method comprising: obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; obtaining fire detection information regarding at least one of a type, a location, a size, or a risk level of a fire in the surveillance target area based on the obtained fire identification result; determining at least one target coordinate corresponding to a location of a fire in the surveillance target area and a distance between the location of the fire and the target fire extinguishing device based on the obtained fire detection information; and performing target extinguishing for a fire occurring in the surveillance target area based on the obtained fire detection information and the determined at least one target coordinate.

[0026] The terms used in this specification will be briefly explained, and the present disclosure will be described in detail.

[0027] The terms used in this disclosure have been selected from widely used, current terms, taking into account the functions of the disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of the disclosure.

[0028] When a part of the specification is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part," "module," etc., used throughout the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

[0029] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description of the present disclosure, and similar parts are designated with similar reference numerals throughout the specification.

[0030]

[0031] Figure 1 is a drawing schematically illustrating a process in which a target extinguishing device according to one embodiment operates.

[0032] According to one embodiment, the target fire extinguishing device (1000) can acquire at least one of a thermal image (132), a CCTV image (134), or an optical image (136) from at least one of a photographing module (130) or a sensor module (140). For example, the target fire extinguishing device (1000) can acquire at least one of a plurality of thermal images or optical images having a frame interval of a preset interval. According to one embodiment, the optical image (136) can include distance information acquired through at least one sensor (e.g., a lidar sensor). The target fire extinguishing device (1000) according to the present disclosure can be used in an intelligent fire detection system capable of early detection of a fire and effective extinguishment based on composite data appearing in a thermal image and an optical image.

[0033] According to one embodiment, the control module (150) of the target fire extinguishing device (1000) can analyze at least one of a thermal image (132), a CCTV image (134), or an optical image (136), and obtain a fire identification result regarding whether a fire has occurred based on the image analysis result. In addition, the target fire extinguishing device (1000) can suppress the fire by controlling the driving unit (120) based on fire detection information regarding at least one of the type, location, size, or risk of the fire, and at least one target coordinate corresponding to the distance between the location of the fire and the waterproof sheet (110).

[0034]

[0035] FIG. 2 is a schematic diagram of a system including a target extinguishing device according to one embodiment.

[0036] According to one embodiment, the target fire extinguishing system (10) may include a target fire extinguishing device (1000) and a server (2000). However, the present invention is not limited to the above-described configuration, and the target fire extinguishing system (10) may include fewer components or may include more components in addition to the above-described configuration. According to another embodiment, the target fire extinguishing system (10) may further include an electronic device (4000) connected via a network (3000). The electronic device (4000) illustrated in FIG. 1 may be a terminal or computer device used by a user to monitor multiple types of images acquired from the target fire extinguishing device (1000) or to control the target fire extinguishing device (1000).

[0037] According to one embodiment, a target fire extinguishing device (1000) or a target fire extinguishing system (10) including a target fire extinguishing device may be used to detect fires inside a wind power generator's engine room or within a wind turbine structure. However, the present invention is not limited to the above-described examples, and it is apparent that the present invention may be used to detect fires and perform targeted fire extinguishing inside or outside a specific building or structure.

[0038] According to one embodiment, the target fire extinguishing device (1000) may control the driving unit (120) by interfacing with the server (2000). According to one embodiment, the target fire extinguishing device (1000) may obtain at least one thermal image, at least one optical image, or at least one CCTV image through the server (2000). According to one embodiment, the server (2000) may be connected to the electronic device (1000) through a network and may include other computing devices capable of transmitting and receiving data. According to one embodiment, the network includes a Local Area Network (LAN), a Wide Area Network (WAN), a Value Added Network (VAN), a mobile radio communication network, a satellite communication network, and a combination thereof, and is a comprehensive data communication network that allows each network component illustrated in FIG. 1 to communicate smoothly with each other, and may include wired Internet, wireless Internet, and a mobile radio communication network.

[0039] According to one embodiment, the target fire extinguishing device (1000) may include a waterproof cover (110), a driving unit (120), a photographing module (130), and a control module (150). However, the configuration described above is not limited thereto, and the target fire extinguishing device (1000) may include fewer components or may include more components than the configuration described above.

[0040] In one embodiment, the waterproof sheet (110) can emit at least one type of fire extinguishing agent. For example, the waterproof sheet (110) can be installed on the driving unit (120) to emit at least one type of fire extinguishing agent of the water type or the gas type forward (e.g., a fire extinguishing agent of the water type, a fire extinguishing agent of the gas type, or a composite type of fire extinguishing agent including both the water type and the gas type) by a signal from the control module (150).

[0041] In one embodiment, the driving unit (120) is installed in the waterproof sheet to control the direction in which the fire extinguishing agent is emitted. For example, the driving unit (120) may include, but is not limited to, a plurality of motors for rotating the waterproof sheet (110) up and down and left and right, a pump for supplying fire extinguishing water to the waterproof sheet, and a valve for controlling the flow rate of the fire extinguishing water. For example, the driving unit (120) may further include a tank for storing the fire extinguishing water. In one embodiment, the plurality of motors may include at least one type of motor among a servo motor and a stepping motor. In another embodiment, the valve, the pump, and the water tank may be included outside the target fire extinguishing device (1000). For example, the valve, the pump, and the water tank may be connected to the driving unit of the target fire extinguishing device (1000) to perform the functions of the respective components described above.

[0042] In one embodiment, the photographing module (130) is installed at a location adjacent to the waterproof cover and may include at least one camera for photographing the surveillance target area. For example, the photographing module (130) may include a thermal imaging camera and an optical camera for obtaining thermal images and optical images of the surveillance target area. In addition, for example, the photographing module (130) described in the present specification may be located inside a wind turbine nacelle internal fire detection system to monitor the surveillance target area, and may be, but is not limited to, a digital camera, a mobile terminal, a smart phone, a CCTV, a camera device, a laptop computer, or a tablet PC.

[0043] In one embodiment, the photographing module (130) may be a fire detection camera with an embedded circuit capable of detecting fire. For example, the camera may have a built-in GPU (Graphics Processing Unit) to hybridize deep learning and image processing techniques to detect the final fire, and transmit the image coordinates of the detected fire to the control module (150).

[0044] In one embodiment, the target fire extinguishing device (1000) may further include a sensor module (140). In one embodiment, the sensor module (140) may measure the distance to a fire detection area identified within the surveillance target area. For example, the sensor module (140) may include a lidar sensor that measures the time required for a laser reflected light transmitted to reach the fire detection area. In addition, the sensor module (140) may be calibrated to compensate for the difference in field of view with respect to the photographing module (130).

[0045] According to one embodiment, the control module (150) can control the waterproof cover (110) and the driving unit (120) to emit the extinguishing agent to the fire detection area based on the image or sensing value obtained from the photographing module (130) and the sensor module (140). A specific process of controlling the waterproof cover (110) and the driving unit (120) based on the image or sensing value obtained from the photographing module (130) and the sensor module (140) will be described below with reference to FIG. 3.

[0046] According to one embodiment, the control module (150) may include a network interface (1500), a memory (1700), and a processor (1300). According to one embodiment, the network interface (1500) may transmit images or sensor values ​​acquired from the photographing module (130) or the sensor module (140) to another electronic device connected to the target fire extinguishing device (1000). According to one embodiment, the processor (1300) may control the overall operation of the target fire extinguishing device (1000) by executing one or more instructions stored in the memory (1700). According to one embodiment, the memory (1700) may store a program for processing and controlling the processor (1300), and may also store data input to or output from the control module (150).

[0047] Although not shown in FIG. 2, the control module (150) may include a waterproof control unit (INTERFACE BOX). In addition, the waterproof control unit may further include a motor driver for controlling a motor included in the driving unit (120) and a motor controller for controlling the motor driver. In addition, the control module (150) may oversee the control function of the target fire extinguishing device (1000) based on signals received from the photographing module (130), the sensor module (150), and the waterproof control unit, and may transmit the signals to a central control unit that may be additionally provided in the control module (150), thereby allowing a user to monitor the control status of the target fire extinguishing device (1000) in real time.

[0048] According to one embodiment, the target fire extinguishing device (1000) may be implemented in various forms. According to one embodiment, the electronic device (1000) may be implemented within a fire detection system inside a wind turbine nacelle, thereby being a device used to detect and extinguish a fire at an early stage by applying artificial intelligence PHM (Prognostics and Health Management) technology based on complex sensor data information such as smoke, temperature, image, thermal image, and ultraviolet rays.

[0049]

[0050] Figure 3 is a flowchart illustrating an operation method of a target extinguishing device according to one embodiment.

[0051] In S310, the processor (1300) can obtain a fire identification result regarding whether a fire has occurred in a surveillance target area. According to one embodiment, the processor (1300) can obtain a plurality of thermal image images and a plurality of optical images having a preset frame interval from each of a thermal image camera and an optical camera that photograph the surveillance target area, and can obtain the fire identification result regarding whether a flame or smoke has occurred in the surveillance target area based on the obtained plurality of thermal image images and the plurality of optical images.

[0052] For example, the processor (1300) may obtain a fire identification result based on whether there is an image area indicating a temperature within a preset threshold range among a plurality of thermal images obtained from the photographing module (130). According to another embodiment, the processor (1300) may preprocess an optical image obtained from the photographing module (130) into a format optimized for application of an artificial intelligence model, and input the preprocessed optical image into an artificial intelligence model, thereby obtaining a probability value regarding whether a fire has occurred in a surveillance target area as a fire identification result from the artificial intelligence model.

[0053] According to one embodiment, the artificial intelligence model used by the processor (1300) may include a deep neural network (DNN), for example, a convolutional neural network (CNN), a deep neural network (DNN), a recurrent neural network (RNN), a restricted boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), or a deep Q-network, but is not limited to the examples described above.

[0054] In one embodiment, the artificial intelligence model used by the processor (1300) may be a pre-trained artificial intelligence model that tracks pixels for movement of smoke (e.g., an object) within an optical image, identifies motion vectors for those pixels, and applies a low-pass filter to the background within the optical image, thereby identifying smoke within the optical image based on its correlation with the identified smoke.

[0055] In S320, the processor (1300) may obtain fire detection information regarding at least one of the type, location, size, or risk level of the fire in the surveillance target area based on the obtained fire identification result. According to one embodiment, when a fire is identified as occurring, the processor (1300) may determine the type of fire for each fire detection area in the surveillance target area. For example, when the temperature of the fire detection area identified by the thermal imaging camera is equal to or greater than a threshold temperature based on the fire identification result, the processor (1300) may determine the type of fire as flame, and when the area of ​​the gray pixels of the fire detection area identified by the optical camera is equal to or greater than a threshold area, the processor (1300) may determine the type of fire as smoke.

[0056] According to one embodiment, the processor (1300) may determine the location and size of a fire based on the coordinates of edge pixels regarding the boundaries of the outermost pixels among pixels related to the fire within the fire detection area. Furthermore, according to one embodiment, the processor (1300) may determine the level of risk based on the risk characteristics of an object identified within the fire detection area. The fire detection information may include at least one of the type, location, size, or level of risk of the determined fire.

[0057] In S330, the processor (1300) may determine, based on the acquired fire detection information, at least one target coordinate corresponding to the location of the fire within the surveillance target area and the distance between the location of the fire and the waterproofing film. The specific process by which the processor (1300) determines the target coordinate is described below with reference to FIG. 4.

[0058] In S340, the processor (1300) may perform target extinguishing for a fire occurring in the monitoring target area based on the acquired fire detection information and the determined at least one target coordinate. According to one embodiment, the processor (1300) may determine the priority of the extinguishing path and the extinguishing mode for each fire detection area based on the fire detection information, and may perform extinguishing according to the extinguishing path determined so as to reduce the overlapping frequency of the driving path of the driving unit (120) based on the determined priority and target coordinate.

[0059]

[0060] Figure 4 is a flowchart illustrating a process for determining target coordinates according to one embodiment.

[0061] In S410, the processor (1300) may determine a position coordinate value corresponding to a left-right movement angle of the waterproof blanket based on at least one of the plurality of thermal images or the plurality of optical images including a fire detection area indicating the location and size of the fire within the surveillance target area. According to one embodiment, the processor (1300) may obtain a plurality of edge coordinates regarding the boundaries of outermost pixels among pixel groups including pixels related to the fire within the fire detection area, and may determine the position coordinate value based on the type of fire identified in the fire detection area and the obtained plurality of edge coordinates. According to another embodiment, the processor (1300) may also obtain a plurality of edge coordinates for four corners of a bounding box including all pixels related to the fire.

[0062] In S420, the processor (1300) may determine a distance coordinate value corresponding to an up-and-down movement angle of the target fire extinguishing device for the fire extinguishing agent to reach the location of the fire based on a sensor value measured from the lidar sensor for the fire detection area. According to one embodiment, the processor (1300) may obtain at least one sensor value regarding the arrival time of a laser reflection light transmitted from the lidar sensor to the fire detection area, obtain a distance to the location of the fire detection area based on the obtained sensor value, and determine the distance coordinate value based on the obtained distance and the fire extinguishing mode of directly or spraying the fire extinguishing agent. For example, when the fire extinguishing mode is a spray mode, the processor (1300) may add a weight to the distance value measured from the lidar sensor.

[0063] In S430, the processor (1300) can determine the target coordinates including the determined position coordinate values ​​and the distance coordinate values. For example, the target coordinates can be two-dimensional coordinates in which the position coordinate values ​​are X-axis coordinates and the distance coordinate values ​​are Y-axis coordinates.

[0064]

[0065] Figure 5 is a flowchart showing a specific process for performing target digestion according to one embodiment.

[0066] In S510, the processor (1300) may determine an extinguishing priority for at least one fire that has occurred within the monitoring target area based on the fire detection information. According to one embodiment, if two or more fire detection areas are identified within the monitoring area, the processor (1300) may determine an extinguishing priority based on fire detection information regarding at least one of the type, size, or risk of the fire. For example, if the type of fire is flame, the processor (1300) may determine a higher priority than if the fire is smoke, determine a fire with a large fire detection area to be higher priority than a fire with a small fire, and determine a fire with a large fire detection area to be higher priority than a fire with a small fire, and determine an object with a dangerous characteristic within the fire detection area to be higher priority than if an object with a dangerous characteristic is not identified.

[0067] In S520, the processor (1300) may determine a firing mode and an extinguishing mode for an extinguishing agent for each fire detection area including at least one fire that has occurred based on the fire detection information. According to one embodiment, the processor (1300) may determine a direct firing mode or a spray mode depending on the type of fire, and may determine the type of extinguishing agent as a extinguishing agent type or a gas type depending on an object identified within the fire detection area.

[0068] According to one embodiment, the processor (1300) may determine the firing mode as a direct mode when the type of fire within the fire detection area is identified as a flame, and may determine the firing mode as a spray mode when the type of fire within the fire detection area is identified as smoke.

[0069] According to one embodiment, the processor (1300) may determine the extinguishing agent as a gas type when an object identified within the fire monitoring area is identified as a fuel or electricity type, and may determine the extinguishing agent as a water type when an object identified within the fire monitoring area is not identified as a fuel or electricity type.

[0070] For example, if the type of fire is a flame and an object connected to electrical equipment within a fire detection area is identified, the processor (1300) may determine the firing mode to be a direct mode and the type of extinguishing agent to be a gas type.

[0071] In S530, the processor (1300) may determine the fire extinguishing path so that the frequency of overlapping of the driving paths of the driving unit in the fire detection area is reduced based on the determined fire extinguishing priority and the determined at least one target coordinate. According to one embodiment, the processor (1300) may include all target coordinates determined according to fire detection information within the fire detection area as the driving path of the driving unit and include pixels related to a fire identified within the fire detection area as the driving path, and may determine the fire extinguishing path so that the frequency of overlapping of the driving paths of the driving unit is reduced.

[0072] In S540, the processor (1300) can perform the target fire extinguishing based on the determined fire extinguishing path and the fire extinguishing mode. According to one embodiment, the processor (1300) can effectively suppress the fire by controlling the angle of the waterproof blanket by controlling the driving unit according to the determined fire extinguishing path, and controlling the firing mode and fire extinguishing mode for each fire detection area.

[0073]

[0074] Figure 6 is a flowchart illustrating a specific process for determining the priority of target digestion according to one embodiment.

[0075] In S610, if two or more fire detection areas are identified within the surveillance target area, if the type of fire within the fire detection area is identified as flame, the processor (1300) may determine the fire detection area as the first priority, and if the type of fire within the fire detection area is identified as smoke, the processor (1300) may determine the fire detection area as the second priority. According to one embodiment, the processor (1300) may determine that the type of fire identified within the fire detection area is flame as a higher priority than the type of fire identified within the fire detection area is smoke, so that even if at least one of the first weight or the second weight described below is added, the priority between the first priority and the second priority may not be changed. For example, the processor (1300) may determine that if at least one of the first weight or the second weight is added to the second priority, the priority is changed only between groups having the second priority, and to have a lower priority than the first priority groups.

[0076] In S620, the processor (1300) may assign a first weight, determined based on the size of the fire within the fire detection area, to the first priority or the second priority. According to one embodiment, the processor (1300) may set the first weight to be proportional to the size of the fire within the fire detection area, and the relationship may be set differently depending on the type of fire.

[0077] In S630, the processor (1300) may assign a second weight according to a risk level determined based on a risk characteristic of at least one of flammability, inflammability, or explosiveness of an object identified within the fire detection area to the first priority or the second priority. According to one embodiment, the processor (1300) may assign the second weight based on a risk level determined according to a risk characteristic included in an object identified within the fire detection area. In addition, according to one embodiment, the processor (1300) may modify and update the second weight according to a change in the risk level according to the size of the fire by considering both the risk level and the first weight determined in S620. The target fire extinguishing device (1000) of the present invention may determine an optimized priority of a fire extinguishing path through the above process, thereby minimizing secondary damage caused by a fire through early suppression of an initial fire.

[0078]

[0079] FIG. 7 is a drawing showing a specific method for determining a digestion path according to one embodiment.

[0080] According to one embodiment, the processor (1300) may divide the fire detection area (720, 730, 740) including at least one target coordinate (722, 732, 742) determined above into a plurality of unit areas along the vertical direction. For example, the number of unit areas included in the fire detection area (720, 730, 740) may vary depending on the area of ​​the fire detection area, and the area of ​​the plurality of unit areas may be changed based on a user's input.

[0081] According to one embodiment, the processor (1300) may determine a unit area where a fire has been identified as a fire identification node by obtaining the fire identification results for each of the plurality of divided unit areas. For example, the processor (1300) may determine whether flames or smoke have occurred in each of the plurality of unit areas within the fire detection area, and then determine a different fire identification node depending on the type of fire.

[0082] According to one embodiment, the processor (1300) may determine the fire extinguishing path so as to include all of the fire identification nodes as paths and reduce the overlapping frequency of virtual fire extinguishing paths corresponding to the driving paths of the driving unit in the fire detection area based on the fire extinguishing priority for the fire detection area including the determined fire identification node. For example, when three fire detection areas are identified as shown in FIG. 7 in the surveillance target area (710), the processor (1300) may determine the target coordinates (722) of the fire detection area (720) with the highest priority as the starting point of the fire extinguishing path based on the fire extinguishing priority determined for each fire detection area.

[0083] According to one embodiment, the processor (1300) may determine a fire extinguishing path based on a shortest path algorithm that includes all fire identification nodes within a surveillance target area (710) from a determined starting point as a path, but has one of the fire identification nodes in the lowest priority fire detection area (740) as a destination. For example, the processor (1300) may determine a fire extinguishing path based on a shortest path algorithm, thereby optimizing the overlapping frequency of the driving paths of the driving unit to be small, and efficiently extinguishing a fire according to the fire extinguishing priority.

[0084] Accordingly, the processor (1300) according to the present disclosure can generate a fire extinguishing path for multiple fire detection areas, where the fire extinguishing efficiency is improved by generating a fire extinguishing path such that the starting point and the destination point of the fire extinguishing path are located in different fire detection areas when multiple fire detection areas are identified within a single monitoring target area.

[0085] According to one embodiment, the processor (1300) can determine a real-time driving point on the screen corresponding to the current location of the real-time driving unit, and determine a fire extinguishing path including identification nodes within the fire detection area through which the real-time driving point passes and unit areas outside the fire detection area.

[0086] According to one embodiment, the processor (1300) may generate the fire extinguishing path such that the output values ​​of the internal path cost function for each fire detection area and the external path cost function of the fire detection area are simultaneously minimized. For example, when determining a path from a fire identification node determined as a starting point (722) of a fire detection area (720) to a fire identification node determined as an escape point (724), for a single fire detection area, the processor (1300) may determine an internal path cost function in which the output value of the cost function decreases as the overlapping path within the fire detection area (720) decreases, and may determine a path for the single fire detection area (720) in which the output value of the internal path cost function is minimized. For example, the escape point (724, 734) may be a fire identification node or unit area at which the current coordinate corresponding to a unit area on the fire extinguishing path finally stays within one fire detection area when moving along the fire extinguishing path from one fire detection area to another fire detection area.

[0087] In addition, according to one embodiment, the processor (1300) may determine an external path cost function in which the output value of the function decreases as the distance between the escape point (734) and the arrival point (742) decreases when determining a path to move from an exit point (734) of a high priority fire detection area (730) to a destination point (742) of a relatively low priority fire detection area (740), and may determine an extinguishing path outside the fire detection area in which the output value of the external path cost function is minimized.

[0088] According to another embodiment, when another fire detection area of ​​lower priority is identified on a fire extinguishing path connecting an escape point within a fire detection area and a destination point within another fire detection area, and when the risk of fire determined by fire detection information of the fire detection area including the destination point is identified as being lower than a critical risk level, the processor (1300) may minimize the output value of the external path cost function by modifying and updating the priority of the fire detection area located on the path.

[0089] According to one embodiment, when a digestion path is determined through the above-described process, the processor (1300) controls the driving unit to follow position coordinate values ​​and distance coordinate values ​​corresponding to a plurality of unit areas on the digestion path, thereby adjusting the left-right angle or the up-down angle of the waterproof blanket.

[0090] According to one embodiment, the processor (1300) not only applies a shortest path algorithm to fire identification nodes within a fire detection area, but also applies a shortest path algorithm to escape points and arrival points for each of multiple fire detection areas, thereby optimizing a path when a virtual path point corresponding to the current real-time drive system position does not pass through the inside of the fire detection area, thereby achieving improved fire extinguishing efficiency.

[0091] In addition, according to one embodiment, the processor (1300) can improve the target fire extinguishing efficiency by applying different fire extinguishing paths, fire extinguishing modes, driving modes, and fire extinguishing methods (water type, gas type, composite type) according to the fire characteristics of each fire detection area detected on a single screen. For example, when multiple fire detection areas are identified within a single monitoring target area, the processor (1300) can apply different fire extinguishing paths to each fire detection area, spray different types of extinguishing agents (e.g., fire extinguishing water, gas, fire extinguishing water + gas composite) to each fire detection area, or apply different fire extinguishing times to each fire detection area, thereby effectively extinguishing multiple fires that occurred within a single monitoring target area.

[0092] In one embodiment, the shortest path algorithm may be Dijkstra's algorithm. The Dijkstra's algorithm, which is applied as the shortest path algorithm according to the present embodiment, is an algorithm for finding the fastest path from a starting point to a destination point, and is used when calculating the shortest path from a specific node to another specific node, and can produce data of a graph data structure such as nodes and edges. The operation process of the Dijkstra's algorithm may include setting a starting node, initializing all values ​​in the shortest distance table to 'infinity', selecting a node with the shortest distance in the shortest distance table among unvisited nodes, and calculating the distance to each other node via the selected node. At this time, if the distance between nodes in the shortest distance table is greater than the calculated value, the distance of the corresponding node may be updated with the calculated value, and by repeating the node distance update process during the process of selecting the node with the shortest distance, the shortest path that can reach the destination point as quickly as possible may be found.

[0093] However, it is not limited to the above-described examples, and it is of course possible for the target fire extinguishing device to perform fire extinguishing using other shortest path algorithms for at least one fire detection area.

[0094] Although not shown in FIG. 7, according to one embodiment, the processor (1300) may obtain a fire identification result regarding whether or not a fire has been identified based on the HSL data including the temperature change amount of the fire identification node within the monitoring target area or the color (HUE), saturation (SATURATION) and brightness (LIGHTNESS) values ​​of the pixels after performing fire extinguishing based on the fire extinguishing path.

[0095] According to one embodiment, if a fire identification node is identified as having a temperature change amount or a change amount of HSL data of a fire identification node less than a preset threshold change amount based on the acquired fire identification result, and the fire identification node is identified as having a temperature change amount or a change amount of HSL data greater than a threshold rate, the processor (1300) determines that the fire is not being extinguished normally, and performs extinguishing again based on the determined fire extinguishing path.

[0096] Additionally, according to one embodiment, the processor (1300) may increase the fire extinguishing time by applying a predetermined weight to the fire extinguishing time for a fire identification node identified as having a temperature change amount or a change amount in HSL data that is less than a preset threshold change amount. For example, the processor (1300) may increase the fire extinguishing time for a fire identification node identified as not being properly extinguished, thereby more effectively extinguishing a fire.

[0097]

[0098] FIG. 8 is a drawing for explaining the interface and software functions of a control module according to one embodiment.

[0099] In one embodiment, the control module interface (810) may include, but is not limited to, a waterproof controller (820) and a monitoring unit (830). In one embodiment, the waterproof gun controller (820) may include a port connection unit (822), a speed control unit (823), a direction control unit (824), a coordinate control unit (825), and a coordinate setting unit (826). In one embodiment, the control module interface (810) may be included in a component of the target fire extinguishing device (1000), but may also be included in a component of a server (2000) connected to the target fire extinguishing device (1000).

[0100] In one embodiment, the port connector (822) may perform a function of searching for or registering a waterproof cover connected to the control module (150) by user input.

[0101] In one embodiment, the speed control unit (832) can determine the X-axis speed and Y-axis speed of the waterproof cover by user input.

[0102] In one embodiment, the direction control unit (824) can control the up, down, left, and right movements of the waterproof cover based on user input, and can also be set to operate in automatic or manual mode.

[0103] According to one embodiment, the coordinate control unit (825) may provide a function that can control the movement of the waterproof cover to coordinates based on user input.

[0104] According to one embodiment, the coordinate setting unit (826) may indicate the current coordinates of the waterproof cover, initialize the coordinates to zero based on user input, load coordinates stored in memory, or store the currently input coordinates in memory.

[0105] Although not shown in FIG. 8, according to one embodiment, the control module (150) stores the current coordinates of the waterproof cover in memory in real time, but may automatically initialize to zero in order to reduce the accumulated error between the actual coordinate values ​​and the coordinate values ​​of the control module when a preset time or when the driving unit reaches a preset cumulative driving distance.

[0106] According to one embodiment, the monitoring unit (830) may provide a function to display at least one of a video, image, or sensor value acquired from a shooting module (130) or a sensor module (140) so as to monitor it in real time.

[0107]

[0108] Figure 9 is a block diagram of a control module according to one embodiment.

[0109] Figure 10 is a block diagram of a control module according to another embodiment.

[0110] As illustrated in FIG. 9, the control module (150) may include a processor (1300), a network interface (1500), and memory (1700). However, not all of the illustrated components are essential. The control module (150) may be implemented with more components than the illustrated components, or may be implemented with fewer components.

[0111] For example, as illustrated in FIG. 10, a control module (150) according to one embodiment may further include a user input interface (1100), an output unit (1200), a sensing unit (1400), and an A / V input unit (1600) in addition to a processor (1300), a memory (1700), and a network interface (1500).

[0112] The user input interface (1100) refers to a means for a user to input a sequence for controlling the electronic device (1000). For example, the user input interface (1100) may include, but is not limited to, a key pad, a dome switch, a touch pad (contact electrostatic capacitance type, pressure resistive film type, infrared detection type, surface ultrasonic conduction type, integral tension measurement type, piezo effect type, etc.), a jog wheel, a jog switch, etc. The user input interface (1100) may receive a user's input sequence for a screen output on the display by the control module (150). In addition, the user input interface (1100) may also receive a user's touch input touching the display or a key input through a graphical user interface on the display.

[0113] The output unit (1200) can output an audio signal, a video signal, or a vibration signal, and the output unit (1200) can include a display unit (1210), an audio output unit (1220), and a vibration motor (1230).

[0114] The display unit (1210) includes a screen for displaying and outputting information processed in the control module (150). The audio output unit (1220) outputs audio data received from the network interface (1500) or stored in the memory (1700). In addition, the audio output unit (1220) outputs audio signals related to functions performed in the control module (150). The vibration motor (1230) can output vibration signals. For example, the vibration motor (1230) can output vibration signals corresponding to the outputs of functions performed in the control module (150).

[0115] The processor (1300) typically controls the overall operation of the control module (150). For example, the processor (1300) can control the user input unit (1100), the output unit (1200), the sensing unit (1400), the network interface (1500), the A / V input unit (1600), etc., by executing programs stored in the memory (1700). In addition, the processor (1300) can perform the functions of the control module (150) described in FIGS. 1 to 8 by executing programs stored in the memory (1700).

[0116] Specifically, the processor (1300) can acquire user input by touching the screen of the control module by controlling the user input unit. According to one embodiment, the processor (1300) can also control a microphone to acquire the user's voice.

[0117] The sensing unit (1400) can detect the status of the control module (150) or the status around the control module (150) and transmit the detected information to the processor (1300). The sensing unit (1400) can include at least one of a magnetic sensor (1410), an acceleration sensor (1420), a temperature / humidity sensor (1430), an infrared sensor (1440), a gyroscope sensor (1450), a position sensor (e.g., GPS) (1460), a pressure sensor (1470), a proximity sensor (1480), and an RGB sensor (illuminance sensor) (1490), but is not limited thereto. Since the function of each sensor can be intuitively inferred from its name by a person skilled in the art, a detailed description thereof will be omitted.

[0118] The network interface (1500) may include one or more components that allow the control module (150) to communicate with other devices (not shown) and a server (2000). The other devices (not shown) may be computing devices such as the control module (150) or sensing devices, but are not limited thereto. For example, the network interface (1500) may include a wireless communication interface (1510), a wired communication interface (1520), and a mobile communication unit (530).

[0119] The wireless communication interface (1510) may include, but is not limited to, a short-range wireless communication unit, a Bluetooth communication unit, a near field communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD (Wi-Fi Direct) communication unit, etc. The wired communication interface (1520) may connect the server (2000) or the control module (150) via a wire.

[0120] The mobile communication unit (1530) transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signals may include various types of data, such as voice signals, video call signals, or text / multimedia message transmission and reception.

[0121] In one embodiment, the network interface (1500) may transmit a thermal image or optical image of the surveillance target area and the control coordinates of the waterproof cover to the server. In addition, the network interface (1500) may receive data regarding prescriptions from the server or other electronic devices.

[0122] The A / V (Audio / Video) input unit (1600) is for inputting audio signals or video signals, and may include a camera (1610) and a microphone (1620), etc. The camera (1610) can obtain image frames, such as still images or moving images, through an image sensor in video call mode or shooting mode. Images captured through the image sensor can be processed through a processor (1300) or a separate image processing unit (not shown).

[0123] The microphone (1620) receives an external acoustic signal and processes it into electrical voice data. For example, the microphone (1620) can receive an acoustic signal from an external device or a user. The microphone (1620) can receive a user's voice input. The microphone (1620) can utilize various noise removal algorithms to remove noise generated during the process of receiving an external acoustic signal.

[0124] The memory (1700) can store a program for processing and controlling the processor (1300), and can also store data input to or output from the control module (150). In addition, the memory (1700) can also store target coordinate information and control coordinate information of the waterproof cover obtained by the control module (150) based on user input.

[0125] The memory (1700) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk.

[0126] Programs stored in memory (1700) can be classified into multiple modules according to their functions, for example, a UI module (1710), a touch screen module (1720), a notification module (1730), etc.

[0127] The UI module (1710) can provide specialized UIs, GUIs, etc. that are linked to the control module (150) for each application. The touch screen module (1720) can detect a user's touch gesture on the touch screen and transmit information about the touch gesture to the processor (1300). According to some embodiments, the touch screen module (1720) can recognize and analyze a touch code. The touch screen module (1720) can also be configured as separate hardware including a controller.

[0128] The notification module (1730) can generate a signal to notify the occurrence of an event of the control module (150). Examples of events generated by the control module (150) include reception of a call signal, reception of a message, input of a key signal, and schedule notification. The notification module (1730) can output a notification signal in the form of a video signal through the display unit (1210), output a notification signal in the form of an audio signal through the sound output unit (1220), or output a notification signal in the form of a vibration signal through the vibration motor (1230).

[0129]

[0130] Figure 11 is a block diagram of a server according to one embodiment.

[0131] According to one embodiment, the server (2000) may include a network interface (2100), a database (2200), and a processor (2300). According to one embodiment, the server (2000) may correspond to an integrated control center server that detects whether a fire has occurred by linking with a target fire extinguishing device and outputs real-time fire detection information thereon. The network interface (2100) may correspond to the network interface (1500) of the control module (150) illustrated in FIGS. 9 and 10. For example, the network interface (2100) may obtain data regarding target coordinates of a thermal image, an optical image, or a waterproof sheet from the control module (150).

[0132] In one embodiment, the database (2200) may correspond to the memory (1700) of the control module (150) illustrated in FIGS. 9 to 10.

[0133] According to one embodiment, the processor (2300) may provide the control module interface of FIG. 8 to administrators who are users of the server device. In addition, the processor (2300) typically controls the overall operation of the server (2000). For example, the processor (2300) may control the DB (2200) and the network interface (2100) in general by executing programs stored in the DB (2200) of the server (2000). In addition, the processor (2300) may perform all or part of the functions of the control module (150) described above in FIGS. 1 to 10 by executing programs stored in the DB (2100).

[0134]

[0135] Fig. 12 is a drawing for explaining the structure of a waterproof control unit according to one embodiment.

[0136] In one embodiment, the waterproof control unit (1202) may include, but is not limited to, a motor controller (1212), a lidar controller (1222), a serial-to-Ethernet module (1232), a network switch (1242), and a motor driver (1252).

[0137] According to one embodiment, the motor controller (1212) can transmit a driving signal to the motor driver (1252) that controls the up / down / left / right movements of the waterproof cover and the direct and spraying of the nozzle through a serial interface control signal received from the control module (150) via the network switch (1242).

[0138] In one embodiment, the lidar controller (1222) can control the lidar sensor included in the sensor module (140). In one embodiment, the serial-to-Ethernet module (1232) can provide a data transmission and reception function between the control module (150) and the motor controller (1212). In one embodiment, the network switch (1242) can receive a serial interface control signal from the control module (150). In one embodiment, the motor driver (1252) can control the waterproof cover and the driving unit based on the motor and nozzle driving signals received from the motor controller (1212).

[0139] The method according to one embodiment may be implemented in the form of program commands that can be executed by various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., either singly or in combination. The program commands recorded on the medium may be those specifically designed and configured for the present disclosure or may be known and available to those skilled in the art of computer software.

[0140] In addition, a computer program device including a recording medium storing a program for performing another method according to the above embodiment may be provided. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specifically configured to store and perform program instructions such as ROMs, RAMs, flash memories, and the like. Examples of the program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0141] Although the embodiments of the present disclosure have been described in detail above, the scope of the present disclosure is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concepts of the present disclosure defined in the following claims also fall within the scope of the present disclosure.

Claims

1. A waterproof sheet that emits at least one type of extinguishing agent; A driving unit installed in the above waterproof sheet to control the direction in which the fire extinguishing agent is emitted; A photographing module installed at a location adjacent to the waterproof cover and including at least one camera for photographing the surveillance target area; and A target fire extinguishing device, comprising: a control module for controlling the waterproof cover and the driving unit to emit the fire extinguishing material to a fire detection area based on an image acquired from the photographing module; 2. In the first paragraph, the target extinguishing device, A target fire extinguishing device further comprising a sensor module including a lidar sensor configured to measure the distance to a fire detection area identified within the above surveillance target area.

3. In the second paragraph, the control module, network interface; Memory that stores one or more instructions; and At least one processor executing one or more instructions stored in the memory; The at least one processor executes one or more instructions stored in the memory, Obtain fire identification results regarding whether a fire has occurred in the above surveillance target area, Based on the obtained fire identification result, fire detection information regarding at least one of the type, location, size, or risk of the fire in the surveillance target area is obtained, Based on the acquired fire detection information, at least one target coordinate corresponding to the location of the fire within the surveillance target area and the distance between the location of the fire and the waterproof blanket is determined, A target extinguishing device that performs target extinguishing for a fire that has occurred in the surveillance target area based on the acquired fire detection information and the determined at least one target coordinate.

4. In the third paragraph, at least one processor Acquire a plurality of thermal images and a plurality of optical images having a preset frame interval from each of a thermal imaging camera and an optical camera photographing the above-mentioned surveillance target area, A target extinguishing device that obtains a fire identification result regarding whether a flame or smoke has occurred in the surveillance target area based on the acquired plurality of thermal images and the acquired plurality of optical images.

5. In the fourth paragraph, at least one processor, Based on at least one of the plurality of thermal images or the plurality of optical images including a fire detection area indicating the location and size of the fire within the surveillance target area, a position coordinate value corresponding to the left-right movement angle of the waterproof blanket is determined, Based on the sensor value measured from the lidar sensor for the fire detection area, a distance coordinate value corresponding to the up-and-down movement angle of the waterproof blanket for the fire extinguishing material to reach the location of the fire is determined, A target extinguishing device that determines the target coordinates including the position coordinate values ​​and the distance coordinate values.

6. In paragraph 5, at least one processor, Obtaining a plurality of edge coordinates of boundaries of outermost pixels among pixel groups including pixels related to the fire within the fire detection area, A target fire extinguishing device that determines the location coordinate value based on the type of fire identified in the fire detection area and the acquired plurality of edge coordinates.

7. In the 6th paragraph, at least one processor, If the type of fire identified in the above fire detection area is a flame, center coordinates representing the average value of the plurality of edge coordinates are determined from each of the plurality of thermal images, A target extinguishing device, which determines, as the position coordinate value, a pixel identified as having a frequency of being identified as being above the threshold temperature at a preset threshold frequency among pixels exhibiting a temperature above the threshold temperature within the plurality of thermal images including a predetermined radius of the average center coordinate representing the average value of the determined center coordinates.

8. In paragraph 6, at least one processor, If the type of fire identified in the above fire detection area is smoke, the bottom center coordinates representing the average value of the bottom edge coordinates among the plurality of edge coordinates are determined from each of the plurality of optical images, Identifying motion vectors based on changes in positions of pixels representing gray color values ​​within the plurality of optical images, including a predetermined radius of the average bottom center coordinate representing the average value of the determined bottom center coordinates, A target extinguishing device that determines a pixel where smoke is estimated to be generated based on the movement direction of the identified motion vectors as the position coordinate value.

9. In paragraph 5, at least one processor, Obtaining at least one sensor value regarding the arrival time of the laser reflected light transmitted from the above lidar sensor to the above fire detection area, Based on the acquired sensor value, the distance to the location of the fire detection area is acquired, A target extinguishing device that determines the distance coordinate value based on the acquired distance and the extinguishing mode of directly firing or spraying the extinguishing agent.

10. In the 9th paragraph, at least one processor, Based on the above fire detection information, determine the extinguishing priority for at least one fire that occurred within the surveillance target area, Based on the above fire detection information, a fire extinguishing mode for each fire detection area including at least one fire that has occurred and a fire extinguishing mode for the extinguishing material are determined, Based on the above-determined extinguishing priority and at least one target coordinate determined above, the extinguishing path is determined so that the overlapping frequency of the driving paths of the driving unit in the fire detection area is reduced, A target digestion device that performs the target digestion based on the determined digestion path and digestion mode.

11. In the 10th paragraph, at least one processor, If two or more fire detection areas are identified within the above surveillance target area, if the type of fire within the fire detection area is identified as flame, the fire detection area is determined to have the first priority, and if the type of fire within the fire detection area is identified as smoke, the fire detection area is determined to have the second priority. A first weighting determined based on the size of the fire within the fire detection area is assigned to the first priority or the second priority, A second weighting according to a risk level determined based on at least one of the flammability, inflammability or explosiveness risk characteristics of an object identified within the fire detection area is assigned to the first priority or the second priority, A target fire extinguishing device that determines the fire extinguishing priority for each fire detection area based on the result of adding the weights assigned to the first priority and the second priority.

12. In the 10th paragraph, at least one processor, If the type of fire within the above fire detection area is identified as flame, the firing mode is determined as direct mode, and if the type of fire within the above fire detection area is identified as smoke, the firing mode is determined as spray mode. A target fire extinguishing device, wherein when an object identified within the fire surveillance area is identified as a fuel or electric type, the fire extinguishing agent is determined to be a gas type, and when an object identified within the fire surveillance area is not identified as a fuel or electric type, the fire extinguishing agent is determined to be a water type.

13. In paragraph 10, at least one processor, Divide the fire detection area including at least one target coordinate determined above into a plurality of unit areas along the vertical direction, By obtaining the fire identification results for each of the above-mentioned divided multiple unit areas, the unit area where the fire is identified is determined as a fire identification node, A target fire extinguishing device, which determines the fire extinguishing path based on the fire extinguishing priority for the fire detection area including the determined fire identification node, such that all of the fire identification nodes are included in the path, and the overlapping frequency of the virtual fire extinguishing path corresponding to the driving path of the driving unit in the fire detection area is reduced.

14. In the method of operation of the target extinguishing device, A step of obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; A step of obtaining fire detection information regarding at least one of the type, location, size, or risk of a fire in the surveillance target area based on the obtained fire identification result; A step of determining at least one target coordinate corresponding to the location of the fire within the surveillance target area and the distance between the location of the fire and the target fire extinguishing device based on the acquired fire detection information; and A method comprising: a step of performing target extinguishing for a fire occurring in the surveillance target area based on the acquired fire detection information and the determined at least one target coordinate; 15. In the method of operation of the target extinguishing device, A step of obtaining a fire identification result regarding whether a fire has occurred in a surveillance target area; A step of obtaining fire detection information regarding at least one of the type, location, size, or risk of a fire in the surveillance target area based on the obtained fire identification result; A step of determining at least one target coordinate corresponding to the location of the fire within the surveillance target area and the distance between the location of the fire and the target fire extinguishing device based on the acquired fire detection information; and A computer-readable recording medium storing a program for causing a method to be performed, comprising: a step of performing target extinguishment for a fire that has occurred in the surveillance target area based on the acquired fire detection information and the determined at least one target coordinate;

Images