Fire-extinguishing projectile launching device

Abstract

The present invention relates to a fire-extinguishing projectile launching device comprising: an aiming controller for controlling the angle and azimuth of a launcher; and an aiming unit for adjusting the angle and azimuth of the launcher according to the control of the aiming controller, wherein the aiming unit can include: a rotary plate on which the launcher is mounted; an azimuth driving unit for rotating the rotary plate by means of the control of the aiming controller; an origin display unit, which is fixedly provided to be adjacent to the rotary plate so as to indicate the position of the origin; and a sensor unit, which is fixedly provided on the rotary plate so as to detect the origin display unit, thereby notifying the aiming controller that the rotary plate is at a position corresponding to the azimuth origin.

Description

grenade launcher

[0001] The present invention relates to a fire extinguishing grenade launcher, and more particularly, to a fire extinguishing grenade launcher that enables faster aiming using an azimuth origin.

[0002] Fire detection methods that primarily analyze images from CCTV cameras and other sources are commonly used. This is due to their ease of management and the ability to monitor fires over a relatively wide area.

[0003] However, in cases where a fire is judged to have occurred in an image, it is very difficult to detect the distance to the ignition point, and the fire outbreak is propagated by confirming the approximate location.

[0004] Additionally, fire extinguishers are sometimes used to extinguish fires, but there is a limitation in that it is difficult to immediately extinguish a fire by firing a fire extinguisher if the exact distance to the ignition point cannot be determined.

[0005] In addition, for firing a fire extinguishing grenade, a firing method using gunpowder (hereinafter referred to as the “first conventional method”) or a direct throwing method by a person (hereinafter referred to as the “second conventional method”) is conventionally used.

[0006] However, the first conventional method, as described in Patent No. 10-1243081, uses gunpowder, and thus carries the inherent risk of gunpowder-related accidents. In particular, as the firing distance increases, the amount of gunpowder required increases, further increasing the risk.

[0007] In addition, the second conventional method requires a person to approach the point of fire, making it virtually impossible to apply to large-scale fires such as forest fires.

[0008] To address these issues, drones are used to drop fire extinguishing grenades, as described in Patent No. 10-1741578. However, drones cannot carry multiple grenades at once and require specialized personnel to operate them, making them practically inapplicable to large-scale fires.

[0009] In addition, when firing a fire extinguishing grenade, the azimuth of the gun barrel is adjusted to fire the fire extinguishing grenade at the ignition point, but there was a problem in that it was difficult to accurately determine the origin position for determining the direction of the gun barrel, which delayed the time required for aiming and ultimately delayed the firing of the fire extinguishing grenade.

[0010] The present invention, which aims to solve the problems of the above-described prior art, aims to provide a grenade launcher capable of quickly detecting the azimuth origin of the launcher body.

[0011] In addition, another purpose of the present invention is to provide a fire extinguishing grenade launcher capable of quickly and accurately detecting the distance to an ignition point and quickly aiming and firing a fire extinguishing grenade at the ignition point.

[0012] The present invention for solving the above-described problem comprises a firing device for a fire extinguishing apparatus, which comprises a targeting controller for controlling the angle and direction of a launcher, and a targeting unit for adjusting the angle and direction of the launcher according to the control of the targeting controller, wherein the targeting unit may include a rotating plate on which the launcher is mounted on the upper portion, an azimuth driving unit for rotating the rotating plate under the control of the targeting controller, an origin display unit fixedly installed adjacent to the rotating plate to indicate an origin position, and a sensor unit fixedly installed on the rotating plate to detect the origin display unit and inform the targeting controller that the rotating plate is at a position corresponding to the azimuth origin.

[0013] In an embodiment of the present invention, based on the origin display unit, a first limiter and a second limiter may be further included, which are positioned at angular positions set in the clockwise and counterclockwise directions of the turntable, respectively, to indicate the rotation limit positions of the turntable.

[0014] In an embodiment of the present invention, the sensor unit may be an acoustic sensor or an optical sensor.

[0015] In an embodiment of the present invention, the origin display unit and the reflective surfaces of the first limiter and the second limiter may be distinguishable by the detection profile of the sensor unit.

[0016] In an embodiment of the present invention, each of the first limiter and the second limiter can be fixedly installed adjacent to the rotating plate at positions 90 degrees clockwise and counterclockwise with respect to the origin display portion.

[0017] In an embodiment of the present invention, the origin indicating portion is formed with a plurality of protrusions on a reflective surface, and the protrusions indicating the origin have a different degree of protrusion compared to other protrusions in the vicinity, so that they can be distinguished in the detection profile of the sensor portion.

[0018] The present invention adjusts the azimuth of a gun barrel according to the result of detecting the azimuth of an ignition point, and has the effect of shortening the time required for aiming and firing by easily confirming the azimuth zero point of a rotating plate on which the gun barrel is mounted and quickly adjusting the azimuth of the gun barrel according to the azimuth of the detected ignition point.

[0019] In addition, the present invention has the effect of improving fire response capabilities by analyzing image data using image processing technology and machine learning algorithms to quickly and accurately detect the distance to the ignition point, thereby enabling response in the early stages of a fire outbreak.

[0020] In addition, the present invention has the effect of improving the initial response capability to a fire outbreak by detecting the direction and distance of the ignition point and automatically aiming and firing a fire extinguishing grenade in consideration of the current weather conditions.

[0021] Figure 1 is a block diagram of a grenade launcher according to a preferred embodiment of the present invention.

[0022] Figure 2 shows a schematic block diagram of a grenade launcher (1) according to one embodiment of the present invention.

[0023] Figure 3 is a block diagram of the aiming unit.

[0024] Figure 4 shows a rough internal structure of a grenade launcher (1) according to one embodiment of the present invention.

[0025] Figure 5 is an explanatory diagram for explaining the azimuth origin setting of the present invention.

[0026] FIG. 6 shows a side view of a schematic configuration of an actuator (120) according to one embodiment of the present invention.

[0027] FIGS. 7 to 9 illustrate various cross-sectional views of the general configuration of an actuator (120) according to one embodiment of the present invention.

[0028] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0029] In describing each drawing, similar reference numerals are used to designate similar components. In describing the present invention, detailed descriptions of related known technologies are omitted if they are deemed to obscure the gist of the present invention.

[0030] Terms such as "first" and "second" may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0031] For example, without departing from the scope of the present invention, the first component could be referred to as the second component, and similarly, the second component could also be referred to as the first component.

[0032] The term and / or includes any combination of a plurality of related described items or any one of a plurality of related described items.

[0033] When it is said that a component is "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0034] On the other hand, when it is said that a component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0035] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the present invention.

[0036] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0038] Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0039]

[0040] Figure 1 is a block diagram of a grenade launcher according to a preferred embodiment of the present invention.

[0041] Referring to FIG. 1, the present invention comprises a camera (10) for detecting a surrounding image (video), an image processing unit (20) for processing the image of the camera (10) to obtain an image that is easy to detect a fire occurrence, a database (30) for storing various fire images and images captured by the camera (10) and a distance information table on the images, a fire determination unit (40) for learning the images stored in the database (30) according to a learning algorithm and learning the images of the image processing unit (20) to detect whether a fire has occurred, a distance detection unit (50) for determining the azimuth and distance of the camera (10) from which the image determined by the fire determination unit (40) to have been captured, an environment sensor (60) for detecting and providing current humidity, temperature, and air pressure information, an aiming controller (70) for aiming and firing a fire extinguishing grenade launcher (1) in accordance with the azimuth and distance detected by the distance detection unit (50) in consideration of the information of the environment sensor (60), and according to the control of the aiming controller (70). It is configured to include an alarm generating unit (80) that generates an alarm.

[0042] Hereinafter, the configuration and operation of the fire extinguishing grenade launcher of the present invention configured as described above will be described in more detail.

[0043] First, one or more cameras (10) may be installed. The camera (10) is assumed to be an optical camera.

[0044] The camera (10) can be rotated within a certain angle range to capture a wide surrounding area.

[0045] The image captured by the camera (10) is input to the image processing unit (20) and processed.

[0046] The image processing unit (20) may be configured to perform filtering to facilitate the detection of fire-initiated areas. For example, it may perform binarization through thresholding, and adaptive thresholding may be used to more clearly distinguish and process areas of captured images.

[0047] Next, the fire judgment unit (40) learns the image processed by the image processing unit (20) to determine whether a fire has occurred.

[0048] The above fire judgment unit (40) includes a learning algorithm that learns using fire images stored in a database (30), and determines whether a fire has occurred by finding a smoke image or a flame image in the image of the current image processing unit (20).

[0049] The above fire judgment unit (40) uses a convolutional neural network to learn about smoke images and flame images, extracts a feature map, and uses this to classify the image into smoke and flame. If a smoke or flame image is detected, it is determined that a fire has occurred.

[0050] In the above database (30), the images used for the two types of learning are stored in separate tables.

[0051] That is, the fire judgment unit (40) can store images containing smoke or flames for fire judgment, and also store images captured by the camera (10).

[0052] Images captured by the camera (10) may include various terrain features. For example, they may include buildings, towers, mountain ridges, and distinguishable trees.

[0053] As described above, the camera (10) can capture images of a target area by rotating, and the images of terrain features appear differently depending on the azimuth angle pointed by the camera (10).

[0054] That is, by checking the image in which the position of the image processed by the current image processing unit (20) matches the position of the terrain feature, the azimuth, which is the rotation angle of the camera (10), can be checked, and the distance relationship can be estimated and calculated using the terrain feature.

[0055] The above distance detection unit (50) performs a learning algorithm that learns the characteristic features of the images captured by the camera (10) stored in the database (30) and the terrain features whose distances are known from the camera.

[0056] Accordingly, the distance detection unit (50) can detect the direction and distance to the point of ignition confirmed by smoke or flames, which is determined to be a fire by the fire judgment unit (40).

[0057] After the direction and distance are detected in this way, the aiming controller (70) can adjust the direction and firing angle of the fire extinguishing grenade launcher (1) to aim at the ignition point and fire the fire extinguishing grenade to perform an initial response.

[0058] At this time, the aiming controller (70) can perform automatic aiming using the direction and distance detected by the distance detection unit (50) and the environmental information detected by the environmental sensor (60).

[0059] The environmental information of the environmental sensor (60) may be temperature, humidity, and atmospheric pressure.

[0060] Temperature, humidity, and air pressure are meteorological conditions that affect the launch trajectory of a fire grenade, and automatic aiming is performed taking these into account.

[0061] For example, the higher the air pressure, the shorter the range of the fire grenade under the same conditions, and automatic aiming is performed taking this into account.

[0062] The alarm generating unit (80) generates an alarm under the control of the aiming controller (70).

[0063] The fire extinguishing grenade launcher (1) is a device capable of firing a fire extinguishing grenade, and the fire extinguishing grenade may be automatically aimed and fired by the aiming controller (70).

[0064] Fig. 2 shows a schematic block diagram of a grenade launcher (1) according to one embodiment of the present invention, Fig. 3 is a schematic block diagram of an aiming unit, and Fig. 4 shows a schematic internal structure of a grenade launcher (1) according to one embodiment of the present invention.

[0065] The fire extinguishing grenade launcher (1) applied to the present invention may be a mobile electromagnetic fire extinguishing grenade launcher that fires fire extinguishing grenades using electrical and mechanical energy.

[0066] The grenade launcher (1) is implemented to provide firing power to the projectile using an electromagnetic actuator (120) to be described later, so that the firing output for the projectile can be precisely controlled.

[0067] In addition, the fire extinguishing grenade launcher (1) can be applied to large-scale fires such as forest fires because the actuator (120) that provides the launching power to the projectile can implement high torque output and instantaneous acceleration, so that the projectile can be launched over a long distance. In particular, since projectiles such as fire extinguishing grenades and illumination grenades have the characteristic of being used after moving to the launch target point (e.g., the extinguishing point of a forest fire, etc.), it may be desirable to implement them in a miniaturized and battery-powered mobile form in order to enhance accessibility to the launch target point.

[0068] The present invention is not limited thereto, and may be mounted on a moving vehicle moving in an urban area.

[0069] This grenade launcher (1), as shown in FIG. 2, includes a launcher (110), an actuator (120), a power supply (130), and an aiming unit (140).

[0070] The aiming unit (140) adjusts the angle and direction of the launcher (111) of the launching unit (110) according to the control of the aiming controller (70).

[0071] The aiming unit (140) may include a rotating plate (141) on which the launcher (111) is installed and which can rotate the launcher (111) to adjust the azimuth, a sensor unit (142) that detects the azimuth origin on the rotating plate (141), an azimuth driving unit (143) that drives the rotating plate (141) according to the control of the aiming controller (70), and an origin display unit (144) that is fixedly installed on a portion of the outer side of the rotating plate (141).

[0072] Figure 5 is an explanatory diagram for explaining the operation of the aiming unit (140) applied to the present invention.

[0073] Referring to Fig. 5, a sensor unit (142) is installed on the turntable (141), and the sensor unit (142) detects the origin indicator unit (144).

[0074] The turntable (141) can be rotated up to 90 degrees clockwise or counterclockwise from the azimuth origin.

[0075] That is, the maximum rotation range of the turntable (141) is 180 degrees.

[0076] This can be understood as a limit to prevent damage to electrical wiring or other equipment by setting the allowable rotation radius of the gun barrel, which is the launcher (111), and continuously rotating in one direction.

[0077] For this purpose, the first limiter (145) and the second limiter (146) can be placed at positions 90 degrees clockwise and 90 degrees counterclockwise, respectively, with respect to the origin indicator (144).

[0078] The sensor unit (142) may use an acoustic sensor such as an ultrasonic sensor or an optical sensor such as a laser sensor. That is, the sensor unit (142) outputs sound or light of a specific frequency and receives reflected light to recognize an origin display unit (144) in which a specific pattern is formed, thereby allowing the azimuth origin to be easily identified.

[0079] The reflective surface that reflects sound or light of the sensor portion (142) of the above origin display portion (144) has a number of protruding portions as in the example of FIG. 5, and can be distinguished from the first limiter (145) that provides a curved reflective surface and the second limiter (146) that provides a flat reflective surface.

[0080] Accordingly, the detection profile of the origin indicator (144) detected by the sensor unit (142) is different from the detection profile of the first limiter (145) or the second limiter (136), and therefore, the aiming controller (70) that receives the detection result of the sensor unit (142) can use the detection result of the sensor unit (142) to confirm the origin and prevent the execution of control exceeding the limiter.

[0081] In particular, the origin display unit (144) may include a number of protrusions on the reflective surface in order to provide a more accurate origin position display, and may be implemented such that the protrusions protruding from the center protrude more or conversely less than the protrusions around the center.

[0082] This allows the detection profile to be at its maximum or minimum in the center of the origin display section (144), thereby enabling the origin of the turntable (141) and launcher (111) to be aligned with a more accurate origin position.

[0083] The azimuth origin detected by the above sensor unit (142) is provided to the aiming controller (70), and the aiming controller (70) controls the aiming unit (140) according to the azimuth information after confirming that the rotating plate (141) mounted on the upper part of the launcher (111) is positioned in accordance with the azimuth origin.

[0084] The launcher (110) is a configuration that houses the components of the main grenade launcher (1), such as the actuator (120) and the power supply (130). A projectile is mounted inside, and the projectile is guided from the inside and then launched to the outside by applying launch power according to the operation of the actuator (120).

[0085] To this end, the launcher (110) is equipped with a launch pad (111). That is, referring to FIG. 2, the launch pad (111) has an internal space in which a projectile is mounted and guided, and has a shape that is elongated along the long axis in the launching direction.

[0086] Fig. 6 shows a side view of a rough configuration of an actuator (120) according to one embodiment of the present invention, and Figs. 7 to 9 show cross-sectional views of various examples of rough configurations of an actuator (120) according to one embodiment of the present invention. That is, Figs. 7 to 9 show various examples of rough configurations of a rotating part (121) of an actuator (120) based on cross-sectional views of each gear (211, 212, 213) shown in Fig. 6.

[0087] The actuator (120) is a component that operates to provide launch power to a projectile mounted in the internal space of the launcher (111), and is implemented electromagnetically. Here, the electromagnetic type may refer to a method of controlling mechanical rotational force using an electrical signal control signal.

[0088] To this end, referring to FIGS. 6 and 7, the actuator (120) includes a rotating part (121) that performs a rotational motion, a control part (122) that controls the rotational motion of the rotating part (121), and a load (123) that converts the rotational motion of the rotating part (121) into a linear motion.

[0089] Specifically, the rotating part (121) may include a plurality of gears (211, 212, 213), a rotating shaft (214, 215), and a driving part (218, 219). That is, the rotating part (121) is configured to provide driving force (rotational force) when the driving part (218, 219), such as a motor (M), is driven according to a control signal of the control part (122), and to output a final rotational force according to the mechanical operation of the plurality of gears (211, 212, 213) and the rotating shaft (214, 215), which are mechanical devices, by the driving force.

[0090] To this end, the connection structure of the first to third gears (211, 212, 213) is as follows. That is, the second gear (211) is connected to the third gear (213) and can rotate relative to the third gear (213), and the third gear (213) is connected to the first and second gears (211, 212), respectively, and can rotate relative to the first and second gears (211, 212) (i.e., rotate in different directions). These first to third gears (211, 212, 213) can be sequentially gear-connected. The rotation of each gear (211, 212, 213) is based on self-rotation and can additionally rotate.

[0091] At this time, the first gear (211) is implemented in a ring shape, and the ring (211a), which is the main body of the ring shape, is provided with teeth (211b, 211c) on the inner and outer surfaces, respectively. That is, the inner teeth (211b) are spaced apart in number while making a circle along the inner surface of the ring (211a), and the first outer teeth (211c) are spaced apart in number while making a circle along the outer surface of the ring (211a).

[0092] The second gear (212) is a gear corresponding to the sun gear, and is provided inside the first gear (211). Second outer teeth (212b) are provided on the outer surface of the first disk (212a), which is a circular body. That is, the second outer teeth (212b) are spaced apart from each other in a plurality while circling along the outer surface of the first disk (212a), and are provided in a shape corresponding to the third outer teeth (213b) of the third gear (213). These second outer teeth (212b) come into contact with the third outer teeth (213b) of the third gear (213) and rotate relative to the third outer teeth (213b).

[0093] The third gear (213) is a gear corresponding to a planetary gear, and is provided inside the first gear (211). Third outer teeth (213b) are provided on the outer surface of the second disk (213a), which is a circular body. That is, the third outer teeth (2123) are spaced apart in number while circling along the outer surface of the second disk (213a), and are provided in shapes corresponding to the inner teeth (211b) of the first gear (211) and the second outer teeth (212b) of the second gear (212). This third outer gear (213b) contacts the inner gear (211b) of the first gear (211) on one side and contacts the second outer gear (212b) of the second gear (212) on the other side, thereby rotating relative to the inner gear (211b) and rotating relative to the second outer gear (212b).

[0094] A plurality of third gears (213) may be provided. However, although FIGS. 6 to 9 illustrate that two third gears (213) are provided, this is not limited thereto, and three or more may be provided. At this time, as illustrated in FIG. 3, a plurality of third gears (213) may be arranged at different positions on the outer surface of the second gear (212) with the second gear (212) interposed therebetween. At this time, the plurality of third gears (213) may be arranged symmetrically with respect to the second gear (212). In addition, it may be preferable that the plurality of third gears (213) have the same diameter, but this is not limited thereto, and they may have different diameters.

[0095] Of course, unlike what is shown in the drawing, only one third gear (213) may be provided. In this case, the second gear (212) may rotate correspondingly to the inner gear (211b) of the first gear (211) by having the second outer tooth (212b) on one side contact the inner gear (211b) of the first gear (211), and the second outer tooth (212b) on the other side may rotate correspondingly to the third outer gear (231b) of the third gear (213).

[0096] The diameters of the plurality of gears (211, 212, 213) decrease in the order of the first gear (211), the second gear (212), and the third gear (213). That is, the diameter of the first gear (211) is the largest, the diameter of the second gear (212) is the next largest, and the diameter of the third gear (213) is the smallest.

[0097] The first gear (211) and the second gear (212) may be arranged on the same axis. The first gear (211) and the second gear (212) may be connected to each other by the third gear (213).

[0098] The first and second driving units (218, 219) can supply driving power to at least two of the first to third gears (211, 212, 213). Of course, in FIG. 4, the first and second driving units (218, 219) are connected to the first and second gears (211, 212), respectively, to supply driving force (hereinafter, referred to as the “first arrangement”), but this is not limited thereto, and as shown in FIG. 7, the first and second driving units (218, 219) are connected to the first and third gears (211, 213), respectively, to supply driving force (hereinafter, referred to as the “second arrangement”), or as shown in FIG. 6, the first and second driving units (218, 219) are connected to the second and third gears (212, 213), respectively, to supply driving force (hereinafter, referred to as the “third arrangement”).

[0099] However, in the first arrangement, as illustrated in FIG. 7, a first rotational shaft (214) corresponding to the axis of the first gear (211) is connected to one side of the first gear (211) (i.e., the left side in FIG. 6), and a second rotational shaft (215) corresponding to the axis of the second gear (212) is connected to the other side of the second gear (212) (i.e., the right side in FIG. 7). Accordingly, the first rotational shaft (214) rotates according to the driving of the first driving unit (218) and transmits the corresponding rotational force to the first gear (211). In addition, the second rotational shaft (215) rotates according to the driving of the second driving unit (219) and transmits the corresponding rotational force to the second gear (212).

[0100] On the other hand, in the second arrangement, as illustrated in FIG. 7, a first rotation shaft (214) corresponding to the axis of the first gear (211) is connected to one side of the first gear (211), and a second rotation shaft (215) corresponding to the axis of the third gear (213) is connected to the other side of the third gear (213). Accordingly, the first rotation shaft (214) rotates according to the driving of the first driving unit (218) and transmits the corresponding rotational force to the first gear (211). In addition, the second rotation shaft (215) rotates according to the driving of the second driving unit (219) and transmits the corresponding rotational force to the third gear (213).

[0101] In addition, in the third arrangement, as illustrated in FIG. 6, a first rotational shaft (214) corresponding to the axis of the second gear (212) is connected to the other side of the second gear (212), and a second rotational shaft (215) corresponding to the axis of the third gear (213) is connected to the other side of the third gear (213). Accordingly, the first rotational shaft (214) rotates according to the driving of the first driving unit (218) and transmits the corresponding rotational force to the second gear (212). In addition, the second rotational shaft (215) rotates according to the driving of the second driving unit (219) and transmits the corresponding rotational force to the third gear (213).

[0102] Of course, unlike what is shown in the drawing, additional driving units may be provided in addition to the first and second driving units (218, 219), in which case each driving unit is connected to one or the other side of the first to third gears (213) through a dedicated rotational shaft. Accordingly, each rotational shaft rotates according to the driving of each driving unit and transmits the corresponding rotational force to the first to third gears (211, 212, 213), respectively.

[0103] For example, each driving unit (218, 219) may be a motor (M) that transmits rotational force under the control of the control unit (122) according to the power supplied from the power supply unit (130), but is not limited thereto. However, each driving unit (218, 219) may directly provide rotational force to at least two units (i.e., input units) that receive driving force among the first to third gears (211, 212, 213), directly provide rotational force to each shaft (214, 215) connected to the input unit, or transmit rotational force to the input unit through an additional gear, belt, chain, etc.

[0104] The first and second driving units (218, 219) can provide driving force to at least two input units among the first to third gears (213), respectively. At this time, the control unit (122) can typically control the overall operation of the rotating unit (121) by controlling the operation of the first and second driving units (218, 219). That is, the control unit (122) can control the driving force of the first and second driving units (218, 219). Hereinafter, the control of the driving force of the first and second driving units (218, 219) by the control unit (122) and the provision of the driving force of the first and second driving units (218, 219) will be used interchangeably.

[0105] For example, in the first arrangement, the control unit (122) can control the rotational power of the first and second gears (211, 212) through the driving power control of the first and second driving units (218, 219). In addition, in the second arrangement, the control unit (122) can control the rotational power of the first and third gears (211, 213) through the driving power control of the first and second driving units (218, 219). In addition, in the third arrangement, the control unit (122) can control the rotational power of the second and third gears (212, 213) through the driving power control of the first and second driving units (218, 219).

[0106] The rod (123) converts the rotational motion of the rotating part (121) into linear motion. Referring to Fig. 4, the rod (123) is formed in a shape that is elongated along the longitudinal axis of the launcher (111), and is provided with a fourth outer tooth (231) on the upper or lower surface. That is, the fourth outer tooth (231) is arranged in a linear direction along the upper or lower surface of the rod (123) in a number of spaces, and is provided in a shape corresponding to the first outer tooth (211c) of the first gear (211). The fourth outer tooth (231) contacts the first outer tooth (211c) of the first gear (211) to convert the rotation of the corresponding first outer tooth (211c) into linear motion, thereby moving in a straight line.

[0107] That is, the rotational power by the first to third gears (211, 212, 213) is ultimately output through the first outer tooth (211c) of the first gear (211) (i.e., the first gear (211) corresponds to the output unit of the rotating part (121), and this final rotational output is converted into linear motion while being transmitted to the third outer tooth (231) of the rod (123). At this time, the rod (123) can transmit the launch power to the projectile while pushing the projectile equipped at one end according to the linear motion. Of course, the rod (123) can also be connected to another connecting part (not shown) and transmit the linear motion launch power to the projectile through the connecting part.

[0108] The control unit (122) can change the rotational speed of the first gear (211), which is an output unit, by changing the rotational speed of at least one of the input units. The change in the rotational speed of the first gear (211) can include acceleration / deceleration of the rotational speed and change in the rotational direction.

[0109] At this time, the control unit (122) controls the change in rotation speed and change in rotation direction by the control of the aiming controller (70).

[0110] <Launch of projectiles according to the first batch>

[0111] When the launch distance is short, the control unit (122) controls the first gear (211) to rotate in one direction by the driving force of the first driving unit (218), or controls the second gear (212) to rotate in one direction by the driving force of the second driving unit (219). When the driving force of only one of the first and second driving units (218, 219) is applied, the rotation of the first gear (211), which is the output unit, in one direction becomes relatively low, and the rotating unit (121) outputs low torque. Accordingly, the low torque output is converted into low linear motion force in the rod (123), so that the projectile can be launched at a short launch distance. Of course, the size of the driving force of the first or second driving unit (218, 219) can also be controlled depending on the launch distance.

[0112] When the launch distance is long, the control unit (122) controls the first gear (211) to rotate in one direction by the driving force of the first driving unit (218), and simultaneously controls the second gear (212) to rotate in one direction by the driving force of the second driving unit (219). Accordingly, as the two driving forces are combined, the rotation of the first gear (211), which is the output unit, in one direction is increased, so that the rotating unit (121) outputs high torque. Accordingly, as the high torque output is converted into high linear motion force in the rod (123), the projectile can be launched at a long launch distance. Of course, the magnitude of the driving force of the first and second driving units (218, 219) can also be controlled depending on the launch distance.

[0113] <Launch of projectiles according to the second batch>

[0114] When the launch distance is short, the control unit (122) controls the first gear (211) to rotate in one direction by the driving force of the first drive unit (218), or controls the third gear (213) to rotate in the other direction by the driving force of the second drive unit (219). When the driving force of only one of the first and second drive units (218, 219) is applied, the rotation of the first gear (211), which is the output unit, in one direction becomes relatively low, and the rotation unit (121) outputs low torque. Accordingly, the low torque output is converted into low linear motion force in the rod (123), so that the projectile, which is a fire extinguishing grenade, can be launched at a short launch distance. Of course, the size of the driving force of the first or second drive unit (218, 219) can also be controlled depending on the launch distance.

[0115] When the launch distance is long, the control unit (122) controls the first gear (211) to rotate in one direction by the driving force of the first driving unit (218), and simultaneously controls the third gear (213) to rotate in the other direction by the driving force of the second driving unit (219). Accordingly, as the two driving forces are combined, the rotation of the first gear (211), which is the output unit, in one direction is increased, so that the rotating unit (21) outputs high torque. Accordingly, as the high torque output is converted into high linear motion force in the rod (23), the projectile (OB) can be launched at a long launch distance. Of course, the magnitude of the driving force of the first and second driving units (218, 219) can also be controlled depending on the launch distance.

[0116] <Launch of projectiles according to the third batch>

[0117] When the launch distance is short, the control unit (122) controls the second gear (212) to rotate in one direction by the driving force of the first driving unit (218), or controls the third gear (213) to rotate in the other direction by the driving force of the second driving unit (219). When the driving force of only one of the first and second driving units (218, 219) is applied, the rotation of the first gear (211), which is the output unit, in one direction becomes relatively low, and the rotating unit (121) outputs low torque. Accordingly, the low torque output is converted into low linear motion force in the rod (23), so that the projectile (OB) can be launched at a short launch distance. Of course, the size of the driving force of the first or second driving unit (218, 219) can also be controlled depending on the launch distance.

[0118] When the launch distance is long, the control unit (122) controls the second gear (212) to rotate in one direction by the driving force of the first driving unit (218), and simultaneously controls the third gear (213) to rotate in the other direction by the driving force of the second driving unit (219). Accordingly, as the two driving forces are combined, the rotation of the first gear (211), which is the output unit, in one direction is increased, so that the rotating unit (121) outputs high torque. Accordingly, as the high torque output is converted into high linear motion force in the rod (123), the projectile can be launched at a long launch distance. Of course, the magnitude of the driving force of the first and second driving units (218, 219) can also be controlled depending on the launch distance.

[0119] As described above, the connection structure of the first to third gears (211, 212, 213) is a relatively simple structure, and thus miniaturization is possible. In addition, in the connection structure of the first to third gears (211, 212, 213), high torque, high acceleration performance, power transmission efficiency, and energy efficiency can be exhibited through the rotational force control of the input unit by selective driving of the first and second driving units (218, 219), and therefore the present invention can be sufficiently manufactured as a mobile type.

[0120] Meanwhile, the control unit (122) can rapidly accelerate or rapidly decelerate the rotation speed of the first gear (211) by rapidly rotating or rapidly stopping the rotation of any one of the input units. The rapid acceleration or rapid deceleration time of the first gear (211) can correspond to the rapid rotation or rapid stop.

[0121] The control unit (122) can adjust the rotation speed of the input unit so that the first gear (211), which is the output unit, rotates at a specific rotation speed in a clockwise or counterclockwise direction or remains stationary. At this time, the rotation speeds of the first and second input units are constant and preferably greater than 0.

[0122] Meanwhile, it is preferable that the rotational direction of the first and second input units be the same as the rotational direction at the time of initial operation. That is, when adjusting the output of the output unit, the rotational direction of each of the first and second driving units must be consistent from the beginning.

[0123] The rotational speed of the input unit can be determined based on the number of teeth of the gears corresponding to the input unit and their relative speeds. For example, to ensure that the output gear remains stationary, the rotational speeds of the first and second input units can rotate in opposite directions and maintain angular speeds inversely proportional to the number of teeth of each gear.

[0124] When the first gear (211), which is the output unit, is caused to rotate at a specific speed in a specific direction from a stationary state, the control unit (122) can accelerate or decelerate all or at least one of the input units. When accelerating or decelerating all, it is preferable to vary the acceleration ratio. In the present invention, since the input unit transitions from a motion state to another motion state, the load burden due to the initial operation is significantly reduced.

[0125] According to the present invention, in order to control the rotational speed of the output unit, the input unit does not need to change from a stationary state to a moving state, or from forward rotation to reverse rotation. Furthermore, in order to rapidly accelerate the output gear, all input units can be decelerated, and in this case, the drive device (the first and second drive units (218, 219)) can be free from the resistance generated during acceleration. Accordingly, the output gear can have high torque.

[0126] Additionally, in order to increase the moment of inertia of the first and second input driving units (218, 219), at least one of the first and second input units may further include a flywheel (216, 217). Only one of the first and second input units may be provided with a flywheel.

[0127] The power supply unit (130) provides the power required for the operation of the actuator (120), etc. In particular, since the grenade launcher (1) must be implemented as a mobile device, the power supply unit (130) may be implemented to provide power via a battery. In this case, the battery may be a primary battery or a secondary battery. Of course, the battery may be installed internally fixedly or may be provided in a mountable and detachable form.

[0128] When including a rechargeable secondary battery, the power supply unit (130) may be provided with a circuit unit for charging the secondary battery, a charging terminal connected to the secondary electrons for charging, etc. For example, the secondary battery may be a nickel-cadmium battery (Ni-Cd Battery), a nickel-hydrogen battery (Ni-MH Battery), a lithium-ion battery (Li-ion Battery), or an all-solid-state battery, but is not limited thereto.

[0129]

[0130] The present invention, configured as described above, has the advantage of being able to be miniaturized because the connection structure of the first to third gears is a relatively simple structure. In addition, the present invention can exhibit high torque, high acceleration performance, power transmission efficiency, and energy efficiency through the rotational force control of the input unit by selective driving of the first and second driving units in the connection structure of the first to third gears, and therefore has the advantage of being able to be manufactured as a mobile type. In addition, the present invention is a method that does not use gunpowder, so it can eliminate the risk of gunpowder, and since it is implemented in an electromagnetic manner that can fire a large number of projectiles in a short period of time, it has the advantage of being applicable to large-scale fires such as forest fires.

[0131] In addition, the present invention applies a origin display unit (144) to the aiming unit (140), detects the exact origin position through the sensor unit (142), and controls the azimuth at the origin position, thereby enabling more accurate and faster aiming and firing of a fire extinguishing grenade.

[0132]

[0133] While the detailed description of the present invention has described specific embodiments, it should be understood that various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, but should be determined by the claims and their equivalents.

Claims

1. Aiming controller that controls the launcher angle and direction; and Including an aiming unit that adjusts the angle and azimuth of the launcher according to the control of the above aiming controller, The above aiming part, A rotating plate on which the launcher is mounted on the top; An azimuth driving unit that rotates the turntable under the control of the above aiming controller; An origin indicator unit fixedly installed adjacent to the above-mentioned turntable to indicate the origin position; and A grenade launcher including a sensor unit fixedly installed on the turntable to detect the origin indicator and inform the aiming controller that the turntable is at a position corresponding to the azimuth origin.

2. In paragraph 1, A grenade launcher further comprising a first limiter and a second limiter, which are positioned at angular positions set in the clockwise and counterclockwise directions of the turntable, respectively, based on the above-mentioned origin indicator, and which indicate the rotation limit positions of the turntable.

3. In paragraph 2, A grenade launcher characterized in that the sensor unit is an acoustic sensor or an optical sensor.

4. In paragraph 2, The above origin display part and the reflective surfaces of the first limiter and the second limiter are, A grenade launcher characterized in that it can be distinguished by the detection profile of the above sensor unit.

5. In paragraph 4, Each of the above first and second limiters, A fire extinguishing grenade launcher characterized in that it is fixedly installed adjacent to the rotating plate at a 90 degree clockwise and counterclockwise position based on the above origin display part.

6. In paragraph 5, The above origin display part is, It is formed with a number of protrusions on the reflective surface, A grenade launcher characterized in that the protrusion indicating the origin has a different degree of protrusion compared to other protrusions in the vicinity, and can be distinguished in the detection profile of the sensor unit.

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