Method and system for detecting and automatically extinguishing fire by using robot

Abstract

The present invention relates to a method and a system for detecting and automatically extinguishing a fire by using a robot, the system comprising; a robot that, when a fire is detected during patrol, calculates the distance to a fire location with respect to the position itself on the basis of a rotation angle toward the fire location, and moves to the fire location, and then sprays a fire extinguishing agent according to a remote instruction; and a control server that, when the robot moves to the fire location and is ready for fire suppression, instructs the robot to spray the fire extinguishing agent.

Description

Method and system for fire detection and automatic fire extinguishing using robots

[0001] The present invention relates to a fire extinguishing system, and more particularly, to a method and system for detecting and automatically extinguishing fire using a robot, in which, when a robot detects a fire during patrol, it moves to a position where it can initially extinguish the fire, prepares to aim, notifies a person in charge, and the person in charge remotely clicks an initial extinguishing button to initially extinguish the fire.

[0002] In the event of a fire, there are a wide variety of means to extinguish it, ranging from relatively large-scale automatic fire extinguishing devices or fire hydrants to fire extinguishers that can be held and operated by people. However, except for special facilities required by relevant regulations, it is common to have fire extinguishers or simple fire extinguishing means installed in most areas and operated directly by people when necessary.

[0003] At this time, it is common sense that these fire extinguishing means are more effective the closer they are to the source of the flames in the early stages of a fire, but if they are used by someone who is not familiar with how to use them, they may operate them from too far away due to the psychological burden and not be able to extinguish the fire, or they may not know how to operate them at all, and if they are not in a time zone or place where there are people, response and situation reporting will not be possible, leading to failure in the initial extinguishment.

[0004] In addition, due to the nature of the fire material, it is difficult to access the fire in cases where high-temperature flames and combustion gases are generated or there is a risk of explosion, making it difficult to describe effective initial firefighting. In addition, there are significant limitations to firefighting operations in places where people cannot move easily due to structural problems.

[0005] Accordingly, various unmanned systems and robots that can perform firefighting work instead of people at fire scenes are being actively researched, but they are only equipped with fire cannons to supply firefighters, and not only do they lack a control system that can effectively detect and extinguish fire situations, but they are also released with specialized performance for specific situations, so there is a problem that they cannot be effectively used in various field situations.

[0006] [Prior Art Literature]

[0007] [Patent Document]

[0008] (Patent Document 1) Domestic Patent No. 10-1304529

[0009] (Patent Document 2) Domestic Publication Patent No. 10-2021-0055923

[0010] The present specification has been devised to solve the above-mentioned problems, and provides a method and system for fire detection and automatic fire extinguishing using a robot that can detect fires early through regular robot patrols and remotely move to the fire site to extinguish the fire.

[0011] In order to achieve the above purpose, according to an embodiment of the present specification, a fire detection and automatic fire extinguishing system using a robot according to the present specification includes: a robot that, when a fire is detected during patrol, calculates a distance to the fire point based on a rotation angle toward the fire point based on its own position, moves to the fire point, and then sprays a fire extinguishing agent according to a remote instruction; and a control server that, when the robot has moved to the fire point and is ready to extinguish the fire, instructs the robot to spray the fire extinguishing agent.

[0012] Preferably, the robot determines whether an abnormally high temperature has occurred, and if an abnormally high temperature has occurred, transmits an abnormally high temperature warning message to the control server, and the control server determines whether a fire has been detected based on the abnormally high temperature warning message.

[0013] Preferably, the robot sprays a fire extinguishing agent, and after a preset period of time has elapsed, determines whether the temperature of the fire point has risen, and if the temperature of the fire point has risen, transmits a fire extinguishing failure warning message to the control server.

[0014] Preferably, the robot is characterized in that it calculates the distance to the fire point based on the angle formed by the X-axis and the fire point when the current position and the arbitrary position are each taken as origins after moving from the current position to an arbitrary position.

[0015] Preferably, the robot is characterized in that it calculates the distance to the fire point using the following mathematical formula.

[0016] [Mathematical formula]

[0017]

[0018] Here, (P x , P y ) is the coordinate of the fire point, (x1, y1) is the coordinate of the current location, (x2, y2) is the coordinate of an arbitrary location, θ1 is the angle between the X-axis and the fire point when the current location is the origin, and θ2 is the angle between the X-axis and the fire point when the arbitrary location is the origin.

[0019] According to another embodiment of the present specification, a method for detecting and automatically extinguishing a fire using a robot according to the present specification includes: a step of calculating a distance to a point of fire based on a rotation angle toward the point of fire based on a position of the robot when the robot detects a fire during patrol; a step of moving the robot to the point of fire with reference to the distance to the point of fire; and a step of instructing a control server to spray a fire extinguishing agent to the robot through a remote instruction when the robot has moved to the point of fire and is ready to extinguish the fire.

[0020] Preferably, the robot further comprises a step of determining whether the temperature of the fire site has risen after spraying the fire extinguishing agent and a preset time has elapsed; and a step of transmitting a fire extinguishing failure warning message to the control server if the temperature of the fire site has risen.

[0021] As described above, according to the present specification, when a robot detects a fire while patrolling, the robot calculates the distance to the fire point based on the rotation angle toward the fire point based on its own position, moves to the fire point, sprays a fire extinguishing agent according to remote instructions, and when the control server is ready to extinguish the fire, the robot is instructed to spray the fire extinguishing agent, thereby providing a method and system for detecting and automatically extinguishing a fire using a robot, whereby a fire can be detected early through regular robot patrolling, and a fire can be extinguished remotely by moving to the fire point remotely.

[0022] Figure 1 is a block diagram showing a schematic configuration of a fire detection and automatic extinguishing system using a robot according to an embodiment of the present invention.

[0023] Figure 2 is a drawing for explaining a method for calculating the distance to the fire point;

[0024] Figure 3 is a block diagram showing a schematic configuration of the inside of a robot according to an embodiment of the present invention.

[0025] Figure 4 is a block diagram showing a schematic configuration of the inside of a control server according to an embodiment of the present invention, and

[0026] Figure 5 is a flowchart illustrating a fire detection and automatic extinguishing method using a robot according to an embodiment of the present invention.

[0027] It should be noted that the technical terms used herein are merely used to describe specific embodiments and are not intended to limit the present invention. Furthermore, unless specifically defined otherwise herein, the technical terms used herein should be interpreted as having a meaning generally understood by those skilled in the art to which the present invention pertains, and should not be interpreted in an overly comprehensive or overly narrow sense. Furthermore, if a technical term used herein is incorrect and does not accurately express the spirit of the present invention, it should be replaced with a technical term that can be correctly understood by those skilled in the art. Furthermore, general terms used herein should be interpreted according to their dictionary definitions or according to the context, and should not be interpreted in an overly narrow sense.

[0028] Additionally, the singular expressions used herein include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "consist of" or "comprises" should not be construed to necessarily include all of the various components or various steps described in the specification, and should be construed to mean that some of the components or some of the steps may not be included, or that additional components or steps may be included.

[0029] In addition, the suffixes "module" and "part" used for components in this specification are given or used interchangeably only for the convenience of writing the specification, and do not have distinct meanings or roles in themselves.

[0030] Additionally, terms including ordinal numbers, such as "first," "second," etc., used herein 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. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0031] [Explanation of symbols]

[0032] 100: Robot 110: Communications Department

[0033] 120: Sensor unit 130: Thermal imaging camera

[0034] 140: Control unit 141: Movement generation unit

[0035] 142: Drive control unit 143: Monitoring unit

[0036] 150: Storage 200: Control Server

[0037] 210: Communications Department 220: Information Generation Department

[0038] 230: Situation Transmission Unit

[0039] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0040] Furthermore, when describing the present invention, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the gist of the present invention. Furthermore, it should be noted that the attached drawings are intended solely to facilitate understanding of the spirit of the present invention and should not be construed as limiting the spirit of the present invention.

[0041] FIG. 1 is a block diagram schematically showing the configuration of a fire detection and automatic extinguishing system using a robot according to an embodiment of the present invention.

[0042] Referring to FIG. 1, a fire detection and automatic fire extinguishing system using a robot according to the present invention may include a robot (100) and a control server (200).

[0043] The robot (100) detects a fire. Specifically, the robot (100) determines whether an abnormally high temperature has occurred, and if an abnormally high temperature has occurred, transmits an abnormally high temperature warning message to the control server (200). The control server (200) determines whether a fire has been detected based on the abnormally high temperature warning message.

[0044] When a robot (100) detects a fire during patrol, it calculates the distance to the fire based on the rotation angle toward the fire based on its own position. Specifically, the robot (100) moves from its current position to an arbitrary position, and then calculates the distance to the fire based on the angle formed by the X-axis and the fire when the current position and the arbitrary position are each taken as origins.

[0045] Referring to FIG. 2, the movement path of the robot (100) at point A based on the absolute coordinate system can be expressed by the following mathematical expression 1, and the movement path of the robot (100) at point B based on the absolute coordinate system can be expressed by the following mathematical expression 2.

[0046] [Mathematical Formula 1]

[0047]

[0048] Here, (x1, y1) represents the coordinates of the current location, and θ1 represents the angle between the X-axis and the fire point when the current location is the origin.

[0049] [Equation 2]

[0050]

[0051] Here, (x2, y2) represents the coordinates of an arbitrary location, and θ2 represents the angle between the X-axis and the fire point when the arbitrary location is the origin.

[0052] Using the above mathematical equations 1 and 2, the coordinates of the fire point can be expressed by the following mathematical equation 3.

[0053] [Equation 3]

[0054]

[0055] Here, (P x , P y ) indicates the coordinates of the fire point.

[0056] The above mathematical equation 3 can be summarized into the following mathematical equation 4.

[0057] [Equation 4]

[0058]

[0059] If the above mathematical expression 4 is expressed as a determinant, it is as follows: mathematical expression 5.

[0060] [Equation 5]

[0061]

[0062] Finally, by rearranging the above mathematical equation 5, the following mathematical equation 6 can be derived, which is used to calculate the distance to the fire point.

[0063] [Equation 6]

[0064]

[0065] The robot (100) calculates the distance to the fire point using mathematical expression 6, moves to the fire point with reference to the distance to the fire point, and then sprays the fire extinguishing agent according to the remote instructions of the control server (200). Since initial fire extinguishment is difficult if the robot (100) extinguishes the fire from too far a distance, the robot calculates an appropriate distance required for initial fire extinguishment.

[0066] In addition, the robot (100) can spray a fire extinguishing agent and, after a preset time (e.g., 1 minute) has elapsed, determine whether the temperature of the fire point has risen, and if the temperature of the fire point has risen, transmit a fire extinguishing failure warning message to the control server (200).

[0067] The control server (200) is located at a remote location and can grasp the situation on site through the abnormal high temperature warning message and fire extinguishing failure warning message received from the robot (100), and can perform situation transmission and remote control of the robot (100) when necessary. For example, when the robot (100) has moved to the fire site and is ready to extinguish the fire, the control server (200) can instruct the robot (100) to spray a fire extinguishing agent.

[0068] Figure 3 is a block diagram showing a schematic configuration of the inside of a robot according to an embodiment of the present invention.

[0069] Referring to FIG. 3, the robot (100) may include a communication unit (110), a sensor unit (120), a thermal imaging camera (130), a control unit (140), and a storage unit (150).

[0070] The communication unit (110) communicates with the control server (200). At this time, the communication unit (110) may communicate with the control server (200) using a wireless communication network. The communication unit (110) may transmit an abnormal high temperature warning message and a fire extinguishing failure warning message to the control server (200), and may receive remote instructions from the control server (200).

[0071] The sensor unit (120) measures the movement, posture, and amount of extinguishing agent sprayed by the robot (100). That is, the sensor unit (120) measures the speed, acceleration, direction, and gravity generated by the movement of the robot (100). The sensor unit (120) measures the posture for the two-degree-of-freedom motion of the robot (100). In addition, the sensor unit (120) measures the amount of extinguishing agent sprayed. For this purpose, the sensor unit (120) may include an inertial measurement unit (IMU), a torque sensor, a flow sensor, etc.

[0072] A thermal imaging camera (130) captures thermal images. The thermal imaging camera (130) captures the location of a fire and detects the point with the highest temperature (the ignition point) among the fire locations. In other words, the thermal imaging camera (130) can track the ignition point and capture thermal images.

[0073] The control unit (140) controls the overall operation of the robot (100). That is, the control unit (140) generates movements for fire suppression and controls the spraying of extinguishing agent according to the generated movements. In addition, the control unit (140) can monitor information related to fire suppression. To this end, the control unit (140) includes a movement generation unit (141) and a drive control unit (142), and may further include a monitoring unit (143).

[0074] The motion generation unit (141) generates a motion control signal for a two-degree-of-freedom motion for moving to a fire location and spraying extinguishing agent. The motion generation unit (141) calculates the distance between the robot (100) and the fire location over time using the aforementioned mathematical expression 6.

[0075] The motion generation unit (141) generates a motion control signal for the yaw motion using the x-axis length, y-axis length, driving speed, and time from the current location to the fire point. The motion generation unit (141) calculates the angle of the yaw motion by time using the following mathematical expression 7, and generates a motion control signal using the calculated angle of the yaw motion. At this time, since the yaw motion is not affected by gravity, mathematical expression 7 excluding gravity can be derived.

[0076] [Equation 7]

[0077]

[0078] Here θ yaw (t) represents the angle for the yaw motion at time t.

[0079] That is, mathematical expression 7 is the driving speed (V) of the robot (100) robot ) and represents the angle of the yaw motion that changes over time t.

[0080] The motion generation unit (141) compares the distance between the robot (100) and the fire point with the maximum distance for spraying the extinguishing agent, which is the maximum horizontal distance at which the extinguishing agent is sprayed. The motion generation unit (141) calculates the maximum distance for spraying the extinguishing agent using the following mathematical expression 8.

[0081] [Equation 8]

[0082]

[0083] Here, W w@t is the driving speed V robot The robot represents the maximum distance of the digestive fluid injection at time t, and V w@t is the driving speed V robot The speed of the extinguishing agent sprayed by the robot at time t is θ. pitch@t is the driving speed V robot The robot represents the angle for the pitch motion at time t, and t w@t is the driving speed V robot A robot has a velocity V at time t w@tIt means the time taken for the sprayed liquid to reach the ground after spraying the liquid. At this time, the movement generating unit (141) uses the following mathematical expression 9 to calculate t w@t It produces.

[0084] [Equation 9]

[0085]

[0086] Here, g represents the gravitational constant.

[0087] The movement generating unit (141) measures the distance (S) between the robot (100) and the fire point. t ) is the maximum distance of the digestive fluid injection (W) w@t ) if it is longer than ( ), since the robot (100) does not spray digestive fluid, the angle of the pitch motion is calculated as in the following mathematical expression 10, and a movement control signal is generated using the calculated angle.

[0088] [Equation 10]

[0089]

[0090] Here, θpitch@t+δt denotes the angle of pitch motion at time t+δt, and δt denotes the calculation time increment.

[0091] In addition, the movement generating unit (141) is configured to generate a signal when the distance between the robot (100) and the fire point is less than or equal to the maximum distance for spraying the extinguishing agent. ), the robot (100) sprays the digestive fluid, so the angle of the pitch motion per time is calculated as in the following mathematical expression 11, and a movement control signal is generated using the calculated angle of the pitch motion. At this time, the movement generation unit (141) can calculate the angle of the optimized pitch motion using the numerical analysis Newton-Raphson method.

[0092] [Equation 11]

[0093]

[0094] The motion generation unit (141) can repeatedly calculate the angle of the pitch motion until the movement completion time (tend) of the robot (100). Through this, the motion generation unit (141) can calculate the angle of the pitch motion optimized in real time.

[0095] When the movement to the fire location is completed, the motion generation unit (141) detects the point with the highest temperature among the fire locations using the thermal image transmitted from the thermal imaging camera (130). The motion generation unit (141) can generate a motion control signal to intensively spray the extinguishing agent at the detected point. Preferably, the motion generation unit (141) can control the amount of extinguishing agent to be intensively sprayed while detecting the amount of extinguishing agent to be sprayed and the amount of extinguishing agent currently held in the extinguishing agent storage unit (not shown).

[0096] The drive control unit (142) controls the movement of the robot (100). Specifically, the drive control unit (142) controls movement to the point of fire and spraying of extinguishing agent based on a movement control signal. For example, the drive control unit (142) controls spraying of extinguishing agent when the robot (100) reaches a point where extinguishing agent can be sprayed during movement, and controls concentrated spraying of extinguishing agent at the point of fire when movement is completed.

[0097] The monitoring unit (143) monitors the process of the robot (100) extinguishing a fire. The monitoring unit (143) collects information from the moment it receives a remote instruction from the control server (200) until the moment the fire is extinguished. At this time, the monitoring unit (143) can collect thermal image information and operation information of the robot (100), etc. The monitoring unit (143) can transmit the collected monitoring information to the control server (200) or temporarily store it for a certain period of time.

[0098] The storage unit (150) stores a program or algorithm for driving the robot (100). The storage unit (150) stores location information and movement-related information of a fire point. In addition, the storage unit (150) stores monitoring information that records the process of extinguishing a fire. The storage unit (150) may include at least one 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 random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.

[0099] Figure 4 is a block diagram showing a schematic configuration of the inside of a control server according to an embodiment of the present invention.

[0100] Referring to FIG. 4, the control server (200) according to the present invention may include a communication unit (210), an information generation unit (220), and a situation transmission unit (230).

[0101] The communication unit (210) is basically a communication module for transmitting and receiving control signals with the communication unit (110) of the robot (100). It may be formed of a wireless communication module like the communication unit (110), but if a wireless repeater is provided, it may be connected to the repeater by wire.

[0102] The information generation unit (220) is a component that generates situation information by analyzing abnormal high temperature warning messages, fire extinguishing failure warning messages, images, and various control signals received from the robot (100), and periodically generates situation information for each location of the robot (100). At this time, the information generation unit (220) generates a patrol signal including the movement path of the robot (100) as needed and transmits it to the robot (100) through the communication unit (210), thereby causing the robot (100) to move along a designated path and transmit images captured by the thermal imaging camera (130), and can include the transmitted images in the situation information over time.

[0103] The situation transmission unit (230) classifies situation information and, if it is determined to be a specific situation, i.e., a situation that can be specifically judged to indicate a fire has occurred, can transmit the relevant situation information to a designated terminal (not shown). To this end, the situation transmission unit (230) can store contact information such as phone numbers and IP addresses for government offices, including fire departments, including pre-designated terminals (not shown), to quickly transmit the situation.

[0104] In addition, the control server (200) may include a typical computer configuration including a central processing unit, a storage unit, and an interface unit such as an input / output unit.

[0105] Figure 5 is a flowchart illustrating a fire detection and automatic extinguishing method using a robot according to an embodiment of the present invention.

[0106] Referring to FIG. 5, the robot (100) determines whether an abnormally high temperature has occurred while patrolling (S510), and if an abnormally high temperature has occurred, transmits an abnormally high temperature warning message to the control server (200) (S520). Here, the robot (100) can determine whether an abnormally high temperature has occurred by photographing the fire location using a thermal imaging camera (130) and detecting the location with the highest temperature among the fire locations (the ignition location).

[0107] The robot (100) continues to patrol if no abnormal high temperature occurs.

[0108] The control server (200) determines whether a fire has been detected based on the abnormal high temperature warning message received from the robot (100) (S530), and if a fire has been detected, commands the robot (100) to move to the fire location (S540). If a fire has not been detected, the control server (200) stands by.

[0109] The robot (100) moves to the fire point according to the command of the control server (200) (S550). At this time, the robot (100) can calculate the distance to the fire point based on the rotation angle toward the fire point based on its own position before moving to the fire point. Specifically, the robot (100) can move from the current position to an arbitrary position, and then calculate the distance to the fire point based on the angle formed by the X-axis and the fire point when the current position and the arbitrary position are each taken as the origin.

[0110] Next, the robot (100) determines whether the movement to the fire point and preparation for extinguishing the fire are complete (S560), and if the movement to the fire point and preparation for extinguishing the fire are complete, the robot transmits a completion message to the control server (200) (S570).

[0111] The control server (200) remotely instructs fire suppression upon receiving a completion message from the robot (100) (S580).

[0112] The robot (100) sprays fire extinguishing agent toward the ignition point according to the fire suppression instruction of the control server (200) (S590).

[0113] Thereafter, the robot (100) determines whether the temperature of the ignition point is rising (S600), and if the temperature of the ignition point is rising, transmits a fire extinguishing failure warning message to the control server (200) (S610). Upon receiving the fire extinguishing failure warning message, the control server (200) returns to step S580 and again instructs the robot (100) to extinguish the fire.

[0114] Then, if the temperature of the ignition point does not rise, the robot (100) transmits a message indicating normal completion of fire extinguishing to the control server (200) (S620). The control server (200) waits again upon receiving the message indicating normal completion of fire extinguishing.

[0115] The aforementioned method can be implemented through various means. For example, embodiments of the present invention can be implemented through hardware, firmware, software, or a combination thereof.

[0116] In the case of hardware implementation, the method according to embodiments of the present invention may be implemented by one or more ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, and microprocessors.

[0117] When implemented using firmware or software, the methods according to embodiments of the present invention may be implemented in the form of modules, procedures, or functions that perform the functions or operations described above. The software code may be stored in a memory unit and executed by a processor. The memory unit may be located within or outside the processor and may exchange data with the processor using various known means.

[0118] The embodiments disclosed in this specification have been described above with reference to the attached drawings. The embodiments depicted in each drawing should not be construed as limiting, and those skilled in the art, familiar with the contents of this specification, may combine them with each other. When combined, some components may be omitted.

[0119] Here, the terms or words used in this specification and claims should not be interpreted as limited to their usual or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical ideas disclosed in this specification.

[0120] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are merely embodiments disclosed in this specification and do not represent all of the technical ideas disclosed in this specification. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

Claims

1. A robot that, when detecting a fire during patrol, calculates the distance to the fire point based on the rotation angle toward the fire point based on its own position, moves to the fire point, and then sprays fire extinguishing agent according to remote instructions; and A control server that instructs the robot to spray fire extinguishing agent when the robot moves to the fire site and is ready to extinguish the fire; Fire detection and automatic extinguishing system using a robot including .

2. In paragraph 1, The above robot determines whether an abnormally high temperature has occurred, and if an abnormally high temperature has occurred, it transmits an abnormally high temperature warning message to the control server. A fire detection and automatic extinguishing system using a robot, characterized in that the above control server determines whether a fire is detected based on the above abnormal high temperature warning message.

3. In paragraph 1, A fire detection and automatic fire extinguishing system using a robot, characterized in that the robot sprays a fire extinguishing agent, determines whether the temperature of the fire point rises after a preset time has elapsed, and if the temperature of the fire point rises, transmits a fire extinguishing failure warning message to the control server.

4. In paragraph 1, A fire detection and automatic extinguishing system using a robot, characterized in that the robot moves from a current location to an arbitrary location, and then calculates the distance to the fire point based on the angle formed between the X-axis and the fire point when the current location and the arbitrary location are each taken as origins.

5. In paragraph 4, A fire detection and automatic extinguishing system using a robot, characterized in that the robot calculates the distance to the fire point using the following mathematical formula. [Mathematical formula] Here, (P x , P y ) is the coordinate of the fire point, (x1, y1) is the coordinate of the current location, (x2, y2) is the coordinate of an arbitrary location, θ1 is the angle between the X-axis and the fire point when the current location is the origin, and θ2 is the angle between the X-axis and the fire point when the arbitrary location is the origin.

6. When the robot detects a fire during patrol, a step of calculating the distance to the fire point based on the rotation angle toward the fire point based on its own position; The step of the robot moving to the fire point with reference to the distance to the fire point; and A step in which the control server instructs the robot to spray a fire extinguishing agent through a remote instruction when the robot has moved to the fire site and is ready to extinguish the fire; A method for detecting and automatically extinguishing fire using a robot including a .

7. In paragraph 6, The robot sprays the fire extinguishing agent and determines whether the temperature at the fire site rises after a preset time has elapsed; and A step of the robot transmitting a fire extinguishing failure warning message to the control server when the temperature of the fire point rises; A method for detecting and automatically extinguishing fire using a robot, characterized in that it further includes:

Images