JP3832107B2 - Fire extinguishing method for fire extinguishing system in tunnel, fire extinguishing robot and unwinding robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a fire extinguishing method, a fire extinguishing robot, and an unwinding robot for a fire extinguishing system in a tunnel that can extinguish a fire generated in a tunnel unattended.
[0002]
[Prior art]
When a fire due to a vehicle accident or the like occurs in the tunnel, it is extremely difficult to manually perform fire extinguishing work because the tunnel is closed and the visibility is hindered by the fullness of smoke. In addition, since it takes a certain period of time from the occurrence of a fire to the fire truck, fire extinguishing work tends to be delayed, and there is a risk of further damage. Under these circumstances, fire extinguishing equipment is provided in specific tunnels with heavy traffic to detect the occurrence of fire and spray water in the tunnel.
[0003]
[Problems to be solved by the invention]
When come filtrate is conventional fire fighting equipment, to be able to where supply even fire breaks water in the tunnel, it is necessary to provide a faucet and water spray equipment at intervals of about 10 m. For this reason, there existed a problem that the installation cost of fire extinguishing equipment became huge.
[0004]
The present invention has been made under such a background, and the fire extinguishing system in a tunnel that can reduce the installation cost of the fire extinguishing equipment by extending the installation interval of the water faucet and water spray equipment installed in the tunnel. An object is to provide a fire extinguishing method, a fire extinguishing robot, and an unwinding robot.
[0005]
[Means for Solving the Problems]
In order to solve the above-described problem, the invention described in claim 1 is a rail that is laid in a lane direction in a tunnel, a water faucet installed at a predetermined interval along the rail, and traveling on the rail. A fire extinguishing robot equipped with at least a fire hose, a first hose reel and injection means, a second hose reel running on the rail and guiding at least the fire hose, and a joint means for coupling the fire hose to the water tap A fire extinguishing method for a fire extinguishing system in a tunnel comprising an unwinding robot equipped with
The fire extinguishing robot and the unwinding robot are moved to the position of the water tap near the fire occurrence position;
Coupling the fire hose and the faucet by the joint means;
Moving the fire extinguishing robot to a fire extinguishing work position;
Moving the unwinding robot from the first hose reel to a position for completely unwinding the fire hose;
The fire extinguishing robot has a step of injecting water supplied from the water faucet at the fire extinguishing work position to the fire occurrence position by the ejecting means.
[0006]
The invention according to claim 2 is the invention according to claim 1,
A fire position detector is installed in the tunnel,
Identifying the position of the water tap near the fire occurrence position based on the detection result of the fire position detector;
The method further comprises the step of informing the fire extinguishing robot and the unwinding robot of the position of the identified water faucet.
[0007]
The invention according to claim 3 is a fire extinguishing robot applied to the fire extinguishing method according to claim 1 or 2,
A fire hose for passing water supplied from the water tap;
A first hose reel around which the fire hose is wound;
Injection means for injecting water supplied through the fire hose;
The vehicle is characterized by comprising travel control means for controlling travel on the rail and injection control means for controlling water injection by the injection means.
[0008]
The invention according to claim 4 is an unwinding robot applied to the fire extinguishing method according to claim 1 or 2,
Joint means for coupling the fire hose with the faucet;
A second hose reel for guiding a fire hose unwound from the first hose reel in the direction of the water tap;
Traveling control means for controlling traveling on the rail;
And a joint control means for controlling the joint means.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
A: Configuration of Embodiment FIG. 1 is a perspective view showing the overall configuration of an embodiment of the present invention. In the figure, reference numeral 1 denotes a fire extinguishing robot that moves to a fire occurrence position in a tunnel and performs a fire extinguishing work. An unwinding robot 2 unwinds a fire hose H wound around a hose reel (not shown) mounted on the fire-extinguishing robot 1. Each of these two robots 1 and 2 has an automatic traveling function of traveling on a rail R laid in the lane direction on the upper wall surface in the tunnel.
[0010]
3, 3, 3,... Are water taps, and are installed in the vicinity of the rail R at intervals of about 50 m. Each of the water taps 3, 3, 3,... Is supplied with water stored in a water storage tank (not shown) at a predetermined water pressure. The fire extinguishing robot 1 and the unwinding robot 2 are stopped at the position of the water tap 3, and the fire hose H is jointed to the water tap 3 to receive water for fire fighting.
[0011]
Here, the reason for supplying water from the outside is mentioned. There is a legal regulation that water must be sprayed for 40 minutes at a flow rate of 600 liters / minute for equipment that extinguishes fire in the tunnel. The robot 2 cannot be mounted in terms of capacity. Therefore, in the present embodiment, only the stock solution (or powder) of the fire extinguisher is mounted on the fire extinguishing robot 1 and water is supplied from the external water faucet 3 and the extinguishing agent is 3% in the fire extinguishing robot 1 for the first 10 minutes. A mixed liquid is generated and sprayed, and water from the water tap 3 is sprayed as it is for the next 30 minutes.
[0012]
Furthermore, 4, 4, 4,... Are fire position detectors that are installed in the tunnel at intervals of about 50 m. The detection results of these fire position detectors 4, 4, 4,... Are sent to a monitoring center (not shown) and used for specifying the fire position. That is, the monitoring center identifies the fire position according to which fire position detector 4 detects the occurrence of a fire, and position information of the water tap 3 closest to the fire position (for example, an identification number for identifying the water tap) Is transmitted to the fire extinguishing robot 1 standing by at a position closest to the water tap 3 by a wireless signal. Here, when the tunnel length is extremely long, a plurality of pairs of the fire extinguishing robot 1 and the unwinding robot 2 are waiting at intervals of, for example, 1000 m. Thus, in order to notify a specific fire extinguishing robot 1 of the fire occurrence position from among a plurality of fire extinguishing robots, an identification number for identifying the fire extinguishing robot 1 may be included in the wireless signal. Thereby, each fire extinguishing robot 1 can know whether or not the radio signal is a notification signal for itself by collating with its own identification number.
[0013]
Next, the unwinding mechanism of the fire hose H by the fire extinguishing robot 1 and the unwinding robot 2 will be described with reference to the conceptual diagram shown in FIG. As shown in the figure, the fire extinguishing robot 1 is mounted with a fire hose H having a length of about 50 m corresponding to the installation interval of the faucets 3 wound around the hose reel HR1, and is attached to one end of the fire hose H. The spray nozzle SN is attached, and the other end of the fire hose H is jointed to the water tap 3 via the hose reel HR2 of the unwinding robot 2. When the fire extinguishing robot 1 moves to the fire extinguishing position near the fire position and stops, the unwinding robot 2 is located behind the fire extinguishing robot 1 (X direction in the figure) to unwind the fire hose H from the hose reel HR1 in the fire extinguishing robot 1. Drive towards). Then, the unwinding robot 2 stops at the position where the fire hose H is completely unwound from the hose reel HR1. In this state, the fire extinguishing robot 1 starts water spraying.
[0014]
The reason why the water spray is performed in a state where the fire hose H is completely unwound in this way is as follows. That is, the fire hose H is in a state in which the cross section is crushed when it is wound around the hose reel HR1, and water cannot pass therethrough. Therefore, in order to perform water spraying, it is necessary to make the water pass through the fire hose H by completely unwinding the fire hose H from the hose reel HR1. For this purpose, it is necessary to unwind the fire hose H by the unwinding robot 2.
[0015]
Here, for example, if a fire hose H having a structure in which the cross section is not crushed in a state wound around the hose reel HR1, it is possible to pass water without unwinding the fire hose H. Since the fire hose H is bulky, a long hose cannot be accommodated in the fire extinguishing robot 1. Although it depends on the size of the fire extinguishing robot 1, the length of 8 to 10 m is the limit. Therefore, in this embodiment, the fire hose H having a long hose length is wound around the hose reel HR1 in a state where the cross section is crushed, and water spraying is performed in a state where the cross section of the fire hose H is widened before spraying is started. The unwinding robot 2 completely unwinds the fire hose H from the hose reel HR1.
[0016]
FIG. 3 shows an example of the structure of the hose reel HR1. In the figure, a fire hose H, one end of which is connected to the spray nozzle SN, is rotatably joined to a cylindrical shaft SH of the hose reel HR1 as shown. Thereby, the fire hose H is not twisted with the rotation of the hose reel HR1. On the other hand, the fire hose H whose one end is jointed to the water tap 3 is wound around the hose reel HR1 and then joined to the shaft SH. A hole (not shown) is formed on the side surface of the shaft SH corresponding to the jointed portion so that water passes through the cavity in the shaft SH. That is, the water supplied from the water tap 3 is sprayed to the outside through the fire hose H, the cavity in the shaft SH, the fire hose H, and the spray nozzle SN. Thus, since the shaft SH serves as a part of the fire hose H, the cavity in the shaft SH is sealed so that water does not leak outside.
[0017]
Next, the electrical configuration of the fire extinguishing robot 1 will be described with reference to the functional block diagram shown in FIG. In the figure, reference numerals 11 and 12 denote a pair of CCD cameras, which image the situation in the tunnel by an infrared sensitive method and output the respective imaging results. Reference numeral 13 denotes a fire detection unit, which detects the high temperature portion in the tunnel by analyzing the imaging results of the pair of CCD cameras 11 and 12, and uses a predetermined three-dimensional measurement principle to detect the distance L and the direction D to the high temperature portion. Is calculated.
[0018]
Reference numeral 14 denotes a nozzle control unit which drives the nozzle support mechanism 14m in accordance with the fire occurrence location detected by the fire detection unit 13 and controls the direction of the spray nozzle SN. Specifically, the elevation angle and the turning angle of the spray nozzle SN are calculated, and for example, as shown in FIG. 5, the direction of the spray nozzle SN supported so as to be up and down and turnable is controlled. As a result, water spray can be accurately performed at the fire occurrence position.
[0019]
In FIG. 4, reference numeral 15 denotes a receiving unit that receives a radio signal transmitted from the aforementioned monitoring center. In addition to demodulating received signals, the receiving unit 15 collates identification numbers and extracts hydrant position information.
[0020]
A tension detector 16 detects the tension applied to the fire hose H based on the output of a strain sensor inserted in the joint part of the shaft SH of the hose reel HR1 and the fire hose H. Further, the tension detector 16 detects that the fire hose H has been completely unwound from the hose reel HR1 when the detected tension value exceeds a predetermined level.
[0021]
Reference numeral 17 denotes a travel control unit that performs travel control of the unwinding robot 2 paired with the travel control of the fire extinguishing robot 1. That is, the traveling control unit 17 travels the traveling mechanisms 17m, 22m (to move the fire extinguishing robot 1 and the unwinding robot 2 to the position of the faucet 3 near the fire position based on the faucet position information supplied from the receiving unit 15. The drive of (shown in FIG. 6 described later) is controlled. Furthermore, the traveling control unit 17 controls the driving of the traveling mechanism 17m so as to move the fire extinguishing robot 1 to the range from the fire occurrence position based on the distance L to the fire occurrence point detected by the fire detection unit 13. Further, the travel control unit 17 performs stop control of the unwinding robot 2 based on the detection result of the tension detector 16.
[0022]
Reference numeral 18 denotes a transmission unit that wirelessly transmits a control signal instructing running and stopping to the unwinding robot 2 that forms a pair. The wireless signal at this time is also transmitted with the identification number of the unwinding robot 2 added to prevent confusion with other unwinding robots 2.
In addition, the fire extinguishing robot 1 is equipped with a battery (not shown) so as to obtain a power source for each of the above parts.
[0023]
Next, the electrical configuration of the unwinding robot 2 will be described with reference to the functional block diagram shown in FIG. In the figure, reference numeral 21 denotes a receiving unit which receives a running and stop control signal transmitted from the fire-fighting robot 1 by radio.
A traveling control unit 22 drives the traveling mechanism 22m based on a control signal supplied from the fire extinguishing robot 1 to perform traveling control. The fire hose H is unwound by this traveling control.
[0024]
23 is a joint control part, for example, drives the joint mechanism 23m of the end part of the fire hose H as shown in FIG. The timing of this joint is determined by a signal supplied from the traveling control unit 22 that informs the stop at the hydrant position.
The unwinding robot 2 is also equipped with a battery (not shown), thereby obtaining power for the above parts.
[0025]
B: Operation of Embodiment Next, the operation of the embodiment having the above configuration will be described with reference to the flowchart shown in FIG. 8 and the state transition diagram shown in FIG.
First, assume that a fire has occurred due to a vehicle accident or the like at a predetermined position in the tunnel. In this case, the monitoring center identifies the fire occurrence position from the detection results of the fire position detectors 4, 4,... In the tunnel, and the firefighting robot whose hydrant position information closest to the fire occurrence position is waiting in the tunnel 1 (step S1 in FIG. 8, state SA in FIG. 9).
[0026]
As a result, the fire-extinguishing robot 1 travels toward the designated faucet position and issues an instruction to travel following the unwinding robot (step S2 in FIG. 8).
And if it stops after positioning in the target water tap position, the unwinding robot 2 will joint the fire hose H to the water tap 3 (step S3 of FIG. 8, state SB of FIG. 9).
[0027]
Next, the fire extinguishing robot 1 moves to the range of the spray nozzle SN while calculating the distance L and the direction D to the fire occurrence location based on the imaging results of the CCD cameras 11 and 12 (steps S4 and FIG. 9 in FIG. 8). State SC). The fire extinguishing robot 1 determines the nozzle direction after stopping at the fire extinguishing position (step S5 in FIG. 8).
Furthermore, the fire extinguishing robot 1 instructs the unwinding robot 2 to travel in the unwinding direction in order to unwind the fire hose H from the hose reel HR1 (step S6 in FIG. 8). Thereby, the unwinding robot 2 performs unwinding traveling.
[0028]
When the fire hose H is completely unwound from the hose reel HR1, the fire extinguishing robot 1 detects this due to an increase in tension and instructs the unwinding robot 2 to stop (step S7 in FIG. 8). As a result, the fire hose H is fully extended, and water is supplied from the water tap 3 to the fire extinguishing robot 1. In this way, the fire extinguishing robot 1 starts the fire extinguishing work by water spray (step S8 in FIG. 8, state SD in FIG. 9). Specifically, for the first 10 minutes, water supplied from the outside and the fire extinguisher installed are mixed to produce a 3% solution, sprayed, and for the next 30 minutes only water supplied from outside Spray.
[0029]
C: Modifications Note that the present invention is not limited to the above-described embodiment, and various modifications such as the following are possible.
(1) In the embodiment, the length of the fire hose H is about 50 m, but may be longer as long as the robots 1 and 2 can withstand the load. If the length of the fire hose H can be increased, the installation interval of the water taps 3 can be widened accordingly, and the equipment cost can be reduced. In addition, if the fire hose H is made too long, the fire hose H may hang down. In this case, measures such as installing a hook to receive the fire hose H hanging below the rail R may be taken. Take it.
[0030]
(2) Also, for example, as shown in FIG. 10, two or more hose reels HR11, 12, 21, 22 are provided in each of the robots 1 and 2, and the fire hose H is reciprocated between the robots 1 and 2. Also good .
[0031]
(3) The order of the fire extinguishing work is not limited to the mode shown in FIGS. 8 and 9. For example, the fire extinguishing robot 1 travels to the fire extinguishing work position and the unwinding robot 2 unwinds and travels in parallel. You may do it. If it does in this way, the time until the spray start can be shortened.
[0032]
(4) In the embodiment, the communication between the monitoring center, the fire extinguishing robot 1 and the unwinding robot 2 is performed wirelessly. However, the present invention is not limited to this, and a wired line is provided to ensure signal reliability. You may make it communicate by.
[0033]
(5) The structure of the hose reel HR1, the nozzle support mechanism 14m, the joint mechanism 23m, the rail R, etc. illustrated in the embodiment is an example, and other structures are adopted as long as they have equivalent functions. Also good. For example, the joint mechanism 23m may be driven and coupled from the unwinding robot 2 side, or may be driven and coupled from the faucet 3 side. However, when driving from the faucet 3 side, a mechanism for notifying the faucet 3 of the completion of positioning of the unwinding robot 2 is required.
[0034]
(6) In the embodiment, the infrared sensitive CCD cameras 11 and 12 are used. However, the present invention is not limited to this, and other methods may be adopted as long as a fire occurrence location can be detected.
[0035]
(7) If the fire-extinguishing robot 1 gets too close to the location of the fire, there is a risk that the fire-extinguishing robot 1 will be involved in the fire. You may control driving | running | working so that it may not approach a fire outbreak location to the extent that 1 exceeds fixed temperature.
[0036]
(8) Further, as a power source for the robots 1 and 2, a battery may not be mounted as in the above-described embodiment, but power may be supplied from the outside through a trolley overhead wire. Moreover, an engine and a generator may be mounted to supply power.
[0037]
(9) The traveling method of the robots 1 and 2 may be a method of driving traveling wheels or a method of magnetically obtaining a thrust by a linear motor. In addition, the traveling speed is not particularly limited, but it is necessary to reach the vicinity of the fire occurrence point quickly. Therefore, it is desirable that the traveling speed be higher as long as restrictions on the traveling path such as a joint of the rail R and a curve allow. .
[0038]
(10) In the embodiment, all operations from the detection of fire to spraying are performed unattended. However, the present invention is not limited to this. For example, a human may notify the occurrence of a fire using a remote controller. You may make it intervene in judgment.
[0039]
【The invention's effect】
As described above, according to the present invention, since the fire hose can be mounted on the fire extinguishing robot with its cross section crushed, the length of the hose can be increased, while the fire hose can be fully extended by the unwinding robot. This enables water spraying. As a result, in the fire extinguishing system in the tunnel, the installation interval of the water faucets can be widened, and the installation cost of the fire extinguishing equipment can be reduced.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an overall configuration of an embodiment of the present invention.
FIG. 2 is a conceptual diagram showing a fire hose unwinding mechanism by the fire extinguishing robot and the unwinding robot in the same embodiment.
FIG. 3 is a perspective view showing a structural example of a hose reel in the same embodiment.
FIG. 4 is a functional block diagram showing an electrical configuration of the fire extinguishing robot in the embodiment.
FIG. 5 is a perspective view showing a schematic structural example of a nozzle support mechanism in the same embodiment.
FIG. 6 is a functional block diagram showing an electrical configuration of the unwinding robot in the same embodiment.
FIG. 7 is a plan view showing a schematic structural example of a joint mechanism in the embodiment.
FIG. 8 is a flowchart for explaining the operation of the embodiment;
FIG. 9 is a state transition diagram for explaining the operation of the embodiment;
FIG. 10 is a plan view showing a modification of the fire hose unwinding mechanism.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Fire extinguishing robot 2 Unwinding robot 3 Water tap 4 Fire position detector 11, 12 CCD camera 13 Fire detection part 14 Nozzle control part 14m Nozzle support mechanism 15, 21 Reception part 16 Tension detector 17, 22 Travel control part 17m, 22m Traveling mechanism 18 Transmitter 23 Joint control unit 23m Joint mechanism H Fire hose HR1, Hose reel R Rail SH Axis SN Spray nozzle

Claims (3)

A fire extinguishing robot equipped with rails laid in the lane direction in the tunnel, water faucets installed along the rails at predetermined intervals, and at least a fire hose, a first hose reel, and injection means running on the rails When the second hose reel and tunnel fire extinguishing system composed by and a unwinding robot equipped with a joint means to bind the fire hose to the water tap on rails travels to guide at least the fire hose Fire extinguishing method,
The fire extinguishing robot and the unwinding robot are moved to the position of the water tap near the fire occurrence position;
Coupling the fire hose and the faucet by the joint means;
Moving the fire extinguishing robot to a fire extinguishing work position;
The fire extinguishing robot moves to the fire extinguishing work position and stops at that position, and the unwinding robot moves the rail in a direction opposite to the direction of the fire extinguishing work position when viewed from the position of the fire extinguishing robot. Traveling on and moving from the first hose reel to a position where the fire hose is completely unwound,
A fire extinguishing method for a fire extinguishing system in a tunnel, characterized in that the fire extinguishing robot has a step of injecting water supplied from the water faucet at the fire extinguishing work position to the fire occurrence position by the jetting means. The fire extinguishing method according to claim 1,
Providing a fire position detector in the tunnel, and identifying the position of the water tap near the fire occurrence position based on the detection result of the fire position detector;
A fire extinguishing method for a tunnel fire extinguishing system, further comprising: notifying the fire extinguishing robot and the unwinding robot of the position of the identified water hydrant. A fire extinguishing hose for passing water supplied from a water faucet installed at predetermined intervals along rails laid in the lane direction in the tunnel, and a first hose reel around which the fire hose is wound, and extinguishing the fire An unwinding robot that constitutes a fire extinguishing system in a tunnel together with a fire extinguishing robot that jets water supplied through a hose ,
Joint means for coupling the fire hose with the faucet;
A second hose reel for guiding a fire hose unwound from the first hose reel in the direction of the water tap;
Traveling control means for controlling traveling on the rail;
Joint control means for controlling the joint means ,
The travel control means travels the unwinding robot so as to follow the fire extinguishing robot and moves it to the position of the water tap near the fire occurrence position,
The joint control means controls the joint means to connect the fire hose and the water tap;
While the fire-extinguishing robot moves to the fire-extinguishing work position and stops at that position, the travel control means moves on the rail in a direction opposite to the direction of the fire-extinguishing work position when viewed from the position of the fire-extinguishing robot. By moving the unwinding robot to a position where the fire hose is completely unwound from the first hose reel.
Unwinding robot characterized by that.

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