JPH08276027A - Fire robot equipment with origin of fire detecting function - Google Patents

Abstract

PURPOSE: To stop a fire robot in a position appropriate for the fire fighting and to ensure a power source for driving and supply of a fire extinguishing agent sufficiently. CONSTITUTION: A means for controlling a fire robot 17 for transferring the fire robot to a position appropriate for the fire fighting on the basis of the information on the origing of fire from a means for detecting the origin of fire 110 after the fire robot is transferred quickly to a determined point for the transferring fire fighting on the basis of the information from a fire sensor, whole line non-contact type feeder and receiver systems 620 and 650, and a hose reel 103 having a contact type fluid coupling 510 are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire robot facility, and more particularly to a fire robot facility with a fire source detection function.

[0002]

2. Description of the Related Art A fire extinguishing robot is provided for a fire extinguishing object such as a structure such as a tunnel in preparation for a fire. This fire extinguishing robot is equipped with a water supply tank communicating with a water discharge nozzle and a storage battery for driving.

[0003]

The conventional fire extinguishing robot has the following problems. (1) The fire-extinguishing robot is controlled so as to stop at moving fixed points provided on the monorail at predetermined intervals, for example, 25 m intervals. However, if water is stopped and stopped at this moving fixed point, the fire robot may be too far away from the fire occurrence point and the fire may not be extinguished efficiently.

(2) If the water supply tank is enlarged so as to cope with a large fire, the fire-extinguishing robot becomes heavy and the storage battery for driving must be enlarged. On the contrary, if the water supply tank is made small, it is not possible to secure a sufficient amount of water necessary for fire extinguishing work.

(3) The voltage of the storage battery drops when the fire extinguishing robot is driven for a long time. Therefore, the fire extinguishing robot may not operate during the fire extinguishing work.

In view of the above circumstances, the present invention has an object of stopping a fire robot at an optimum position for extinguishing a fire. Another object is to ensure sufficient supply of power for driving and supply of extinguishant.

According to the present invention, there is provided a fire robot provided with a fire source detection means and a water discharge nozzle, a moving path for guiding the travel of the fire robot, and a control means for the fire robot.
A fire robot facility comprising: a power supply / reception means for supplying power to the fire robot; the control means moves the fire protection equipment to an optimum extinction fixed point based on the fire source information of the fire source detection means, The power receiving means is provided on the power supply wiring extending along the moving path and the fire robot,
At the same time, the present invention is to be achieved by a fire robot equipment with a fire source detection function, which is an all-line power feeding / receiving device including a power receiving coil that detects a current flowing in the power feeding wiring in a contactless manner. It is a thing.

[0008]

When a fire occurs, the control means of the fire robot commands the fire robot to move to the vicinity of the fire point. The fire robot travels to the vicinity of the fire point based on the command, and then the fire robot moves to the optimum extinction point and adjusts the position of the water discharge nozzle based on the fire source information from the fire source detection means. Start water discharge.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. The monorail 30 is provided above or just above the side wall of the running path of the tunnel, and the fire robot 10 is provided on the monorail 30 via the wheels 11.

The fire robot 10 is, for example, a fire extinguisher robot for fire extinguishing and fire monitoring, and a plurality of fire extinguishing robots are arranged at intervals. The monorail 30 is a movement route that guides the travel of the fire robot, and for example, along with the tunnel, along a fire extinguishing target such as a site of a plant facility such as a petrochemical factory, a factory, a building such as a building, and the like. Is arranged.

On this monorail 30, a plurality of robot stations 31 for holding the fire robot 10 in standby are provided at intervals. The robot station 31 is a box that can be opened and closed.

The monorail 30 has a predetermined interval, for example,
Movement fixed points 32 are provided at intervals of 25 m. The moving fixed point 32 is a stop position when the fire robot 10 moves to extinguish a fire or to monitor a fire.

Loop-shaped power supply wirings 620 are arranged along the monorail 30 for each power supply section. The power supply wiring 620 is coated with a corrosion resistant resin and is connected to the high frequency power supply device 411.

The fire robot 10 is provided with a power receiver 650 for receiving power from the power supply wiring 620. The high-frequency current received by the power receiver 650 is exchanged with direct current or alternating current as necessary, and the electric motor 642,
It is supplied to the control device 17, the rechargeable storage battery 20, the monitor camera 22 for monitoring, the fire source detection means, for example, the infrared image sensor system 110, and the like. As the power receiver 650, for example, a power receiving coil is used.

FIG. 3 shows the power supply wiring 620 and the power receiving coil 6.
In the figure for explaining the positional relationship with 50, 660 is a support member for the power supply wiring 620 wired in a loop, 661 is an auxiliary wheel provided on the arm 663 of the fire robot 10, and 6
Reference numeral 62 is an arm provided on the upper portion of the fire robot 10 and having wheels 641 and a motor 642 at the upper end. To be inserted with a gap between the power supply wiring 620,
The power receiving coil 650 is an arm 662 of the fire robot 10.
It is fixed to.

The power conversion device 322 of the fire robot 10 is, for example, in parallel with the power receiving coil 650, a capacitor forming a resonance circuit that resonates at the frequencies of the power receiving coil 650 and the power supply wiring 620, and the resonance circuit. Rectifying diode connected in parallel with the capacitor, a stabilizing power supply circuit connected to the diode for controlling the output to a predetermined voltage, a DC-AC converter for converting direct current into alternating current, and the like. The stabilized power supply circuit is
For example, it is composed of a current limiting coil, an output adjusting transistor, and a diode and a transistor that form a filter.

The electric motor 642 causes the wheels 641 to rotate in the normal / reverse direction to drive the fire robot 10. The monitor nozzle 13 is connected to the hose reel 103, and the hose 105 of the hose reel 103 is connected to the receiving pipe 530. A contact type fluid coupling 510 is provided at the tip of the receiving pipe 530.

The rear end portion 530a of the receiving pipe 530 is supported by the joint supporter 120. The joint support 120 is a base 101 of the fire robot 10.
, And is slid by the electric cylinder 102. The hose 105 of the hose reel 103 fixed to the base 101 is connected to the supply pipe 530.
The hose 105 is held by a speed adjustable roller 106.

A locking claw 107 that engages with a flange 522 of the supply pipe 520 is provided at the tip portion 530b of the supply pipe 530.
Is provided.

The fire robot 10 includes a fire source detection device 1
10 are provided. As the fire source detection device 110, for example, an infrared image sensor system is used. The sensor system 110 includes a sensor body 111,
A sensor holder 112 for holding the sensor body 111,
(Fig. 6).

The sensor body 111 includes a plurality of pyroelectric elements 1.
A sensor unit 114 including 13 and a control unit 115 that controls the sensor unit 114 are provided. The sensor unit 114 has a predetermined range in the vertical direction Y and the horizontal direction X, for example, a vertical rotation angle θY of 70 ° as shown in FIG.
As shown in 0, the lateral rotation angle θX is rotated by 150 ° and the temperature distribution in the monitoring area is measured.

By moving the sensor unit 114 in the vertical direction Y and the horizontal direction X, the control unit 1 determines the Y-axis and X-axis positions of the abnormal temperature portion.
Send to 15. The control unit 115 determines the fire position from the matrix X4Y4 (hatched portion) of the divided area as shown in FIG.
Output to.

The control device 17 determines whether the position of the fire robot 10 is suitable for extinguishing a fire from the fire position. That is, it is determined whether or not the fire occurrence position X4Y4 is within the water discharge range of the monitor nozzle 13 of the fire robot 10.

For example, FIG. 1 is a perspective view showing a fire extinguishing range.
2. If the extinguishable part HW of FIG. 13, which is a plan view, is a fire occurrence point, it is determined to be the optimum fire extinguishing point, and if not, the fire robot 10 is moved forward F or backward B. Then, the position is adjusted so that the fire occurrence point F enters the extinguishable part HW. In the above, the sensor unit that rotates in the vertical direction is shown, but without rotating in the vertical direction,
The plurality of sensors themselves may cover the vertical monitoring area. In the above, the sensor unit 1 of the sensor body W is
Although a pyroelectric element is used for 14, a solar cell may be used instead.

Reference numeral 22 is a surveillance television camera, 40 is an extinguishant storage unit, 41 is a control panel to which a fire receiver 44 and a transceiver 42 having an antenna 43 are connected, and 45 is connected to the fire receiver 44. , And a plurality of fire detectors arranged at intervals on the side wall of the tunnel. As the fire detector 45, for example, there are various detectors based on heat, smoke, flame light, gas, odor, etc., which are appropriately selected as necessary. Reference numeral 47 is a water supply pump that is connected to the supply pipe 100 via the communication pipe 33 and is controlled by the control panel 41.

The supply pipe 100 is disposed along the monorail 30, and the pipe 100 is provided with a plurality of supply pipes 520 corresponding to the moving fixed points 32. This supply pipe 52
At 0, a valve 135 and a contact type fluid coupling 510 are provided.

The contact type fluid coupling 510 comprises a supply pipe 520 and a receiving pipe 530, as shown in FIG.

The supply passage 523 of the supply pipe 520 is formed to have a diameter D, but its tip is narrowed to have a truncated cone shape in cross section. The diameter d of the discharge port 521 is the diameter D
It has been significantly reduced in diameter. The ratio d / D of both diameters is appropriately determined as necessary. For example, d / D is 1/5.
Is selected.

A flange 522 is provided at the tip of the supply pipe 520. The tip surface of the supply pipe 520 is the contact surface 5
24, the contact surface 524 is formed to be smooth and perpendicular to the axis C.

The receiving pipe 530 is provided with a receiving passage 533, and the receiving passage 533 gradually expands toward the outlet 536. The diameter w of the receiving port 531 is slightly larger than the diameter d of the discharge port 521. The ratio d / w of both diameters is appropriately selected as necessary, and for example,
0.9 is selected as d / w. The discharge port 521 and the receiving port 531 are opposed to each other, and the axes of the ports 521 and 531 are located on the axis C of the fluid coupling 510.

A flange 532 is provided at the rear end of the receiving pipe 530.
Is provided. The rear end surface of the supply pipe 530 forms a contact surface 534, which is smooth.
In addition, it is formed perpendicular to the axis C.

The contact surface 534 is in contact with the contact surface 524 through the O-ring 537.
There is a slight gap between 4, 534, and this gap forms the suction portion G.

The suction part G has a discharge port 521 and a receiving port 53.
1 and the water pressure is the same as the pressure between both ports 521 and 531, that is, a negative pressure. Both contact surfaces 524,
The size of the area of 534 is appropriately selected as necessary, but the suction force increases as the area increases.

The operation of this embodiment will be described with reference to FIGS. When the fire receiver 44 receives fire information, for example, a fire signal from the fire detector 45, the fire receiver discriminates the fire occurrence point based on the fire signal and outputs the information to the control panel 41 (S302).

The control panel 41 moves the fire extinguishing fixed point 32 for stopping the fire robot 10 based on the information of the fire occurrence point.
Determine a. As this moving fire extinguishing fixed point 32a, a moving fixed point closer to the robot station 31 than the moving fixed point 32 corresponding to the alarm detector closest to the robot station is designated (S304). Then, by identifying the fire robot 10, information on the fire occurrence point and the moving fire extinguishing fixed point 32
The information of a and the movement command are wirelessly transmitted through the transceiver 43 (S305).

Here, for example, as a method for identifying the fire robot 10, when the address output from the control panel 41 and the self-address stored in each fire robot 10 match, the fire robot 10 is A method of receiving information on the location of the fire and a movement command is used.

Further, when the control panel 41 receives the fire information from the fire receiver 44, it supplies a high-frequency current from the power supply device 411 to the power supply wiring 620 to supply the power to the fire robot 10 without contact. The fire robot 10 receives contactless power from the power receiving coil 650, drives the electric motor 642 by the power converted by the power conversion device 322, moves to the moving fire extinguishing fixed point 32a, operates the TV camera 22, and operates the situation of the fire spot. Is captured and wirelessly transmitted to the control panel 41.

The power supply wiring 620 and the power receiving coil 65
The contactless power supply between 0 and
By the high frequency current flowing through 0, an alternating magnetic field is generated around the power supply wiring 620 as indicated by a dotted line M in FIG. 3, and an electromotive force is generated in the power receiving coil 650. The alternating current generated by this electromotive force is rectified by the diode of the power supply conversion device 322, converted into a predetermined direct current voltage by the stabilized power supply circuit, and output, and also output as the alternating current voltage by the DC-AC converter, and the various on-board devices 17 are mounted. , 20, 22, etc.

When the control device 17 of the fire robot 10 designated by the control panel 41 receives the information on the fire occurrence point and the movement command (S102), the movement extinguishing fixed point number n.
Read (S103 to S105), electric motor start command (S
106), the electric motor 642 is rotated normally or reversely to move from the robot station 31 to the moving fire extinguishing fixed point 32a designated by the control panel 41. When the control device 17 moves the fire robot 10 to the designated mobile fire extinguishing fixed point 32a and issues a fixed point signal (S109),
The electric motor stop command (S110) is issued, and the electric motor 6
42 is stopped. At this time, the mobile fire extinguishing fixed point 3 which stopped
The position of 2a may be transmitted to the control panel 41.

As a method for discriminating the stop position, each moving fixed point 3
On the other hand, the fire robot 10 is provided with a micro switch for detecting the projection of the moving fixed point 32, and outputs a fixed point signal every time the micro switch passes through the moving fixed point 32. The number of moving fixed points that have passed is counted, and the counted number is compared with the number K of moving fixed points that should be passed as the fire point information read by the fire robot along with the movement command, Movement stop point 32a
To determine. (S107, S108, S109)

As another method, there is also a method of determining the movement stop point by measuring the number of rotations of the electric motor 642 with a tachometer or the like. Also, as a counting method,
A method of providing a light emitting element and a light receiving element may be adopted.

When the control panel 41 receives the stop signal when the fire robot 10 is stopped, the operator operates the control panel 41 to wirelessly issue a command to rotate the surveillance TV camera 22 for the fire. Send to the robot 10. Then, when the surveillance TV camera 22 rotating vertically and horizontally captures the fire spot, the control panel 41 sends a rotation stop command for the surveillance TV camera 22.

Here, the monitoring television camera 2 is vertically and horizontally displayed.
2 is swung to show the fire spot in the center of the surveillance TV camera 22, and the operator confirms the fire from the image.

When the fire robot 10 stops at the moving fire extinguishing stop point 32a, the controller 17 issues a joint connection command (S110A) to drive the electric cylinder 102 and move the receiving pipe 530A at the position indicated by the alternate long and short dash line. The flange 532 to the flange 522 of the supply pipe 520.
The contact surfaces 524 and 534 with each other. Due to the contact between the contact surfaces 524 and 534, the switch of the lock device (not shown) is turned on and the locking claw 107 is attached to the flange 52.
2 is engaged.

The control device 17 issues a fire source detection command to the infrared image sensor system 110 at the same time when the fire robot 10 stops at the moving fire extinguishing fixed point 32a (S111).

The system 110 monitors the caution area while moving the pyroelectric element 113 of the sensor unit 114 in the vertical direction Y and the horizontal direction X (S201). This caution area SA is composed of a plurality of divided areas DA, and each divided area DA is represented by XY coordinates as shown in FIG. For example, the monitoring angle θY in the vertical direction Y of the sensor system 110 is 70.
And the lateral monitoring angle θX is adjusted to 150 °.

When the control unit 115 of the sensor system 110 confirms the number of divided areas DA determined from the output of the sensor unit 114 to be a fire source and their respective positions, that is, coordinate positions (S203), the fire is detected. The distance to the source FG and its size (fire scale) are confirmed (S204). For example, the fire occurrence point, that is, the fire source FG is one of the divided areas DA1 of the coordinate X4Y4 as shown in FIG.

When the divided area DA1 of the fire source FG is confirmed, the control unit 115 outputs the information to the control device 17,
The control device 17 determines whether or not the nozzle 13 of the fire robot 10 is located within the fire extinguishing range HW, that is, within the range where the water discharged from the nozzle 13 can reach and effectively extinguish the fire (S205).

When the fire robot 10 is located outside the fire extinguishing range, the fire robot 10 is moved forward F or backward B so as to be in the fire extinguishing range HW and is positioned at the optimum fire extinguishing point 32b. At this time, the hose 105 is delivered from the hose reel 103 as the fire robot 10 moves.

When the fire robot 10 is within the fire extinguishing range, the control unit 115 determines whether or not the number of divided areas DA to be extinguished is single (S206). And the area D
When there are a plurality of A's, the divided area DA having the largest output or the one having a large continuous divided area is selected as the fire source FG (S209), and the width of the fire source FG is confirmed. (S210), while driving the direction control motor 21 to cause the nozzle to swing (S210).
211) Water is discharged (S113). At this time, instead of swinging the nozzle, check the width of the fire source FG,
The water discharge pattern of the nozzle may be controlled to appropriately perform rod-shaped water discharge, atomized water discharge, or the like.

If there is a single divided area DA, the fire source F
The width of G is confirmed (S207), the nozzle 13 is directed to the center of the fire source (S208), and the water discharge pattern of the nozzle is controlled (S213). As the water discharge pattern, there are a rod-shaped water discharge capable of extinguishing a fire over a long distance and a spray water discharge capable of extinguishing a fire over a wide range.

The control device 17 sends a valve opening command (S112) to the water discharge control section to open the valve 135. The control device 17 transmits a discharge start command to the control panel 41 via the transceivers 18 and 42 (S113), starts the water supply pump 47, and through the contact type fluid coupling 510, the extinguishant stored in a tank (not shown), For example, a foam liquid mixture is supplied and discharged from the monitor nozzle 13.

At this time, the release start may be transmitted to the control panel 41. In addition, the valve opening command is, for example, the supply pipe 5
The micro switch may be provided on the 20 side and the lever may be provided on the receiving pipe 530 side, and the lever may be tilted to operate the micro switch.

When a fluid, for example, fire extinguishing water S is supplied at a pressure P1 to the inlet 526 of the supply pipe 520, the water S is narrowed down at the discharge port 521 while passing through the supply passage 523, and the pressure P1 of the water becomes the velocity head. After being converted, it is supplied from the discharge port 521 to the receiving port 531 of the receiving pipe portion 530, and is converted into the pressure head again in the receiving path 533, so that the pressure P
It is discharged from the outlet 536 at 3.

The water discharge pressure P2 from the discharge port 521 at this time
Is calculated by the following equation based on Bernoulli's theorem. ^{P2 = P1-Q 2 / 2gS} 1 2

In this equation, Q is the flow rate of the discharge port 521, S1 is the cross-sectional area of the discharge port 521, and g is the gravitational acceleration. Therefore, when the flow rate Q and the pressure P1 are constant, the discharge pressure P2 becomes a function of the cross-sectional area S1 of the discharge port 521, and the value of the water discharge pressure P2 can be made negative by selecting the cross-sectional area S1.

Thus, the water discharge pressure P2 of the discharge port 521 is
The pressure becomes the smallest in the supply passage 523 and the reception passage 533. For example, the pressure P1 of the supply passage 523 is 10 kg / cm ²
, And the when the pressure P3 of the receiving path 533 is 8 kg / cm ^2, the water discharge pressure P2 becomes -1 kg / cm ^2.

The water discharge pressure P2 is equal to the contact surfaces 524 and 53.
Since there is a pressure in the suction part G between the four contact surfaces 524, 5
34 strongly attracts and adsorbs via the suction part G. As a result, the two pipe parts 520 and 530 are firmly connected and integrated.

Even if both pipe parts 520 and 530 are pulled in the opposite directions during water supply, they cannot be separated from each other due to the suction force in the suction part G. However, when the water supply to the supply pipe portion 520 is stopped, the suction force in the suction portion G disappears, so both pipe portions 520, 5
The suction of 30 is automatically released, and it is separated.

The fire robot is provided with a tank storing a fire extinguishing agent, for example, a foam mixture, and an extinguishing agent amount detecting unit for detecting the amount of the extinguishing agent stored in the tank. Supply to the monitor nozzle 13,
The extinguishant may be supplied from the extinguishant storage unit 40 when the extinguishant amount detection unit determines that there is no extinguishant.

Further, only the foam concentrate is stored in the tank, and only the fire extinguishing water is supplied from the extinguishant storage section.
For example, they may be discharged from the monitor nozzle 13 after being mixed using a mixer such as line proportion. Here, when a tank is provided, a valve is provided between the monitor nozzle 13 and the hose reel 103, and a water discharge control unit that controls the valve is also provided in the control device 17.

During the fire fighting activity, the controller 17 causes the sensor system 110 to monitor whether or not the fire has been extinguished (S11).
4) If the fire is judged to have been extinguished, the transceiver 18,
Release stop command to control panel 41 via 42 (S115)
And a command to close the valve 135 and a joint disconnection command (S115A). Control panel 4
1 receives the discharge stop command and stops the water supply pump 47. (S308, S309). The sensor system 110 may monitor the extinction of the fire, and the above operation may be performed when the system 110 determines the extinction.

On the other hand, the control device 17 issues an electric motor start command (S116) to move the fire robot 10 toward the moving and extinguishing fixed point 32a, and also rotates the hose reel 103 in the direction of arrow A103 to move the hose 105. Move the fire robot 10 while winding it up.
Return to 2a. Next, the electric cylinder 102 is driven to extend the joint holder 120 in the direction of the arrow A120, and the receiving pipe body 530 is fitted and held.

The locking claw 107 is removed from the flange 522 by a control means (not shown), and the electric cylinder 102 is moved.
Is moved in the direction opposite to the arrow A102 and returned to the original position.

In this way, while separating from the supply pipe 520 provided corresponding to the moving fire extinguishing fixed point 32a,
The valve 135 is closed to stop the extinguishant, for example, the foam mixture from the monitor nozzle 13.

After that, the controller 17 controls the electric motor 64.
When the fire robot 10 is run by reversing 2 or forward, the motor stop command (S120) is transmitted when the robot reaches the robot station 31, and the electric motor 64
2 is stopped, the fire robot 10 is returned to the original position, and the next fire is prepared. The control device 17 sends a message to the effect that it has returned to the control panel 41 (121).

As a method for determining that the fire robot 10 has returned to the robot station 31, as shown in the flow chart, the number of moving fixed points that have passed from the stopped moving stop point 32a is counted, and A method is adopted in which the robot station 31 is returned to when the difference between the number and the number K of moving fixed points to be passed as the fire spot information read together with the moving command becomes 0 (S117 to S119).

As another method, there is also a method of determining that the electric motor 642 has returned to the robot station 31 by measuring the number of reverse rotations of the electric motor 642 using a tachometer or the like. As the counting method, a method of providing the light emitting element and the light receiving element may be adopted.

In addition, the fire robot 10 has a movement stop point 3
After moving to 2a and stopping the electric motor 642, a program may be provided for determining whether or not the electric motor 642 has further stopped at a predetermined position and, if not, correcting the position.

Further, movement fine adjustment means for stopping the fire robot 10 at a precisely designated movement fixed point may be provided. As the movement fine adjustment means, for example, when the fire robot 10 moves from the robot station 31 to a target moving fixed point, the moving speed of the fire robot 10 is set to a high speed halfway, and when it reaches the vicinity of the moving fixed point, the moving speed is low. Then, the method of controlling the speed is used so that the moving fixed point can be easily stopped.

Further, the receiving pipe 530 of the fire robot 10
And that the connection with the water supply pipe 520 provided corresponding to the movement fixed point 32a is completed is determined using a pressure sensor that senses that pressure water has been delivered, and it is determined that the connection is insufficient. In this case, the position of the fire-extinguishing robot 10 may be corrected and the connection may be tried again.

A second embodiment of the present invention will be described with reference to FIG. 18. The same reference numerals as those in FIGS. 1 to 17 have the same names and functions. The difference between this embodiment and the first embodiment is as follows. (1) Instead of supplying water to the fire robot by the water supply / reception device connected via the fluid coupling 510, the fire robot 10 is equipped with the tank 700 for storing the extinguishing agent, and the tank 780 is connected to the monitor nozzle 13. Supplying a fire extinguishing agent, (2) Rechargeable storage battery 710 instead of the power supply / reception device
It is equipped with. In this embodiment, unlike the first embodiment, attachment / detachment of joints, start / stop of the water supply pump,
Since the opening and closing of the water supply pipe and the all-line non-contact power supply / reception device are unnecessary, the structure is simple and the operation is easy.

The embodiment of the present invention is not limited to the above, and may be configured as follows, for example. (1) A non-contact type all-line power supply / reception device is used as a power source for driving the fire robot, and a water tank mounted on the fire robot is used as a fire extinguishing agent supply source.

(2) A rechargeable storage battery is used as a power source for driving the fire robot, and a water supply / reception device having a contact type fluid coupling is used as a fire extinguishing agent supply source.

(3) A non-contact type spot type power supply / reception device is used as a power source for driving a fire robot, and a water supply tank or a water supply / reception device equipped with a contact type fluid coupling is used as a fire extinguishing agent supply source. Next, this non-contact type spot type power supply / reception device will be described with reference to FIGS.

Non-contact type power supply devices 401 and 402 are provided at the robot station 31 and the moving fixed point 32, which are arranged at intervals on the monorail 30, respectively.

This power feeding device is the first non-contact type power feeding device 4
01 and a second non-contact power feeding device 402, and FIG.
As shown in FIG. 4, power supply wirings 401b and 402b wound around U-shaped magnetic bodies 401a and 402a are provided. The wirings 401b and 402b are covered with a resin to prevent corrosion and are connected to the control panel 41 via the high frequency power supply device 411.

The non-contact type power feeding device has a predetermined interval along the monorail 30, for example, 25 on a monorail having a total length of 300 m.
The power supply device is provided every m, and the total length of the power supply device is, for example, 2 m, so that power can be supplied to the fire robot 10 even if the stop position of the fire robot 10 is slightly displaced. This power feeding device is composed of a first non-contact power feeding device 401 and a second non-contact power feeding device 402.

The first non-contact type power supply device 401 is provided in the robot station 31 and has a power supply circuit C1.
It is arranged in. The second non-contact power supply device 402,
It is provided at the moving fixed point 32 and is provided in the power feeding circuit C2 formed separately from the power feeding circuit C1.

The first and second non-contact type power supply devices 401,
402 is connected to a high frequency power supply device 411 via a high frequency current supply destination switching device 412.

Fire robot (mobile robot body) 1
0 is provided with a non-contact power receiving device 321. This device 321 has a U-shaped magnetic body 3 as shown in FIG.
The power receiving coil 321b is wound around 21a. The power receiving coil 321b is connected to the power conversion device 322.

The power conversion device 322 includes the power receiving coil 3
The high frequency current received by 21b is converted into a direct current to charge the storage battery (rechargeable battery) 20, and the electric motor 12, the direction control motor 21 for the monitor nozzle 13, the electric pump 15, the control device 17, the antenna 19 are charged. Power is supplied to the attached transceiver 18 and the like.

In the fire robot 10, a voltage monitoring circuit (not shown) monitors the charging voltage of the rechargeable battery (storage battery) 20, and when it detects that the voltage has dropped to a predetermined voltage,
The control device 17 transmits a power supply request signal to the control panel 41 via the transceiver 18.

When the control panel 41 receives the power supply request signal,
The fire robot 10 that has transmitted the power supply request signal is identified,
The high-frequency power supply device 141 and the switching device 412 are provided on the power supply wiring 401b of the non-contact power supply device 401 of the robot station 31 in which the requested fire robot 10 is stopped.
High-frequency current is supplied through.

The fire robot 10 has a power supply wiring 401.
The high frequency current flowing in b is received by electromagnetic induction by the power receiving coil 321b of the non-contact power receiving device 321, and the received high frequency current is converted into a direct current by the power conversion device 22 to charge the rechargeable battery 20.

When the voltage monitoring circuit detects that the voltage of the rechargeable battery 20 has recovered to the specified voltage, the control device 17 outputs a power supply completion signal to the control panel 41. As a result, the control panel 41 stops the operation of the high frequency power supply device 411 and stops the power supply.

When the voltage of the rechargeable storage battery 20 drops, the fire robot 10 moves to a nearby moving fixed point 32, and its power receiving coil 321b moves the moving fixed point 32.
The high-frequency current flowing through the power supply wiring 402b of the second non-contact power supply device 402 provided in is received by electromagnetic induction, converted by the power conversion device 22 into direct current or alternating current, and supplied to various mounted devices. The non-contact type power feeding device may be 401 and the non-contact type power receiving device may be 321 and the alternating magnetic field method described in the first embodiment may be used. Further, in each of the above-described embodiments, the movement stop point is determined by the fire detector 45, but when the fire robot 10 moves by the fire detection by the fire detector, the sensor system 1
It is also possible to operate 10 to detect the fire source even during movement, and when detecting the fire source, stop movement to detect the fire source position.

[0088]

Since the present invention is configured as described above, the fire robot can effectively carry out fire extinguishing activities at the optimum fire extinguishing point based on the fire source information from the fire source detecting device.

Since the water supply / reception device having the contact type fluid coupling is provided, the fire robot can sufficiently obtain the necessary extinguishing agent.

Since the all-line non-contact type power supply / reception means is provided, the fire robot can secure a sufficient power source.

[Brief description of drawings]

FIG. 1 is a schematic view of a fire robot equipment according to a first embodiment of the present invention.

FIG. 2 is an enlarged vertical sectional view of a fire robot.

FIG. 3 is a schematic diagram of a non-contact type all-line power supply / reception device.

FIG. 4 is a contact type fluid coupling.

FIG. 5 is a diagram showing a usage state of the contact type fluid coupling.

FIG. 6 is a perspective view showing an infrared image sensor system.

FIG. 7 is an enlarged view of a main part of FIG. 6;

FIG. 8 is a left side view of FIG.

FIG. 9 is a diagram showing a vertical monitoring state of the infrared image sensor system.

FIG. 10 is a diagram showing a lateral monitoring state of the infrared image sensor system.

FIG. 11 is a diagram showing a matrix of divided areas.

FIG. 12 is a perspective view showing a fire extinguishing range of the fire robot.

FIG. 13 is a plan view showing a fire extinguishing range of the fire robot.

FIG. 14 is the first half of the flowchart of the control device of the fire source detection system.

FIG. 15 is the second half of the flowchart of the control device of the fire source detection sensor system.

FIG. 16 is a control device / fire source detection subroutine of the fire source detection system.

FIG. 17 is a flowchart of a control panel of the fire source detection system.

FIG. 18 is a front view showing a second embodiment.

FIG. 19 is a view showing a third embodiment and corresponds to FIG.

FIG. 20 is an enlarged sectional view of the fire robot.

FIG. 21 is a diagram showing a non-contact type spot type power supply / reception device.

[Explanation of symbols]

 10 Fire robot 30 Monorail 31 Robot station 32 Moving fixed point 321 Non-contact type power receiving device 401 Non-contact type power feeding device 402 Non-contact type power feeding device 510 Contact type fluid coupling 520 Supply pipe part S24 Contact surface 530 Receiving pipe part 534 Contact surface 610 Non-contact power feeding device 620 Non-contact power feeding device 650 Non-contact power receiving device G suction unit

Claims (8)

[Claims] 1. A fire robot driven by a storage battery and provided with a water discharge nozzle, a travel route which guides the travel of the fire robot and which has a plurality of fixed moving points, and a fire robot of the fire robot. A fire robot equipment including: a control means; the fire robot includes a fire source detection means, the control means up to an optimum extinction point based on fire source information of the fire source detection means. A fire robot system with a fire source detection function that can be moved. 2. A fire robot driven by a storage battery and provided with a water discharge nozzle, a travel route which guides the travel of the fire robot and which has a plurality of moving fixed points, and a fire robot of the fire robot. What is claimed is: 1. A fire robot equipment comprising: a control means and a plurality of fire detectors arranged in a fire monitoring area; the fire robot comprises a fire source detection means, and the control means comprises: A fire with a fire-source detection function, characterized in that the robot for fire is rapidly moved to a moving extinction fixed point based on the information of the fire detector before moving to the optimum extinction point based on the fire-source information of the fire-source detection means. Robot equipment. 3. A fire robot provided with a fire source detection means and a water discharge nozzle, a movement route for guiding the travel of the fire robot, a control means for the fire robot, and power supply to the fire robot. And a power supply / reception means for the fire, the control means moves the optimum fire extinguishing point based on the fire source information of the fire source detection means, and the power supply / reception means moves the movement path. A power supply wiring extending along the line, and provided on the fire robot, and
A fire robot equipment with a fire source detection function, which is an all-line power feeding and receiving device including a power receiving coil that detects a current flowing through the power feeding wiring in a contactless manner. 4. A fire robot provided with a fire source detection means and a water discharge nozzle, a movement route for guiding the travel of the fire robot, a plurality of fixed points of movement provided on the movement route, and the fire robot. A fire robot facility comprising: a robot control means; a power supply / reception means for supplying power to the fire robot; and a plurality of fire detectors arranged in a fire monitoring area; Before moving to the optimum fire extinguishing point based on the fire source information of the fire source detecting means, the fire robot is rapidly moved to the moving fire extinguishing fixed point based on the information of the fire detector, and the power supply / reception means causes the movement route to move. An all-line power supply / reception device comprising: a power supply wiring extending along the power supply wiring; and a power reception coil provided in the fire robot and detecting a current flowing through the power supply wiring in a contactless manner. Fire source detection characterized by Robot equipment for fire with functions. 5. A fire robot provided with a fire source detection means and a water discharge nozzle, a moving route for guiding the travel of the fire robot, a plurality of fixed moving points provided with the moving route, and a fire robot. A robot control means, a power supply / reception means for supplying power to the fire robot, a plurality of fire detectors arranged in a fire monitoring area, a receiving pipe provided in the fire robot, and a movement path along the movement path. And a fluid coupling for connecting to a supply pipe provided in the fire robot; before the control means moves to an optimum extinction point based on the fire source information of the fire source detection means. , The fire robot is rapidly moved to a moving fire extinguishing fixed point on the basis of the information of the fire detector, and the power supply / reception means is arranged to extend along the movement route and the power supply wiring and the fire robot. It is provided and flows to the power supply wiring. An electric power receiving coil for detecting the electric current to be contactlessly detected, wherein the fluid coupling brings the contact surface of the supply pipe into contact with the contact surface of the receiving pipe, and reduces the contraction of the supply pipe. A contact type fluid coupling in which the discharged outlet and the receiving port of the receiving pipe are communicated with each other,
A fire robot equipment with a fire source detection function, comprising a suction unit communicating between the discharge port and the supply port between the contact surfaces of the two pipes. 6. The fire robot equipment with a fire source detection function according to claim 1, 2, 3, 4, or 5, wherein the fire source detection means is an infrared image sensor system. 7. The control means comprises a control panel connected to a fire detector, and a control device for a fire robot connected to the control panel via a transceiver. The fire robot equipment with a fire source detection function according to claim 1, 2, 3, 4, or 5. 8. The fire source detection system according to claim 7, wherein the control device for the fire robot moves the fire robot to the optimum extinction point based on information from the control unit of the infrared image sensor system. Robot equipment for fire with functions.