EP1169092A1 - Manually or remotely controlled, telescopic, fire-fighting robot, automatically connected to the water pipe system and hung on a monorail in tunnels - Google Patents
Manually or remotely controlled, telescopic, fire-fighting robot, automatically connected to the water pipe system and hung on a monorail in tunnelsInfo
- Publication number
- EP1169092A1 EP1169092A1 EP00925572A EP00925572A EP1169092A1 EP 1169092 A1 EP1169092 A1 EP 1169092A1 EP 00925572 A EP00925572 A EP 00925572A EP 00925572 A EP00925572 A EP 00925572A EP 1169092 A1 EP1169092 A1 EP 1169092A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- fire
- monorail
- cabin
- carriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0221—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for tunnels
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0292—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires by spraying extinguishants directly into the fire
Definitions
- the fire- ighting robot of the present patent application serves to the extinction of fire in road and railway tunnels.
- the robot (Figs. 1 and 2) is overhung from a carriage running on a monorail secured to the tunnel vault .
- An oleodynamic, telescopic piston (P) is connected between carriage and robot and allows the latter to be lowered up to the road surface.
- P oleodynamic, telescopic piston
- Such a feature permits the robot to overcome any obstacle placed under the tunnel vault such as lighting installation and ventilation system, In addition, it allows hurt people to be helped and transported without the hindrance of the traffic and to fight the fire also from below without being directly attacked by the flue gases.
- the robot is equipped with a 380 V, 46 kVA diesel generator (A) (Fig. 6), the current of which is transformed to 24 V and rectified.
- the motors are 24 V dc motors.
- the air intake pipe of the generator is connected to a trunk reaching the ground so that the same can also operate when smoke spreads throughout the high portion of the tunnel . If the generator cannot operate because of the excessive smoke, a 24 V, 1600 Ah battery (5 hours discharge) is put into operation, thus allowing a complete autonomy of operation for at least 3 hours.
- the antifire outfit (Fig. 6) consists of: two water nozzles (E) with a flow rate of 500 litres/minute and a throw of 40 metres; a foam monitor nozzle (F) with a flow rate of 1.000 litres/minute and a throw of 30 metres; a water tank (Fig.
- the robot is connected to the water pipe system automatically by an arm means (Fig. 7) which couples the male connector (M) of the fire hose to the female quick-coupling joint (K) when the robot comes across two permanent magnets secured to the monorail : the first (Z) slows down the carriage, the second (V) operates the device.
- a mechanical articulated- quadrilateral device is installed under the cabin of the robot (Fig. 4) and, when it opens, changes into a seat and a stretcher. Once opened the device controls the opening of doors from which air masks come out .
- the cabin (Fig. 8) is provided with fire-resisting panels and glasses able to resist to fire for 180 minutes.
- a pipe provided with a cooling water nozzle for cooling the shield and the outside apparatus is installed around the deck.
- the carriage can reach a speed of 50 km/hour and carry two operators in the cabin.
- two oxygen respirators connected to the air ventilation system and provided with four air cylinders with 60 litres at 200 bars are available in the cabin.
- the presence on board of the operator is not indispensable as the carriage is completely automatic and can be remote-controlled.
- a radio link and two TV cameras are provided on the monorail .
- the state of art in the fire-fighting installations particularly in case of fire in tunnels provides: a) automatic, fixed extinguishing installations (without helping people) ; b) intervention of the fire-brigade with vehicles (fire trucks, tank trucks, foam trucks, ambulance) .
- the fixed installations of the type of water and/or foam sprinklers and foam nozzles require a lot of apparatus all over the surface to be protected.
- sprinklers should be installed in a tunnel, it would be necessary to put a sprinkler under the vault every 9 square metres with a lot of piping connected to one another and to control and alarm valves.
- several pumping means should be installed along the tunnel to provide for the necessary water supply. The same applies to a hypothetical fixed foam installation.
- the robot overcomes all of the above problems, namely: - as far as the fixed installations is concerned, the robot requires just a monorail under the vault with only one water piping equipped with quick-coupling joints every 20-25 metres and protected from the fire and frost by a suitable insulation;
- the robot has no problem of traffic because it runs high above and then can reach the site of fire in a few minutes, thus preventing the fire from reaching the stage of general development with high temperatures and propagation to the near vehicles. Therefore, the risks both for injured people and rescuers are reduced.
- the robot can also operate with high temperatures and strong smoke without aboard operator and supplied by the outfit batteries. It has no problem of water supply because it is automatically connected to the fixed water pipe system with a range of operation of 30 metres from the connection point plus the throw of the water nozzles that can reach 40 metres. It can help and transport people involved in road accidents even without fire. Monorail
- the monorail (Fig. 3) is made of steel profiles and is secured to the vault of the tunnel every 4 metres by chemical dowels. Expansion joints are provided along the axis thereof every 20 metres. The monorail is protected from fire by intumescent paint or vermiculite. Permanent magnets (Z) for slowing down automatically the carriage before its automatic coupling are installed every 20 metres (Fig. 7) . Platbands for supporting the antifire piping DN 125 made of steel are welded to the high portion of the rail every three metres. The piping is provided with expansion joints every 30 metres and is protected from fire and frost by glass wool and sheet-steels. A female quick-coupling joint (K) DN 80 made of stainless steel is provided in the antifire piping (Q) every 20 metres.
- Carriage The carriage (Figs. 3 and 4) is equipped with six wheels DN 20, four of which are drive wheels each provided with 10 HP dc motors. The central wheels are driven. The four motors operate simultaneously during the shift step, only one motor being in operation in case of fire.
- Oleodynamic, telescopic, 4 -withdrawal piston (P) is anchored under the frame of the carriage and allows the cabin to be lowered by seven metres up to the road surface in one minute.
- the central unit (L) with a 10 HP motor-driven pump and tank is secured to the static portion of the piston which crosses the cabin all over the height thereof to reduce the overall dimensions.
- the fire-resisting, electric cables of the shift motors and the piston are wound around two pulleys (I) located on the carriage and the cabin so as to allow the cable to be extended and retracted without forming loops and exposing the minimum length to the fire.
- the carriage, the oleodynamic central unit and the fixed portion of the piston are protected by a shield which is capable of resisting to the fire for 180 minutes .
- the cabin has the shape of a parallelepiped (Figs. 4, 6, 8) with size 4.5x2x1.8 m and a carrying structure made of steel profiles.
- the size can be optimized.
- the outer shield (Fig. 8) is made of panels and glasses capable of resisting to the fire for 180 minutes .
- the openings due to the crossing of piston, electric cables, silencer, aspiration pipe, antifire piping connected to the water pipe system are protected by fire-resisting seals.
- An articulated quadrilateral steel structure is hinged under the cabin (Fig. 4) and, when it opens, changes into two stretchers for carrying people and/or wounded men and provided with supports, safety belts and oxygen mask for the protection of the respiratory tract .
- the electric equipment includes: a 380 V, 46 kVA diesel generator (A) ; a 24 V transformer (B) ,- a rectifier (C) ; a 24 V battery (D) with twelve 1600 Ah elements (5 Ah discharge); 16 dc motors (shift, central unit, fire pumps, water nozzle, stretcher drive unit; monitors and guns.
- a control unit controls the power rate for the distribution to the users as well as the operation of the generator and the automatic switching on of the battery. All of the electric cables are fire resisting cables able to resist to fire for 180 minutes according to the regulations in force.
- Antifire equipment The robot is equipped with: a water tank (Figs.
- An antifire water nozzle (Fig. 7) is installed on board of the robot and consists of a motor-driven drum DN 1000 around which a pipe NBR PN 10 protected from fire is wound.
- a quick-coupling male joint (M) is connected at the end of the water nozzles (Fig. 7) and is inserted into the female joint (K) connected to the antifire piping (Q) by means of an automatic connection device consisting of an arm secured to the axis of the drum, at one end of which a head provided with two pistons PI and P2 orthogonal to each other and an oleodynamically controlled collet chuck (Y) are carried.
- the collet chuck carries a piston P3 and an electromagnet (S) on an axis parallel to the male joint. Under rest condition the pipe is wound and the male joint is blocked by the collet chuck, while the two pistons are in the retracted state.
- S electromagnet
- the carriage slows down, the transducer causes the joints to line up through piston P2 and then controls the traverses of piston P3 for releasing the female joint and piston PI for inserting the male joint into the female joint.
- a limit switch disengages the collet chuck, and at the same time the carriage moves forward and the pistons retract. During the disconnection, the carriage moves back and the pipe is rewound.
- a limit switch on the drum slows down the carriage and causes the arm to move forward.
- air cylinders with a capacity of 60 litres at 200 bar are provided for the protection of the respiratory tract of any operator and carried people.
- the air cylinders supply a piping system to which the masks are connected through a pressure reducer of the first stage .
- the same central unit serves also to pressurize the drive cabin through a suitable valve system.
- a PLC is provided for controlling the essential functions of the apparatus and for energizing the users according to the available power. It controls the opening and/or the closure of the valves, the starting and/or the stop of the motors, the levels of water and foam, the charge of the battery, the level of fuel, the air amount, etc.
- a specific instrument with radio link is provided for the remote control of the robot. There are further installed two TV cameras, two head lamps, a pyrometer, and a megaphone .
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
- Magnetically Actuated Valves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITNA990016 | 1999-04-12 | ||
IT1999NA000016A IT1312126B1 (en) | 1999-04-12 | 1999-04-12 | FIRE-FIGHTING ROBOT FOR SUSPENDED TUNNELS, REMOTE CONTROLLED, TELESCOPIC; WITH AUTOMATIC CONNECTION TO THE FIXED WATER PIPE, |
PCT/IT2000/000125 WO2000061236A1 (en) | 1999-04-12 | 2000-04-07 | Manually or remotely controlled, telescopic, fire-fighting robot,automatically connected to the water pipe system and hung on monorail in tunnels |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1169092A1 true EP1169092A1 (en) | 2002-01-09 |
EP1169092B1 EP1169092B1 (en) | 2006-09-20 |
Family
ID=11388261
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00925572A Expired - Lifetime EP1169092B1 (en) | 1999-04-12 | 2000-04-07 | Manually or remotely controlled, telescopic, fire-fighting robot, automatically connected to the water pipe system and hung on a monorail in tunnels |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP1169092B1 (en) |
AT (1) | ATE339994T1 (en) |
AU (1) | AU4429200A (en) |
DE (1) | DE60030846T2 (en) |
ES (1) | ES2272276T3 (en) |
IT (1) | IT1312126B1 (en) |
WO (1) | WO2000061236A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018236292A1 (en) | 2017-06-19 | 2018-12-27 | Stopar Joze | Fire extinguishing system for tunnels |
CN112627881A (en) * | 2021-01-14 | 2021-04-09 | 广州古新科技有限公司 | A goods and materials are carried drilling rescue device for mine collapses |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2808215A1 (en) * | 2000-04-18 | 2001-11-02 | Poinsard Brisson De Saint Aman | NEW APPLICATION ALLOWING IN PARTICULAR IN ROAD TUNNELS, IN THE EVENT OF A FIRE TO POSITION IN A FEW SECONDS, THE EXTINGUISHING ELEMENT IN FRONT OF THE FIRE |
DE10056269A1 (en) * | 2000-11-14 | 2002-05-23 | Guenter Seitlinger | System for extinguishing tunnel fires has curtains for separating tunnel sections from each other, delivery device per section for fire protection medium activated by fire sensor |
AU2002255209A1 (en) | 2002-04-23 | 2003-11-10 | Bernard Monnier | Device for primary fire-fighting intervention |
ITNA20040024A1 (en) * | 2004-05-07 | 2004-08-07 | Domenico Piatti | FIRE EXTINGUISHING APPARATUS IN ROAD AND RAILWAY TUNNELS |
RU2008112168A (en) * | 2005-08-29 | 2009-10-10 | Фогтек Брандшутц Гмбх Унд Ко. Кг (De) | STATIONARY FIRE-FIGHTING SYSTEM CONTAINING A CLEANER |
ITMI20070584A1 (en) * | 2007-03-23 | 2008-09-24 | Caccialanza & C S P A | PROCEDURE AND PLANTS FOR THE TURNING OFF OF A FIRE IN THE GALLERY |
WO2010120242A1 (en) * | 2009-04-16 | 2010-10-21 | Ah Nyau Pang | Flexible fire sprinkler system |
FI122275B (en) * | 2009-12-22 | 2011-11-15 | Marioff Corp Oy | Method and apparatus for connecting a fire extinguishing system of a mobile unit to an external medium source |
ITNA20110013A1 (en) * | 2011-03-15 | 2012-09-16 | Domenico Piatti | DISASSEMBLY SUPPORT FOR PIPES ADJUSTED TO MONORAIL AND TRANSPORT OF FIREWATER OR OTHER FLUIDS. |
ITMI20131382A1 (en) * | 2013-08-09 | 2015-02-10 | Muller Andrea Enrico Leonardo | PLANT AND METHOD TO TURN OFF A GALLERY FIRE |
CN104548416B (en) * | 2015-01-15 | 2017-08-18 | 山东科一力电气有限公司 | A kind of tunnel hung moving extinguishing vehicle |
CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
US9950909B1 (en) * | 2017-02-12 | 2018-04-24 | Mohammad Kazemirad | Tunnel relief device |
CN107050709A (en) * | 2017-04-28 | 2017-08-18 | 苏州亮磊知识产权运营有限公司 | It is a kind of for the automatic machinery people of fire scene rescue and its control method |
CN107551423A (en) * | 2017-08-15 | 2018-01-09 | 许继电气股份有限公司 | A kind of converter valve extinguishing device |
RU2708109C1 (en) * | 2018-08-07 | 2019-12-04 | Общество С Ограниченной Ответственностью Нпо "Современные Пожарные Технологии" | Device for combined fire extinguishing and fire extinguishing prevention of foam of low and medium multiplicity |
DE102019109140A1 (en) * | 2019-04-08 | 2020-10-08 | Minimax Viking Research & Development Gmbh | Fire protection device for monitoring a fire protection area, fire protection system comprising such a fire protection device and a corresponding method for monitoring the fire protection area |
CN110206577B (en) * | 2019-06-27 | 2024-07-02 | 重庆交通大学 | Tunnel intelligent auxiliary fire-fighting system |
CN110496347B (en) * | 2019-09-29 | 2024-07-23 | 河南省交通规划设计研究院股份有限公司 | Robot fire extinguishing system for highway tunnel and city tunnel |
CN110559574B (en) * | 2019-09-29 | 2024-07-23 | 河南省交通规划设计研究院股份有限公司 | Fire-fighting robot fire-extinguishing system for expressway tunnel |
CN113101584A (en) * | 2021-03-17 | 2021-07-13 | 国网江西省电力有限公司电力科学研究院 | Intelligent fire-fighting robot control method based on three-dimensional point cloud model |
CN114191738A (en) * | 2021-12-07 | 2022-03-18 | 北京京东乾石科技有限公司 | Fire-fighting inspection robot and fire-fighting system |
CN118001639B (en) * | 2024-04-07 | 2024-06-04 | 山西军昊实业有限公司 | Pipe gallery with EPT intelligent tunnel system based on intelligent technology |
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FR2112855A5 (en) * | 1970-04-30 | 1972-06-23 | Richeux Philippe | |
JPH08266673A (en) * | 1995-03-31 | 1996-10-15 | Nohmi Bosai Ltd | Expansible liquid-receiving portion type fire robot |
JPH08266671A (en) * | 1995-03-31 | 1996-10-15 | Nohmi Bosai Ltd | Fire robot facility |
JPH09654A (en) * | 1995-06-20 | 1997-01-07 | Shinko Electric Co Ltd | Tunnel fire extinguishing system |
JPH10146398A (en) * | 1996-11-20 | 1998-06-02 | Nohmi Bosai Ltd | Vehicle for fire extinguishment |
-
1999
- 1999-04-12 IT IT1999NA000016A patent/IT1312126B1/en active
-
2000
- 2000-04-07 AT AT00925572T patent/ATE339994T1/en active
- 2000-04-07 EP EP00925572A patent/EP1169092B1/en not_active Expired - Lifetime
- 2000-04-07 DE DE60030846T patent/DE60030846T2/en not_active Expired - Lifetime
- 2000-04-07 WO PCT/IT2000/000125 patent/WO2000061236A1/en active IP Right Grant
- 2000-04-07 AU AU44292/00A patent/AU4429200A/en not_active Abandoned
- 2000-04-07 ES ES00925572T patent/ES2272276T3/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO0061236A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018236292A1 (en) | 2017-06-19 | 2018-12-27 | Stopar Joze | Fire extinguishing system for tunnels |
CN112627881A (en) * | 2021-01-14 | 2021-04-09 | 广州古新科技有限公司 | A goods and materials are carried drilling rescue device for mine collapses |
Also Published As
Publication number | Publication date |
---|---|
WO2000061236A1 (en) | 2000-10-19 |
ATE339994T1 (en) | 2006-10-15 |
IT1312126B1 (en) | 2002-04-09 |
EP1169092B1 (en) | 2006-09-20 |
ITNA990016A1 (en) | 2000-10-12 |
ES2272276T3 (en) | 2007-05-01 |
DE60030846T2 (en) | 2007-04-19 |
AU4429200A (en) | 2000-11-14 |
DE60030846D1 (en) | 2006-11-02 |
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