JP2001190705A - Unmanned automobile for extinguishing fire and its control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned automobile for extinguishing a fire, which runs well on the fire site many in obstacles, and a remote control device with a controller easy to operate. SOLUTION: The unmanned automobile for extinguishing a fire and the controller are equiped with a two-axis posture angle detection apparatus to detect and control the posture angle of the unmanned automobile for extinguishing a fire running over obstacle so that it won't turn over. Also, the operation of the controller is simplified by reducing the number of switches.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned fire extinguishing vehicle used at a fire site,
The present invention relates to an unmanned fire extinguisher vehicle capable of traveling over obstacles in the field while maintaining a certain posture, and a remote control device therefor.

[0002]

2. Description of the Related Art Conventional fire extinguishing work at a fire site
Mostly by hand. Speaking of water discharge work, after a fire pump truck arrives at the fire site, it is the operator of the water discharge pipe that installs hoses and gives instructions to start water discharge and control the amount of water discharge. It is the operator of the fire truck that operates the pump of the fire truck.

[0003] Communication between the operator on the water discharge pipe side and the operator on the fire pump car side is performed using a radio device such as a transceiver, but the communication is smooth due to the noise at the fire site. Sometimes it is not possible to properly respond to sudden changes in both situations. For this reason, the operator on the water discharge pipe side may be exposed to danger, or the fire extinguishing work may be hindered.

[0004] In addition, as long as it depends on human labor, it is necessary to perform a water discharge operation at a certain distance from the fire site, and there is a case where a sufficient effect cannot be obtained. In particular, when a chemical causes a fire, it may not be possible to approach the site due to dangers other than fire such as toxic gas, and the work may not be performed as desired.

[0005]

Therefore, in recent years, various types of unmanned fire extinguishing vehicles that can be remotely operated have been put into practical use. However, in a conventional unmanned vehicle for fire extinguishing, the operation of the remote control device for the traveling unit and the fire hose is complicated, and is not always suitable for quick fire extinguishing activities. Further, the conventional unmanned fire extinguishing vehicle is large and does not have an attitude control mechanism, so that the range of activity is often limited at a fire site where many collapsed objects are present, and the vehicle cannot be used depending on the situation of the fire site.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has a remote control device for a fire-fighting unmanned automobile having improved operability as compared with the prior art; An object of the present invention is to provide an unmanned fire extinguishing vehicle with improved responsiveness to obstacles.

That is, the present invention comprises a water discharge tube, a water discharge tank, a CCD camera, and a traveling vehicle unit for dispatching to a place where it is difficult for firefighters to approach at a fire site and performing water discharge and rescue activities. In the remote control device for the unmanned fire extinguishing vehicle that is remotely operated wirelessly, the control of the water discharge tube, the CCD camera, and the traveling vehicle unit of the unmanned fire extinguishing vehicle is performed by using a two-axis attitude angle detection device and one or more A remote control device for an unmanned fire extinguishing vehicle, wherein the remote control device is controlled by a controller including a trigger switch.

The present invention also provides the remote control device for an unmanned vehicle for extinguishing fire according to the present invention, wherein the attitude angle detecting device comprises:
A remote control device for an unmanned fire extinguishing vehicle, comprising: a gyroscope, an acceleration sensor, and a geomagnetic sensor.

Further, the present invention provides a water discharge cylinder, a water discharge tank,
An unmanned fire extinguishing vehicle, comprising a CCD camera and a traveling vehicle, which is remotely operated wirelessly, wherein the unmanned fire extinguishing vehicle is controlled by the remote control device.

[0010] The present invention also relates to the unmanned fire extinguishing vehicle, wherein the traveling vehicle unit is equipped with a biaxial attitude angle detecting device, and can travel while maintaining a constant attitude. It is.

The present invention also relates to the above-described unmanned fire extinguishing vehicle, wherein the attitude angle detecting device comprises two gyroscopes, one acceleration sensor, and one geomagnetic sensor. It is an unmanned fire extinguisher vehicle.

[0012]

Since the traveling unit of the unmanned vehicle for extinguishing a fire according to the present invention is provided with a two-axis attitude angle detecting device, when the vehicle runs on an obstacle during traveling, a change in the attitude angle can be detected on the controller side. Therefore, it is possible to take appropriate measures immediately. For example, by providing a moving mechanism of the center of gravity or a variable mechanism of the vehicle body inclination by a wheel suspension device to the traveling unit, the vehicle can travel without falling.

Further, since the controller in the remote control device according to the present invention is also provided with the two-axis attitude angle detecting device, when operating the unmanned fire extinguishing vehicle as described above,
By tilting the controller itself or operating the stick attached to the controller that can be tilted back and forth and left and right, it is possible to transmit the required signal for operation to the unmanned vehicle for fire extinguishing. is there.

Therefore, in the controller of the remote control device according to the present invention, it is possible to reduce the number of switches required for operation, for example, a stick for moving an unmanned fire extinguishing vehicle back and forth, right and left, As long as there is a stick for adjusting the pitch angle and roll angle of the unmanned vehicle for fire extinguishing, and a switch for water discharge operation, it can be operated for a while.
Therefore, a complicated operation for operating the unmanned fire extinguishing vehicle is not required.

As a technique relating to an attitude angle detecting device used in the remote control device of the present invention, Japanese Patent Laid-Open No.
No. 1474 and Japanese Patent Application Laid-Open No. H11-212479 have been proposed. These are combinations of three gyroscopes, two to three acceleration sensors, and two geomagnetic sensors, and further include an arithmetic unit for determining the presence or absence of an error component and performing correction processing.

The reason for the above configuration is that the gyroscope, the acceleration sensor, and the terrestrial magnetism sensor have their own specific disadvantages, and the disadvantages of the sensors complement each other. That is, in order to detect the attitude angle from the output of the gyroscope, the output is integrated, and an integration error occurs. This effect means that, for example, when the sensor is slightly moved from a certain position and returned to the original position, the calculated attitude angle does not return to the original position.

Further, the posture angle calculated from the outputs of the acceleration sensor and the geomagnetic sensor may not show a correct output when acceleration is applied in addition to the gravitational acceleration, and may be affected by electric noise or camera shake. There is a problem that it is not stable at rest. Therefore, this posture angle detection device is configured to be able to detect an accurate posture angle by making use of the advantages of the respective sensors by adding a correction operation processing device.

In the attitude angle detecting device disclosed in the above-mentioned publication, at least three gyroscopes, two acceleration sensors and two geomagnetic sensors are used as components. However, in the remote control device of the present invention, Since it is sufficient to detect the attitude angles of two axes, two gyroscopes and one for each
Necessary functions can be expressed only by the acceleration sensor and the geomagnetic sensor.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a diagram showing a controller of a remote control apparatus for an unmanned vehicle for extinguishing a fire according to the present invention. The controller comprises two sticks 11 and 12, a stick 13 with a switch 14, and a monitor 15. Monitor 1
Reference numeral 5 denotes a liquid crystal display for detecting the attitude of the unmanned fire extinguishing vehicle when it is running and displaying an image by a CCD camera mounted on the unmanned fire extinguishing vehicle.

The sticks 11 and 12 have a structure in which the sticks 11 and 12 are tilted back and forth and left and right. The stick 11 controls the movement of the unmanned vehicle for fire extinguishing in the front and rear and left and right directions, and the speed is controlled according to the degree of tilt of the sticks. It is configured to control. The stick 12 is used for controlling the attitude angle of the unmanned vehicle for fire extinguishing, and adjusts the pitch angle by tilting forward and backward, and adjusts the roll angle by tilting left and right.

That is, the attitude of the unmanned fire extinguishing vehicle during running is detected by the monitor 15, and the operation of the stick 12 is controlled so that the unmanned fire extinguishing vehicle does not fall. In the present controller, the attitude of the unmanned fire extinguishing vehicle is controlled by operating the stick 12, but the controller is designed so that the attitude of the unmanned fire extinguishing vehicle can be controlled by tilting the controller itself back and forth and left and right. It is also possible.

The stick 13 can be tilted back and forth. This operation controls the elevation angle of the water discharge tube, and presses the switch 14 to discharge water.

FIG. 2 is a diagram showing an unmanned fire extinguishing vehicle according to the present invention. The body 21 has a water discharge tube 22 and a CCD camera 24
The vehicle body 21 has a built-in attitude angle detection device and a water discharge tank (not shown).
Is attached. The four sets of wheels are individually driven, and the suspensions thereof are capable of individually controlling the distance between the wheels and the vehicle body, and control the posture of the vehicle body by the operation.

FIG. 3 shows another embodiment of the controller in the remote control apparatus for an unmanned fire extinguishing vehicle according to the present invention. This controller is an eyeglass type, and includes an attitude control device and a transmission unit 31, a water discharge switch 32, a display 33, and a frame. The display 33 is
This is to display images from a CCD camera mounted on an unmanned fire extinguishing vehicle. By wearing these glasses, the target is grasped by the movement of the face, and the pitch, roll, and elevation angles of the water discharge tube 22 are controlled by the movement, and the water is discharged by pressing the water discharge switch 32.

With such a configuration, the unmanned vehicle for extinguishing a fire according to the present invention can operate quickly by bypassing or overcoming obstacles at the scene of a fire, and its controller is simple to operate because it has few switches. is there.

[0027]

As described above, according to the present invention, an unmanned fire extinguishing vehicle having excellent running performance and a remote control device for an unmanned fire extinguishing vehicle provided with a controller which is easy to operate can be obtained. It is possible to improve the safety and efficiency of fire extinguishing work at a fire site.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of a controller used for remote control of an unmanned fire extinguishing vehicle according to the present invention.

FIG. 2 is a diagram showing an example of an unmanned fire extinguishing vehicle according to the present invention.

FIG. 3 is a diagram showing an example of a controller used for remote control of an unmanned fire extinguishing vehicle according to the present invention.

[Explanation of symbols]

 11, 12, 13 stick 14 switch 15 monitor 21 body 22 water discharge tube 23 wheels 24 CCD camera 31 attitude control device 32 water discharge switch 33 display 34 frame

Claims (5)

[Claims] 1. A remote control device for an unmanned fire extinguishing vehicle comprising a water discharge tube, a CCD camera, and a traveling vehicle,
The control of the water discharge tube, the CCD camera, and the traveling vehicle of the unmanned vehicle for fire extinguishing is controlled by a controller including a two-axis attitude angle detecting device and one or more switches. Remote control device for unmanned vehicles. 2. The remote control device for an unmanned fire extinguishing vehicle according to claim 1, wherein the attitude angle detection device includes two gyroscopes, one acceleration sensor, and one geomagnetic sensor. A remote control device for an unmanned vehicle for fire extinguishing. 3. An unmanned fire extinguisher vehicle comprising a water discharge tube, a CCD camera, and a traveling vehicle unit, wherein the unmanned fire extinguisher vehicle is controlled by the remote control device according to claim 1 or 2. Car. 4. The unmanned vehicle for extinguishing fire according to claim 3, wherein the traveling vehicle section includes a two-axis posture angle detecting device, and can travel while maintaining a constant posture. . 5. The unmanned fire extinguisher vehicle according to claim 4, wherein the attitude angle detecting device includes two gyroscopes, one acceleration sensor, and one geomagnetic sensor. Unmanned fire extinguisher vehicle characterized by: