JP2018068471A - Holding device for unmanned floating machine, unmanned floating machine, replacement/loading device of fire extinguisher and automatic fire extinguishing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a holding device for an unmanned floating machine, the device that can be introduced relatively at low cost as first-aid firefighting equipment in the inside of various buildings from large buildings to small buildings or in the site, and also, the firefighting of a fire place is selectively and continuously performed in the fire breakout, and thereby the secondary damage due to the fire and the firefighting is minimized.SOLUTION: A holding device for an unmanned floating machine of the present invention has a mounting mechanism capable of mounting at least one or more fire extinguishers and can be installed to the unmanned floating machine. Also, the mounting mechanism has: multiple clamping means for gripping the outer circumferential surface of the fire extinguisher at multiple different places; a main body member having the multiple clamping means; and switching means for switching the multiple clamping means between a first state of receiving instructions from the unmanned floating machine and gripping the fire extinguisher and a second state of releasing the grip of the fire extinguisher.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a holding device for an unmanned floating machine, an unmanned floating machine, a fire extinguisher replacement / loading apparatus, and an automatic fire extinguishing system.

Conventionally, installation of fixed fire extinguishing equipment such as automatic fire alarm equipment and sprinklers is obligated by the Fire Service Act according to the type of fire prevention object and the total floor area. For example, in the case of a warehouse, installation of an automatic fire alarm is obligatory in a warehouse having a total floor area of 500 m ² or more. In addition, a sprinkler is required to be installed in a warehouse having a rack type height exceeding 10 m and a total floor area of 700 m ² or more. In the case of a fire extinguishing system using a sprinkler, there is an advantage that a wide area fire extinguishing can be performed on the entire building, etc., but since the water is discharged to other than the source of the fire, the entire building is submerged and the equipment in the building becomes unusable Secondary damage will occur. In addition, in the case of a small fire extinguisher installed in a fire prevention object, the fire extinguishing work must be relied on manually, and there is a concern about the spread of fire spread due to the delay of initial fire extinguishing in buildings that are unattended on holidays and at night.

  Therefore, in order to suppress secondary damage during fire extinguishing activities, for example, a fire sensor provided in a stacker crane is used to detect the presence or absence of a fire at each stage of the rack, and when the fire sensor detects a fire, A fire-extinguishing system that uses a crane to perform fire-fighting activities (see Patent Document 1), and a fire nozzle that detects the occurrence and location of a fire based on the temperature sensing of a temperature sensor provided on the ceiling or wall, and is fixed to the wrist There has been proposed a fire extinguishing device with a motion function (see Patent Document 2) that performs fire extinguishing activity by changing the position of the fire extinguishing agent and the jetting direction of the fire extinguishing agent at the jet nozzle.

  In addition, in order to prevent secondary damage in which the equipment in the building becomes unusable due to water discharge, for example, potassium nitrate is the main component and fire extinguishing aerosol (inert gas) is covered over the base of the fire source. A fire extinguishing device having a jetting device for jetting is also devised (see Patent Document 3).

Japanese Patent No. 3123424 Japanese Patent No. 2846993 JP 2014-233425 A

  For example, the fire extinguishing system disclosed in Patent Document 1 has an advantage that fire extinguishing activity can be effectively performed on a fire occurrence location. However, the fire extinguishing system disclosed in Patent Document 1 is a fire extinguishing system for a three-dimensional automatic warehouse having rack shelves and a stacker crane. In buildings other than the three-dimensional automatic warehouse (factories, stores, exhibition halls, etc.) It is difficult to introduce.

  Moreover, the fire extinguishing apparatus disclosed in Patent Document 2 is fixed to a ceiling of a hotel or a warehouse, or is installed so as to be movable by a rail or the like. However, there is a limit to the movement of the ejection nozzle constituting the fire extinguishing device and the change in the injection direction of the fire extinguishing agent. In consideration of these, the fire extinguishing apparatus disclosed in Patent Document 2 has a limited fire extinguishing range, and there are cases where the fire extinguishing activity cannot be effectively performed under a situation where loads are piled up in a warehouse or the like.

  Furthermore, the fire extinguishing apparatus disclosed in Patent Document 3 is premised on fixing the ejection direction of the fire-extinguishing aerosol in the ejection apparatus to be obliquely downward. Therefore, the fire extinguishing range due to the ejection of the fire extinguishing aerosol is limited, and when it is applied to a building having a large total floor area, it is necessary to install a large number of ejection devices. Moreover, since the amount of fire-extinguishing aerosol ejected from the ejection device is constant, it may not be possible to extinguish even if the fire-extinguishing aerosol is ejected from the ejection device, and it is not possible to prevent the spread of fire spread due to fire.

  The present invention has been made to solve the above-described problems, and its purpose is relatively inexpensive as an initial fire extinguishing facility in various buildings such as a large building to a small building, or in its site. It is also possible to introduce and minimize secondary damage caused by fires and fire extinguishing activities by conducting fire extinguishing activities selectively and continuously in the event of a fire.

  In order to solve the above-described problems, the holding device for an unmanned flying vehicle of the present invention has a loading mechanism capable of loading at least one fire extinguisher and can be attached to an unmanned floating machine. .

  For example, the loading mechanism receives a plurality of gripping means for gripping the outer peripheral surface of the fire extinguisher at a plurality of different locations, a body member having the plurality of gripping means, and an instruction from the unmanned floating machine. Switching means for switching between the first state of gripping the fire extinguisher and the second state of releasing the grip of the fire extinguisher.

  In this case, the loading mechanism has an elevating means for elevating the main body member in response to an instruction from the unmanned floating machine, and a fixing means for fixing the elevating means to the unmanned floating machine. To do.

  The loading mechanism may include a support member that pivotally supports the main body member, and a rotation unit that rotates the main body member pivotally supported by the support member.

  In this case, the loading mechanism includes an elevating means for elevating the support member in response to an instruction from the unmanned floating machine, and a fixing means for fixing the elevating means to the unmanned floating machine. To do.

  Here, it is preferable that the fire extinguisher is a throwing fire extinguisher that bursts by an impact and scatters a fire extinguisher.

  In addition, the apparatus includes a device-side connector that is provided on the main body member and is electrically connected to a fire extinguisher side connector included in the fire extinguisher when the fire extinguisher is loaded by the loading mechanism.

  In addition, the device-side connector is provided inside the socket portion into which the fire extinguisher side connector is inserted when the fire extinguisher is loaded into the loading mechanism, and is electrically connected to the device side connector. It includes a connector main body to be connected, and an urging means for urging the socket portion in a direction protruding from the main body member.

  The fire extinguisher is an injection-type fire extinguisher that injects a fire extinguishing agent in response to an instruction from the unmanned floating machine.

  Moreover, the unmanned floating machine of this invention has the holding | maintenance apparatus for any of the above-mentioned unmanned floating machines, and can fly automatically.

  Moreover, it has one or more image pick-up parts provided in the said loading mechanism, and a fire extinguishing control part which confirms a fire condition from the output from the said image pick-up part, and performs a fire extinguishing process, It is characterized by the above-mentioned.

  Further, a temperature detection unit that detects the temperature of the fuselage, a position control unit that controls the position of the fuselage and the fire extinguisher from the temperature of the fuselage detected by the temperature detection unit and the output of the imaging unit, It is characterized by having.

  Further, the fire extinguisher replacement / loading apparatus according to the present invention includes a landing table on which any of the above-described unmanned floaters land, and the unused fire extinguisher loaded on a holding device of the unmanned floater. At least one fire extinguisher rack having a plurality of storage units for storing, a stage capable of moving the fire extinguisher rack in three axial directions, a moving mechanism for moving the stage in three axial directions, and the landing table And a mechanism control unit that operates the moving mechanism in response to a command from the unmanned floating aircraft landing on the vehicle.

  Further, in response to an exchange signal for exchanging the fire extinguisher from the unmanned floating machine that has landed on the landing table, the position of the empty storage part among the plurality of storage parts of the fire extinguisher rack is defined as an exchange position. After the stage is moved so that the used fire extinguisher held by the unmanned floating machine is collected in the storage unit at the replacement position, the unused fire extinguisher among the plurality of storage units The stage is moved so that the position of the storage section in which is stored becomes the replacement position.

  Moreover, the automatic fire extinguishing system of the present invention includes any one of the above-described unmanned floating machines, any one of the above-described fire extinguisher replacement / loading apparatuses, and fire detection systems disposed at a plurality of locations in the site. And a fire extinguishing control device that receives a detection signal from the fire detector and transmits a fire extinguishing command for the fire that has occurred in the site to the unmanned floating machine.

  In addition, the unmanned floating machine, when the fire is not extinguished, after the fire extinguisher held by the holding device is replaced after the flight to the fire extinguisher replacement / loading device, the fire occurs. It is characterized by flying again toward the spot.

  In addition, the unmanned floating machine may fly toward a predetermined standby position in response to a fire-stop instruction.

  According to the present invention, it can be introduced relatively inexpensively as an initial fire extinguishing facility in various buildings such as a large building to a small building, or in the site, By performing fire fighting activities continuously, secondary damage caused by fires and fire fighting activities can be minimized.

It is a perspective view which shows the external appearance of the multicopter which is an example of the unmanned floating machine of this invention. It is a perspective view which shows an example of the holding | maintenance apparatus which a multicopter has. It is a perspective view which decomposes | disassembles and shows the holding | maintenance apparatus shown in FIG. It is the perspective view made into the partial cross section of the holding | maintenance apparatus shown in FIG. It is a perspective view which shows the multicopter of the state which opened the holding nail which a holding device has. It is a perspective view which shows the multicopter of the state which rotated the main body member of the loading mechanism which a holding device has with respect to the support member. It is a perspective view which shows the multicopter of the state which lowered | hung the loading mechanism which a holding | maintenance apparatus has with a winch. It is a perspective view which decomposes | disassembles and shows a fire extinguisher and an adapter. It is a front view which shows an example of an automatic exchange and loading apparatus. It is a perspective view which shows an example of an XYZ stage and a fire extinguisher holder. It is a top view which shows an example of an XYZ stage and a fire extinguisher holder. It is a functional block diagram which shows the structure of a multicopter. It is a functional block diagram which shows the structure of an automatic exchange and loading apparatus. It is a functional block diagram which shows the structure of an automatic fire extinguishing system. It is a flowchart which shows the process of a receiver. It is a flowchart which shows the process of a fire extinguishing control apparatus. It is a flowchart which shows the process of a fire extinguishing control apparatus. It is a flowchart which shows the process of a multicopter. It is a flowchart which shows the process of the multicopter at the time of fire extinguisher exchange. It is a flowchart which shows the process of the automatic replacement | exchange and loading apparatus at the time of fire extinguisher replacement | exchange.

  Hereinafter, an embodiment of the unmanned floating machine of the present invention will be described. As shown in FIG. 1, an example of the unmanned floating machine according to the present invention is a multicopter 10 which is a rotary wing machine having three or more rotor units.

  As shown in FIG. 1, the multicopter 10 includes an airframe 21, two arms 22 a, four arms 22 b, six rotor units 23, and two skids (fixed landing gear) 24. Since the multicopter 10 has various shapes, the structure of the multicopter 10 is appropriately set.

  The airframe 21 incorporates a controller (control board) that controls the multicopter 10, various sensors, a battery, and the like.

  The arms 22a and 22b are cylindrical members. The arms 22a are fixed to the airframe 21 with an interval of 180 °. The arm 22b is fixed to the airframe 21 with an interval of 60 ° clockwise and counterclockwise with respect to the arm 22a. Therefore, these arms 22a and 22b are provided on the airframe 21 so that the angular interval between two adjacent arms is 60 °. The arms 22a and 22b accommodate the cable of the rotor unit 23 therein.

  The rotor unit 23 is fixed to each of the arms 22a and 22b. The rotor unit 23 fixed to the arm 22a is fixed to the tip of the arm 22a. The rotor unit 23 fixed to the arm 22b is fixed at a position that is the same distance as the distance from the body 21 of the rotor unit 23 attached to the arm 22a.

  Reference numerals 25a and 25b in FIG. 1 are members that protect the rotor unit 23 (hereinafter referred to as protection members). The protection members 25a and 25b are members curved in an arc shape. These protective members 25a and 25b are fixed to the arm 22b.

  In the multicopter 10 described in the present embodiment, an example of the protective members 25a and 25b fixed to the arm 22b is taken up, but the members are fixed to all the arms 22a and 22b protruding radially from the body 21. It may be. It is also possible to employ a multicopter that does not have the protective members 25a and 25b.

  The rotor unit 23 includes, for example, a rotor blade 23a having two blades arranged with an interval of 180 °, and a drive motor 23b. The blade length of the rotor blade 23a is set to a length that does not overlap the rotation trajectories of the rotor blades 23a of the adjacent rotor units 23. In the present embodiment, the rotor blade 23a having two blades is taken as an example, but the number of blades included in the rotor blade 23a is not limited to two, and the rotor blade having three or more blades. It may be.

  The skid 24 is a device that maintains the posture of the landing multicopter 10. As an example, the skid 24 is a member in which two cylindrical members are combined in a T shape. The skid 24 is fixed below the airframe 21 so that the grounding cylinder member has the same distance from the airframe 21 in the vertical direction (vertical direction in FIG. 1).

  The multicopter 10 of the present embodiment has a holding device 30 that holds the fire extinguisher 15 at the lower part of the fuselage 21. As shown in FIGS. 2 to 4, the holding device 30 includes a loading mechanism 31, a winch 32, and a bracket 33. The loading mechanism 31 includes a main body member 35, three gripping claws 36, a connector 37, a lid member 38, a support member 39, a drive unit 40, a holding plate 41, and a connection plate 42. Here, although the example provided in the lower part of the body 21 shows the holding | maintenance apparatus 30, it does not need to be limited to the lower part of the body 21, and is provided in arbitrary positions according to the structure of the multicopter 10. FIG.

  The main body member 35 is a cylindrical member. The main body member 35 has a groove 35 a that is pivotally supported in a state where one end of the gripping claw 36 is inserted on the outer peripheral surface. The grooves 35a are provided with an interval of 120 °, for example.

  The main body member 35 includes a cylindrical storage portion 35b extending upward from the lower surface, and an insertion hole 35c extending downward from the upper surface and communicating with the storage portion 35b. The inner diameter of the storage portion 35b is larger than the inner diameter of the insertion hole 35c. A step portion 35d due to a difference in inner diameter is provided at a connection portion between the storage portion 35b and the insertion hole 35c. Here, the coil spring 49 and the socket 47 of the connector 37 are inserted into the storage portion 35 b in the order of the coil spring 49 and the socket 47. The main body member 35 has a cylindrical portion 35e extending upward from the upper surface. A lid member 38 is fixed to the cylindrical portion 35e.

  The grip claw 36 is a claw-like member having a central portion bent outward. One end of the gripping claw 36 is pivotally supported by a groove 35 a provided on the outer peripheral surface of the main body member 35. Reference numeral 43 in FIG. 4 is a shaft that pivotally supports one end of the gripping claw 36. One end of the gripping claw 36 is pivotally supported, and the other end becomes a free end. The gripping claw 36 has a stopper 44 at the other end that is a free end. The stopper 44 is a member that prevents the fire extinguisher 15 that is gripped from slipping, and is, for example, an elastic material.

  The gripping claw 36 is in contact with a driving iron core 45a of a solenoid 45 that functions as an actuator in the vicinity of one end portion that is pivotally supported. The solenoid 45 is an example of a switching unit. The solenoid 45 is provided at a position corresponding to the groove 35 a provided on the lower surface of the main body member 35 and on the outer peripheral surface of the main body member 35. The solenoid 45 is provided on the main body member 35 so that the moving direction of the drive iron core 45a is a normal direction. Accordingly, the gripping claws 36 are switched between a position where the fire extinguisher 15 is gripped (see FIG. 1) and a position where the gripping of the fire extinguisher 15 is released (see FIG. 5) by driving and stopping the solenoid 45. .

  In the loading mechanism according to the present embodiment, the loading mechanism has three gripping claws. However, the present invention is not limited to this. For example, the loading mechanism may have four or more gripping claws. Moreover, as long as the contact area (holding area) of the fire extinguisher with one gripping claw can be ensured, a loading mechanism that sandwiches between two holding pieces may be used.

  The connector 37 includes a socket 47, a connector body 48, a coil spring 49, and a stopper 50. The socket 47 is provided on the distal end side of the first cylinder part 47a and the first cylinder part 47a inserted into the storage part 35b of the main body member 35, and the second cylinder part 47b inserted into the insertion hole 35c of the main body member 35. Have Note that the outer diameter of the first tube portion is larger than the outer diameter of the second tube portion. Therefore, a stepped surface 47c generated by a difference in outer diameter is provided at a connection portion between the first tube portion 47a and the second tube portion 47b.

  The socket 47 has a flange portion 47d in the first tube portion 47a. The flange portion 47d is in contact with the lower surface of the main body member 35 when the socket 47 is pressed against the contact portion of the fire extinguisher 15, and functions as a stopper that prevents the socket 47 from moving.

  When the fire extinguisher 15 is loaded into the socket 47, the connector portion 15a provided at the top of the fire extinguisher 15 is inserted into the socket 47.

  The connector main body 48 is held in the internal space of the socket 47 and is electrically connected to the connector portion 15a of the fire extinguisher 15 inserted into the socket 47 when the fire extinguisher 15 is loaded.

  When the fire extinguisher 15 is loaded, the coil spring 49 is pressed by the stepped surface 47 c of the socket 47 that is pushed into the main body member 35 by the fire extinguisher 15, and biases the socket 47 in a direction to push out the socket 47 from the main body member 35.

  The stopper 50 is fixed to the second cylindrical portion 47 b of the socket 47 while being accommodated in the internal space of the cylindrical portion 35 e of the main body member 35. By fixing the stopper 50 to the socket 47, the socket 47 is prevented from falling off from the main body member 35. The stopper 50 has an insertion hole 50a through which the cable 51 connected to the connector main body 48 is inserted.

  The lid member 38 includes a first lid member 38a and a second lid member 38b. The first lid member 38 a is fixed to a cylindrical portion 35 e provided on the main body member 35. The first lid member 38 a has an insertion hole (not shown) through which the cable 51 to which the connector main body 48 is connected, the cable to which the solenoid 45 is connected, and the like are inserted on the outer peripheral surface. The second lid member 38b is fixed to the upper surface of the first lid member 38a. In the present embodiment, the lid member 38 is made up of two members, the first lid member 38a and the second lid member 38b, but may be a single member.

  The support member 39 has two bearing portions 39a and 39b that are disposed with a longer interval than the outer diameter of the cylindrical portion 35e of the main body member 35. The bearing portions 39 a and 39 b pivotally support a pin 52 provided on the outer peripheral surface of the cylindrical portion 35 e of the main body member 35. One end of the wire 56 wound around the winch 32 is fixed on the upper surface of the support member 39.

  The drive unit 40 is an example of a rotation unit. The drive unit 40 is fixed to a bearing unit 39 b provided on the support member 39. The drive part 40 rotates the pin 52 pivotally supported by the bearing part 39b. As a result, the drive unit 40 rotates the main body member 35 pivotally supported by the support member 39 within an angle range of a maximum of ± 90 °. The drive unit 40 may be a drive motor.

  The holding plate 41 is a member that holds the cable 51 to which the connector 37 is connected, the cable 53 of the drive unit 40, and the like. The holding plate 41 is fixed to the support member 39. Reference numeral 54 denotes a cable in which the cable 51 to which the connector 37 is connected and the cable 53 of the drive unit 40 are integrated together. Reference numeral 41a is an insertion hole through which the wire 56 is inserted.

  The connection plate 42 is fixed to the support member 39 via the holding plate 41. Reference numeral 42a denotes an insertion hole through which the wire 56 is inserted.

  The winch 32 is an example of a lifting / lowering means. The winch 32 is driven by a drive motor 55 to feed out a wire 56 wound around a drum (not shown) or wind the wire 56 around a drum. Reference numeral 57 denotes a cable for supplying power to the drive motor 55.

  The bracket 33 is an example of a fixing unit. The bracket 33 fixes the winch 32. The bracket 33 is mounted with an imaging unit 58 and a range sensor 59, which will be described later. The imaging unit 58 and the range sensor 59 may be fixed, or may be slidable or rotatable with respect to the bracket 33. The bracket 33 is fixed to a bracket 60 provided on the lower surface of the multicopter 10.

Here, each member used for the multicopter 10 and the holding device 30 included in the multicopter 10 is made of a heat-resistant metal material or a heat-resistant resin material having high heat resistance and flame resistance. The following materials are used as the heat resistant metal material and the heat resistant resin material.
1) Metal such as iron, titanium, zirconium and aluminum 2) Metal oxide such as aluminum oxide, iron oxide, titanium oxide and zirconium oxide 3) Alloy 4 such as stainless steel, titanium alloy, aluminum alloy and flame retardant magnesium alloy ) Heat-resistant resin material such as epoxy resin, imide resin, amide resin, polyethylene terephthalate resin, etc. 5) Heat-resistant rubber such as silicon rubber or fluorine rubber In addition to any of 1) to 3) above It is also possible to use an organic / inorganic composite material using one and any one of 4) or 5).

  Although details are omitted, the semiconductor device used for the multicopter 10 is, for example, a device manufactured using a material such as silicon carbide or gallium nitride. In addition, the actuator used for the multicopter 10 and the holding device 30 is capable of operating at a high temperature.

  The multicopter 10 of the present embodiment includes the holding device 30 having the above-described configuration, so that the function of gripping the fire extinguisher 15 by the rotation of the three gripping claws 36 included in the loading mechanism 31, It has a function to release gripping. Moreover, since the multicopter 10 of this embodiment can rotate the main body member 35 pivotally supported by the support member 39 by the drive of the drive part 40, the inclination of the fire extinguisher 15 loaded in the holding | maintenance apparatus 30, In other words, it has a function of adjusting the inclination of the injection surface of the extinguishing agent injected from the fire extinguisher 15 (see FIG. 6). Furthermore, the multicopter 10 of this embodiment has a function to raise and lower the loading mechanism 31 by feeding and winding the wire 56 by the winch 32 (see FIG. 7).

  Therefore, the multi-copter 10 of the present invention tilts the fire extinguisher 15 by the holding device 30 or the loading mechanism 31 even when it is not possible to fly over the fire location due to the structure of the building around the fire location. The fire extinguishing work can be surely executed by lowering. Moreover, when the fire extinguishing work is performed in the vicinity of the fire spot, the multicopter 10 is likely to break down or break due to the high temperature of the fuselage 21. However, it is not always necessary to perform a fire extinguishing operation while flying the multicopter 10 over the vicinity of the fire spot, so that the failure or breakage of the multicopter 10 can be prevented.

  In the multicopter 10 of the present invention, the holding device 30 having a function of adjusting the inclination of the injection surface of the extinguishing agent injected from the fire extinguisher 15 and a function of moving the loading mechanism 31 up and down is given as an example. It may have one of the function of adjusting the inclination of the injection surface of the extinguishing agent injected from the fire extinguisher 15 or the function of moving the loading mechanism 31 up and down.

  Moreover, since the multicopter 10 of the present invention can adjust the angle of the fire outlet of the fire extinguisher by the loading mechanism 31 of the holding device 30, the multicopter 10 can prevent the fire spot from flying over the fire spot. It is effective when performing fire fighting activities.

  Next, the fire extinguisher 15 held by the holding device 30 of the multicopter 10 will be described. The fire extinguisher 15 can hold the holding device 30 of the multicopter 10, and has a weight that allows the multicopter 10 to fly independently while being held by the holding device 30. The fire extinguisher 15 is an energization operation type fire extinguisher capable of injecting a fire extinguisher by being electrically controlled by the multicopter 10, or a heat sensitive system that automatically injects a fire extinguisher when a certain temperature is reached. Actuated jet fire extinguisher. In addition, there is a throwing-type fire extinguisher that bursts by impact and injects a fire extinguishing agent (extinguishing liquid). Examples of the energized operation type fire extinguisher include STAT-X (registered trademark) manufactured by Fireaway Inc., FirePro (registered trademark) manufactured by FirePro Systems Ltd., and the like. Examples of the throwing-type fire extinguisher include FIRESCUE from Phi Rescue Co., Ltd. and Phytec Co., Ltd.

  Examples of the above-described fire extinguisher 15 include an aerosol fire extinguisher that extinguishes fire by injecting a potassium compound gas by chemically reacting potassium or the like with a combustion component. As the type of the fire extinguisher 15, in addition to the aerosol fire extinguisher, a powder fire extinguisher, a carbon dioxide fire extinguisher, an enhanced liquid fire extinguisher, and the like can be used. Hereinafter, the case where an energization operation type injection fire extinguisher is used as the fire extinguisher 15 will be described.

  Here, in the fire extinguisher 15, for example, there is the fire extinguisher 15 having an outer diameter that cannot be sandwiched by the three gripping claws 36 included in the holding device 30. Moreover, when using the throwing-type fire extinguisher mentioned above, the exterior body of a fire extinguisher tends to be damaged. Therefore, when using such a fire extinguisher, the adapter 62 can be attached to the fire extinguisher 15. As shown in FIG. 8, for example, when the adapter 62 is sandwiched between the cylindrical adapter main body 62a having the minimum diameter that can be sandwiched between the three gripping claws 36 and the three gripping claws 36, In addition, it includes a flange 62b that is brought into contact with each of the gripping claws 36 and prevents the fire extinguisher 15 from falling.

  In addition, a recess may be provided on the outer peripheral surface of the fire extinguisher 15 or the adapter 62 so that the tip end portion of the gripping claw 36 of the holding device 30 is engaged.

  Moreover, when using a throwing-type fire extinguisher, the outer surface of the throwing-type fire extinguisher is easily damaged due to the characteristics of the fire extinguisher. Therefore, when a throwing-type fire extinguisher is used as the fire extinguisher 15, it is preferably held by the holding device 30 with the adapter described above attached.

  The multicopter 10 described above automatically executes the loading of the fire extinguisher 15 and the replacement of the fire extinguisher 15 by using an automatic replacement / loading device 65 described below.

  As shown in FIG. 9, the automatic exchange / loading device 65 includes a landing table 66, an XYZ stage 67, a fire extinguisher rack 68, and the like.

  The landing platform 66 is a platform on which the multicopter 10 is landed and taken off. FIG. 9 shows an example of the landing table 66, and the structure is not limited to the structure shown in FIG. 9 as long as it is suitable for replacement of the fire extinguisher 15 and loading of the fire extinguisher 15.

  The landing table 66 shown in FIG. 9 has a guide portion 66a having a slope structure, and is a structure in which the multicopter 10 can land in a predetermined direction and at a predetermined position. A marker (not shown) may be provided on the guide portion 66a of the landing table 66 so that the multicopter 10 can land on the landing table 66 in a fixed direction. In this case, the multicopter 10 automatically controls to land on the landing table 66 while checking the marker with the imaging unit 58 included in the multicopter 10.

  The landing table 66 is preferably manufactured from a material having high strength, chemical resistance, acid resistance, and alkali resistance, such as stainless steel, aluminum alloy, and titanium alloy.

  As shown in FIGS. 10 and 11, the XYZ stage 67 is provided below the landing table 66. The XYZ stage 67 moves in at least one of the X-axis, Y-axis, and Z-axis directions, and moves a target storage unit among the plurality of storage units provided in the fire extinguisher rack 68 to a target position. . The target position is a position where the fire extinguisher 15 is replaced or loaded with respect to the multicopter 10 that has landed on the landing table 66. Hereinafter, the position where the fire extinguisher 15 is exchanged or loaded is referred to as an exchange position. In FIG. 11, the position indicated by the symbol P is an exchange position.

  The fire extinguisher rack 68 is fixed to the upper surface of the XYZ stage 67. The fire extinguisher rack 68 has a plurality of storage portions 69. 10 and 11, the fire extinguisher rack 68 having nine storage sections 69, three in the X-axis direction and three in the Y-axis direction, shows a state in which the three storage sections 69 are vacant. The plurality of storage units 69 store unused fire extinguishers 15 and used fire extinguishers 15 (hereinafter, used fire extinguishers 15), respectively. For example, when the multicopter 10 does not hold the used fire extinguisher 15 and is loaded with an unused fire extinguisher 15, when the multicopter 10 takes off from the landing table 66, as shown in FIGS. In addition, the storage unit 69 is in a state where the fire extinguisher 15 is not stored (in other words, an empty state). The fire extinguisher rack 68 is manufactured from a material having high strength, chemical resistance, acid resistance and alkali resistance, such as stainless steel, aluminum alloy, titanium alloy, polyethylene, polypropylene, fluororesin, epoxy resin, melamine resin, and the like. It is preferable.

  Note that the fire extinguisher rack 68 may store one type of fire extinguisher 15 or may store a plurality of types of fire extinguisher 15.

  In the automatic replacement / loading device 65 of the present embodiment, it is assumed that the fire extinguisher 15 is replaced or the fire extinguisher 15 is loaded using one fire extinguisher rack 68, but the used fire extinguisher 15 is collected. The fire extinguisher racks to be used and the fire extinguisher racks to store the unused fire extinguishers 15 to be loaded in the multicopter 10 may be provided, and these fire extinguisher racks may be moved individually.

  FIG. 12 is a functional block diagram showing an electrical configuration of the multicopter 10. The multicopter 10 includes a controller 70, ESC 71, GPS 72, acceleration sensor 73, gyro sensor 74, magnetic sensor 75, ultrasonic sensor 76, temperature sensor 77, data transmitter / receiver 78, holding device controller 79, imaging controller 80. And a fire extinguisher control unit 81 and a storage unit 82.

  The controller 70 includes detection signals from the GPS 72, acceleration sensor 73, gyro sensor 74, magnetic sensor 75, ultrasonic sensor 76, temperature sensor 77, image signal obtained by the imaging unit 58, and detection signal from the range sensor 59. In response, the ESC (Electronic Speed Controller) 71 controls the drive motor 23b of the rotor unit 23 to be driven. Further, the controller 70 controls the drive of the holding device 30 in the holding device control unit 79 and the fire extinguisher 15 in the fire extinguisher control unit 81 from the image signal obtained by the imaging unit 58 and the detection signal from the range sensor 59. Perform operation control.

  The GPS 72 receives a radio wave from a GPS satellite and measures the position (current position) where the multicopter 10 exists. In addition, without providing the GPS 72, the current position information may be acquired by transmission / reception with Wi-Fi, other mobile phones / PHS / smartphones, or near field communication.

  The acceleration sensor 73 detects the acceleration of the flying multicopter 10.

  The gyro sensor 74 detects the change of the rotation angle (angular velocity) around the X axis, the Y axis, and the Z axis, and detects the attitude of the multicopter 10.

  The magnetic sensor 75 functions as an azimuth meter and detects the orientation of the multicopter 10.

  The ultrasonic sensor 76 detects the presence / absence of the object and the distance to the object.

  The temperature sensor 77 detects the temperature of the airframe 21 of the multicopter 10 and the temperature around the multicopter 10. Examples of the temperature sensor 77 include a resistance temperature detector, a thermocouple, a thermistor temperature detector, and the like. The temperature sensor is preferably a foil-type thermocouple that is lightweight and has a fast response speed.

  The data transmitter / receiver 78 transmits / receives data via the communication line among the automatic exchange / loading device 65, a receiver, a fire extinguishing control device, and the like which will be described later.

  The holding device control unit 79 controls the operation of the holding device 30. Specifically, the holding device control unit 79 inputs and outputs an electrical signal to the solenoid 45 to open and close the gripping claws 36. Moreover, the holding device control part 79 controls the drive part 40, and changes the angle of the injection nozzle of the fire extinguisher 15 to hold | maintain. Further, the holding device control unit 79 controls the drive motor 55 to feed and wind the wire 56 in the winch 32.

  The imaging control unit 80 controls the imaging unit 58 to acquire a moving image, a still image, an infrared image, and the like. For example, the imaging unit 58 is a combination of either an infrared camera or infrared thermography having sensitivity in the infrared region and a CCD sensor or CMOS sensor having sensitivity in the visible light region, or sensitivity from the infrared region to the visible light region. CCD sensor or CMOS sensor.

  The range sensor 59 is at least one of an infrared range sensor, a laser range scanner, an ultrasonic sensor, and a visual sensor.

  The fire extinguisher control unit 81 outputs an electrical signal to the fire extinguisher 15 to operate the fire extinguisher 15.

  The storage unit 82 stores information on the fire extinguisher 15 to be mounted, position information of the fire alarm, automatic replacement / loading device, map data representing the site and the environment of the building, action route, heat resistant temperature of the multicopter 10, and the like. . The map data representing the environment of the site and the building may be stored in advance, or when the multicopter 10 is made to fly in advance using a technique such as 3D-SLAM (Simultaneous Localization And Mapping), for example. Map data representing the environment of the site and the building may be created or updated.

  FIG. 13 shows an electrical configuration of the automatic exchange / loading device 65. The automatic exchange / loading device 65 includes a controller 85, a data transceiver 86, a storage unit 87, an X-axis direction moving mechanism 88, a Y-axis direction moving mechanism 89, a Z-axis direction moving mechanism 90, an X-axis position detection sensor 91, and a Y-axis. A position detection sensor 92, a Z-axis position detection sensor 93, and the like are included.

  The controller 85 receives various signals received by the data transceiver 86 and controls each part of the automatic exchange / loading device 65.

  The storage unit 87 stores position information of the XYZ stage 67 and information indicating the storage state of each storage unit 69 of the fire extinguisher rack 68 placed on the XYZ stage 67.

  The X-axis direction moving mechanism 88 is a mechanism for moving the XYZ stage 67 in the X-axis direction. The Y-axis direction moving mechanism 89 is a mechanism that moves the XYZ stage 67 in the Y-axis direction. The Z-axis direction moving mechanism 90 is a mechanism that moves the XYZ stage 67 in the Z-axis direction. These moving mechanisms include a drive motor, a pinion gear, a rack gear, and the like.

  The X-axis position detection sensor 91 detects the position in the X-axis direction on the XYZ stage 67. The Y-axis position detection sensor 92 detects the position of the XYZ stage 67 in the Y-axis direction. The Z-axis position detection sensor 93 detects the position of the XYZ stage 67 in the Z-axis direction.

  FIG. 14 is a block diagram showing a configuration of an automatic fire extinguishing system 100 using the multicopter 10 and the automatic replacement / loading apparatus of the present embodiment. The automatic fire extinguishing system 100 includes a receiver 101, a fire extinguishing control device 102, and the like in addition to the multicopter 10 and the automatic replacement / loading device 65 of the present embodiment.

  The receiver 101 is connected to the district acoustic device 104 in addition to a plurality of detectors 103 installed in various buildings or on the site thereof. In addition to the multicopter 10 and the automatic exchange / loading device 65, the receiver 101 is connected to a facility manager 106 and a security company 107 via the communication line 105. The receiver 101 can transmit a signal to the fire extinguishing control device 102 without using the communication line 105.

  The sensor 103 is installed in various buildings or at a predetermined position in the site, and detects the occurrence of a fire. The sensor 103 detects the occurrence of a fire by sensing heat and smoke.

  The district acoustic device 104 is installed in various buildings or at a predetermined position in the site. The district acoustic device 104 has a speaker, for example, and notifies an alarm sound or the like when the sensor 103 arranged in the same area senses a fire.

  The fire extinguishing control device 102 operates in response to a fire occurrence signal from the receiver 101. The fire extinguishing control device 102 transmits and receives data and signals to and from the multicopter 10 and the automatic replacement / loading device 65 via the communication line 105.

  The fire extinguishing control device 102 includes a microcomputer 110, a transmission / reception unit 111 and a storage unit 112. The microcomputer 110 controls each part of the fire extinguishing control device 102. The transmission / reception unit 111 transmits / receives data and signals. The memory | storage part 112 memorize | stores the map information of various buildings or a site, and the positional information on the installed sensing part. In addition, the storage unit 112 receives a signal from the multicopter 10, and the number of fire spots that have occurred (hereinafter referred to as the number of fire occurrence spots) and the number of fire spots that cannot be extinguished by the multicopter 10 (hereinafter referred to as the fire fighting activities). The information on the number of unfireable parts) is stored, and the information is updated in response to a signal from the multicopter 10.

  Hereinafter, the control flow of the receiver 101, the fire extinguishing control device 102, the multicopter 10 and the automatic replacement / loading device 65 when a fire occurs will be described.

  First, control of the sensor 103 when a fire occurs will be described with reference to the flowchart of FIG.

  Step S101 is processing for determining whether or not a fire occurrence signal has been received. When the fire occurrence signal is received from the sensor 103, the receiver 101 sets the processing result of step S101 to Yes. In this case, the process proceeds to step S102. On the other hand, when the fire occurrence signal has not been received from the sensor 103, the receiver 101 sets the processing result of step S101 to No. In this case, the receiver 101 repeatedly executes the process of step S101.

  Step S102 is a process of transmitting a fire signal. The receiver 101 transmits a fire signal to the facility manager 106 and the security company 107 via the communication line 105. When the security company 107 receives a fire signal from the receiver 101, it transmits a fire signal to the fire department 113. Therefore, the fire department 113 dispatches a predetermined number of fire engines to the place where the fire has occurred.

  Step S103 is processing for transmitting an activation signal. The receiver 101 transmits an activation signal to the fire extinguishing control device 102, the multicopter 10, and the automatic replacement / loading device 65.

  Step S104 is processing to determine whether or not a fire information acquisition request signal has been received. When the fire information acquisition request signal is received from the fire extinguishing control apparatus 102, the receiver 101 sets the processing result of step S104 to Yes. In this case, the process proceeds to step S105. On the other hand, when the fire information acquisition request signal is not received from the fire extinguishing control apparatus 102, the receiver 101 sets the processing result of step S104 to No. In this case, the receiver 101 repeatedly executes the process of step S104. Here, the fire information is the number of areas where a fire has occurred and the position information of the areas.

  Step S105 is processing for transmitting fire information. The receiver 101 transmits fire information to the fire extinguishing control device 102.

  Step S106 is processing to determine whether or not an unconfirmed signal has been received. The unconfirmed signal is a signal that the multicopter 10 transmits to the receiver 101 when a fire cannot be confirmed by the multicopter 10 in a region where the fire is detected by the sensor 103. When an unconfirmed signal is received from the multicopter 10, the receiver 101 sets the processing result of step S106 to Yes. In this case, the process proceeds to step S107. On the other hand, when an unconfirmed signal has not been received from the multicopter 10, the receiver 101 sets the processing result of step S106 to No. In this case, the process proceeds to step S109.

  Step S107 is processing for transmitting a reset signal to the corresponding sensor. The receiver 101 transmits a reset signal to the sensor 103 that has transmitted the fire occurrence signal. In response to the reset signal, the corresponding sensor 103 is reset. As a result, the sensor 103 stops transmitting the fire occurrence signal.

  Step S108 is processing to transmit an update signal of the number of fire points. The receiver 101 transmits an update signal of the number of fire points to the fire extinguishing control device 102. In this case, the fire occurrence signal is received from the sensor 103, but the occurrence of fire is unconfirmed (unrecognized) at the fire location by the multicopter 10. Therefore, the update signal of the number of fire points is a signal for updating the number of fire points by subtracting 1 from the number of fire points.

  Step S109 is processing to determine whether or not a fire extinguishing completion signal has been received. When the fire extinguishing completion signal is received from the multicopter 10, the receiver 101 sets the processing result of step S109 to Yes. In this case, the process proceeds to step S110. On the other hand, when the fire extinguishing completion signal has not been received from the multicopter 10, the receiver 101 sets the processing result of step S109 to No. In this case, the process proceeds to step S112.

  Step S110 is a process of transmitting a reset signal to the corresponding sensor. The process of step S110 is the same process as step S107. The sensor 103 is reset by performing the process of step S110. As a result, the sensor 103 stops transmitting the fire occurrence signal.

  Step S111 is processing to transmit an update signal of the number of fire points. The process of step S111 is the same process as step S108. The receiver 101 transmits an update signal of the number of fire points to the fire extinguishing control device 102. In this case, it is a case where the fire generated at the fire place is extinguished by the multicopter 10. Also in this case, the update signal of the number of fire points is a signal for updating the number of fire points by subtracting 1 from the number of fire points.

  Step S112 is a process of determining whether or not a fire extinguishing impossible signal has been received. When the fire extinguishing impossible signal is received from the multicopter 10, the receiver 101 sets the processing result of step S112 to Yes. In this case, the process proceeds to step S113. On the other hand, if no fire extinguishing signal is received from the multicopter 10, the receiver 101 sets the processing result of step S112 to No. In this case, the process proceeds to step S114. The fire extinguishable signal is a signal transmitted from the multicopter 10 when the multicopter 10 determines that the fire fighting operation cannot be performed, or when the fire cannot be extinguished (extinguishing) even if the fire fighting operation is performed. is there.

  Step S113 is a process of transmitting an update signal of the number of places that cannot be extinguished. The receiver 101 transmits an update signal of the number of places that cannot be extinguished to the fire extinguishing control device 102. In this case, it is a case where the fire which occurred in the fire location by the multicopter 10 cannot be extinguished. Also in this case, the update signal of the number of fire points is a signal for updating the number of fire points by subtracting 1 from the number of fire points.

  Step S114 is processing to determine whether or not a system stop signal has been received. For example, when receiving a system stop signal transmitted from a management device owned by the facility manager 106, the fire department 113, the security company 107, or the like, the receiver 101 sets the processing result of step S114 to Yes. In this case, the process proceeds to step S115. On the other hand, when the system stop signal transmitted from the management apparatus has not been received, the receiver 101 sets the processing result of step S114 to No. In this case, the process proceeds to step S106.

  Step S115 is a process of transmitting a start / stop signal. The receiver 101 transmits a start / stop signal to the fire extinguishing control device 102, the multicopter 10, and the automatic replacement / loading device 65. When this process ends, the process returns to step S101. Therefore, the receiver 101 repeatedly executes the process of the flowchart shown in FIG. 15 regardless of the presence or absence of a fire.

  16 and 17 are flowcharts showing the flow of processing in the fire extinguishing control apparatus 102.

  Step S201 is processing to determine whether or not an activation signal has been received. When receiving the activation signal from the receiver 101, the fire extinguishing control apparatus 102 sets the processing result of step S201 to Yes. In this case, the process proceeds to step S202. On the other hand, when the activation signal is not received from the receiver 101, the fire extinguishing control apparatus 102 sets the processing result of step S201 to No. In this case, the processing of the flowcharts of FIGS. 16 and 17 ends.

  Step S202 is an activation process.

  Step S203 is processing to transmit a fire information acquisition request signal. The fire extinguishing control apparatus 102 transmits a fire information acquisition request signal to the receiver 101.

  Step S204 is processing to determine whether or not fire information has been received. When the fire information is received from the receiver 101, the fire fighting control apparatus 102 sets the processing result of step S204 to Yes. In this case, the process proceeds to step S205. When fire information is not received from the receiver 101, the fire extinguishing control apparatus 102 sets the processing result of step S204 to No. In this case, the process of step S204 is repeated until fire information is received.

  Step S205 is processing to update fire information. The fire extinguishing control apparatus 102 updates the fire information stored in the storage unit 112 using the fire information received in step S204. That is, the fire extinguishing control apparatus 102 updates the number of fire occurrence points and stores the updated number in the storage unit 112. At the same time, the fire extinguishing control device 102 stores the position information of the area where the fire has occurred in the storage unit 112.

Step S206 is processing to determine whether or not a fire extinguishing stop signal has not been received. When the fire fighting stop signal is received from the facility manager 106 or the security company 107, the fire fighting control apparatus 102 sets the processing result of step S206 to No. In this case, the process proceeds to step S217.
On the other hand, when the fire extinguishing stop signal is not received from the facility manager 106 or the security company 107, the fire extinguishing control apparatus 102 sets the determination result in step S206 to Yes. In this case, the process proceeds to step S207.

  Step S207 is processing to determine whether or not the number of fire occurrence points exceeds zero. In step S205, the fire information is updated. The fire extinguishing control device 102 reads the number of fire occurrence points stored in the storage unit 112. When the number of fire occurrence locations read from the storage unit 112 exceeds 0, in other words, when the number of fire occurrence locations is 1 or more, the fire extinguishing control device 102 sets the processing result of step S207 to Yes. In this case, the process proceeds to step S208. On the other hand, when the number of fire occurrence locations read from the storage unit 112 does not exceed 0, in other words, when the number of fire occurrence locations is 0, the fire extinguishing control device 102 sets the processing result of step S207 to No. In this case, the process proceeds to step S217.

  Step S208 is processing to determine whether or not the number of places where a fire has occurred—the number of places that cannot be extinguished exceeds zero. The fire extinguishing control device 102 reads out the number of fire occurrence locations and the number of locations that cannot be extinguished, which are stored in the storage unit 112. And the fire extinguishing control apparatus 102 subtracts the number of places where a fire cannot be extinguished from the number of places where a fire has occurred. For example, when the value obtained by subtracting the number of non-extinguishing locations from the number of fire occurrence locations exceeds 0, in other words, when the value obtained by subtracting the number of non-extinguishing locations from the number of fire occurrence locations is 1 or more, the fire extinguishing control device 102 The processing result of S208 is set to Yes. In this case, the process proceeds to step S209. On the other hand, if the value obtained by subtracting the number of non-extinguishable locations from the number of fire occurrence locations does not exceed 0, in other words, the value obtained by subtracting the number of non-extinguishing locations from the number of fire occurrence locations is 0, the fire extinguishing control device 102 The processing result of S208 is No. In this case, the process proceeds to step S217.

  Step S209 is processing to transmit a fire fighting activity signal. The fire extinguishing control device 102 transmits a fire fighting activity signal to the multicopter 10.

  Step S210 is processing to determine whether or not an update signal for the number of fire points has been received. In the processing of step S108 and step S111 described above, when the receiver 101 transmits an update signal for the number of fire points, the fire extinguishing control device 102 receives the update signal for the number of fire points transmitted by the receiver 101. To do. Therefore, the fire extinguishing control apparatus 102 sets the determination result in step S210 to Yes. In this case, the process proceeds to step S211. On the other hand, when the processes of step S108 and step S111 described above are not executed, the fire extinguishing control device 102 has not received the update signal of the number of fire points from the receiver 101. Therefore, the fire extinguishing control apparatus 102 sets the determination result in step S210 to No. In this case, the process proceeds to step S212.

  Step S211 is processing for updating the number of fire occurrence points. Upon receiving the fire location update signal transmitted by the receiver 101, the fire extinguishing control device 102 updates the number of fire locations stored in the storage unit 112. As described above, the update signal of the number of fire points transmitted by the receiver 101 is extinguished from the receiver 101 when the area where the fire has occurred cannot be recognized or when the fire is extinguished (extinguished) by the fire fighting operation by the multicopter 10. It is transmitted to the control device 102. Therefore, the fire extinguishing control device 102 updates the number of fire points by subtracting the number of fire points stored in the storage unit 112. When the process of step S211 ends, the process proceeds to step S214.

  Step S212 is processing to determine whether or not an update signal for the number of places that cannot be extinguished has been received. When the receiver 101 is transmitting the update signal of the number of places that cannot be extinguished, the fire extinguishing control device 102 receives the update signal of the number of places that cannot be extinguished by the receiver 101. Therefore, the fire extinguishing control apparatus 102 sets the determination result in step S212 to Yes. In this case, the process proceeds to step S213. On the other hand, when the process of step S113 described above is not executed, the fire extinguishing control apparatus 102 has not received the update signal of the number of places that cannot be extinguished from the receiver 101. Therefore, the fire extinguishing control apparatus 102 sets the determination result in step S212 to No. In this case, the process returns to step S210.

  Step S213 is processing to update the number of places that cannot be extinguished. In response to the update signal of the number of non-extinguishable parts transmitted by the receiver 101, the fire extinguishing control apparatus 102 updates the number of non-extinguishable parts stored in the storage unit 112. As described above, the update signal of the number of non-extinguishable parts transmitted by the receiver 101 is extinguished from the receiver 101 when the multicopter 10 cannot extinguish the fire or when the multicopter 10 cannot extinguish the fire. It is transmitted to the control device 102. Therefore, the fire extinguishing control device 102 updates the number of places that cannot be extinguished by adding the number of places that cannot be extinguished, which are stored in the storage unit 112. When the process of step S213 ends, the process proceeds to step S214.

  Step S214 is processing to determine whether or not a fire extinguishing process signal has been received. When the multicopter 10 performs a fire fighting operation, a fire extinguishing process signal is transmitted to the fire fighting control device 102. The fire extinguishing process signal is a signal indicating that the fire extinguisher 15 has been activated. When the fire extinguishing process signal is received from the multicopter 10, the fire extinguishing control apparatus 102 sets the determination result in step S214 to Yes. In this case, the process proceeds to step S215. On the other hand, when the fire fighting processing signal from the multicopter 10 is not received, the fire fighting control apparatus 102 sets the determination result in step S214 to No. In this case, the process proceeds to step S217.

  Step S215 is processing to transmit a replacement start signal for the fire extinguisher 15. When the fire extinguishing control device 102 receives the fire extinguishing process signal, the fire extinguishing control device 102 transmits a replacement start signal for the fire extinguisher 15 toward the multicopter 10.

  Step S216 is a process of determining whether or not a loading completion signal for the fire extinguisher 15 has been received. When the replacement of the fire extinguisher 15 is completed, the multicopter 10 transmits a loading completion signal indicating that to the fire extinguishing control device 102. When receiving the loading completion signal, the fire extinguishing control apparatus 102 sets the determination result in step S216 to Yes. In this case, the process proceeds to step S217. On the other hand, when the loading completion signal is not received, the fire extinguishing control device 102 sets the determination result in step S216 to No. In this case, the fire extinguishing control apparatus 102 repeats the determination process of step S216 until the determination result of step S216 becomes Yes.

  Step S217 is processing for determining whether or not it is necessary to transmit a standby signal. For example, when a fire engine arrives at a fire occurrence point from the fire department 113 and performs fire extinguishing activities with the fire engine, a standby instruction signal is output from the management device of the facility manager 106 or the security company 107. Therefore, when a standby instruction signal is received from the management apparatus, the fire extinguishing control apparatus 102 sets the determination result in step S217 to Yes. In this case, the process proceeds to step S218. On the other hand, when the standby instruction signal is not received from the management device, the fire extinguishing control device 102 sets the determination result in step S217 to No. In this case, the process proceeds to step S219.

  Step S218 is processing to transmit a standby signal. The fire extinguishing control device 102 transmits a standby signal to the multicopter 10. The standby signal is a signal for moving the multicopter 10 to a standby location.

  Step S219 is processing to determine whether or not a start / stop signal has been received. When the start / stop signal is received from the receiver 101, the fire extinguishing control apparatus 102 sets the determination process in step S219 to Yes. In this case, the process proceeds to step S220. On the other hand, when the activation stop signal is not received from the receiver 101, the fire extinguishing control apparatus 102 sets the determination process in step S219 to No. In this case, the process returns to step S203.

  Step S220 is a process of resetting the storage unit 112. The fire extinguishing control device 102 resets the storage unit 112. As a result, in addition to the number of locations where a fire has occurred and the number of locations that cannot be extinguished, the location information of locations where a fire has occurred and location information where locations where a fire has occurred and where fire fighting is not possible are deleted (reset) )

  Step S <b> 221 is processing for stopping the operation of the fire extinguishing control device 102. The process for stopping the operation of the fire extinguishing control apparatus 102 is a process for turning off the power. In addition, electric power is supplied to the microcomputer 110 of the fire extinguishing control device 102 so that the activation signal can be received.

  FIG. 18 is a flowchart showing the flow of processing in the multicopter 10. In the flowchart in FIG. 18, description will be made on the assumption that the multicopter 10 is in the standby position with the fire extinguisher 15 loaded.

  Step S301 is processing to determine whether or not an activation signal has been received. When the activation signal is received from the receiver 101, the multicopter 10 sets the processing result of step S301 to Yes. In this case, the process proceeds to step S302. On the other hand, when the activation signal is not received from the receiver 101, the multicopter 10 sets the processing result of step S301 to No. In this case, the process of the flowchart in FIG. 18 ends.

  Step S302 is an activation process.

  Step S303 is processing to determine whether or not a fire fighting activity signal has been received. When the fire fighting activity signal is received from the fire fighting control apparatus 102, the multicopter 10 sets the determination result in step S303 to Yes. In this case, the process proceeds to step S304. On the other hand, when the fire fighting activity signal is not received from the fire fighting control apparatus 102, the multicopter 10 sets the determination result of step S304 to No. In this case, the multicopter 10 repeatedly executes the determination process of step S304 until the determination result of step S303 becomes Yes.

  Step S304 is a process of flying to a fire occurrence location. The multicopter 10 acquires the position information of the fire occurrence location from the fire extinguishing control device 102. The multicopter 10 flies by driving the ESC 71, detection signals from the GPS 72, the acceleration sensor 73, the gyro sensor 74, the magnetic sensor 75, the ultrasonic sensor 76, and the map information stored in the storage unit 82. Based on the above, it will fly to the place where the fire occurred.

  Step S305 is processing to determine whether or not the fire occurrence location has been recognized. The multicopter 10 drives the imaging unit 58 to acquire an infrared image. And the multicopter 10 recognizes a fire occurrence location from the obtained infrared image. When the fire occurrence location is recognized from the infrared image, the multicopter 10 sets the determination result in step S305 to Yes. In this case, the process proceeds to step S306. On the other hand, when the fire occurrence location cannot be recognized from the infrared image, the multicopter 10 sets the determination result in step S305 to No. In this case, the process proceeds to step S314.

  Step S306 is processing for determining whether or not posture control is possible at a position where the fire can be extinguished. The multicopter 10 determines from the map information stored in the storage unit 82 and the detection results of the temperature sensor 77, the ultrasonic sensor 76, and the like whether or not posture control is possible at a position where the fire can be extinguished. Specifically, in addition to determining whether or not the multicopter 10 can fly to a position or height at which a fire extinguishing operation can be performed, it is necessary to unwind the loading mechanism 31 included in the holding device 30 of the multicopter 10 from the initial position. Determination of whether or not the body member 35 of the loading mechanism 31 needs to be tilted. When it is determined that the posture control is possible at a position where the fire can be extinguished by making these determinations, the multicopter 10 sets the determination result in step S306 to Yes. In this case, the process proceeds to step S307. On the other hand, when it is determined that the posture control is not possible at a position where the fire can be extinguished, the multicopter 10 sets the determination result in step S306 to No. In this case, the process proceeds to step S315.

  Step S307 is a fire extinguishing operation. The multicopter 10 operates the fire extinguisher 15 while performing posture control at a position where the fire can be extinguished. Thereby, for example, a fire extinguishing agent is jetted from the injection port of the fire extinguisher 15 toward the fire location, and the fire extinguishing work is executed. When the fire extinguishing operation is executed, the multicopter 10 stores a history of whether or not the fire extinguisher 15 has been activated in the storage unit. In addition, the multicopter 10 transmits a fire extinguishing process signal to the fire extinguishing control device 102.

  Step S308 is processing to transmit a signal in accordance with the fire extinguishing situation. The multicopter 10 acquires an infrared image by the imaging unit 58 even during a fire fighting operation. The multicopter 10 determines whether or not the fire has been extinguished from the infrared image acquired by the imaging unit. For example, when it is determined that the fire has been extinguished, the multicopter 10 transmits a fire extinguishing completion signal to the fire extinguishing control device 102. On the other hand, when it is determined that the fire is not extinguished, the multicopter 10 transmits a fire extinguishing disable signal to the fire extinguishing control device 102.

  Step S309 is a process of moving toward the automatic replacement / loading apparatus. The multicopter 10 uses the map information stored in the storage unit 82, the position information of the automatic exchange / loading device 65, and the current position information, toward the closest automatic exchange / loading device 65 from the position of the multicopter 10. Moving.

  Step S310 is processing to transmit a request signal for stock information. When the multicopter 10 moves to the automatic replacement / loading device 65, the multicopter 10 transmits a signal requesting stock information indicating the stock status of the fire extinguisher 15 in the fire extinguisher rack 68 to the automatic replacement / loading device 65.

  Step S311 is processing for determining whether or not stock information has been received. When the stock information is received from the automatic exchange / loading device 65, the multicopter 10 determines Yes in step S311. In this case, the process proceeds to step S312. On the other hand, when the stock information is not received from the automatic exchange / loading device 65, the multicopter 10 sets the determination result in step S311 to No. In this case, the determination process of step S311 is repeated until the determination result of step S311 becomes Yes.

  Step S312 is processing for determining whether or not the fire extinguisher 15 can be replaced. Based on the received stock information, the multicopter 10 determines whether or not there is a storage unit (vacant storage unit) 69 that can store the used fire extinguisher 15 in the fire extinguisher rack 68. It is determined whether there is a storage portion 69 in which the unused fire extinguisher 15 is stored among the storage portions 69 of the equipment rack 68. If it is determined by these determinations that the fire extinguisher 15 can be replaced, the multicopter 10 determines Yes in step S312. In this case, the process proceeds to step S313. On the other hand, if it is determined that the fire extinguisher 15 cannot be replaced, the multicopter 10 determines No in step S312. In this case, the process proceeds to step S316.

  Step S313 is a fire extinguisher replacement process. The replacement process of the fire extinguisher 15 will be described later. When the process of step S313 ends, the process proceeds to step S316.

  If the determination result of step S305 is No, the process proceeds to step S314.

  Step S314 is processing to transmit an unconfirmed signal. As a result of the determination process in step S305, it is determined that the multicopter 10 cannot recognize the fire occurrence location. Therefore, the multicopter 10 transmits an unconfirmed signal to the receiver 101. When the process of step S314 ends, the process proceeds to step S316.

  If the determination result of step S306 is No, the process proceeds to step S315.

  Step S315 is processing to transmit a fire extinguishing impossible signal. By the determination processing in step S306, it is determined that the multicopter 10 cannot perform posture control at a position where the fire can be extinguished. Therefore, the multicopter 10 transmits a fire extinguishing impossible signal to the receiver 101. When the process of step S315 ends, the process proceeds to step S316.

  Step S316 is processing to determine whether or not a standby signal has been received. When the standby signal is received from the fire extinguishing control apparatus 102, the multicopter 10 sets the determination result in step S316 to Yes. In this case, the process proceeds to step S317. On the other hand, when the standby signal is not received from the fire extinguishing control apparatus 102, the multicopter 10 sets the determination result in step S316 to No. In this case, the process returns to step S304 and fire extinguishing activity is executed again.

  Step S317 is processing to move to the standby location. When the multicopter 10 receives the standby signal, the multicopter 10 flies toward a predetermined standby location and lands at the predetermined standby location.

  Step S318 is processing to determine whether or not a system stop signal has been received. When the system stop signal is received from the receiver 101, the multicopter 10 sets the determination result in step S318 to Yes. In this case, the process proceeds to step S319. On the other hand, when the system stop signal has not been received from the receiver 101, the multicopter 10 sets the determination result in step S318 to No. In this case, the determination process of step S318 is repeatedly executed until the determination result of step S318 becomes Yes.

  Step S319 is processing for stopping the operation of the multicopter 10. The process of stopping the operation of the multicopter 10 is a process of turning off the power. Note that power is supplied to the controller 70 of the multicopter 10 so that the activation signal can be received.

  FIG. 19 is a flowchart showing the flow of the replacement process of the fire extinguisher 15 shown in step S313 of the flowchart of FIG.

  Step S401 is a process of landing at a predetermined position on the landing platform. The multicopter 10 is lowered while adjusting the position of the multicopter 10 with respect to the landing table 66 so that the marker is positioned at a predetermined position of the image obtained from the imaging unit 58, and landed on the landing table 66.

  Step S402 is processing for transmitting an exchange start signal. The multicopter 10 transmits a replacement start signal for starting replacement of the fire extinguisher 15 to the automatic replacement / loading device 65.

  Step S403 is processing for determining whether or not a movement completion signal has been received. When the automatic replacement / loading device 65 receives the replacement start signal, the storage unit 69 provided in the fire extinguisher rack 68 fixed to the XYZ stage 67 is empty (the fire extinguisher 15 is not stored). 69 is moved to the exchange position. Then, the automatic exchange / loading device 65 stops its operation when the empty storage unit 69 of the storage unit 69 provided in the fire extinguisher rack 68 fixed to the XYZ stage 67 is moved to the replacement position. Then, a movement completion signal is transmitted to the multicopter 10.

  Therefore, when the movement completion signal is received from the automatic exchange / loading device 65, the multicopter 10 sets the determination result in step S403 to Yes. In this case, the process proceeds to step S404. On the other hand, when the movement completion signal has not been received from the automatic exchange / loading device 65, the multicopter 10 sets the determination result in step S403 to No. In this case, the multicopter 10 repeats the determination process of step S403 until the determination result of step S403 becomes Yes.

  Step S404 is processing for storing the used fire extinguisher in the fire extinguisher rack. When the multicopter 10 receives the movement completion signal, the fire extinguisher rack 68 fixed to the automatic exchange / loading device 65 is vacant (the fire extinguisher 15 is not accommodated), and the storage portion 69 is held at the replacement position. It becomes a state. Therefore, the multicopter 10 operates the holding device 30 to store the held used fire extinguisher 15 in the storage portion 69 of the fire extinguisher rack 68 held at the replacement position. Thereafter, the gripping claws 36 of the holding device 30 are rotated, and the holding of the used fire extinguisher 15 in the holding device 30 is released.

  Step S405 is processing to transmit a storage completion signal. The multicopter 10 images the state in which the used fire extinguisher 15 is stored in the fire extinguisher rack 68 by the imaging unit. The multicopter 10 can confirm that the used fire extinguisher 15 is stored in the fire extinguisher rack 68 from the image (moving image) obtained by the imaging unit. When the multicopter 10 confirms that the used fire extinguisher 15 is stored in the fire extinguisher rack 68, the automatic replacement / loading device 65 indicates that the used fire extinguisher 15 is stored in the fire extinguisher rack 68. Send a signal.

  Step S406 is processing to transmit a loading start signal. After transmitting the storage completion signal, the multicopter 10 transmits a loading start signal to the automatic exchange / loading device 65 after a predetermined time has elapsed. The loading start signal is a signal for starting the process of loading the unused fire extinguisher 15 into the holding device 30 of the multicopter 10.

  Step S407 is processing to determine whether or not a movement completion signal has been received. When receiving the loading start signal, the automatic exchange / loading device 65 replaces the storage unit 69 in which the unused fire extinguisher 15 is stored among the storage units 69 provided in the fire extinguisher rack 68 fixed to the XYZ stage 67. Move to position. Then, when the automatic replacement / loading device 65 moves the storage unit 69 in which the unused fire extinguisher 15 is stored to the replacement position, the automatic replacement / loading device 65 stops its operation and transmits a movement completion signal to the multicopter 10.

  Therefore, when the movement completion signal is received from the automatic exchange / loading device 65, the multicopter 10 sets the determination result in step S407 to Yes. In this case, the process proceeds to step S408. On the other hand, when the movement completion signal is not received from the automatic exchange / loading device 65, the multicopter 10 sets the determination result in step S407 to No. In this case, the multicopter 10 repeats the determination process of step S407 until the determination result of step S407 becomes Yes.

  Step S408 is processing to load an unused fire extinguisher. When the multicopter 10 receives the movement completion signal, the fire extinguisher rack 68 fixed to the automatic exchange / loading device 65 is in a state where the storage unit 69 storing the unused fire extinguisher 15 is held at the replacement position. Become. Therefore, the multicopter 10 operates the holding device 30 to hold the unused fire extinguisher 15 stored in the storage portion 69 of the fire extinguisher rack 68 held at the replacement position.

  Step S409 is processing to transmit a loading completion signal. The multicopter 10 images the state in which the unused fire extinguisher 15 is held by the imaging unit. The multicopter 10 can confirm that the unused fire extinguisher 15 is held from the image (moving image) obtained by the imaging unit. When the multicopter 10 confirms that the unused fire extinguisher 15 is held, the multicopter 10 transmits a loading completion signal indicating that the unused fire extinguisher 15 is held to the automatic replacement / loading device 65. Thereby, the flow of the replacement process of the fire extinguisher 15 is completed.

  Here, the holding device 30 of the multicopter 10 does not always hold the fire extinguisher 15. In other words, when the multicopter holding device 30 does not hold the fire extinguisher 15, the multicopter 10 performs the processing from step S406 to step S409 after performing the processing in step S401 shown in FIG. Good.

  FIG. 20 is a flowchart showing the flow of processing in the automatic exchange / loading device 65.

  Step S501 is processing to determine whether or not an activation signal has been received. When the activation signal is received from the receiver 101, the automatic exchange / loading device 65 sets the processing result of step S501 to Yes. In this case, the process proceeds to step S502. On the other hand, when the activation signal is not received from the receiver 101, the automatic exchange / loading device 65 sets the processing result of step S501 to No. In this case, the process of the flowchart of FIG.

  Step S502 is an activation process.

  Step S503 is processing for determining whether or not a request signal for stock information has been received. When the stock information request signal is received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S503 to Yes. On the other hand, when the stock information request signal is not received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S503 to No. In this case, the process proceeds to step S513.

  Step S504 is processing to transmit stock information. Among the storage units 69 provided in the fire extinguisher rack 68 fixed to the XYZ stage, the automatic replacement / loading device 65 includes an empty storage unit 69, a storage unit 69 in which a used fire extinguisher 15 is stored, and an unused unit. Information on the number and position of the storage units 69 in which the fire extinguishers 15 are stored is transmitted to the multicopter 10 as stock information. This stock information is stored in advance in the storage unit 87 of the automatic replacement / loading device 65.

  Step S505 is processing for determining whether or not an exchange start signal has been received. When the replacement start signal is received from the multicopter 10, the automatic replacement / loading device 65 sets the determination result in step S505 to Yes. In this case, the process proceeds to step S506. On the other hand, when the replacement start signal has not been received from the multicopter 10, the automatic replacement / loading device 65 sets the determination result of step S505 to No. In this case, the automatic exchange / loading device 65 repeats the determination process of step 505 until the determination result of step S505 becomes Yes.

  Step S506 is processing to move the XYZ stage. The automatic replacement / loading device 65 operates the X-axis direction moving mechanism 88, the Y-axis direction moving mechanism 89, and the Z-axis direction moving mechanism 90 to move the XYZ stage 67 in the X-axis, Y-axis, and Z-axis directions. And among the storage parts 69 which the fire extinguisher rack 68 has, the empty storage part 69 is moved to the replacement position. The automatic replacement / loading device 65 detects the position of the XYZ stage 67 and the position of each storage unit 69 of the fire extinguisher rack 68 by the X-axis position detection sensor 91, the Y-axis position detection sensor 92, and the Z-axis position detection sensor 93. ing. In response to the position detection signals from these position detection sensors, the automatic replacement / loading device 65, when the storage unit 69 in the empty state among the storage units 69 provided in the fire extinguisher rack 68 becomes the replacement position, The movement of the XYZ stage 67 is stopped.

  Step S507 is processing to transmit a movement completion signal. In response to the stop of the operation of the XYZ stage 67, the automatic exchange / loading device 65 transmits a movement completion signal to the multicopter 10.

  Step S508 is processing to determine whether or not a storage completion signal has been received. When the storage completion signal is received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S508 to Yes. In this case, the process proceeds to step S509. On the other hand, when the storage completion signal has not been received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S508 to No. In this case, the automatic exchange / loading device 65 repeats the determination process of step S508 until the determination result of step S508 becomes Yes.

  Step S509 is processing to determine whether or not a loading start signal has been received. When receiving a loading start signal from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S509 to Yes. In this case, the process proceeds to step S510. On the other hand, when the loading start signal has not been received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S509 to No. In this case, the automatic exchange / loading device 65 repeats the determination process of step S509 until the determination result of step S509 is Yes.

  Step S510 is processing to move the XYZ stage. The automatic replacement / loading device 65 operates the X-axis direction moving mechanism 88, the Y-axis direction moving mechanism 89, and the Z-axis direction moving mechanism 90 to move the XYZ stage 67 in the X-axis, Y-axis, and Z-axis directions. And the storage part 69 in which the unused fire extinguisher 15 was accommodated among the storage parts 69 which the fire extinguisher rack 68 has is moved to an exchange position. The automatic replacement / loading device 65 detects the position of the XYZ stage 67 and the position of each storage unit 69 of the fire extinguisher rack 68 by the X-axis position detection sensor 91, the Y-axis position detection sensor 92, and the X-axis position detection sensor 93. ing. In response to the position detection signals from these position detection sensors, the automatic replacement / loading device 65 determines the position of the storage unit 69 in which the unused fire extinguisher 15 is stored among the storage units 69 provided in the fire extinguisher rack 68. When the replacement position is reached, the movement of the XYZ stage 67 is stopped.

  Step S511 is processing to transmit a movement completion signal. In response to the stop of the operation of the XYZ stage 67, the automatic exchange / loading device 65 transmits a movement completion signal to the multicopter 10.

  Step S512 is processing to determine whether or not a loading completion signal has been received. When receiving a loading completion signal from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S512 to Yes. In this case, the process proceeds to step S513. On the other hand, if the loading completion signal has not been received from the multicopter 10, the automatic exchange / loading device 65 sets the determination result in step S512 to No. In this case, the automatic exchange / loading device 65 repeats the determination process of step S512 until the determination result of step S512 is Yes.

  Step S513 is processing to determine whether or not a system stop signal has been received. When the system stop signal is received from the receiver 101, the automatic replacement / loading device 65 sets the determination result in step S513 to Yes. In this case, the process proceeds to step S514. On the other hand, when the system stop signal has not been received from the receiver 101, the automatic replacement / loading device 65 sets the determination result in step S513 to No. In this case, the automatic exchange / loading device 65 returns to the determination process in step S503.

  Step S514 is a process of stopping the operation of the automatic exchange / loading device 65. The process of stopping the operation of the automatic exchange / loading device 65 is a process of turning off the power. Note that power is supplied to the controller 85 of the automatic exchange / loading device 65 so that the activation signal can be received.

  That is, in the fire extinguishing control system of this embodiment, when the receiver receives a fire occurrence signal from the sensor, the multicopter is activated and the multicopter flies to the fire spot. And if a multicopter judges that a fire extinguishing activity can be performed, it will operate the fire extinguisher loaded in the holding | maintenance apparatus. At this time, the multicopter moves the loading mechanism of the holding device downward and / or rotates the body member of the loading mechanism to change the posture of the fire extinguisher in order to maintain the posture of performing the fire fighting activity. And fire extinguishing activity is performed by the operation of the fire extinguisher. For example, in the case of a fire extinguishing control system having a plurality of multicopters, fire fighting activities by the multicopter can be smoothly performed by causing the plurality of multicopters to fly simultaneously or sequentially to the fire location. As a result, if the fire is extinguished by the fire extinguishing activity by the multicopter, it is possible to prevent the fire from spreading. In other words, it is possible to quickly respond to the initial fire by performing a fire fighting operation using a multicopter. In addition, there is no need to conduct fire fighting activities with a multicopter and to spray fire extinguishing agents outside the source of the fire. As a result, conventionally, secondary damage such as the inability to use the equipment in the building due to water sprinkling due to fire extinguishing activities against the fire that occurred has occurred, but it is possible to reduce the occurrence of this secondary disaster. Become.

  On the other hand, if the fire that has occurred cannot be extinguished even if the fire fighting operation by the multicopter is performed, the fire fighting operation by the fire truck is carried out as soon as the fire truck arrives at the fire location. Fire extinguishing activities by fire engines are carried out after the multicopter is evacuated. Therefore, the flight of the multicopter does not interfere with fire fighting activities by the fire engine. In addition, the multicopter is not damaged by the fire fighting operation by the fire engine.

  In this embodiment, since an energization operation type injection fire extinguisher is used as a fire extinguisher, a holding device provided with a connector that is electrically connected to an energization operation type injection fire extinguisher at the time of loading is taken as an example. It is taken up. However, examples of the injection-type fire extinguisher include a thermal-operation-type injection-type fire extinguisher that automatically injects a fire-extinguishing agent when a certain temperature is reached, in addition to the energization-operated injection-type fire extinguisher. There is also a throwing-type fire extinguisher in which the liquid (extinguishing liquid) in the bottle container diffuses due to the impact thrown into the fire source. In the case where two types of heat-actuated jet-type fire extinguisher and throwing-type fire extinguisher are used, a holding device excluding the connector configuration of the loading mechanism may be used.

  In this embodiment, an example of a multicopter having a holding device that holds one fire extinguisher is taken, but a multicopter having a holding device that holds two or more fire extinguishers may be used. In the case of a holding device that holds two or more fire extinguishers, one or more types of fire extinguishers may be held, or two or more types of fire extinguishers may be held. .

  In the present embodiment, description of whether the automatic exchange / loading device is a device fixed at a predetermined position or a movable device is omitted. In general, the automatic replacement / loading device is preferably a fixed device. However, the automatic exchange / loading device may be a mobile device depending on the building to be installed. When the automatic exchange / loading device is a mobile device, it is a device having a mechanism capable of communicating with a multicopter or a fire extinguishing control device and capable of self-propelling. In this case, the automatic replacement / loading device can stand by to self-propelled to an arbitrary position based on the position information received from the multicopter or the position information of the multicopter or fire point received from the fire extinguishing control device. . According to this, the fire fighting operation by the multicopter and the replacement work of the fire extinguisher can be quickly performed, the initial fire can be quickly dealt with, and the spread of the fire can be prevented.

DESCRIPTION OF SYMBOLS 10 ... Multicopter, 15 ... Fire extinguisher, 30 ... Holding device, 31 ... Loading mechanism, 32 ... Winch, 36 ... Grip claw, 37 ... Connector, 45 ... Solenoid, 65 ... Automatic exchange and loading device, 67 ... XYZ stage, 68 ... Fire extinguisher rack, 69 ... Storage unit, 101 ... Receiver, 102 ... Fire extinguishing control device, 103 ... Sensor

Claims (17)

  A holding device for an unmanned floating machine having a loading mechanism capable of loading at least one fire extinguisher and capable of being attached to the unmanned floating machine. The holding device for an unmanned floating machine according to claim 1,
The loading mechanism is
A plurality of gripping means for gripping the outer peripheral surface of the fire extinguisher at different locations;
A body member having the plurality of gripping means;
In response to an instruction from the unmanned floating machine, the switching means switches the plurality of gripping means between a first state in which the fire extinguisher is gripped and a second state in which the extinguisher is released from gripping,
A holding device for an unmanned floating machine. The holding device for an unmanned floating machine according to claim 2,
The loading mechanism is
In response to an instruction from the unmanned floating machine, elevating means for elevating the main body member;
Fixing means for fixing the elevating means to the unmanned floating machine;
A holding device for an unmanned floating machine. The holding device for an unmanned floating machine according to claim 2,
The loading mechanism is
A support member that pivotally supports the body member;
Rotating means for rotating the main body member pivotally supported by the support member;
A holding device for an unmanned floating machine. The holding device for an unmanned floating machine according to claim 4,
The loading mechanism is
In response to an instruction from the unmanned floating machine, elevating means for elevating the support member;
Fixing means for fixing the elevating means to the unmanned floating machine;
A holding device for an unmanned floating machine. The holding device for an unmanned floating machine according to any one of claims 1 to 5,
The fire extinguisher is a throwing-type fire extinguisher that bursts by an impact and scatters a fire extinguisher. The holding device for an unmanned floating machine according to any one of claims 2 to 5,
An unmanned floating machine having an apparatus-side connector that is provided on the main body member and electrically connected to a fire extinguisher side connector of the fire extinguisher when the fire extinguisher is loaded by the loading mechanism. Holding device. The holding device for an unmanned floating machine according to claim 7,
The device-side connector is
A socket portion into which the fire extinguisher-side connector is inserted when the fire extinguisher is loaded into the loading mechanism;
A connector main body provided inside the socket portion and electrically connected to the device-side connector;
Biasing means for biasing the socket portion in a direction protruding from the main body member;
A holding device for an unmanned floating machine. In the holding device for an unmanned floating machine according to claim 7 or claim 8,
The holding device for an unmanned floating machine, wherein the fire extinguisher is an injection-type fire extinguisher that receives an instruction from the unmanned floating machine and injects a fire extinguishing agent.   An unmanned floating machine having the holding device for an unmanned floating machine according to any one of claims 1 to 9, and capable of automatically flying. The unmanned floating machine according to claim 10,
One or more imaging units provided in the loading mechanism;
A fire extinguishing control unit that checks a fire situation from an output from the imaging unit and performs a fire extinguishing process;
The unmanned floating machine characterized by having. In the unmanned floating machine according to claim 11,
Temperature detection means for detecting the temperature of the aircraft,
A position control unit that controls the position of the aircraft and the fire extinguisher from the temperature of the aircraft detected by the temperature detection unit and the output of the imaging unit;
The unmanned floating machine characterized by having. A landing platform on which the unmanned floating aircraft according to any one of claims 10 to 12 is landed,
At least one fire extinguisher rack having a plurality of storage units for storing unused fire extinguishers loaded in a holding device of the unmanned floating machine;
A stage capable of moving the fire extinguisher rack in three axial directions;
A moving mechanism for moving the stage in three axial directions;
In response to a command from the unmanned floating aircraft that has landed on the landing table, a mechanism control unit that operates the moving mechanism;
A fire extinguisher replacement / loading device characterized by comprising: The fire extinguisher replacement / loading device according to claim 13,
The mechanism controller is
In response to an exchange signal for exchanging the fire extinguisher from the unmanned floating machine that has landed on the landing table, the position of the empty storage section among the plurality of storage sections included in the fire extinguisher rack becomes the replacement position. After the stage is moved, the used fire extinguisher held by the unmanned floating machine is collected in the storage unit at the replacement position, and then the unused fire extinguisher is stored among the plurality of storage units. A fire extinguisher replacement / loading apparatus, wherein the stage is moved so that the position of the storage portion is the replacement position. An unmanned floating machine according to any one of claims 10 to 12,
The fire extinguisher replacement / loading device according to claim 13 or 14,
Fire detectors installed at multiple locations on the site;
A fire extinguishing control device that receives a fire detection signal from the fire detector and transmits a fire extinguishing command for the fire that has occurred in the site to the unmanned floating machine;
An automatic fire extinguishing system characterized by comprising: The automatic fire extinguishing system according to claim 15,
The unmanned floating machine, when the fire is not extinguished, once flew toward the fire extinguisher replacement / loading device and replaced the fire extinguisher held by the holding device, then the fire occurred An automatic fire extinguishing system characterized by flying again toward the location. The automatic fire extinguishing system according to claim 15 or claim 16,
The unmanned floater receives an extinguishment stop instruction and flies toward a predetermined standby position.

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