JP2846993B2 - Fire extinguisher - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire extinguisher and, more particularly, to a building such as an unmanned spacecraft, a manned spacecraft, a ship, or a general house on the ground, a gas station, an office, an accommodation facility, a plant, and the like. The present invention relates to a fire extinguisher that is installed inside an outdoor space such as a forest and recognizes fire occurrence information and its position information and performs a fire extinguishing activity while moving.

[0002]

2. Description of the Related Art In recent years, the development of a disaster prevention robot has been promoted among extreme working robots by a large project of the Ministry of International Trade and Industry of the Ministry of International Trade and Industry. On the other hand, it is necessary to generate a motion path, and to move autonomously, a high level of intelligence is required.

[0003] Sprinkler systems are widely used in large hotels and department stores because they can extinguish fires over a wide area throughout the building. However, in some cases, the water was discharged, and the building was flooded, and in addition to the fire point, water was released and the equipment became unusable. Although small fire extinguishers have become widespread, they have to rely on humans, and there is a concern that amateurs may not be able to take a deliberate action.

Further, for example, Japanese Patent Application Laid-Open No. Sho 59-18656
No. 8 discloses a technique in which a fire point is automatically detected, a nozzle is guided to the fire point by an arm, and a fire extinguisher is discharged to the fire point.

[0005]

The system of the disaster prevention robot by the large-scale project of the Ministry of International Trade and Industry of the Ministry of International Trade and Industry
Human beings were not given any consideration for implementing the basic principles of fire extinguishing, that is, evacuating immediately and promptly extinguishing the fire. Sprinklers have problems in that they can not respond to electric fires and oil fires, in addition to being damaged by water discharge.

In the technique described in JP-A-59-186568, a nozzle unit for discharging a fire extinguishing agent is provided, and an infrared camera and a nozzle are provided integrally, or a fire detecting means and a nozzle are provided in combination. Is disclosed, but a variable nozzle having a flexible pipe,
Further, the injection nozzle is located lower temperature than the heat-sensitive part of the temperature sensor, was not taken into consideration for the control of the precise Ri by the fire fighting and monitoring the fire point.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and operates by sensing temperature, quickly approaching a vicinity of a fire point, and setting an appropriate nozzle injection angle and fire extinguishing. It is an object of the present invention to provide an unmanned fire extinguisher with a motion function capable of performing an effective fire extinguishing operation with an injection amount of an agent and protecting human lives and property while minimizing damage. It is another object of the present invention to provide a fire extinguisher that monitors a fire point predicted in advance by a temperature sensor, operates based on data from the temperature sensor when a fire occurs, and can quickly perform initial fire extinguishing.

[0008]

In order to achieve the above object, a first aspect of the fire extinguisher according to the present invention comprises a fire extinguishing agent tank, a pump, an injection nozzle for injecting a fire extinguishing agent, and a drive control thereof. consists means, have a means for controlling the injection quantity of means and extinguishing agent to move at least the position of the injection nozzle based on the detection information of the fire detection means, the upper
It has a temperature sensor as fire detection means,
The tip of the moving part that moves the position of the
Fire extinguishing agent by continuously performing circular motion with respect to the fire point.
In the fire extinguisher, the fire extinguisher tank and the fire extinguisher
A flexible pipe is provided between the nozzle and the injection nozzle.
Equipped with a rotary joint in the middle of the flexible pipe
It is a thing.

In order to achieve the above object, a second aspect of the fire extinguisher according to the present invention comprises a fire extinguisher tank,
Pumps, injection nozzles for injecting extinguishing
Motion control means, based on information detected by the fire detection means.
Means for moving at least the position of the injection nozzle
Fire extinguisher with means to control the amount of fire extinguishing agent injected.
The moving part of the means for moving the position of the injection nozzle is
Has at least two tips , one on the injection nozzle, the other
Temperature sensor, and the heat sensitivity of the temperature sensor
So that it can be located closer to the flash point than the injection nozzle.
These two tips are configured .

[0010]

The function of each of the above technical means is as follows. According to the first invention, it functions as a fire extinguisher that responds to an expected fire, and can approach the expected ignition points at a plurality of locations in a building in the shortest distance. If it is anticipated that the operation pattern needs to be changed according to the degree of fire, the fire can be extinguished from around the fire point or the fire subsides according to the detection signal of the temperature sensor attached to the tip of the moving part. You can also exercise to approach the fire point. Power off,
The output of the secondary signal such as the shutoff of the fuel gas system can prevent the spread of fire.

According to the second aspect , since the temperature sensor occupies a position closer to the fire point than the injection nozzle, more reliable information can be obtained, and the fire extinguisher always searches for the vicinity and always faces the fire point. It is possible to judge whether the fire extinguishing apparatus of the present invention can extinguish a fire or a large-scale fire extinguishing activity is required.

[0012]

[Example 1-1 ]

Next, an embodiment of the first invention of the present invention with reference to FIGS. Figure 1 is a perspective view showing an example of applying the fire extinguishing device to the private hotel in accordance with an embodiment of the present invention, FIG. 2 is an explanatory diagram showing an example of deriving a fire point from the fixed temperature sensor of FIG.

In FIG. 1 , reference numerals 1a to 1h denote fixed temperature sensors relating to a temperature sensor disposed on a ceiling, 2a to 2f denote fixed temperature sensors disposed on a wall, and 3a to 3c are disposed in a height direction. Also shows a fixed temperature sensor. Reference numeral 4 denotes a fire extinguisher, 5 denotes a traveling unit, 6 denotes a fixed rail provided on a ceiling, and the traveling unit 5 moves along the fixed rail 6. Reference numeral 7 denotes a turning section of the fire extinguisher 4, which turns around the traveling section 5. 8 is an arm and 9 is a wrist, which has three degrees of freedom. Numeral 10 is an injection nozzle for ejecting a fire extinguishing agent.

Reference numeral 11 denotes a flexible pipe for extinguishing a fire extinguishing agent, and reference numeral 12 denotes a rotary joint provided in the middle of the flexible pipe 11. One end of the flexible pipe 11 is connected to the injection nozzle 10 and the other end is connected to a fire extinguishing agent tank (not shown).
Reference numeral 13 denotes a coordinate origin provided in the private room of this hotel for the convenience of explanation. Reference numeral 14 denotes a temperature sensor related to a temperature sensor attached to the tip of the wrist 9.

The operation of the fire extinguisher 4 is based on the fixed temperature sensor 1a.
-1h, 2a-2f, 3a-3c by a control signal created based on the detection information. First, the traveling unit 5
Is generated so as to move in a direction indicating the highest temperature of the fixed temperature sensors 1a to 1h. For example, when the fixed temperature sensors 1a to 1c indicate the highest temperature,
The traveling unit 5 moves to the window side end. Fixed temperature sensors 1a-1
When any one of h indicates the maximum temperature, a control signal is output so as to move the traveling unit 5 to a value on the Y axis of the coordinate origin 13 of the XYZ coordinates of the sensor.

For example, the control signal in the Z-axis direction is as shown in FIG.2Shown in
It is created from the relationship diagram with the fixed temperature sensor. Figure2
Is a temperature cell with the Z-axis coordinate value on the horizontal axis and the maximum temperature on the vertical axis.
Sensor suffixes ah are used for temperature sensors.
The calculation method of the Z-axis position of the fire point is shown. Z-axis direction
The control signal is used for automatic control of the bending angle of the arm 8.

The turning shaft 7 is used to position the injection nozzle 10 in the X-axis and Y-axis directions away from the fixed rail 6. The wrist 9 is a fixed temperature sensor 1a indicating the highest temperature.
It is used for directing the center of motion to a fire point near 〜3c and repeating a circular motion around the fire point to perform a fire extinguishing motion.

The moving speed V of the fire extinguisher 4 is represented by Tt as the temperature of the temperature sensor 14 provided at the tip of the wrist 9, Tm as the maximum temperature,
Assuming that the distance from the current position to the fire point is L, the distance is represented by the following equation.

(Equation 1)

The temperature Tt of the temperature sensor 14 is 60 ° C.
Is exceeded, the fire extinguisher 4 blows out the fire extinguishing agent from the injection nozzle 10 toward the fire point even during the movement to the fire point.
In this case, the tip movement is performed by a large arc proportional to the distance L to the fire point. When the difference between the temperature Tt of the temperature sensor 14 and the maximum temperature Tm exceeds 80 ° C.,
The fire extinguishing agent is ejected toward the fire point while moving from the position to the fire point. Maximum temperature Tm is 150 ° C
Is exceeded, the extinguishing agent is ejected toward the fire point without moving to the fire point, and an alarm signal is output.

According to the present embodiment, if a temperature sensor is installed and an operating area of the apparatus is set for an expected fire point in advance, the fire is extinguished at an early stage of the fire, and human and property Damage can be minimized.

[0021] [Example 1-2] Next, another embodiment of the first invention of the present invention with reference to FIG. FIG. 3 is a perspective view showing an example in which a fire extinguisher according to another embodiment of the present invention is applied to a home. In the figure,
1 and of the same reference numerals, shows an embodiment equivalent of Figure 1. 2a and 2b are fixed temperature sensors related to a temperature sensor installed on a wall, 4A is a fire extinguisher according to this embodiment, and 7 is
The turning part, 8 is an arm and 9 is a wrist of the fire extinguisher 4A, and can perform only a swing operation. An injection nozzle 10 is attached to the tip of the wrist 9.

Numeral 11 denotes a flexible pipe and an injection nozzle 1
Supply fire extinguisher to zero. Reference numeral 20 denotes a fixed base that attaches the entire fire extinguisher 4A to a wall. 25 is a powder fire extinguisher to which the flexible pipe 11 is connected.
21 is a stopper for the arm 8, and 22 is a stopper for the turning portion. Reference numerals 23 and 24 denote gas stoves in the kitchen room, respectively.

Next, the operation of the fire extinguisher 4A shown in FIG. 3 will be described. When one of the fixed temperature sensors 2a and 2b exceeds 60 ° C., the turning portion 7 turns toward the temperature sensor that has detected a high temperature.
Moves downward, and the stopper 21 hits the fixed base 20. This operation is performed by on / off control according to a predetermined sequence.

Simultaneously with this operation, the fire extinguishing agent is ejected from the injection nozzle 10 to extinguish the fire. Fixed temperature sensor 2
When both a and 2b become 40 ° C. or less, the injection of the fire extinguishing agent from the injection nozzle 10 stops. Fixed temperature sensor 2
If either a or 2b exceeds 50 ° C., an alarm sounds. Note that returning the arm 8 upward is performed manually.

As described above, in this embodiment, based on the detection data from the fixed temperature sensor, a fire point is automatically determined by a method prepared in advance, and the operation path of the fire extinguisher is generated from the result. Then, a control signal for moving to the fire point is output to the fire extinguisher. The timing of the ejection of the fire extinguishing agent from the injection nozzle is also determined by a predetermined method based on the detection data from the fixed temperature sensor. The fire extinguishing motion by the wrist is also determined in association with the data from the temperature sensor.

Further, in order to prevent the fire extinguishing agent from being ejected due to abnormality or mischief of the fixed temperature sensor, the data from the temperature sensor is analyzed by a predetermined method, so that the operation is not performed by only one fixed temperature sensor. It can be configured as follows. The temperature sensor may be an infrared sensor, a color image device,
Any of a thermocouple and a thermostat can be used.

[0027] Example 2 Next, an embodiment of the second invention according to the present invention with reference to FIGS. Figure 4 is a perspective view further illustrating an example of applying the fire extinguishing device to the warehouse according to another embodiment of the present invention, FIG 5 is a flowchart illustrating a control operation procedure according to the apparatus of FIG 4. In FIG. 4, FIG. 1 and of the same reference numerals, shows an embodiment equivalent of Figure 1.

In FIG. 4 , reference numerals 1a to 1l denote fixed temperature sensors related to a temperature sensor installed on the ceiling, and 3a to 3l.
h is a fixed temperature sensor provided in the height direction. 4B is a fire extinguisher, 7 is a turning part, 8a is a first arm, 9 is a wrist, and has three degrees of freedom. A second arm 8b is provided between the first arm 8a and the wrist 9. Reference numeral 10 denotes an injection nozzle attached to the wrist 9. The fire extinguishing agent used for the fire extinguishing operation passes through the flexible pipe 11 and the rotary joint 12, and is jetted from the jet nozzle 10 through the first arm 8a and the second arm 8b. Reference numeral 13 denotes a coordinate origin provided for the description of the present embodiment.

Reference numeral 14 denotes a temperature sensor related to a temperature sensor installed away from the wrist 9. That is, the moving part for moving the nozzle position of the present embodiment has at least two tips, has the ejection nozzle 10 on one side, and the temperature sensor 14 on the other, and moves the ejection nozzle 10 from the heat-sensitive part of the temperature sensor 14. It is configured so that it is located at a low temperature. 30
Indicates a fixed base that mounts and supports the entire fire extinguisher 4A on the ceiling. In the warehouse, oil drums 31, paper bundles 3
2. A cardboard box 33 containing miscellaneous goods and futons 34 are stored.

A warehouse containing combustibles as shown in FIG. 4 has structural limitations due to the Fire Service Law. The embodiment shown in FIG. 4 is monitored by the fixed temperature sensors 1a to 3h, and satisfies the structural restrictions of the Fire Service Law by providing an automatic fire extinguishing device. It is intended to be stored in the form used for

The fixed temperature sensors 1a to 1l
B is arranged around B and used to generate a signal for controlling the direction of the XY plane of the injection nozzle 10 at the tip of the fire extinguishing system 4B in case of fire. Fixed temperature sensors 3a to 3h
Is also used to generate a signal for controlling the position of the injection nozzle 10 on the Z axis.

Fixed temperature sensors 1a-1l and 3a-3
When h determines the direction in which the injection nozzle 10 should be directed, a fire point is obtained by a program prepared in advance from the combination and the temperature, and the tip of the moving part of the fire extinguisher 4B moves from the current position to the fire point. As the temperature approaches the fire point, the temperature sensor 14 attached to the wrist 9 searches for and finds the fire point more accurately. In the case of an arrangement in which only the direction in the XY plane is known, as in the arrangement of the temperature sensors shown in FIG. 4 , a search motion in the radial direction from the fixed base 30 is output. The temperature sensor 14 monitors the state of the fire extinguishing by approaching the fire point from the injection nozzle 10 and outputs a signal to stop the injection of the fire extinguishing agent when the temperature of the fire point becomes 40 ° C. or less.

The turning part 7, the first arm 8a, and the second arm 8b are interlocked in order to approach the fire point from the current position. The operation route is prepared in advance as a program for each fire point so as to operate along the ceiling so as not to collide with the paper bundle 32, cardboard 33, etc. in the warehouse. Such an operation sequence is shown in FIG. 5 , and the control operation procedure is described below by writing step numbers in parentheses.

The control computer of the fire extinguisher creates the movement path and movement of the nozzle by a program uniquely determined according to the temperature distribution of the temperature sensor (S-1). The control computer outputs a control signal for following a motion path to each axis of the motion unit (robot) (S-2). If the search motion is not necessary, the process proceeds as it is, and the temperature detected by the temperature sensor 14 is 60
℃ or more (S-3), fire extinguishing movement (S-4),
A fire extinguishing agent is ejected from the injection nozzle 10 toward the fire point (S-5).

When the search motion is necessary (S-6, S-7), the search motion is performed (S-8), and the combination data of the position of the temperature sensor 14 and the temperature is created (S-9). When the temperature detected by the temperature sensor 14 becomes 40 ° C. or lower (S-10),
The discharge of the fire extinguishing agent is stopped (S-11), and the moving part of the fire extinguisher returns to its original position (S-12).

According to the embodiment shown in FIG. 4 , flammable and dangerous materials are stored, and the storage is applied to a warehouse or the like strictly regulated by the Fire Service Act, and an automatic fire extinguishing device is introduced. Consideration is given to the approval of space utilization and convenient placement.

[0037] Incidentally, in the embodiment shown in FIG. 4, but motor function fire-extinguishing system has been described an example that is fixed to the ceiling, by the scale of the warehouse, traveling rail as in the embodiment of FIG. 1 Needless to say, this may be done.
The fire extinguisher with a motion function in a private room shown in FIG. 1 may be fixed to the ceiling depending on the size of the private room. Further, the embodiments of the first and second inventions can also apply the remote control means.

[0038]

As described above in detail, according to the present invention, the apparatus operates by sensing the temperature, quickly approaches the vicinity of the ignition point, and has an appropriate injection angle of the nozzle and an appropriate injection amount of the fire extinguishing agent. It is possible to provide an unmanned fire extinguisher with a motor function capable of performing an effective fire extinguishing operation and protecting the lives and property of people while minimizing damage. According to the present invention,
It is possible to provide a fire extinguisher that monitors a fire point predicted in advance by a temperature sensor, operates based on data from the temperature sensor when a fire occurs, and can quickly extinguish an initial fire.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example in which a fire extinguisher according to an embodiment of the present invention is applied to a private room of a hotel.

From the fixed temperature sensor [2] Figure 1 is an explanatory diagram showing an example of deriving the fire point.

FIG. 3 is a perspective view showing an example in which a fire extinguisher according to another embodiment of the present invention is applied to a home.

FIG. 4 is a perspective view showing an example in which a fire extinguisher according to still another embodiment of the present invention is applied to a warehouse.

FIG. 5 is a flowchart illustrating a control operation procedure performed by the device of FIG. 4 ;

[Explanation of symbols]

1, 2, 3 ... fixed temperature sensor, 4, 4A, 4B ... fire extinguisher, 10 ... injection nozzle, 11 ... flexible pipe, 1
2 ... Rotary joint, 14 ... Temperature sensor.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-122472 (JP, A) JP-A-4-109966 (JP, A) JP-A-62-277975 (JP, A) JP-A-59-1982 186568 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A62C 27/00-37/00 G08B 17/00

Claims (2)

(57) [Claims] 1. A fire extinguishing agent tank, a pump, an injection nozzle for injecting a fire extinguishing agent, and drive control means for the same. A means for moving at least the position of the injection nozzle based on detection information of fire detecting means, means for controlling the injection quantity possess, has a temperature sensor as the fire detecting means, the temperature sensitive tip movement unit for moving the position of the injection nozzle
In response to the alarm, make a continuous arc motion to the fire point
In a fire extinguisher that injects a fire extinguishing agent, a flexible
A flexible pipe is provided, and
A fire extinguisher characterized by comprising a joint . 2. A fire extinguisher tank, a pump, and a fire extinguishing agent.
Injection nozzles and their drive control means.
Based on the detection information of the disaster detection means, at least the injection noise
Controlling the position of the chisel and controlling the amount of fire extinguishing agent
In the fire extinguisher having means for moving, the moving part of the means for moving the position of the injection nozzle is reduced.
Both have two tips, one for the injection nozzle and the other for the temperature
A sensor shall be provided, and the heat-sensitive part of the temperature sensor shall be closer to the ignition point than the injection nozzle.
The above two tips are configured so that
Fire extinguisher.