JP3799563B2 - Shielding avoidance fire extinguishing method of fire fighting robot and its equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a shielding avoidance fire extinguishing facility for a fire extinguishing robot disposed in a large space such as an indoor ball game field or an exhibition hall.
[0002]
[Prior art]
When a fire occurs in a large space or the like, the fire sensor detects a fire source, and the fire sensor sends a fire signal to the control panel. The control panel instructs the fire extinguishing robot on the moving path to move to the address of the fire detector based on the fire signal.
When the fire extinguishing robot reaches the designated address, it stops, connects the water supply connection part to the fire hydrant of the water supply pipe, and starts fire fighting activities.
[0003]
[Problems to be solved by the invention]
In the conventional example, the fire extinguishing robot moves to the fire hydrant position designated by the control panel and performs fire extinguishing activities. However, there may be a shield between the fire extinguishing position and the fire source.
In this case, the fire-extinguishing agent discharged from the fire-extinguishing nozzle is blocked by the shield and cannot reach the fire source. Therefore, smooth fire fighting is difficult.
[0004]
It is an object of the present invention to determine whether or not there is a shield and to extinguish a fire at a hydrant position where the fire can be extinguished.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows .
[0006]
According to the present invention, a fire detector is provided in each fire monitoring section, and a water supply pipe provided with a plurality of fire hydrants is arranged in parallel on a movement path arranged through each fire monitoring section. extinguishing robot and a fire extinguishing nozzle and fire source sensor disposed on the path, a shield around fire extinguishing fire robot extinguishing moving the digestion fire robot extinguishing position; the fire detector fire Upon detecting the source, to the extinguishing robot, control means and for emitting a movement command to a specific fire fighting plug located in the fire monitoring section of the fire detector that has detected the該火source; fire source check and address in accordance with said movement instruction a traveling means for traveling while recording; if continued until arriving at the specific fire fighting stopper position could fire source check determines the extinguishing position the particular extinguishing stopper position, if it can not be confirmed Determines that there is a shield and Determine the extinguishing position by whether hydrant within the storage address is present, when there is a fire hydrant in the storage in the address, and determining means for determining the hydrants position with fire extinguishing position; and characterized in that it comprises It is a shield avoidance fire extinguishing equipment of a fire extinguishing robot.
[0007]
According to the present invention, a fire detector is provided in each fire monitoring section, and a water supply pipe provided with a plurality of fire hydrants is arranged in parallel on a movement path arranged through each fire monitoring section. a plurality of fire extinguishing robot and a fire extinguishing nozzle and fire source sensor disposed on the path, a shield around fire extinguishing fire robot extinguishing moving the digestion fire robot extinguishing position; the fire detector there upon detecting a fire source, to the fire-fighting robot movement command control means and which emits to a specific fire fighting plug located in the fire monitoring section of the fire detector that has detected the該火source; check fire source in accordance with said movement instruction and address recording a traveling means for traveling while; when continued until arriving at the specific fire fighting stopper position can fire source confirmation, the specific fire fighting plug position determines the extinguishing position, could not it confirmed If there is a And the fire extinguishing position determined by whether the hydrant into memory the address is present, when the fire hydrant is present in the storage in the address, determines the hydrants position and fire extinguishing position, further, arrives at the specific hydrants position When the arrival signal is not received from another fire extinguishing robot, the presence / absence of the shielding object and the fire extinguishing position are judged from the fire source confirmation information, and the arrival signal and the shielding object information are transmitted to the other fire fighting robot. And a shielding avoidance fire extinguishing facility for a fire fighting robot.
[0008]
It said determining means of the invention, when there is no fire hydrant in the storage in address, and performs the overall water discharge in the fire surveillance zone.
[0009]
It said determining means of the invention, when there is no fire hydrant in the storage in the address is presumed fire source position, the overall water discharge in the fire monitoring section, or a feature line Ukoto the fire source exploration, according to the circular movement To do.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
A fire extinguishing robot having a fire source sensor and a fire extinguishing nozzle is disposed on a moving path in which water supply pipes are arranged in parallel. When the fire detector detects a fire and a fire signal is output, the control panel instructs the fire extinguishing robot to move to a specific hydrant position.
The fire extinguishing robot detects a fire source with a fire source sensor and travels while confirming the fire source and recording an address, and determines the presence or absence of a shield from the fire source confirmation and address information. When the shield is not present, the specific fire hydrant position is set as the fire extinguishing position, and when it exists, another fire extinguishing position where the fire can be extinguished is determined.
[0011]
When the fire is extinguished by a plurality of fire extinguishing robots, the fire extinguishing robot that has reached the specific fire hydrant position may transmit an arrival signal and shielding object information to other fire extinguishing robots.
[0012]
【Example】
A first embodiment of the present invention will be described with reference to FIGS.
A fire detector fs is provided in a large space, for example, each fire monitoring section SA of the exhibition hall, and the position (address) of the fire detector fs is stored in a control panel (not shown). The fire monitoring section SA is specified by this address. The movement path 1 is disposed so as to penetrate each fire monitoring section SA, and a water supply pipe 8 is juxtaposed on the side of the movement path 1. The water pipe 8 is provided with a plurality of fire hydrants 6 and 7.
[0013]
A fire extinguishing robot 2 is disposed on the movement path 1. This fire extinguishing robot 2 stores a fire extinguishing nozzle 3, a fire source sensor 4, a control device and transmitting / receiving means (not shown), traveling means such as a motor, correspondence between addresses and positions of fire hydrants, a shield discrimination program, a fire extinguishing position judgment program, etc. Computer, etc. are provided. The fire source sensor 4 includes a pyroelectric element and detects the fire source 10 while rotating in the horizontal direction. A shield 20 exists between the fire source 10 and the fire hydrant 7 .
[0014]
The output of the fire source sensor 4 is stored in the computer in correspondence with the address. The fire extinguishing robot 2 has an encoder (not shown) that measures the travel distance, and the correspondence between the travel distance measured by the encoder and the address is stored in the computer. For this reason, the fire extinguishing robot can determine the address from its own travel distance.
[0015]
Next, the operation of this embodiment will be described.
When the fire detector fs in the fire monitoring section SA detects the fire source 10, a fire signal is sent to the control panel.
[0016]
The control panel that has received the fire signal issues a movement command to the fire extinguishing robot 2 so as to move to the fire hydrant (water supply point) 7 closest to the fire source 10.
[0017]
The fire extinguishing robot 2 that has received the movement command starts running according to the instruction (Y of S1, S2). At this time, the fire source sensor 4 is started (S3) and moves while checking the fire source and recording the address (S3). N of S4, S5, S6).
When the designated fire hydrant 7 position is reached (Y in S4), the fire extinguishing robot 2 determines the fire extinguishing position as follows.
[0018]
That is, when the fire source can be confirmed continuously until it reaches the specific fire hydrant 7 position (Y in S7), the specific fire hydrant 7 position as the fire extinguishing estimated position is determined as the fire extinguishing position, and the fire hydrant 7 A water supply unit is connected and water supply is received to start fire fighting activities (S13).
[0019]
If it cannot be confirmed (N in S7), it is determined that the shielding object 20 is present, and the fire extinguishing position is determined based on whether or not there is a fire hydrant in the storage address. In this embodiment, the fire hydrant 6 is in the address and has a fire extinguishing range fw that can be extinguished by the fire nozzle 3 (Y in S8, Y in S9), so this fire hydrant 6 position becomes the fire extinguishing position. Accordingly, the fire extinguishing robot 2 moves to the water supply point (Y in S10 and S11), connects the water supply unit to the water tap, and starts the fire fighting operation (S13).
[0020]
If there is no fire hydrant in the recorded address and if there is no fire hydrant in a position where the fire hydrant can be extinguished (N in S8, N in S9),
(1) Guess the fire source position,
(2) Overall water discharge in the area,
(3) Fire source exploration by orbital movement,
Is selected and fire extinguishing activities are carried out (S12, S13). For example, this selection is performed by the operator determining the fire-extinguishing robot 2 itself or transmitting the fact from the fire-extinguishing robot 2 to the control panel and operating the control panel (not shown) by the operator.
[0021]
During the fire extinguishing activity, the fire source sensor 4 continuously detects the fire source (S14).
When the fire source sensor 4 detects the extinction of the fire source (Y in S14), when the computer stops the fire extinguishing activity (S15), the fire extinguishing robot 2 returns to the original position and stands by (S16). At this time, the fire extinguishing robot 2 sends a fire extinguishing completion signal to the control panel.
[0022]
A second embodiment of the present invention will be described with reference to FIG.
The difference between this embodiment and the first embodiment is that a plurality of fire-extinguishing robots 2 and 2A perform fire-fighting activities at the same time and communicate shielding object information with each other.
That is, when the fire detector fs detects a fire and the control panel issues a movement command to the specific fire hydrant 7 position to each of the fire-extinguishing robots 2 and 2A, each fire-extinguishing robot 2 and 2A generates a fire source according to the movement command. Run while checking and address recording.
[0023]
When the fire extinguishing robot 2 does not receive an arrival signal from another fire extinguishing robot 2A until it arrives at the specific fire hydrant 7 position, it judges the presence / absence of the shielding object and the fire extinguishing position from the fire source confirmation information, and sends the other fire extinguishing robot 2A to An arrival signal and information such as the fire extinguishing position and the shielding object position are transmitted.
[0024]
Then, the other fire extinguishing robot 2A determines the fire extinguishing position 6A based on the information and starts the fire extinguishing activity.
If the fire extinguishing robots 2 and 2A are managed in this way, a smooth and effective fire extinguishing activity can be performed.
[0025]
In the above embodiment, an example is shown in which a fire extinguishing robot is arranged on a moving path in which water supply pipes are arranged side by side. However, the present invention can also be applied to a fire extinguishing robot itself having a built-in fire extinguishing tank. Of course. That is, in this case, the limited position of the notification address area may be set as the estimated extinguishing position.
[0026]
【The invention's effect】
Since this invention was comprised as mentioned above, even if a shield exists, it can avoid that and it can extinguish in the optimal fire extinguishing position.
In addition, when extinguishing with multiple fire extinguishing robots, the preceding fire extinguishing robot gives information such as the fire extinguishing position and shielding to the succeeding fire extinguishing robot, so that it is possible to perform fire extinguishing activities smoothly and effectively. it can.
[Brief description of the drawings]
FIG. 1 is a plan view showing a first embodiment of the present invention.
FIG. 2 is a part of a flowchart of the first embodiment of the present invention.
FIG. 3 is a continuation of the flowchart of FIG.
FIG. 4 is a plan view showing a second embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Movement path 2 Fire extinguishing robot 4 Fire source sensor 6 Fire hydrant 7 Fire hydrant 8 Water supply pipe 10 Fire source 20 Shield

Claims (4)

A fire detector is provided in each fire monitoring section, and a water supply pipe provided with a plurality of fire hydrants is arranged in parallel on the moving path arranged through each fire monitoring section, and a fire is placed on the moving path. A fire-fighting robot shielding-avoiding fire extinguishing equipment for a fire-fighting robot that disposes a fire-fighting robot having a source sensor and a fire-extinguishing nozzle and moves the fire-fighting robot to a fire extinguishing position;
When the fire detector detects a fire source, to the fire fighting robot, and a control means for issuing a movement command to a specific fire fighting plug located in the fire monitoring section of the fire detector that has detected the該火source;
Traveling means for traveling while confirming the fire source and recording the address according to the movement command;
If it can be confirmed fire source to continue until the arrival to the specific fire fighting plug position determines the extinguishing position the specific fire fighting plug position, in a case where it can not be confirmed, it is determined that there is an obstacle, Determining means for determining a fire extinguishing position depending on whether or not there is a fire hydrant in the storage address, and, if there is a fire hydrant in the storage address, determining the fire hydrant position as a fire extinguishing position ;
Shielding avoidance fire extinguishing equipment of a fire extinguishing robot characterized by comprising: A fire sensor is provided in each fire monitoring section, and a water supply pipe provided with a plurality of fire hydrants is arranged in parallel on the movement path arranged through each fire monitoring section, and a fire is placed on the movement path. A fire-fighting robot shielding avoidance fire extinguishing facility for a fire extinguishing robot, wherein a plurality of fire extinguishing robots having a source sensor and a fire extinguishing nozzle are disposed, and the fire extinguishing robot is moved to a fire extinguishing position to extinguish the fire;
When the fire detector detects a fire source, to the fire fighting robot, and a control means for issuing a movement command to a specific fire fighting plug located in the fire monitoring section of the fire detector that has detected the該火source;
Traveling means for traveling while confirming the fire source and recording the address according to the movement command;
If it continues can fire source confirmed until the arrival to the specific fire fighting plug position is, the specific fire fighting plug position to determine the extinguishing position, in a case where it can not be confirmed, it is determined that there is a shield ,
Determine the fire extinguishing position depending on whether there is a fire hydrant in the memory address, if there is a fire hydrant in the memory address, determine the fire hydrant position as a fire extinguishing position,
Further, when an arrival signal is not received from another fire extinguishing robot until it arrives at the specific fire hydrant position, the presence / absence of a shield and a fire extinguishing position are determined from the fire source confirmation information, and an arrival signal and A judging means for transmitting shielding object information ;
Shielding avoidance fire extinguishing equipment of a fire extinguishing robot characterized by comprising: 3. The shielding avoidance fire extinguishing equipment for a fire extinguishing robot according to claim 1 or 2 , wherein said determination means discharges the entire fire monitoring area when there is no fire hydrant in said memory address. Claim wherein the determining means, wherein when there is no fire hydrant in the storage address, guess the fire source position, the overall water discharge in the fire monitoring section, or, characterized in row Ukoto the fire source exploration, according to the circular movement Shield avoidance fire extinguishing equipment for fire fighting robot according to 1 or 2

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