JP6640463B2 - Fire extinguishing robot and fire extinguishing method using the fire extinguishing robot - Google Patents

Description

  The present invention also contributes to quick response by fire fighters and the like, even in fires on places with bad roads where it is difficult for fire fighters and the like to approach with a hose, such as a reconstruction site of a forest fire or a nuclear accident. TECHNICAL FIELD The present invention relates to a fire extinguishing robot capable of performing a fire extinguishing and a fire extinguishing method using the fire extinguishing robot.

  In recent years, in firefighting activities by firefighters, various firefighting robots have been provided in order to cope with a fire in a place that is dangerous and difficult to approach.

  For example, a fire in a tunnel is a place where firefighters are difficult to approach with a hose and firefighting activities tend to be delayed. In order to deal with a fire in such a place, a fire extinguishing robot facility 200 as shown in FIG. 7 has been proposed. The fire extinguishing robot equipment 200 is installed such that a monorail 210 is crawled on the inner wall surface of a tunnel, and a fire extinguishing robot 230 is run on the monorail 210 via wheels 220 and 220.

  According to the fire extinguishing robot equipment 200, fire extinguishing water can be introduced from the water supply port in the tunnel through the water receiving port of the hose reel 240, and discharged from the monitor nozzle 241 toward the fire source to extinguish the fire.

  Incidentally, since the monorail 210 is an essential element, such a fire extinguishing robot 230 cannot be adopted unless it is in a site of a plant facility such as a petrochemical factory, in a factory, or in a building such as a building in addition to a tunnel. .

  On the other hand, there are other places where firefighters are dangerous and difficult to access, such as sites for reconstruction from wildfires and nuclear accidents.

  For example, when a forest fire occurs, bad roads often continue from the location of the water source to the site of the fire, and when discharging fire-fighting water at the site of the fire, only one pump placed near the water source can discharge the fire. Due to the low pressure, several pumps must be arranged between the fire spots and these multiple pumps must assist the discharge pressure.

  Therefore, in the case of a normal building fire, the fire-extinguishing line can be extended to the fire site by manually connecting the fire-extinguishing hose, and the fire-extinguishing water can be discharged by the driving force of only one water supply pump near the water source. In the case of a forest fire, in addition to carrying a fire hose, it is necessary to carry a pump for assisting the joint of the fire hose.

  In such a case, the fire hose is transported to a predetermined location by the firefighter's hand to form a single fire extinguishing line, but it takes a lot of time and effort for the firefighter to transport the helping pump to the predetermined location. Improvements were required in order to require more effort and delay firefighting activities.

JP-A-8-294544

  In view of such circumstances, the present invention provides a fire extinguishing robot and a fire extinguishing method using the fire extinguishing robot that can surely carry a helping pump to a predetermined place without relying on human power when a forest fire occurs, for example. It is intended to provide.

The fire fighting robot according to the present invention for achieving the above object,
The pipeline can be swelled by water pressure on the robot body that has a moving means that can move on rough roads such as mountain roads and a luggage mounting part that can mount a pump etc. in a stable posture. A hose holding portion capable of traveling while holding the flexible fire hose as a guide means is provided,
Monitoring the running are characterized by being performed in the remote controller unit by the moving means.

  According to such a fire extinguishing robot, a heavy pump can be transported to a predetermined place without being transported manually.

  Further, since the fire fighting robot moves along the line of the fire hose previously conveyed by hand, it does not move in the wrong direction.

In such a fire fighting robot,
The robot body includes a control unit,
It is preferable that the control means controls the motor for the moving means of the moving means, the axis motor of the luggage mounting part, the motor for the gripping power of the hose gripping part, and the motor for the gripping part drive. .

  In this case, by the control means, the motor for the moving means is speed-controlled or position-controlled, the position of the axis motor is controlled with torque control, and the speed of the gripping power motor is controlled with torque control; Preferably, the motor is speed controlled with torque control or position controlled with torque control.

  By controlling each motor in this way, a stable operation of the fire extinguishing robot can be realized.

Further, the fire extinguishing method using the fire extinguishing robot according to the present invention,
A fire extinguishing method using the fire extinguishing robot described above,
A fire hose extension process in which a fire hose is manually extended stepwise from a water source where a water supply pump is arranged to a fire site at a destination;
A fire hose filling step for filling the pipe of the fire hose extended stepwise in the fire hose extending step with water;
A robot traveling step in which the fire hose water filling step is completed and the fire hose in a swollen state is used as a guide means, and the fire robot equipped with a pump travels to the end of the fire hose,
A pump unloading step of unloading the pump from the fire extinguishing robot that has traveled to a predetermined position in the robot traveling step,
A fire extinguishing step of discharging fire extinguishing water from the fire hose by an output of the water supply pump disposed in the water source and the conveyed pump.

  According to such a fire extinguishing method, for example, a heavy pump can be efficiently transported to a predetermined place even at a site of a wildfire involving a bad road.

  According to the fire-extinguishing robot and the fire-extinguishing method using the fire-extinguishing robot according to the present invention, even at a fire site where firefighters are difficult to approach, such as a wildfire, the assisting pump is mechanically transported to a predetermined place without manual intervention. So that fire fighting can be performed quickly.

FIG. 1 is a schematic diagram of a fire fighting robot according to one embodiment of the present invention. FIG. 2 is a schematic side view illustrating a state in which the fire-fighting robot shown in FIG. 1 climbs a mountain path along a fire hose. FIG. 3 is a block diagram illustrating operation steps of a fire extinguishing method according to one embodiment of the present invention. FIG. 4 is a schematic diagram illustrating an operation for extinguishing a forest fire using the fire extinguishing robot shown in FIG. FIG. 5 is a schematic view illustrating a fire fighting robot according to another embodiment of the present invention. FIG. 6 is a schematic view illustrating a fire fighting robot according to another embodiment of the present invention. FIG. 7 is an enlarged longitudinal sectional view of a conventional fire fighting robot disclosed in Japanese Patent Application Laid-Open No. 8-294544.

  Hereinafter, preferred embodiments (examples) of the present invention will be described with reference to the drawings.

  FIG. 1 shows a fire extinguishing robot according to a preferred embodiment (example) of the present invention, and FIG. 2 is a schematic diagram showing a state where the fire extinguishing robot of FIG. 1 climbs a mountain path.

  The fire-fighting robot 2 includes a pair of endless track shoes 4 under the body frame 11 as a moving means capable of moving on a rough road such as a mountain road. The transport surface of the crawler track 4 may be made of rubber or metal. Further, on the crawler track 4, a luggage mounting unit 6 including a base 6 b, a table 6 a, and arms 6 c and 6 d supporting the table 6 a is arranged. The body frame 11, the crawler track 4, and the luggage mounting section 6 constitute a robot body 8.

In addition, the robot main body 8 uses a flexible fire hose 10 whose pipe is swelled outward by being filled with water as a guide path, and the arms 12a and 12b on both sides apply an appropriate force. A hose grip 12 is provided that can run by rotating the grip with an appropriate force while gripping.

  The moving means of the robot body 8 is not limited to the crawler footwear 4 and may be replaced by, for example, a moving means using bipedal walking or quadrupedal walking.

  A motor for moving means is connected to the endless track footwear 4, and it is preferable to control the speed or position of the motor for moving means by control means (not shown) provided in the robot body 8.

  An axis motor provided on a pitch shaft 6d of the luggage mounting section 6 to be described later, a gripping power motor provided on the hose gripping section 12, and a gripping section driving motor are also controlled by the control means. ing.

  The luggage mounting section 6 may have any structure as long as the table 6a can always maintain a horizontal state. For example, as shown in FIG. The table 6a may be lifted via 6c, 6d, or conversely, the table 6a may be hung from above. The point is that a large load such as the pump 14 or other articles acts on the table 6a, is affected by vibrations during traveling, and an external force such as a person or an object colliding with the luggage mounting unit 6. Any structure may be used as long as it can maintain the horizontal state at all times even if it acts.

  In order to maintain the horizontal state in this manner, an axis provided on the pitch axis 6d of the luggage mounting section 6 is based on attitude information detected by an attitude sensor (not shown) provided on the grip section of the table 6a. It is preferable that the position of the motor is controlled with torque control as follows.

  The position control with torque control means that when the torque value of the output shaft of the speed reducer connected to the shaft motor provided on the pitch shaft 6d is equal to or less than a predetermined torque value, the target position (angle) and the shaft position are controlled. The position (angle) control using the actual position (angle) information of the motor is performed. On the other hand, when the torque is equal to or more than a predetermined torque value, the set predetermined target torque value and the torque value of the output shaft of the speed reducer. This is a control method for performing torque control using information.

  By performing such control, when only a relatively small force such as vibration during traveling affects, the position control stably keeps the luggage mounting portion 6 in a horizontal state, and at the same time, the luggage mounting portion 6 In the case where a relatively large external force is exerted such as when an object collides, it is possible to quickly return to the original position while returning a large external force by the torque control, thereby returning the luggage mounting portion 6 to the horizontal state.

  Further, when the shaft motor provided on the pitch shaft 6d of the luggage mounting unit 6 is in the torque control mode, the motor for the moving means of the crawler track 4 for controlling the speed and the hose gripper 12 to be described later are controlled. It is preferable to perform control to reduce the speed target value of the gripper driving motor.

  The hose gripping portion 12 can hold the posture as it is while holding the fire hose 10 whose pipe swells outward due to the action of water pressure from both sides. Accordingly, the fire hose 10 functions as a guide path for the robot body 8 when the robot body 8 moves forward on a mountain road or the like.

  The hose gripper 12 preferably includes a gripping power motor for gripping the fire hose 10 and a gripper drive motor for sequentially feeding the fire hose 10 in a gripped state.

  It is preferable that the gripping power motor of the hose gripping portion 12 be speed-controlled with torque control as follows.

  Speed control with torque control means that when the torque value of the output shaft of the reduction gear connected to the gripping power motor is equal to or less than a predetermined torque value, the speed control using the speed information of the gripping power motor is performed. On the other hand, when the torque is equal to or more than a predetermined torque value, the control method is a torque control method using the set predetermined target torque value and the torque information of the output shaft of the speed reducer.

  By performing such control, it is possible to avoid the problem of torque control in which runaway easily occurs due to disturbance or a sudden change in the mass attached before the speed reducer.

  Further, it is preferable that the gripper drive motor of the hose gripper 12 performs the above-described speed control with torque control or position control with torque control.

  Further, the towing speed of the fire hose 10 in the hose holding part 12 (the towing target speed when it is assumed that there is no slippage between the fire hose 10 and the hose holding part 12) is equal to or higher than the moving speed (moving target speed) of the fire extinguishing robot 2. It is preferable to control the gripper driving motor and the moving unit motor such that By setting such a speed, the hose gripper 12 and the crawler track 4 cooperate with each other while preventing the fire hose 10 itself from being moved by pulling or loosening the fire hose 10 too much. It exerts traction and can move the fire extinguishing robot 2.

  In the present embodiment, the gripping force for gripping the fire-extinguishing hose 10 is obtained by the gripping power motor in the hose gripping portion 12, but the gripping force is obtained by using, for example, a spring mechanism. It can also be configured as follows.

  In this embodiment, a remote controller 16 is installed in, for example, a driver's seat of a fire truck in order to monitor the running of the robot body 8 or to control the attitude of the table 6a of the luggage mounting unit 6. ing. Based on the control signal transmitted from the remote controller 16, the control means can remotely control the luggage mounting section 6, the crawler track 4 and the like.

  Thereby, when receiving the command signal from the remote controller 16, the hose gripper 12 can release the force of the arms 12 a and 12 b and release the fire hose 10 being gripped. I have.

  The fire extinguishing robot 2 according to the present embodiment is configured as described above. Hereinafter, a fire extinguishing method for extinguishing a forest fire using the fire extinguishing robot 2 will be described.

  Now, assume that a forest fire has occurred.

  In this case, in the fire extinguishing method according to the present embodiment, the fire extinguishing activity is performed in the following procedure.

  FIG. 3 is a block diagram showing a procedure of a fire extinguishing method using the fire extinguishing robot 2 according to one embodiment of the present invention. FIG. 4 is a schematic diagram for explaining a procedure of a fire extinguishing method for extinguishing the fire spot 36.

  As shown in FIG. 3, the fire extinguishing method according to the present embodiment includes a fire hose extending step 22 in which the fire hose 10 is manually extended stepwise from a water source to a destination fire site 36, and a fire hose extending. A fire hose filling step 24 for filling the fire hose 10 stepwise extended in step 22 with water, and a fire extinguisher loaded with an assisting pump 14 using the fire hose 10 completed with the fire hose filling step 24 as guide means. A robot traveling step 26 in which the robot 2 travels to the end of the fire hose 10; a pump lowering step 28 in which the assisting pump 14 is lowered from the fire extinguishing robot 2 which has traveled to a predetermined position in the robot traveling step 26; And a fire extinguishing step 30 for extinguishing the fire.

  To explain this with an image diagram, first, as shown in FIG. 4, a water supply pump 40 is arranged near a water source 52. Further, a plurality of fire extinguishing robots 2 and a plurality of pumps 14 for assisting are arranged near the water source 52.

  From this state, the fireman manually removes a plurality of fire hoses 10, 10,... 10 that are not filled with water, for example, from the fire engine and steps toward the fire site 36 at the destination. (Fire hose extension process 22).

  In the fire hose extension step 22, for example, three fire hoses 10, 10, 10 are extended as one line. Then, these fire hoses 10, 10, 10 are manually connected to each other to form one line to the point A. Then, after blind joints are arranged at the ends of the three fire hoses 10 forming one line, water is filled into the three fire hoses 10 (fire hose filling step 24). ). Thereby, the three fire hoses 10 extended to the point A are in a swelling state in the pipes. Thus, the fire hose filling step 24 is completed. Next, as shown in FIG. 1, near the water source 52, the fire-fighting robot 2 is arranged so as to straddle the fire hose 10. At this time, the fire hose 10 whose tube has swelled is arranged between the arms 12a and 12b of the hose gripper 12. When the fire hose 10 in the swelling state is incorporated inside the fire fighting robot 2 in this way, for example, the command signal from the remote controller 16 causes the hose gripper 12 to generate a traction force, The footwear 4 is driven, whereby the fire extinguishing robot 2 travels toward the fire site 36 (robot traveling step 26).

  In the robot traveling step 26, one or a plurality of assisting pumps 14 are mounted on the luggage mounting section 6 of the fire extinguishing robot 2, and the vehicle runs in this state.

  When the fire extinguishing robot 2 reaches the point A in the robot traveling step 26, the pump 14 is lowered to the point A (pump lowering step 28). The operation of unloading the pump 14 is performed manually by a fire brigade member or the like.

  Then, when the assisting pump 14 is lowered to the point A, the fire extinguishing robot 2 has completed its first role, and thereafter, the fired hose 10 in the swelling state is used as a descending guide means to follow the road that has come. When returning, or when a plurality of pumps 14 are mounted, stay at the point A.

  When the fire-fighting robot 2 is returned to the vicinity of the water source 52, the fire-fighting robot 2 is removed from the line of the fire-extinguishing hose 10 by a hand of a fire brigade or the like, or the second helping pump 14 is mounted. Is done.

  On the other hand, at the point A, the fire extinguishing water from the water source 52 is discharged by the two pump driving forces of the water supply pump 40 near the water source 52 and the assisting pump 14 carried by the fire extinguishing robot 2. The fire extinguishing water can be discharged toward the fire spot 36 from this position, and the actual fire extinguishing activity is performed (fire extinguishing process 30).

  If the fire extinguishing water does not reach from the point A, the fire brigade members extend the empty fire hoses 10, 10,... From the point A to the point B. In this case, the fire hose 10 may be carried from near the water source 52, or may be mounted on the robot 2. Then, water is also applied to the inside of the fire hose 10 extending from the point A to the point B, and all the fire hoses 10 to the point B are in a swelling state as one fire line. After that, the fire extinguishing robot 2 is driven with the other pump 14 installed from the water source 52 or the point A, and the pump 14 is lowered at the point B. Then, at point B, the pump 14 is connected to the fire hose 10. By repeatedly performing such operations, even if the fire extinguishing line is long, a plurality of assisting pumps 14 can be arranged in the middle of the fire extinguishing line.

  With such a method, two or three pumps 14 for assisting can be used. The number of assisting pumps 14 to be used may be appropriately determined according to the discharge capacity at the end of the fire hose. Then, the fire extinguishing activity is started, and the fire site 36 is extinguished.

  Further, when the fire extinguishing activity at the fire site 36 is completed, the fire extinguishing robot 2 can be returned to the vicinity of the original water source 52 while being guided by the fire hose 10 which is still in a watered state and swells outward. At this time, the assisting pumps 14 can be collected one by one or a plurality of them at once. In addition, using the fire-fighting robot 2, the empty fire-fighting hose 10 can be collected on the water source 52 side.

  Although the fire extinguishing robot according to the present invention and the case where the fire extinguishing direction using the fire extinguishing robot is applied to a wildfire have been described above, the present invention is, of course, not limited to a wildfire, and may be applied to other sites, such as a nuclear accident. A similar fire extinguishing robot and a similar fire extinguishing method can be applied to a restoration / reconstruction site in a country.

  As described above, according to the present invention, the heavy fire pump 14 and the like can be transported to a predetermined position by the fire-fighting robot 2 without manual operation, so that the fire brigade members can quickly carry out fire-fighting activities.

  Although the fire extinguishing robot 2 according to one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

  For example, in the above-described embodiment, the fire extinguishing robot 2 in which the hose gripper 12 is provided in the lower part of the body frame 11 in the lateral direction has been described. However, the present invention is not limited to this. For example, as shown in FIG. The hose holding part 12 can be provided on the upper part of the body frame 11, and the luggage mounting part 6 can be hung by the support 13.

  In such a configuration, by performing the above-described position control with torque control on both the pitch axis 6d and the roll axis 6e of the luggage mounting section 6, the luggage mounting section 6 can cope with external forces from a wide range of directions. Can be kept horizontal.

  Further, in each embodiment shown in FIG. 1 or FIG. 5, the pair of arms 12a and 12b of the hose gripper 12 are arranged in the horizontal direction. However, as shown in FIG. It can also be arranged in a direction.

  As shown in FIG. 6, when the hose gripper 12 is configured as a vertical type, the upper arm 12a is configured to be rotatable in the direction in which the hose 10 is pulled, and the gripping force is controlled by a control unit. The rotation of the lower arm 12b is preferably controlled by the control means in the direction in which the hose 10 is pulled.

2 Fire-fighting robot 4 Endless track footwear 6 Luggage mounting part 6a Table 6b Base part 6c Arm 6d Pitch axis 6e Roll axis 8 Robot body 10 Fire hose 11 Body frame 12 Hose gripper 12a Arm 14 Pump for assisting 16 Remote controller 22 Fire hose extension process 24 Fire hose filling process 26 Robot running process 28 Pump unloading process 30 Fire extinguishing process 32 Water source 36 Fire spot 40 Pump for water supply

Claims (8)

The pipeline can be swelled by water pressure on the robot body that has a moving means that can move on rough roads such as mountain roads and a luggage mounting part that can mount a pump etc. in a stable posture. A hose holding portion capable of traveling while holding the flexible fire hose as a guide means is provided,
Extinguishing robot, characterized in that the travel monitoring of by the moving means is effected remotely controller. The robot body includes a control unit,
The control unit controls the motor for the moving unit of the moving unit, the axis motor of the luggage mounting unit, the motor for the gripping power of the hose gripping unit, and the motor for driving the gripping unit. The fire fighting robot according to claim 1, wherein:   The fire extinguishing robot according to claim 2, wherein the control means controls the speed or position of the motor for the moving means.   4. The fire extinguishing robot according to claim 2, wherein the control unit controls the position of the shaft motor with torque control. 5.   The fire extinguishing robot according to any one of claims 2 to 4, wherein the control means controls the speed of the gripping power motor with torque control.   The fire extinguishing robot according to any one of claims 2 to 5, wherein the control means controls the speed of the gripper driving motor with torque control or position control with torque control. The luggage mounting unit has a pitch axis and a roll axis,
7. The fire fighting robot according to claim 2, wherein each of the pitch axis and the roll axis is connected to an independent axis motor. A fire extinguishing method using the fire extinguishing robot according to any one of claims 1 to 7 ,
A fire hose extension process in which a fire hose is manually extended stepwise from a water source where a water supply pump is arranged to a fire site at a destination;
A fire hose filling step for filling the pipe of the fire hose extended stepwise in the fire hose extending step with water;
A robot traveling step in which the fire hose water filling step is completed and the fire hose in a swollen state is used as a guide means, and the fire robot equipped with a pump travels to the end of the fire hose,
A pump unloading step of unloading the pump from the fire extinguishing robot that has traveled to a predetermined position in the robot traveling step,
A fire-extinguishing method, comprising: extinguishing fire-extinguishing water from the fire-extinguishing hose in accordance with outputs of the water supply pump and the conveyed pump disposed in the water source.

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