JP6944299B2 - Fire extinguishing system - Google Patents

Description

The present invention relates to a fire extinguishing system using a so-called drone flying robot such as an unmanned small multicopter.

Conventionally, in a building, fire extinguishing devices such as a sprinkler head and a water cannon that discharge water to an area where a fire is detected are fixedly installed on the ceiling surface of a protected area such as indoors or a corridor. The fire extinguishing device constitutes a fire extinguishing system in conjunction with a fire monitoring system consisting of a smoke type or thermal type fire detector and a fire receiver that sounds a fire alarm in response to a signal from the fire detector. ing. In this fire extinguishing system, when the fire detector detects a fire, it sends fire information to the fire receiver, and the fire receiver detects the fire source position from the address of the fire detector that detected the fire and is near the fire source position. A fire extinguishing device is instructed to perform fire extinguishing work toward the position of the fire source, and the fire is extinguished.

Japanese Unexamined Patent Publication No. 11-276632

However, fire extinguishing devices such as sprinkler heads and water cannons used in conventional fire extinguishing systems cannot extinguish a fire well if there is a fire extinguishing shield such as a partition, shelf or luggage, because the fire source is hidden by the shield when the water is discharged. There was a problem. In addition, even if a large number of fire extinguishing devices are arranged so that blind spots are not created by the shield, the water discharged from the position blocked by the shield cannot reach the fire source and the amount of water that reaches is reduced, making it impossible to extinguish the fire efficiently. There was a problem that the fire extinguishing equipment became large-scale, the construction cost was high, and the aesthetic appearance of the room was spoiled. Patent Document 1 describes a fire extinguishing device that detects the presence or absence of a shield and efficiently extinguishes a fire. However, the water cannon is fixed at a fixed position above the side wall, and if there is a shield on the line of sight to the fire source, the shield becomes a water discharge obstacle and the fire cannot be extinguished efficiently. If a large number of water cannons are installed to avoid obstacles and allow water to be discharged from all directions, complicated piping must be performed behind the ceiling and inside the walls, which increases construction costs and spoils the aesthetics of the room. There was a problem. Further, the fire extinguishing robot shown in Patent Document 1 has a problem that a moving path such as a rail must be installed on the floor or the like in the room, which increases the construction cost and spoils the aesthetic appearance of the room.

Therefore, the present invention can ensure the safety of evacuees more than ever by being able to efficiently extinguish a fire even if there is a shield, and extinguish a fire with less construction cost without spoiling the aesthetics of indoors and corridors. The challenge is to provide a system.

The present invention is for solving the above-mentioned problems, and has the following configurations.

(1) The present invention is a fire extinguishing system including a fire hydrant device provided in a protective area and provided with a fire hose, and a flying robot flying in the protected area. When the camera capable of capturing the protection area, the recognition unit that recognizes various information based on the input image from the camera, and the recognition unit recognizes the fire hydrant box installed in the protection area, the fire hydrant box is displayed. It is a fire extinguishing system characterized by approaching and carrying the fire hose.

According to the present invention, when extinguishing a fire generated in a protected area by a fire extinguishing system, the degree of freedom in adjusting the water discharge position is larger than that of extinguishing a fire by a sprinkler or the like, so that the fire can be extinguished while avoiding a shield or the like. Furthermore, if a plurality of flying robots are used, a plurality of fire hydrant devices can be utilized, so that a large amount of water can be pinpointed to the fire source and the fire can be extinguished efficiently. Moreover, since the piping of the existing fire hydrant device can be used as it is, an automated fire extinguishing system can be constructed at low cost.

(2) Further, the present invention is characterized in that the fire hydrant box is provided with a door so as to cover the fire hose, and the door is provided with an opening means that automatically opens when the flying robot approaches. This is the fire extinguishing system of (1).

According to the present invention, the fire hose or the like used by the flying robot is in a state in which the door protected from mischief or the like is closed, and the door is opened so that the flying robot can hold and use the fire hose. Can be automatically migrated to. In addition, since the fire hydrant door does not open until the flying robot arrives, it is possible to prevent the evacuees' evacuation routes from being unnecessarily blocked by the opened door, and the flying robot should use it. There is little concern that the fire hose will be pulled out from the fire hydrant by hand and that dangerous fire extinguishing activities will be carried out.

(3) Further, the present invention is characterized in that a fire extinguishing nozzle is provided at the tip of the fire extinguishing hose, and the flying robot is provided with a grip portion for gripping the fire extinguishing nozzle (1). Or (2) fire extinguishing system.

According to the present invention, the flying robot can grip the fire extinguishing nozzle, whereby the flying robot carries the fire extinguishing nozzle and the fire hose connected to the fire extinguishing nozzle to the fire extinguishing position, and extinguishes the fire by discharging water. can do.

(4) Further, the present invention is characterized in that a connecting portion is provided at the tip of the fire extinguishing hose, and the flying robot is provided with a fire extinguishing nozzle connected to the connecting portion (1) or. This is the fire extinguishing system of (2).

According to the present invention, the flying robot can connect its own fire extinguishing nozzle to the connection portion at the tip of the fire extinguishing hose, whereby the flying robot carries the fire extinguishing hose to the fire extinguishing position and the fire extinguishing nozzle. The fire can be extinguished by discharging water from.

According to the present invention, a fire extinguishing system capable of efficiently extinguishing a fire generated in a protected area from a free water discharge position even in a place with a shield can be constructed at low cost by using a flying robot.

It is a schematic explanatory drawing which shows the structure of the fire extinguishing system 1 in one Embodiment of this invention. It is a figure which shows the flying robot 2, 21, 22, in one embodiment of the present invention. It is a block diagram which shows the structure of the flight robot 2 in one Embodiment of the invention. It is a block diagram which shows the structure of the control device 3, the fire receiver 5, and the fire hydrant device 7 in one Embodiment of this invention. It shows the fire hydrant device 7, 71 in one Embodiment of this invention. It is a flowchart explaining the operation of the flight robot 2, 21, the control device 3, the fire receiver 5, and the fire hydrant device 7 in one embodiment of the present invention.

The present invention is a fire extinguishing system that works with a fire monitoring system to realize efficient fire extinguishing that can discharge water while avoiding obstacles at low cost. Hereinafter, modes for carrying out the present invention will be described.

FIG. 1 is a schematic explanatory view showing a configuration of a fire extinguishing system according to an embodiment of the present invention. The fire extinguishing system 1 is composed of flying robots 2 and 21, a control device 3 as a control means, a radio base station 4, a fire receiver 5, a fire detector 6, and a fire hydrant device 7. In this fire extinguishing system 1, usually, a single flight robot 2 patrols and monitors the protected area E by a predetermined flight path created by the control device 3 based on the map information of the building created in advance through the radio base station 4. ing. The flight path is created based on the three-dimensional mapping information as the map information so that the shield 10 or the like does not cause a large blind spot while avoiding the shield 10 or the like. Then, the three-dimensional mapping information is corrected by the information taken by the flying robot in the protected area E. The three-dimensional mapping information is also used to create a flight route when flying for fire extinguishing activities. When a fire breaks out, the flight robot 2 determines the source X of the fire and calculates the optimum water discharge position from the input image taken while turning around the fire source X at a predetermined distance. Then, according to the instruction of the control device 3, the flight robot 21 carries the fire extinguishing hose 708 from the fire hydrant device 7 to the water discharge position, and discharges water to the fire source X to extinguish the fire. Further, when the flight robot 2 does not exist in the protection area E where the fire has occurred, the control device 3 receives the location of the fire detector 6 which has detected the fire through the fire receiver 5, and enters the protection area E where the fire has occurred. The flying robot 2 is moved to take a picture, and the water discharge position is calculated. Reference numeral 8 is a pump, 9 is a water source, and 10 is a shield such as a shelf arranged in the protection area E.

Next, each configuration of the fire extinguishing system 1 will be described. 2A and 2B are views showing a flying robot according to an embodiment of the present invention, FIG. 2A is a front view of the flying robot 2, FIG. 2B is a front view of the flying robot 21, and FIG. Is a side view of the flying robot 22 (the flying robot 22 will be described in detail in the second embodiment described later). The flying robots 2, 21 and 22, are quad-copter type drones having a total of four rotors 210 in front of and behind the flying robot body 200. Shooting units 204 are provided on the front, rear, left and right sides of the flying robot main body 200. Further, a distance measuring sensor 205 is provided below the photographing unit 204, and further provided on the front, rear, left and right sides of the flight robot main body 200. An altitude sensor 206 is provided on the upper part of the flight robot main body 200. An external connection portion 211 is provided at the lower part of the flight robot so that an external attachment can be attached. Various attachments such as a grip portion that grips the fire extinguishing nozzle and the fire extinguishing nozzle itself are connected to the external attachment.

In the flying robot 21 shown in FIG. 2B, a robot hand attachment 212 provided with a robot hand 212a as an external attachment is attached to the external connection portion 211 of the flying robot main body 200. The robot hand attachment 212 functions as a gripping unit for gripping the fire extinguishing nozzle 711 stored in the fire hydrant device 7, and is operated by a control unit 201 described later to perform a gripping operation by opening and closing the two claws of the robot hand 212a. Will be.

FIG. 3 is a block diagram showing the configuration of the flight robot 2 according to the embodiment of the present invention. The flight robot 2 includes a flight robot main body 200, a control unit 201, a storage unit 202, a communication unit 203, a photographing unit 204, and a measurement unit. It is composed of a distance sensor 205, an altitude sensor 206, a flight unit unit 207, an external input / output unit 208, and a power supply unit 209.

The control unit 201 is composed of a microcomputer composed of a CPU, a ROM, an input / output interface, and the like, and is an attachment connected to each unit or an external input / output unit 208 by a program stored in the ROM or the storage unit 202 in the control unit 201. To control. The storage unit 202 is composed of a ROM, a RAM, or the like. Memorize the water discharge position setting program. Further, a flight path based on three-dimensional mapping information in the protected area received from the communication unit 203 from the control device 3, an input image taken by the photographing unit 204, an input image of the fire source photographed by the photographing unit 204 as fire detection information, and the above. The water discharge position calculated by the water discharge position setting program, the distance between the flying robot 2 and the shield 10 measured by the distance measuring sensor 205, the altitude measured by the altitude sensor 206, and the correction information of the three-dimensional mapping information created from those data. , Data such as position information of the flying robot 2 and the like is stored. Then, the positions of the fire hydrant device 7 and the fire extinguishing nozzle 711 and the fire extinguishing nozzle connecting portion 710 are set in the image taken by the photographing unit 204 with the fire hydrant device two-dimensional code 7122, the fire extinguishing nozzle two-dimensional code 711a, and the fire extinguishing nozzle connecting portion. In order to acquire by recognizing the two-dimensional code 710a, the information indicating each fire hydrant device two-dimensional code 7122, the fire extinguishing nozzle two-dimensional code 711a, and the fire extinguishing nozzle connection portion two-dimensional code 710a is stored in advance. In addition, the adaptation information between the hose tip and the flying robots 21 and 22 corresponding to each fire hydrant device two-dimensional code 712 is also stored.

The communication unit 203 wirelessly communicates with the control device 3 via the wireless base station 4 by wireless communication such as 3G or WiFi, and three-dimensional mapping based on the flight path information from the control device 3 and the input image captured by the photographing unit 204. Information, data such as the water discharge position calculated by the control unit 201 by the water discharge position setting program and the position information of the wireless base station 4 are transmitted and received. The photographing unit 204 is a camera capable of capturing the inside of the protected area E during the flight of the flying robot 2, and is a camera for video, a motion tracking camera, a depth camera, an infrared camera, or a camera using some of these plurality of cameras in combination. It is composed of devices and the like, and is provided on the front, rear, left and right sides of the flying robot main body 200, and covers a shooting range with few blind spots including the lower part. The image captured by the photographing unit 204 is recognized as various information by the control unit 201 and the storage unit 202 that play a role as a recognition unit. For example, correction of three-dimensional mapping information, a fire detection program, a water discharge position setting program, and two Used to determine the dimension code.

The distance measuring sensor 205 is composed of a laser sensor, a microwave sensor, an infrared sensor, an ultrasonic sensor, and the like, and is provided on the front, rear, left, and right sides of the flying robot main body 200. Measure the distance from the shield 10 or the fire source X. The altitude sensor 206 includes a barometric pressure sensor and the like in addition to the sensor described in the distance measuring sensor 205, and measures the flight altitude of the flight robot main body 200.
For example, the fire detection program converts the input image of the fire source X taken by the photographing unit 204 into a monochrome image when the input image is a color image, and the part where the brightness of the input image is higher than a certain value is the fire source X. To determine. In addition, the water discharge position setting program turns and flies while photographing the fire source X, and the flight position where the input image having the widest high-brightness range is photographed is determined to be the optimum water discharge position. The flight unit unit 207 is composed of four rotors 210, a drive motor thereof, an orientation sensor for controlling the direction, speed, altitude, attitude, etc. of the flight robot body 200, an acceleration sensor, a gyro sensor, and the like. Control flight. The external input / output unit 208 is used to operate the device connected to the external connection unit 211. The power supply unit 209 is composed of a rechargeable battery such as lithium ion or lithium polymer, and the power supply unit 209 is charged by a charger when the flight robots 2 and 21 stand by at a dedicated base when they are not driven.

FIG. 4 is a block diagram showing the configurations of the fire receiver 5, the control device 3, and the fire hydrant device 7 according to the embodiment of the present invention. The control device 3 is installed in a management room where disaster prevention personnel and managers of the building are located, and is composed of a control unit 301, a storage unit 302, a fire receiver communication unit 303, a fire hydrant device communication unit 304, and a flight robot communication unit 305. NS. The control unit 301 is composed of a microcomputer like the control unit 201, and controls each unit by a ROM stored in the control unit 301 or a program stored in the storage unit 302. The storage unit 302 is composed of a ROM, a RAM, or the like, and in addition to the above program, the three-dimensional mapping information in the protection area E transmitted from the flight robot 2, the water discharge position, the flight paths of the flight robots 2 and 21, and the flight robot. Data such as 2, 21, the radio base station 4, the fire detector 6, the position information of the fire hydrant device 7, and the fire hydrant device identification information are stored. The fire receiver communication unit 303 communicates with the fire receiver 5, and according to the position information of the fire detector 6 detected when a fire breaks out, the fire hydrant device 7 via the fire receiver 5 Perform the operation. The flight robot communication unit 305 communicates between the flight robots 2 and 21 via the radio base station 4 by wireless communication such as 3G and WiFi, controls the flight path of the flight robot, and various types from the flight robots 2 and 21. Send and receive data etc.

The radio base station 4 transmits a beacon signal, and the flight robots 2 and 21 and the control device 3 are in the protection area E based on the position information of the radio base station 4 and the strength of the beacon signal. , 21 position information can be acquired.

The fire receiver 5 is installed in the disaster prevention center, and as shown in FIG. 4, from the control unit 501, the storage unit 502, the control device communication unit 503, the fire detector communication unit 504, the transmitter communication unit 505, and the fire alarm unit 506. It is composed. The control unit 501 is composed of a microcomputer like the control unit 201, and controls each unit by a program stored in the ROM or the storage unit 502 in the control unit 501. The storage unit 502 is composed of a ROM, a RAM, or the like, and stores the position information of the fire detector 6 and the fire hydrant device 7 in addition to the above program. The control device communication unit 503, the fire detector communication unit 504, and the transmitter communication unit 505 communicate with each other between the control device 3, the fire detector 6, and the transmitter 11, respectively. The fire alarm unit 506 notifies the disaster prevention center personnel of the disaster prevention center by voice, warning light, or the like by communication from the fire detector 6 or the transmitter 11.

As shown in FIG. 4, the fire hydrant device 7 includes a control unit 701, an electric fire hydrant valve 702, a door opening / closing device 703, a holder arm rotating device 704, a control device communication unit 705, and a transmitter 11.

FIG. 5 shows fire hydrant devices 7, 71 according to an embodiment of the present invention. 5 (a) and 5 (b) are front views showing a state in which the door 707 of the hose storage portion 706 of the fire hydrant devices 7 and 71 is opened. The fire hydrant devices 7 and 71 are installed in the vicinity of the protection area E and the protection area E. The fire hydrant device 71 will be described in the second embodiment.

In FIG. 5A, in the fire hydrant device 7, a transmitter 11 is provided at the upper part of the fire hydrant box 700, a hose storage portion 706 is provided at the lower part, and a fire hydrant valve 702 is provided inside the hose storage portion 706. .. As shown in FIG. 1, a pipe connected to the pump 8 and the water source 9 is connected to the primary side of the fire hydrant valve 702, and a fire extinguishing hose 708 is connected to the secondary side. A fire extinguishing nozzle connecting portion 710 is provided at the tip of the fire extinguishing hose 708, and a fire extinguishing nozzle 711 is attached. The fire extinguishing hose 708 is hung and stored in a folded state on a plurality of hooks (not shown) provided on the fire extinguishing hose holder 709. Above the fire hose holder 709, a holder arm 704b rotatably supported around a vertical shaft 704a in the motor-driven holder arm rotating device 704 is provided.

In FIG. 5A, the fire extinguishing nozzle 711 is held by the fire extinguishing nozzle holder 704c in the holder arm 704b. On the upper surface of the fire extinguishing nozzle 711, a fire extinguishing nozzle two-dimensional code 711a for indicating the position of the fire extinguishing nozzle 711 is displayed. A U-shaped groove (not shown) is attached around the fire extinguishing nozzle 711 so that the robot hand 212a can be fixed when gripped by the claws. The fire extinguishing system 1 includes an opening means for automatically opening the door 707 when the flying robot 21 approaches the fire hydrant device 7, and the door 707 is normally closed so as to cover the fire hose. The door 707 is rotatably shaft-mounted on the motor-driven door opening / closing device 703, and is rotated by a drive device (not shown) built in the fire hydrant device 7. On the fire hydrant device 7, a fire hydrant device two-dimensional code 712 indicating the fire hydrant device 7 is displayed on the surface near the transmitter 11 at the upper part. A unique code is assigned to each fire hydrant device two-dimensional code 712, and the position information of the corresponding fire hydrant device is stored in the control device 3 or the like by the fire hydrant device two-dimensional code 712.

The control unit 701 of the fire hydrant device 7 is composed of a microcomputer like the control unit 201 of the flight robot 2, and controls each unit by a program stored in the ROM in the control unit 701. The control device communication unit 705 communicates with the control device 3. The control unit 701 performs an opening / closing operation of the fire hydrant valve 702, an opening / closing operation of the door 707 by the door opening / closing device 703, and a rotation operation of the holder arm rotating device 704 according to an instruction from the control device 3.

Next, the operation processing of the fire extinguishing system 1 according to the embodiment of the present invention will be described with reference to FIG. In the present invention, the latest three-dimensional mapping information is acquired by patrolling the flying robot 2 in the protected area E in order to cope with the layout change in the protected area E. The control unit 301 of the control device 3 creates a predetermined flight path of the patrol flight for the flight robot 2 to monitor the inside of the protection area E by using the three-dimensional mapping information in the protection area E stored in the storage unit 302. .. Then, the flight path data is transmitted to the flight robot 2 via the radio base station 4 (S1, S2). Based on the flight path data received via the flight robot communication unit 305, the flight robot 2 patrolls in the protection area E under the control of the control unit 201, and in the protection area E photographed by the photographing unit 204. From the input image and the measurement data of the distance measuring sensor 205, three-dimensional mapping information in the protected area E is newly created (S3). The control unit 201 transmits the three-dimensional mapping information to the control device 3 by the communication unit 203 (S4). Then, the control unit 301 of the control device 3 creates the latest three-dimensional mapping information based on the three-dimensional mapping information transmitted from the flight robot 2 (S5), and uses the latest three-dimensional mapping information to determine the flight path of the patrol flight. Make corrections (S6).

Since the three-dimensional mapping information is created from the image captured by the flying robot 2 in this way, the three-dimensional mapping information can be corrected even if the arrangement of the shield 10 is changed due to a layout change or the like in the protected area E. can. Even if there is an unexpected obstruction 10 on the created flight path, the flight robot 2 determines the obstruction 10 from the captured image and the measurement data of the distance measuring sensor 205 by the control unit 201 and collides with the obstruction 10. Can fly autonomously without.

Next, in the event of a fire, the location of the fire source will be promptly identified. When the fire receiver 5 receives a fire signal from the fire detector 6 (S7), the control unit 501 of the fire receiver 5 controls the position information of the fire detector 6 that has detected the fire stored in the storage unit 502. It is transmitted to the control device 3 via the device communication unit 503 (S8). The control unit 301 creates a flight path from the received position information of the fire detector 6 to the vicinity of the fire detector 6, and transmits the flight path to the flight robot 2 via the radio base station 4 (S9). The flight robot 2 flies to the vicinity of the fire detector 6 according to the received flight path. The control unit 201 determines the fire source X from the input image captured by the photographing unit 204, and identifies the position of the fire source X by the depth camera or the distance measuring sensor 205 of the photographing unit 204 (S10). The control unit 201 transmits the position information of the fire source X to the control device 3 by the communication unit 203 (S11).
After the position of the fire source is specified, the flight robot 2 is swiveled around the fire source to determine the water discharge position for extinguishing the fire. Based on the received position information of the fire source X, the control unit 301 creates a flight path for turning and flying while keeping the photographing unit 204 toward the fire source X while maintaining a predetermined distance around the fire source X (S12). , The flight robot communication unit 305 transmits the flight path to the flight robot 2 via the radio base station 4 (S13).

The flight robot 2 takes a picture of the fire source X by the photographing unit 204 while turning around the fire source X at a predetermined distance in the flight path received under the control of the control unit 201 (S14). Here, the captured flight position and the captured input image are used as one data. For example, when the captured flight positions are six locations, the captured flight position and the captured input image are stored as six data A1 to A6, respectively. Store in 202. The control unit 201 determines that the flight position in which the input image having a wide range of high brightness, which is equal to or higher than a certain brightness, is captured among the input images of A1 to A6 is the optimum water discharge position (S15). For example, when the flight position of A1 is determined to be the optimum water discharge position, the control unit 201 assigns "1" as the water discharge position number to the data of A1. Next, the control unit 201 transmits the data of A1 to A6 as the water discharge position data to the control device 3 by the communication unit 203 (S16).

Here, the control unit 301 sets a transport flight path of the fire extinguishing hose 708 from the flight position of A1 to which the water discharge position number 1 is transmitted from the flight robot 2 to the fire hydrant device 7 near the position of the fire source X, for example. , Created from three-dimensional mapping information depending on the length of the fire extinguishing hose 708 and the presence or absence of the shield 10. In this case, as a general rule, a flight path that does not fly over the shield 10 is created, but if the flight path is longer than the length of the fire extinguishing hose 708, a flight path that flies over the shield 10 is created. Further, the control unit 301 creates a preparatory flight path from the flight robot 21 at the position closest to the fire hydrant device 7 near the optimum water discharge position A1 to the fire hydrant device 7 near the optimum water discharge position A1 (S17).
Subsequently, the flight robot 21 for extinguishing the fire is used to prepare for extinguishing the fire. The control unit 301 sets the preparatory flight path to the fire hydrant device 7 near the optimum water discharge position A1 and the transport flight path of the fire extinguishing hose 708 to the optimum water discharge position A1 by the flight robot communication unit 305 via the radio base station 4. It transmits to the flight robot 21 at the position closest to the nearest fire hydrant device 7 (S18).

The control unit 201 of the flight robot 21 that has received the preparation flight path and the transport flight path first moves the flight robot 21 to the vicinity of the fire hydrant device 7. After moving, the control unit 201 predicts the direction of the fire hydrant device 7 from the three-dimensional mapping information, and the photographing unit 204 photographs the fire hydrant device 7. On the surface of the door 707 of the fire hydrant device 7 in advance, the fire hydrant device two-dimensional code 712 is displayed in a state of being illuminated by lighting so that it can be recognized by the photographing unit 204 of the flight robot 21. The control unit 201 of the flight robot 21 recognizes the two-dimensional code 712 of the fire hydrant device from the captured image, and confirms that the target fire hydrant device 7 has been reached (S19). Then, the communication unit 203 of the flight robot 21 notifies the control device 3 of the arrival of the flight robot 21 to the fire hydrant device 7 via the radio base station 4 (S20). After that, the control unit 201 stops the flying robot 21 in the air at a predetermined position above the fire hydrant device 7 at a certain distance from the fire hydrant device 7 so as not to collide with the door when the door of the fire hydrant device 7 is opened. In order to detect the opening of the door of No. 7, the photographing unit 204 continues to photograph the area around the fire hydrant device 7.

On the other hand, the control unit 301 of the control device 3 that has received the arrival notification of the flight robot 21 sends an operation signal to the fire hydrant device 7 by the fire hydrant device communication unit 304 so as to operate the door opening / closing device 703 and the holder arm rotating device 704. Transmit (S21). Then, the control unit 701 of the fire hydrant device 7 that received the operation signal opens the door 707 by the door opening / closing device 703, and then the holder arm rotating device 704 uses the holder arm rotating device 704 to remove the holder arm 704b housed in the door of the fire hydrant device 7. It is rotated forward (S22). By rotating the holder arm 704b in this way, the fire extinguishing nozzle 711 protrudes from the hose storage portion 706 to the outside, so that the flying robot 21 can approach the holder arm 704b from above without hitting a wall or the like. ..

A fire extinguishing nozzle two-dimensional code 711a indicating the fire extinguishing nozzle 711 is displayed in a state of being illuminated by illumination on the upper part of the fire extinguishing nozzle 711 that has been rotated and pushed out. This fire extinguishing nozzle two-dimensional code 711a is different from the fire hydrant device two-dimensional code 712 displayed on the surface of the fire hydrant device 7. By recognizing the fire extinguishing nozzle two-dimensional code 711a above the fire extinguishing nozzle 711, the control unit 201 detects that the door 707 of the fire hydrant device 7 is opened and the fire extinguishing nozzle 711 is sticking out. ..

The control unit 201 that senses the protrusion of the fire extinguishing nozzle 711 moves the flying robot 21 directly above the fire extinguishing nozzle 711, and the direction from the direction of the upper fire extinguishing nozzle two-dimensional code 711a to the direction of the tip of the fire extinguishing nozzle 711. Is calculated, and the flying robot 21 is turned so as to match the direction of the robot hand 212a of the flying robot 21. At this time, the two claws (FIG. 2b) of the robot hand 212a turn the flying robot 21 in a direction perpendicular to the tip direction of the fire extinguishing nozzle 711. Next, the control unit 201 expands the claws so that the lower ends of the two claws of the robot hand 212a open, and lowers the flying robot 21 to a position where the robot hand 212a can grip the fire extinguishing nozzle 711. A U-shaped groove is provided around the fire extinguishing nozzle 711 (not shown), and by closing the claw so that the tip of the claw of the robot hand 212a fits into this U-shaped groove, it is strong. Gripping is performed (S23).

After grasping the fire extinguishing nozzle 711, the control unit 201 raises the flying robot 21 to pull up the fire extinguishing nozzle 711, and removes the fire extinguishing nozzle 711 from the fire extinguishing nozzle holder 704c. After that, the flight robot 21 is moved by flight, and the fire extinguishing hose 708 is pulled out from the fire extinguishing hose holder 709. Various methods are used when pulling out the fire hose 708 so that the fire hose 708 does not get entangled or bent when water is passed through the fire hose 708.

After that, the flight robot 21 is moved to the water discharge position, the fire extinguishing hose 708 is transported, and the fire extinguishing nozzle 711 is directed toward the fire source by the transport flight path that avoids the shield 10 or the like calculated from the three-dimensional mapping information (S24). ), The control unit 201 transmits a water discharge preparation completion notification to the control device 3 by the communication unit 203 (S25).

Upon receiving the water discharge preparation completion notification, the control unit 301 transmits a fire hydrant valve opening signal to the fire hydrant device 7 by the fire hydrant device communication unit 304 (S26). Upon receiving the fire hydrant valve opening signal, the control unit 701 opens the fire hydrant valve 702 (S27). When the fire hydrant valve 702 is opened, the pump 8 is driven in conjunction with it, and the fire extinguishing water of the water source 9 is supplied from the primary side to the fire extinguishing hose 708 on the secondary side via the fire hydrant valve 702, and from the fire extinguishing nozzle 711 to the fire source. Water discharge is started (S28), and the fire can be extinguished from the optimum water discharge position.

According to the present invention, the flying robot 21 can pull out and carry the fire extinguishing nozzle 711 and the fire extinguishing hose 708 from the fire hydrant device 7, and can efficiently extinguish the fire even in the place where the shield 10 is present. Further, since the door of the fire hydrant device 7 is opened only when the flying robot 21 approaches, the evacuation route is not unnecessarily blocked. In addition, it is not necessary to run pipes such as sprinklers, and if there is an existing fire hydrant device, the pipes can be effectively used, and a fire extinguishing system with low construction cost can be constructed without spoiling the aesthetic appearance of the room.

In the first embodiment, since the fire hydrant hose to which the fire hydrant nozzle 711 is attached is used in the fire hydrant device 7, the flying robot 21 is used as shown in FIG. A flying robot 22 in which the device 71 is installed and the fire extinguishing nozzle attachment 213 is attached can be used. Only the fire hydrant device 71 and the flying robot 22 are different from the first embodiment, and the other configurations are the same.

In the flight robot 22 shown in FIG. 2C, a fire extinguishing nozzle attachment 213 having a fire extinguishing hose connecting portion 213a and a fire extinguishing nozzle 213b is attached to the external connecting portion 211 of the flying robot main body 200 as an external attachment. The fire extinguishing nozzle attachment 213 of the flying robot 22 corresponds to the fire hydrant device 71 to which the fire extinguishing nozzle connecting portion 710 is attached, and is connected to the fire extinguishing nozzle connecting portion 710 of the fire extinguishing plug device 71 by the fire extinguishing hose connecting portion 213a. , Water is discharged by the fire extinguishing nozzle 213b. The flight robots 21 and 22 have various external attachments attached to the external connection portion 211 of the flight robot main body 200 of the flight robot 2, and other parts and the like are common and are indicated by the same reference numerals. The external attachment can be removed and replaced.

The fire hydrant device 71 of FIG. 5 (b) is a modified example of the fire hydrant device 7 of FIG. 5 (a), and the fire extinguishing nozzle connecting portion 710 is held by the fire extinguishing nozzle connecting portion holder 704d. On the upper surface of the fire extinguishing nozzle connecting portion 710, a two-dimensional code 710a of the fire extinguishing nozzle connecting portion for indicating the position of the fire extinguishing nozzle connecting portion 710 is displayed. The fire extinguishing nozzle holder 704c shown in FIG. 5A and the fire extinguishing nozzle connecting portion holder 704d shown in FIG. 5B are detachably provided on the holder arm 704b and can be replaced according to the application. .. The fire hydrant device 71 of FIG. 5 (b) is provided with a fire extinguishing nozzle connection portion holder 704d instead of the fire extinguishing nozzle holder 704c of the fire hydrant device 7 of FIG. 5 (a), and is common to other parts. Yes, indicated by the same code.
The operation processing of the fire extinguishing system 100 using the flight robot 22 and the fire hydrant device 71 of the second embodiment is the same in the first embodiment and S1 to S22 of FIG.

Explaining the operation of the fire extinguishing system 100 after S23, the fire extinguishing nozzle connection part two-dimensional code 710a showing the fire extinguishing nozzle connection part 710 is above the fire extinguishing nozzle connection part 710 of the fire hydrant device 71 that has been rotated and pushed out. Is displayed in the illuminated state. This fire extinguishing nozzle connection part two-dimensional code 710a is different from the fire hydrant device two-dimensional code 712 displayed on the surface of the fire hydrant device 71, and the flying robot 22 continuously photographs the area around the fire hydrant device 71 from a predetermined position above. When the control unit 201 of the flying robot 22 recognizes the fire extinguishing nozzle connection unit two-dimensional code 710a above the fire extinguishing nozzle connection unit 710 from the captured image, the door of the fire hydrant device 71 opens and the fire extinguishing nozzle connection is connected. It detects that the unit 710 is sticking out, and also detects that the connection target is the fire extinguishing nozzle connection unit 710.

The control unit 201 that sensed the protrusion of the fire extinguishing nozzle connection unit 710 moves the flying robot 22 directly above the fire extinguishing nozzle connection unit 710, and the fire extinguishing nozzle from the direction of the upper fire extinguishing nozzle connection unit two-dimensional code 710a. The direction of the connection portion of the connection portion 710 is determined, and the flight robot 22 is turned so as to face the connection portion of the fire extinguishing nozzle attachment 213. Next, the control unit 201 moves the flight robot 22 to the front of the connection portion of the fire extinguishing nozzle connection portion 710, and the heights of the connection portion of the fire extinguishing nozzle attachment 213 and the connection portion of the fire extinguishing nozzle connection portion 710 match. Descend to position. After that, the fire extinguishing nozzle attachment 213 is moved horizontally so as to press the connecting portion of the fire extinguishing nozzle attachment 213 against the connecting portion of the fire extinguishing nozzle connecting portion 710. The pressed fire extinguishing nozzle connecting portion 710 and the connecting portion of the fire extinguishing nozzle attachment 213 are connected by a lock mechanism (not shown).

After connecting the fire extinguishing nozzle attachment 213, the control unit 201 raises the flight robot 22 to pull up the fire extinguishing nozzle connecting portion 710, and removes the fire extinguishing nozzle connecting portion 710 from the fire extinguishing nozzle connecting portion holder 704d. After that, the flight robot 22 is moved by flight, and the fire extinguishing hose 708 is pulled out from the fire extinguishing hose holder 709. Various methods are used when pulling out the fire hose 708 so that the fire hose 708 does not get entangled or bent when water is passed through the fire hose 708.
The operation processing of the fire extinguishing system 100 using the flight robot 22 of the second embodiment after connecting the fire extinguishing nozzle attachment 213 is the same as in S24 and later of FIG.

In the first and second embodiments, the flight robot 2 was used to photograph the fire source X and specify the water discharge position. However, instead of the flight robot 2, the flight robot 21 or the flight robot 22 uses the flight robot 21 or the flight robot 22 to photograph the fire source X and specify the water discharge position. May be specified.
In addition, a fire hydrant device two-dimensional code 712, a fire extinguishing nozzle two-dimensional code 711a, and a fire extinguishing nozzle connection two-dimensional code 710a are displayed on the door 707, the fire extinguishing nozzle 711, and the fire extinguishing nozzle connecting portion 710. Instead of causing 22 to recognize it, it may be recognized by other means such as using a proximity wireless communication such as a beacon signal. In displaying the two-dimensional code, the flying robots 21 and 22 may be equipped with the lighting device instead of the lighting by the fire hydrant devices 7 and 71.
Further, in S15, A1 is determined to be the optimum water discharge position and "1" is given, and at the same time, the height of the water discharge effect is calculated for the remaining A2 to A6, and the water discharge position numbers are sequentially from "2" to "6". May be given. In this case, when the flight robot 21 or the flight robot 22 cannot use the flight position of A1 due to a collapse due to a fire or the like when moving to the water discharge position of S24, it can be dealt with by using another flight position. The flight robot 21 or the flight robot 22 requests and acquires the transmission of the flight path from the control unit 301 to the flight position after A2 having the younger water discharge position number via the radio base station 4, and newly acquired water discharge. Discharge water from the position.

In the previous embodiment, the flying robot 21 that carries the fire extinguishing hose 708 was a single unit, but a plurality of flying robots 21 are used to carry the fire extinguishing hose 708 from a plurality of fire hydrant devices 7 and discharge a plurality of water. Water may be discharged from the position. Regarding the operation processing of the fire extinguishing system 101 using the plurality of flying robots 21, the operations up to S16 shown in FIG. 6 of the first embodiment are the same as those of the first embodiment, but the subsequent operations are different.

Explaining the operation after S17 shown in FIG. 6 of the fire extinguishing system 101, when the control unit 301 receives the data of the position data A1 to A6 from the flight robot 2, for example, "1" is added to the data of A1 as the water discharge position number. Is stored, ranking is performed from the input images stored in the remaining A2 to A6 data and the flight position, and numbers 2 to 6 are assigned in descending order as the water discharge position numbers of A2 to A6. However, the flight position is ranked as the water discharge position. Here, the ranking is for wide range of high brightness in the input image of the fire source taken, the positional relationship between the fire hydrant device 7 and the water discharge position, the positional relationship between the water discharge positions, and the fire extinguishing from the fire hydrant device 7 to the water discharge position. It is determined by the carrying flight distance of the hose 708 and the like. Then, a transport flight route from the fire hydrant device 7 to the water discharge position is created in descending order of the order of the water discharge position numbers from the flight positions of A2 to A6. The control unit 301 also creates a preparatory flight path from the current position of each flight robot 21 to which the robot hand attachment 212 is connected to each fire hydrant device 7 (S17).

The control unit 301 transmits each of the above-mentioned transport flight paths and the preparatory flight path to each fire hydrant device 7 of each flight robot 21 to each flight robot 21 by the flight robot communication unit 305 via the radio base station 4 (S18). ). Subsequent operation processing of the fire extinguishing system 101 using the individual flying robots 21 in the third embodiment is the same as that in the first embodiment and the transmission of the water discharge preparation completion notifications from S19 to S25 in FIG.

After the control unit 301 receives all the water discharge preparation completion notifications from each flight robot 21, the control unit 301 transmits a fire hydrant valve opening signal to each fire hydrant device 7 by the fire hydrant device communication unit 304. Upon receiving the fire hydrant valve opening signal, the control unit 701 of each fire hydrant device 7 opens the fire hydrant valve 702. When the fire hydrant valve 702 is opened, the pump 8 is driven in conjunction with it, and the fire extinguishing water of the water source 9 is supplied from the primary side to each fire extinguishing hose 708 on the secondary side via the fire hydrant valve 702, and fire is fired from each fire extinguishing nozzle 711. Water discharge to source X is started to extinguish the fire. According to the present invention, by efficiently arranging a plurality of flying robots at water discharge positions, a plurality of fire hydrant devices can be utilized at the same time, and a fire can be extinguished efficiently by discharging a large amount of water while avoiding the shield 10. ..

The same effect can be obtained by replacing the flying robot 21 with the flying robot 22 and the fire hydrant device 7 with the fire hydrant device 71 in the third embodiment. In the first to third embodiments, the fire receiver communication unit 303 of the control device 3 and the control device communication unit 503 of the fire receiver 5, or the fire hydrant device communication unit 304 and the control device communication unit 705 of the fire hydrant devices 7, 71 are used. Although it is connected by wire, it may be connected wirelessly.

Although the control device 3 is used in the above embodiment, the flight robots 2, 21 and 22 may also be provided with a function as a control means as another embodiment. In the fire extinguishing system 102 of this embodiment, a wireless communication device is provided inside each of the flying robots 2, 21, 22, fire receivers 5, and the fire hydrant devices 7, 71 so that they can communicate with each other. Then, the control unit 201 of one or a plurality of flight robots 2 or the like is made to take the role of the control device 3 of FIG. 6 instead. In this way, in the fire extinguishing system 102 of this embodiment, it is possible to perform the same operation processing as those shown in Examples 1 to 3 above without the control device 3.

Further, in addition to the use of the control device 3 in the first to third embodiments, by preparing the control by the control unit 201 of the flying robot as an alternative means of the control device 3, radio waves are transmitted to the control device 3 and the radio base station 4. It can also be used when an abnormality such as a failure occurs.

In addition, the three-dimensional mapping information updated by the patrol is immediately transmitted to the flight robots 21 and 22 and stored, and after the control device 3 determines the water discharge position and the fire hydrant devices 7 and 71 to be used in the event of a fire, The preparatory flight path to the fire hydrant devices 7 and 71 and the transport flight path of the fire extinguishing hose 708 to the water discharge position may be created by the control unit 201 of the flight robots 21 and 22. In this case, the communication content that the control device 3 should transmit to the flight robots 21 and 22 through the flight robot communication unit 305 in the event of a fire is only the code indicating the water discharge position and the fire hydrant devices 7, 71, and the load on the control device 3 is reduced. In addition, it is highly possible that it will be possible to deal with the case where wireless communication is interrupted due to a fire.

It is also possible to use the flying robots 21 and 22 together. In that case, the types of flight robots 21 and 22 that can be connected to the fire hydrant device two-dimensional code 712 are stored in the control device 3 or the like so as to correspond to the fire hydrant devices 7 and 71 to be used.
The flight robots 2, 21 and 22, are not limited to the configurations and functions of the above embodiments, and may have equivalent configurations and the like. For example, in the flight robots 2, 21 and 22, the photographing unit 204 and the distance measuring sensor 205 are provided on the front, back, left and right sides, but the photographing unit 204 and the distance measuring sensor 205 are provided one by one, and the flying robot and the sensor attachment part are provided. It may be configured to rotate 360 ° on the spot to photograph and measure the surrounding shield 10 and the like. As for the robot hand attachment, the connection method suitable for the fire extinguishing nozzle may be adopted, and the configuration may be different from that of the robot hand attachment 212.

Further, in the above embodiment, the door opening / closing device 703 driven by a motor is provided in the fire extinguishing plug devices 7 and 71. Other door opening / closing devices may be used. Further, when rotating the holder arm rotating device 704, the holder arm rotating device 704 may be brought into contact with the inside of the door 707 and pushed open. On the contrary, the tip of the holder arm rotating device 704 is urged inside the door 707 with a spring so that the door opening / closing device 703 pops out when the door 707 opens, so that a motor is not used. May be.

Further, as a fire extinguishing nozzle attachment and a fire hydrant device different from the above embodiment, a non-rotating holder for holding the opening of the fire extinguishing nozzle connection portion 710 toward the front of the fire hydrant device is provided inside the fire hydrant device and flies. A fire extinguishing nozzle attachment may be used in which the position of the fire extinguishing hose connection portion is extended rearward so that the rotor 210 of the robot does not come into contact with the fire hydrant device, the wall surface, or the like.

Further, in the above embodiment, the fire extinguishing hose 708 is carried to the fire extinguishing position by the flying robots 21 and 22, but for example, the fire extinguishing hose 708 may be carried by the vehicle body type robot instead of the flying robots 21 and 22. good.
Further, in the above embodiment, each flying robot 21 moves to the fire hydrant device 7 and grips the fire hydrant nozzle 711. However, when the positions of the fire hydrant device 7 and the fire source X are far from each other, one fire hydrant device is used. A plurality of flying robots 21 may be arranged in 7, and the fire extinguishing hose 708 may be gripped so as to avoid the shield 10. As a result, the fire hose 708 can be passed over the short shield 10, so that the flight path can be set at a shorter distance.
Further, in the above embodiment, the beacon signal is used for the position information of the flight robots 21 and 22, but the position information may be grasped by a technique such as indoor GPS, millimeter wave radar, or IC tag.
Further, in the above embodiment, the pump 8 is driven when the control unit 701 receives the fire hydrant valve opening signal, but for example, the pump 8 may be driven when a fire is confirmed by the fire detector 6.
Further, in the above embodiment, the detailed positions and the like are recognized by the two-dimensional codes 711a and 712 provided on the fire hydrant device 7 and the fire extinguishing nozzle 711, but it is not necessary to be limited to this, for example, by image recognition. Detailed positions and the like may be recognized by various techniques such as pattern matching, an IC tag, and a magnetic sensor.
Further, in the above embodiment, various operations of the fire hydrant devices 7 and 71 such as opening of the door 707 by the door opening / closing device 703 and rotation of the holder arm 704b by the holder arm rotating device 704 are performed by the control of the control device 3. Although it has been described as being performed, for example, the flying robots 21 and 22 are provided with a separate robot arm, and the flying robots 21 and 22 themselves perform various operations of the above-mentioned fire hydrant devices 7 and 71 by using the robot arm. May be done.
Further, in the above embodiment, the flight robots 2, 21 and 22 automatically fly to extinguish the fire, but for example, a person may operate the robot to grip the fire extinguishing nozzle 711.

1,100,101,102 Fire extinguishing system, 2,21,22 Flying robot, 200 Flying robot body, 201 Control unit, 202 Storage unit, 203 Communication unit, 204 Imaging unit, 205 Distance measurement sensor, 206 Altitude sensor, 207 Flight Unit, 208 external input / output, 209 power supply, 210 rotor, 211 external connection, 212 robot hand attachment, 212a robot hand, 213 fire extinguishing nozzle attachment, 213a fire extinguishing hose connection, 213b fire extinguishing nozzle, 3 controls Device, 301 control unit, 302 storage unit, 303 fire receiver communication unit, 304 fire hydrant communication unit, 305 flying robot communication unit, 4 radio base station, 5 fire receiver, 501 control unit, 502 storage unit, 503 control unit Communication unit, 504 Fire detector communication unit, 505 transmitter communication unit, 506 fire alarm unit, 6 fire detector, 7,71 fire hydrant device, 700 fire hydrant box, 701 control unit, 702 fire hydrant valve, 703 door opening / closing device, 704 Holder arm rotating device, 704a shaft, 704b holder arm, 704c fire extinguishing nozzle holder, 704d fire extinguishing nozzle connection holder, 705 control device communication unit, 706 hose storage unit, 707 door, 708 fire extinguishing hose, 709 fire extinguishing hose Holder, 710 fire extinguishing nozzle connection, 710a fire extinguishing nozzle connection two-dimensional code, 711 fire extinguishing nozzle, 711a fire extinguishing nozzle two-dimensional code, 712 fire hydrant device two-dimensional code, 8 pump, 9 water source, 10 shield, 11 Transmitter

Claims (5)

A fire hydrant device equipped with a fire hose provided in the protective area,
A flying robot flying in the protected area and
A fire extinguishing system comprising a fire hydrant box having a door covering the fire hose.
When a fire breaks out, the flying robot moves to the fire hydrant device without the fire hydrant hose according to the instruction of the control device, carries the fire hydrant hose from the fire hydrant device to the water discharge position, and discharges water to extinguish the fire. And at the same time
The door is a fire extinguishing system characterized in that the door is provided with an opening means that automatically opens when the flying robot approaches the fire hydrant device to be used. The fire extinguishing system according to claim 1 , wherein the control device creates a flight path from the received position information of the fire detector to the vicinity of the fire detector and transmits the flight path to the flight robot. The flight robot includes a camera capable of photographing the protected area during flight and a recognition unit that recognizes various information based on input signals from the camera.
The fire extinguishing system according to claim 1 or 2 , wherein the flying robot discharges water toward a fire source determined by the recognition unit. A connection portion is provided at the tip of the fire hose.
The fire extinguishing system according to any one of claims 1 to 3 , wherein the flying robot includes a fire extinguishing nozzle connected to the connecting portion. The flight robot is characterized in that it stops in the air at a predetermined position above a certain distance from the fire hydrant box to be used, and the opening of the door is detected by the photographing unit of the flight robot. The fire extinguishing system according to any one of 4 to 4.

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