JPH09206398A - Fire-fighting robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an equipment capable of discharging an extinguishant rapidly and accurately against a train fire in a tunnel. SOLUTION: A fire-fighting robot is housed in a box 2 equipped with a door to be opened or shut freely by a door opening mechanism positioned at the front, in a state that an extendable and contractible tower 5 with a nozzle 16 attached at a top is contracted. In the case of on fire, a control unit 3 activates the door opening mechanism and inclines front to let open the door upward, then let the extendable and contractible tower 5 extend to a direction of an area under observation, and let the nozzle be directed toward a fire source. With receiving an activation command from a fire control center, a pressurized extinguishant supplied from an extinguishant supply equipment 4 is discharged through the nozzle 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire extinguishing robot that extinguishes a fire by discharging a fire extinguishing agent when a fire occurs in a wide space such as a vehicle fire in a tunnel.

[0002]

2. Description of the Related Art Conventionally, there is a tower type fire extinguisher as a fire extinguishing apparatus for extinguishing a fire that has occurred in a wide space such as a building with a high ceiling. Known tower-type fire extinguishers of this type are, for example, those fixed to a truck as in Japanese Patent Publication No. 3-57788 and those fixed to a fireboat as in Japanese Patent Publication No. 3-31320. There is. In these tower-type fire extinguishers, a nozzle that discharges foam extinguishing agent or powder extinguishing agent is provided at the upper end of an elevating or retractable tower, and the turning angle and elevation angle of the nozzle are controlled by a motor to supply the extinguishing agent to the fire source. Is releasing.

However, since the motor for controlling the nozzle is mounted on the upper part of the tower, there is a problem that a large driving force is required for driving up and down or expanding and contracting due to the weight of the motor. A tower-type fire extinguisher in which a pair of motors for nozzle control is arranged at the bottom of the tower has been proposed (JP-A-6-228). In this tower type fire extinguisher, the rotation of each motor for elevation control and turning control provided in the lowermost tower section is controlled by the pair of spline shafts and chains provided in each tower Is transmitted to a pair of spline shafts of the section. Then, the nozzle is controlled in the elevation direction by the rotation of the spline shaft of the uppermost tower section by the elevation control motor. At the same time, the nozzle is controlled in the turning direction by the rotation of the spline shaft of the uppermost tower section by the turning control motor, and the nozzle is directed to the fire source to release the extinguishing agent.

As described above, since it is not necessary to dispose two motors for controlling the elevation angle of the nozzle and the swivel control of the relatively heavy nozzle in the uppermost tower part, the driving force for moving up and down or expanding and contracting the tower can be reduced. The drive mechanism can be downsized and the cost can be reduced.

[0005]

By the way, it has been considered to apply such a conventional tower type fire extinguisher as a fire extinguishing system in a large-scale tunnel for automobiles, for example. When installing a tower-type fire extinguisher in a tunnel, it is usually stored in a position where it does not interfere with the running of the car. Is required to be released.

However, the technical problem of how to install the tower type fire extinguisher in the tunnel and how to operate it in case of fire is still unsolved. It is desired to build a tunnel fire extinguishing system that makes full use of it. Similar problems occur in systems that seek to use tower fire extinguishers other than tunnel fire extinguishing systems.

On the other hand, although a fire hydrant is currently installed as a fire extinguishing system in a tunnel or the like, since the people at the scene at the time of a fire are ordinary people, the fire hydrant is not used to extinguish the fire Therefore, there was a problem that the initial fire extinguishing activities could not be performed. The present invention has been made in view of such circumstances, and properly installs it in a surveillance area such as a tunnel, and operates quickly in a fire to accurately apply a fire extinguishing agent to a fire source such as a fire vehicle. It is an object of the present invention to provide a fire extinguishing robot that uses an elevating or retractable fire extinguishing device that can be discharged.

[0008]

In order to achieve this object, the fire-extinguishing robot of the present invention is constructed as follows. The fire extinguisher robot of the present invention discharges the fire extinguishing agent pressure-supplied from the fire extinguishing agent delivery equipment to the tip end side in a box provided in a monitoring area and provided with a door that can be opened and closed by a door opening / closing mechanism on the front side. The retractable mechanism with the nozzle is stored in a contracted state. In the event of a fire, the control device activates the door opening / closing mechanism to open the box door, then activates the expansion / contraction mechanism to extend it in the direction of the monitoring area, and controls the nozzle drive mechanism to direct the nozzle toward the fire source. Let

The telescopic mechanism of the fire-extinguishing robot is composed of a tower having at least a two-stage telescopic structure and a telescopic drive mechanism for extending and retracting the tower. Further, it may be configured by at least two foldable arms and a drive mechanism for driving the arms to bend. The nozzle is driven to rotate in the horizontal direction by a turning drive mechanism that constitutes the nozzle driving mechanism, and is driven to move in the vertical direction by an elevation angle drive mechanism. In addition, the expansion and contraction mechanism is equipped with a fire source sensor that is interlocked with the rotation drive and elevation drive of the nozzle, and the control device identifies the fire source position based on the detection signal from the fire source sensor, and the fire extinguishing agent from the nozzle is located at the fire source position. The turning drive mechanism and the elevation drive mechanism are controlled so as to reach them.

The control device receives a discharge start instruction and a discharge stop instruction remotely to control the start and stop of the discharge of the extinguishant from the nozzle, and also receives a nozzle drive instruction remotely to control the nozzle drive mechanism. . More specifically, a video camera that interlocks with the swivel drive and elevation drive of the nozzle is provided on the tip side of the expansion and contraction mechanism, and the image taken from this video camera is remotely displayed on a monitor at a disaster prevention center, etc. The discharge start instruction, the discharge stop instruction, and the nozzle drive instruction based on the monitor display are remotely received to control the start and stop of the discharge of the extinguishant from the nozzle, and the swivel drive and elevation drive of the nozzle are controlled.

The door structure may be a door structure in which both sides are opened by an opening / closing mechanism in the front opening of the box. Further, the control device is provided with a synthetic voice output device that outputs a voice alarm when a fire is detected. Such a fire-extinguishing robot of the present invention is normally housed in a box arranged on a wall surface in a tunnel, for example, but when a fire occurs, the door of the box is opened and the telescopic mechanism extends to the monitoring area.
The position of the fire source is detected by a fire source sensor such as an infrared sensor provided on the tip end nozzle side of the expansion and contraction mechanism, and the nozzle is directed toward the fire source by swivel drive and elevation drive. The state of the fire source is captured by a video camera and remotely displayed on the monitor at the disaster prevention center.

[0012] Therefore, when an observer who confirms a fire on the monitor display performs a fire extinguishing start operation, a start instruction is given to the control device, and the extinguishant supplied under pressure from the extinguishant delivery facility is discharged from the nozzle. Is done. When the extinguishant is released and the fire extinguishing can be confirmed on the monitor, the extinguishant is stopped by performing the fire extinguishing stop operation. Also, by issuing a nozzle drive instruction while confirming on the monitor so that the nozzle is directed in the direction of the fire source, the control device causes the nozzle to rotate,
Control elevation drive.

Thus, a rapid and accurate release of extinguishing agent to a fire source such as a vehicle fire in a surveillance area, eg a tunnel, is possible. In addition, the fire extinguishing robot of the present invention,
While monitoring the monitor image from the video camera at a remote place such as a disaster prevention center, it is possible to remotely check the direction of the extinguishant sent to the fire source by the nozzle and adjust if necessary, so
It is possible to accurately release the extinguishing agent to the fire source.

[0014]

1 is an explanatory view showing a first embodiment of a fire extinguishing robot of the present invention applied to a tunnel fire extinguishing system, and a telescopic tower type fire extinguishing robot is taken as an example. In FIG. 1, the telescopic tower unit 1 has a four-stage telescopic tower structure and is normally housed in a box 2 provided on the inner wall of the tunnel. The telescopic tower unit 1 is provided with a nozzle 16 and a video camera 47 at the tip, and operates by either manual activation operation, fire detection by disaster prevention equipment, or fire detection by an infrared sensor provided in the fire extinguishing robot itself,
After extending the tower as shown in the figure, in response to a discharge start instruction from the disaster prevention center, foam or powder fire extinguishing agent is discharged to the fire source.

The box 2 accommodates the telescopic tower unit 1 in a normally contracted state and has a tilting / expanding mechanism 5. In the case of a fire, the tilting / expanding mechanism 5 tilts with the lower part of the box 2 as a fulcrum to open the upper side of the door, and then the expandable tower part 1
Is extended. A speaker 87c and an emergency light 88 are arranged on the front surface of the box 2. A manual start switch 84 and the control unit 3 are arranged near the box 2.

When the manual start switch 84 is operated and the detection level from the infrared sensor provided in the fire extinguishing robot is higher than a predetermined level, the control unit 3 operates from a fire detector, for example, a flame detector installed in the tunnel. The fire extinguishing robot is activated when the fire signal is received from the disaster prevention board that receives the fire signal from the fire prevention board or when the activation signal is received from the disaster prevention center. That is, in the event of a fire, the control unit 3 activates the tilting / stretching mechanism 5 to tilt the box 2 forward as shown in the figure and open it upward, and then extends the telescopic tower unit 1 toward the monitoring area.

Further, an extinguishant delivery facility 4 is provided, which is activated at the time of a fire to supply the extinguishant to the nozzle 16 at the tip of the tower to discharge it. Such a telescopic tower fire extinguishing robot is installed in the tunnel at predetermined intervals. Further, the fire extinguishing agent delivery facility 4 may not be provided for each box 2, but may be provided as a common facility like the conventional fire hydrant facility. A flexible hose (not shown) such as a rubber hose or a bellows hose for delivering the extinguishant is provided between the extinguishant delivery facility 4 and the nozzle 16.

FIG. 2 is an explanatory view of the nozzle drive mechanism when the telescopic tower unit 1 is extended. FIG. 3 shows the tilting / extending mechanism 5 in a retracted state in which the tower is retracted, and FIG. 4 shows the tilting / extending mechanism. 5 is shown with the tower extended. In FIG. 2, the telescopic tower unit 1 is a lowermost first stage tower 11
And a second stage tower 12, a third stage tower 13 and an uppermost fourth stage tower 14 which are provided in the middle. The uppermost fourth-stage tower 14 has a nozzle support portion 15 that can swivel horizontally, and a nozzle that discharges a fire extinguishing agent to the nozzle support portion 15 and that is swivelable in an elevation direction (vertical direction). 16 are provided.

In the lower part of the lowermost first-stage tower 11, an elevation angle control motor 11a for turning the nozzle 16 in the elevation direction and a turning control motor 11b for turning the nozzle 16 in the horizontal direction. Is attached.
In addition, the spline shafts 21a, 21b, 31a, 31b, which are vertically arranged from the second stage to the fourth stage towers 12 to 14,
41a, 41b, and the rotational force of the elevation angle control motor 11a and the turning control motor 11b, the rotational force of the spline shaft 21.
transmission chains 14a and 14b for transmitting to a and 21b,
The rotation of the spline shafts 21a and 21b is controlled by the spline shaft 31.
a, 31b and the transmission chains 22a, 22b and the rotation of the spline shafts 31a, 31b.
It has the transmission chains 32a and 32b which transmit to a and 41b. Therefore, all of the spline shafts 21a to 41b can be swung in the horizontal direction on the vertical axis.

The tip of the spline shaft 41a of the fourth stage tower 14 and the nozzle support portion 15 have a gear 51a for converting the rotation direction of the spline shaft 41a into a swivel in the elevation direction, and the tip of the spline shaft 41b and the nozzle support portion 15. The rotation direction of the spline shaft 41b is the same as that of the nozzle support portion 15
And a gear 51b for transmission to the. Therefore, when the elevation control motor 11a rotates, the nozzle 16 turns in the elevation direction (vertical direction) with respect to the nozzle support portion 15. When the turning control motor 11b rotates, the nozzle 16 turns in the horizontal direction together with the nozzle support 15.

A video camera 46 is provided above the nozzle 16 via a video camera mounting portion 45.
The video camera 46 is interlocked with the displacement in the elevation angle direction and the horizontal direction. Further, two infrared sensors 47 for detecting a vehicle fire or the like are arranged on both sides of the video camera 46. The tower lifting mechanism, as shown in FIG.
Rotating drum 5 for raising and lowering the tower, which is provided in the step tower 11.
5, 56, a wire 57, and rotating drums 63, 64, 73, 74 at the lower and upper portions of the second, third and fourth towers 12, 13, 14, respectively.

The tilting / expanding mechanism 5 is normally stored in the box 2 as shown in FIG.
As shown in FIG. 3, the entire apparatus is tilted in the forward direction to open the door 81a upward, and then the fourth towers 11 to 14 are driven to extend from the first stage of the telescopic tower unit 1. Therefore, the tilting / stretching motor 7 in which the end of the wire 57 is fixed to the drum is used.
5, an arm 76 that is displaced when tilted or stored, a spring 77 that functions when the telescopic tower unit 1 is tilted or stored, and a pulley 78a that is fixed to the wall inside the box 2 and has one end of the arm 76 rotatably attached. have.

Further, a pulley 78b attached to the other end of the arm 76, around which the wire 57 is wound and moves,
The shaft of the pulley 78b has a pulley moving plate 79 that moves in the guide groove M. Further, it has a base 81 that rotates back and forth around the fulcrum member L, and a door 81a of the box 2 is provided in the front direction of the base 81. The door 81a is provided with a transparent window 81b made of a transparent material, and the video camera 4 is provided behind it.
6 and two infrared sensors 47 arranged on both sides thereof are located so that a fire can be monitored.

As shown in FIG. 4, one end of a wire 57 is connected to the drum of the tilting / stretching motor 75 in the tilting / stretching mechanism 5. The other end of the wire 57 is wound around the pulley 78b and the rotating drums 55 to 74 and then moved to the fourth position.
It is fixed to the lower end of the step tower 14. The tilting / expanding mechanism 5 is provided with a limit switch that operates as a door opening / closing detection switch and an expansion / contraction position detection switch. Further, the door open / close detection switch and the expansion / contraction position detection switch may be installed at appropriate places in the box 2.

FIG. 5 shows the operation of the tilting / extending mechanism 5. First, in the initial state, as shown in FIG. 5A, the telescopic tower unit 1 and the tilting / expanding mechanism 5 are completely housed in the box 2, and the door 8
1 is closed. In this stored state, the wire 57 is wound around the drum of the tilting / stretching motor 75, and the retracting tower part 1 and the tilting / stretching mechanism 5 are stored in the box 2 due to the contraction elasticity of the spring 77.

FIG. 5B shows a starting operation at the time of fire. First, when the tilting / stretching motor 75 is rotated clockwise,
The wire 57 wound around the drum is loosened, and the base 8 on which the heavy telescopic tower unit 1 and the tilting / extending mechanism 5 are placed
1 tilts forward with the fulcrum member L as a fulcrum, and the door 81a is opened upward. By tilting forward, the pulley 78b
Axis moves along the guide groove M of the pulley moving plate 79,
By stopping at the upper end portion of the guide groove M, tilting is restricted and the door 81a is set in an open state.

FIG. 5C shows the extension operation of the tower after opening the door 81a. In this case, the tilting / stretching motor 75 is rotated counterclockwise. By this reverse rotation, the wire 57 is wound around the drum of the tilting / stretching motor 75, and the second stage, the third stage, and the fourth stage towers 12 to 14 of the telescoping tower unit 1, as shown in FIG. It rises and extends against the lower tower.

In the storing operation after the fire is extinguished, the retractable tower section 1 is retracted and stored in the box 2 together with the tilting / extending mechanism 5 by the operation opposite to that at the time of startup, the box 2 is returned to the initial position, and the door 81a is opened. Closes. . FIG. 6 is a system block diagram showing the entire system including the fire extinguishing robot. In FIG. 6, the control unit 3 includes ROM, RA
Control unit 82 including M, CPU and I / O circuit, voice synthesis unit 87a, amplifier 87b and communication I / F circuit 9
1a is provided.

Further, with respect to the control unit 3, the equipment on the side of the box 2 is an elevation angle control motor 11a, a turning control motor 11b, a video camera 46, a pair of infrared sensors 47, a tilting / stretching motor 75, and a fire extinguishing agent delivery device. An electric valve 83 for sending out the extinguishing agent from the equipment 4 to the nozzle 16, a manual start switch 84, a door opening / closing detection switch 85, an expansion / contraction position detection switch 86 for detecting expansion / contraction of the tower, an emergency light 88 blinking when a fire occurs, and a speaker 87c. It is provided.

Further, a VTR 90 is connected to the control unit 3 and records a fire condition photographed by the video camera 46. The fire detection in the control unit 82 of the control unit 3 is determined by the manual start switch 83 provided on the box 2 side.
Is performed based on the activation signal from the infrared sensor 47, the detection signal from the infrared sensor 47, and the transfer signal from the disaster prevention board 150 installed in the tunnel. The disaster prevention board 150 connects the fire detectors 152a to 152n installed in the tunnel, and when receiving the fire detection signal, outputs a transfer signal to the control unit 3. As the fire detector, a fire detector such as smoke or heat or a flame detector is used.

The detection signal from the infrared sensor 47 is compared by the CPU of the control unit 82 to determine whether the detection level is higher than a predetermined threshold value. If the detection level is higher than the threshold value, it is determined that a fire has occurred and the fire extinguishing robot is activated. The control unit 3 is connected to the disaster prevention center 140 side via the communication I / F circuit 91a. The communication I / F circuit 91a is connected to the I / O circuit of the controller 82 for input / output connection, the video camera 46 for input connection, and the speaker 87c for output.

A disaster prevention center monitor panel 92 is installed in the disaster prevention center 140, and is connected to the control unit 3 via the communication I / F circuit 91b. For the communication I / F circuit 91b, a monitor 93 for displaying a video signal from the video camera 46, a remote operation device 94 for controlling start and stop of the fire extinguishing robot, nozzle orientation control, and the like, and an amplifier 156 are used. Microphone 154 is connected.

Next, the operation and function of the first embodiment will be described. FIG. 7 is a flowchart showing the processing procedure of the operation of the first embodiment. In FIG. 7, in the steady monitoring state, in step S1, the control unit 3
The control unit 82 of the acquisition of the activation signal of the manual activation switch 84, the detection signal of the infrared sensor 47, the disaster prevention panel 1
Acquisition of transfer signals from 50, and disaster prevention center 140
The process of checking whether or not a fire has occurred is repeated in step S2. In the case of the activation signal of the manual activation switch 84, the transfer signal from the disaster prevention panel 150, and the activation signal from the disaster prevention center 140, it is immediately determined that there is a fire, and the detection signal of the infrared sensor 47 has a preset threshold level. If it exceeds, it is judged as a fire.

In this state, as shown in FIG. 8A, if a vehicle fire occurs and the manual start SW 84 provided near the box 2 is turned on, for example, step S
An ON signal accompanying the ON operation of the manual activation SW 84 is fetched in 1 and a fire occurrence is judged in step S2. Next, in step S3, the control unit 82 controls the voice synthesis unit 87a.
The fire alarm synthetic voice is output from the speaker 87c arranged in front of the box 2 in FIG. 1 through the amplifier 87b, and the emergency light 88 is blinked. For example, a synthetic voice such as “A fire has occurred. The fire extinguishing agent will be released. Be careful” is given. At the same time, the disaster prevention center control panel 92 is informed of the occurrence of a fire, an alarm is displayed, and the activation of the fire-extinguishing robot is notified.

Next, in step S4, the control section 82 performs start control for rotating the tilting / extending / contracting motor 75. In this case, as shown in FIG. 5A, the telescopic tower unit 1 and the tilting / expanding mechanism 5 are housed in the box 2 in the initial state. In this stored state, the wire 57 is wound around the drum of the tilting / stretching motor 75, and the retracting elasticity of the spring 77 causes the telescoping tower unit 1 and the tilting / stretching mechanism 5 to move to the box 2.
Is stored in.

In this initial state, the control unit 82 operates as shown in FIG.
As shown in FIG. 5, when the tilting / extending motor 75 is rotated in the clockwise direction, the wire 57 wound around the drum is loosened, and the heavy telescopic tower unit 1 and the tilting / extending mechanism 5 are placed on the base. The platform 81 tilts forward with the fulcrum member L as a fulcrum. By tilting forward, the shaft of the pulley 78b moves along the guide groove M of the pulley moving plate 79 and stops at the upper end terminal portion of the guide groove M, whereby tilting is restricted and the door 81a is set in the open state. To be done.

Next, in step S5, the control unit 82 causes the door 81 to
It is determined whether or not the ON signal of the door open / close detection switch 85 for detecting the opening / closing of a is taken. When the complete opening of the door 81a is detected, the control unit 82 rotates the tilting / extending / contracting motor 75 in the counterclockwise direction as shown in FIG. 5C in step S6. By this reverse rotation, the wire 57 is wound around the drum of the tilting / stretching motor 75, and the telescoping tower unit 1 shown in FIG.
2nd, 3rd and 4th stage towers 12-14 of FIG.
It rises as shown in (b).

Next, in step S7, the control section 82 takes in the signal from the telescopic position detection switch 86, and the second to fourth towers 12 to 14 of the telescopic tower section 1 have the maximum height,
Alternatively, it is determined whether or not the height is set to a predetermined height.
When the detection signal of the expansion / contraction position detection switch 86 is fetched, the control unit 82 calculates the horizontal direction of the fire source based on the detection signals from the pair of infrared sensors 47 in step S8.

For example, while the nozzle 16 is swiveling horizontally, the two sensor detection levels are monitored, and the position where both detection levels are substantially the same is detected at the horizontal detection position, for example, the horizontal swivel angle α with respect to a predetermined reference direction. To detect. Subsequently, in step S9, in order to detect the elevation direction, the detection level is monitored while rotating the nozzle 16 in the elevation direction at the horizontal fire source detection position, and the position where the peak level is obtained is detected in the elevation direction. That is, the elevation angle β with the horizontal or vertical direction as the reference direction is detected.

When the position of the fire source can be detected from the horizontal direction and the elevation angle in this way, the emission direction is corrected with consideration given to a parabolic curve or the like when the extinguishant is emitted from the nozzle 16 to the fire source in step S10. Is determined, and the nozzle 16 is swung in the vertical direction determined in step S11, and further, the nozzle 16 is swung in the horizontal direction determined in step S12, and the preparation for discharging the extinguishant is completed.

A pair of horizontally arranged infrared sensors 47
If each can be individually turned in the horizontal direction, the distance from the fire source detection angle of each sensor to the fire source can be calculated. If the distance to the fire source can be calculated, it becomes possible to more accurately determine the discharge direction in which the fire extinguisher can reach the fire source by adjusting the discharge pressure of the fire extinguisher and adjusting the elevation angle of the nozzle. The preparation of the fire extinguishing agent for the fire extinguishing agent is notified to the disaster prevention center monitor board 92, and the fire extinguishing robot preparation completion is displayed. Therefore, when the monitor confirms the image of the fire scene captured by the video camera 46 on the monitor 93 and determines that the extinguishing agent needs to be discharged, he or she operates the discharge start switch provided in the remote control device 94 to control the control unit. The emission start signal is sent to 3. When the control unit 82 receives the release start signal in step S13, the control unit 82 controls the motor-operated valve 83 to open the valve. As a result, the motor-operated valve 83 is opened, and the extinguishant delivery facility 4
The extinguishant supplied under pressure from the nozzle 16 is discharged toward the fire source from the nozzle 16.

The discharge state of the extinguishing agent by the extinguishing robot is
The video camera 46 is displayed on the monitor 93 of the disaster prevention monitoring center 140.
The situation of the scene can be grasped and the necessary adjustment of the nozzle 16 can be appropriately performed according to the fire situation. For example, when the fire extinguishing agent released due to the wind direction in the tunnel does not reach the fire source sufficiently or when there is an obstacle such as a vehicle, the remote control device 94 is operated to blow the extinguishing agent released from the nozzle 16 to the wind. The swivel control motor 11b is controlled so that the nozzle 16 is swung out from above, and the elevation angle control motor 11a is controlled so that the fire extinguishing agent is discharged from above the obstacle. To do.

When it is necessary to instruct a person on site to evacuate the fire extinguishing agent by using the fire extinguishing robot, the microphone 154 installed in the disaster prevention center 140 is used to provide the fire extinguishing robot. A voice instruction can be given from the speaker 87. During the release of the extinguishing agent, it is checked in step S15 whether or not there is a release stop signal from the disaster prevention center 140 side. If the fire extinguishing can be confirmed from the image on the monitor 93 at the disaster prevention center 140, a release stop signal is sent by the release stop operation of the remote control device 94, and the discharge operation is stopped in step S16 to stop the release operation.

This operation is stopped only by, for example, closing the motor-operated valve 83, and is set in a standby state for re-emission, which can be dealt with in the case of burning again after thinking that the fire has been extinguished. Therefore, the extinguishant can always be re-released even when the operation of step S16 is stopped. Finally, the fire-extinguishing robot is stopped by operating a recovery switch or the like after confirming that the fire has been extinguished.

The recovery operation when the recovery switch is operated is the reverse operation of FIG. 5, the tilting / extending motor 75 is rotated in the opposite direction, and the wire 57 is wound around the drum of the tilting / extending motor 75. . That is, the telescopic tower unit 1 is contracted and the tilting / expanding mechanism 5 is operated by the operation opposite to that at the time of starting fire extinguishing.
Is stored in the box 2, and the box 2 returns to the initial position.

Further, when the fire-extinguishing robot is operating, the state of the fire photographed by the video camera 46 is recorded by the VTR 90, which can be used later for analysis of the vehicle fire situation and investigation of the cause. Here, the discharge of the extinguishing agent from the nozzle 16 is started by a discharge start signal from a remote place such as the disaster prevention center 140, but since the disaster prevention center 140 may be unattended, in this case, It is also possible to automatically start extinguishing agent by setting the automatic mode with the operation device 94 or the like. When the release of the extinguishing agent is started in this automatic mode, the release is automatically stopped when the output level from the infrared sensor 47 serving as the fire source sensor becomes lower than a predetermined threshold value, so that water loss, etc. Can reduce the effect of.

The monitor 93 of the disaster prevention center 140 monitors the image of the surveillance area from the video camera 46 arranged behind the transparent window 81b provided on the door 81a of the box 2.
If it is confirmed that a fire has occurred, control unit 3
Start signal to the control unit 82 of the
By sending control signals such as an elevation angle control signal and a discharge start / stop signal, the fire-extinguishing robot can be completely remotely controlled to perform the fire extinguishing operation.

FIG. 9 is an explanatory diagram of the second embodiment of the present invention. The second embodiment is an arm-type fire extinguishing robot using an arm portion 101. The arm portion 101 is equipped with a discharge nozzle 116 and a video camera 120. When a fire is detected, the arm portion 101 extends as shown in FIG. Emit extinguishing media. Further, similar to the first embodiment, an openable / closable box 102 for accommodating the arm portion 101, a control unit 103 for performing manual activation or automatic activation and control for manually or automatically opening / closing the box 102, and delivery of a fire extinguishing agent A fire extinguishant delivery facility 104 is provided. Further, the door of the box 102 is opened and closed, and the arm 10
An opening / closing mechanism (not shown) for tilting the entire unit 1 is provided.

FIG. 10 shows the arm type fire extinguishing robot according to the second embodiment in a stored state. In FIG. 10, box 10
The arm portion 101 is housed inside the
Reference numeral 1 has a first arm 106 and a second arm 107 that are connected so as to be bendable. Furthermore, the arm unit 10
1 is tilted forward together with the box 102, and a tilting / uprighting drive mechanism 110 that drives the first arm 106 to rise, and a second arm 107 that is provided with a bendable portion at the tip of the second arm 107. It has a nozzle support portion 111 housed in the space of the arm 107.

Further, the nozzle 11 is mounted on the nozzle supporting portion 111.
6, a swivel drive unit 117 having a swivel control motor (not shown) for swiveling the nozzle 116 in the horizontal direction and an elevation angle drive unit 118 having an elevation angle control motor for swiveling in the elevation direction are provided in the lower portion. There is. Further, the video camera 120 is attached to the upper part of the elevation drive unit 118, and the pair of infrared sensors 1 are provided on both sides of the video camera 120.
21 are arranged.

The first and second arms 10 of the arm portion 101
6, 107 and the nozzle support portion 111 are shown in FIG.
As shown in FIG. Therefore, the first and second arms 106 and 107 and the nozzle support portion 111 have a built-in motor mechanism for setting the bent state or the straight state. Also, the first and second arms 106, 1
07 and a wire are provided inside the nozzle support portion 111, and the wire is wound by the tilting / upright drive mechanism 110, or
By loosening, the first and second arms 106, 107
The nozzle support portion 111 may be set in a bent state or a linear state. This mechanism is arm 101
It may be selected in consideration of the weight and length of the.

A flexible hose (not shown) such as a rubber hose or a bellows hose for delivering the extinguishant through the first and second arms 106 and 107 and the nozzle support 111 is provided between the extinguishant delivery facility 104 and the nozzle 116. It is provided. Here, the control unit 103 is basically the same as that of the first embodiment shown in FIG. 5, but in addition to the block configuration of FIG. 5, the bending state of the first and second arms 106 and 107 and the nozzle support portion 111 or A motor for setting the linear state is provided.

Next, the operation and function of the second embodiment will be described. FIG. 11 is a view showing a fire extinguishing state of the arm-type fire extinguishing robot according to the second embodiment. In FIG. 11, the second
The operation of the embodiment is basically the same as that of the first embodiment.
First, when the occurrence of a fire is detected, for example, when the detection level of the infrared sensor 121 becomes equal to or higher than a threshold value, the tilt / rise drive mechanism 110 operates to tilt the box 102 forward. Then, the first and second arms 106 and 107 are extended and raised. After that, the fire source position is determined, and the discharge direction of the nozzle 116 is calculated in the same manner as in the first embodiment,
When the discharge activation signal is received, the extinguishing agent is delivered to the fire source.

At the time of restoration after the completion of the fire extinguishing activity, the first and second arms 106, 1 are operated by the operation opposite to that at the start-up.
07 and the nozzle support 111 are folded to form the box 102.
Then, the box 102 is closed in the initial position. FIG.
2 is another embodiment of the storage box used in the fire-extinguishing robot of the present invention, which is characterized by having a double-door structure.

In the front view of FIG. 12A, hinges 166a to 166d are provided on the front side of the main body 160 of the box 2.
Therefore, the two doors 162 and 164 are provided so as to open at the center. In front of the doors 162 and 164, an emergency light 16
8,170 are installed. A manual activation switch 172 is installed on the side of the door 164. The door opening / closing mechanism is the door 16
A motor 172 and a link arm 174 are provided in the lower left corner of the No. 2, and a motor 176 and a link arm 178 are similarly provided in the upper right corner of the door 164, which is a diagonal position. In this door opening / closing mechanism, as shown in the plan view of the internal structure of FIG. 12B, for example, in the lower left corner, one end of an L-shaped link arm 174 is attached to the rotation shaft of the motor 172 and the other end is attached. Door 1
It is fitted in the guide groove 180 of 62.

In the upper right corner, one end of an L-shaped link arm 178 is pivotally attached to the rotating shaft of the motor 176, and the other end is fitted in the guide groove 182 of the door 164. Door 16
A stopper 184 fixed to the door 162 side is provided inside the center mating portion of 2,164. To open the door, first rotate the motor 176 counterclockwise to open the door 164.
Open like 4 '. Subsequently, the motor 172 is rotated clockwise to open the door 162 like 162 '. Door closure
In the reverse order, the motor 172 is first rotated clockwise to close the door 162 'like 162, and then the motor 17
6 is rotated clockwise to close the door 164 'like 162. Incidentally, the door structure of the box may be any structure such as a structure that slides vertically or horizontally as another embodiment.

The fire-extinguishing robot of the present invention is not limited to the tunnel fire-extinguishing system, but can be applied to the fire-extinguishing system of an appropriate structure having a wide space.

[0058]

As described above, according to the fire extinguishing robot of the present invention, the fire extinguishing agent is stored in a box in a normal state, and when a fire occurs, the tower or the arm is extended and the nozzle is directed toward the fire source. As a result, the extinguishing agent can be quickly and accurately released to a fire source such as a vehicle fire in a surveillance area such as a tunnel.

Further, according to the fire extinguishing robot of the present invention, while monitoring the monitor image from the video camera at a remote place such as a disaster prevention center, it is possible to appropriately start and stop the extinguishing agent, control the nozzle direction, etc. Efficient fire extinguishing can be done quickly.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a tunnel installation state of a fire extinguishing robot according to a first embodiment of the present invention.

FIG. 2 is an explanatory view of a state in which the telescopic tower unit is extended in the embodiment of FIG.

FIG. 3 is an explanatory view of a state in which the telescopic tower unit is contracted in the embodiment of FIG. 1.

FIG. 4 is a side view showing a lifting mechanism of the tower of FIG.

5 is an explanatory view of the operation of the tilting / extending mechanism of FIG.

6 is a system block diagram of FIG.

FIG. 7 is a flowchart of operation processing of the embodiment of FIG.

8 is an explanatory diagram showing a fire extinguishing operation against a vehicle fire in the tunnel according to the embodiment of FIG.

FIG. 9 is an explanatory diagram showing a configuration of an arm-type fire extinguishing robot according to a second embodiment of the present invention.

FIG. 10 is an explanatory diagram of a stored state of the arm fire extinguishing robot according to the second embodiment of FIG. 9.

FIG. 11 is an explanatory diagram of a fire extinguishing state of the arm-type fire extinguishing robot according to the second embodiment of FIG. 9.

FIG. 12 is an explanatory view of another embodiment of the box used for storing the fire-extinguishing robot of the present invention.

[Explanation of symbols]

 1: Telescopic tower section 2, 102: Box 3, 103: Control unit 4, 104 :: Extinguishant delivery facility 5: Tilt / extend mechanism 11: First stage tower 12: Second stage tower 13: Third stage tower 14 : Fourth stage tower 15: Nozzle support 16: Nozzle 11a: Elevation control motor 11b: Turning control motor 46,120: Video camera 47,121: Infrared sensor 57: Wire 75: Tilt / expansion / contraction motor 80: Base Platform 81a, 162, 164: Door 82: Control unit 84, 172: Manual start switch 88, 168, 170: Emergency light 90: VTR 92: Disaster prevention center monitoring panel 93: Monitor 94: Remote operation device 101: Arm unit 106: 1st arm 107: 2nd arm 110: Tilt / rise drive mechanism 117: Turning drive part 118: Elevation angle drive part 150: Disaster prevention board 1 4: Mike 172, 176: Motor 174 and 178: link arm

Front page continuation (72) Inventor Teruo Iwata 2-1043 Kamiosaki, Shinagawa-ku, Tokyo Within Hochiki Co., Ltd. (72) Inventor Giant Hashimoto 4-48-11 Minamiosawa, Hachioji, Tokyo (72) Inventor Kokanazawa Kouichi 324-18 Imaichi, Yorii Town, Osato District, Saitama Prefecture

Claims (11)

[Claims] 1. A box provided in a surveillance area, which is provided with a door that can be opened and closed, a door opening / closing mechanism for opening the door of the box in the event of a fire, and a surveillance area that is housed in the box in a compressed state and is in the fire area. A telescopic mechanism that extends in the direction, a nozzle that is provided on the tip side of the telescopic mechanism and that discharges the fire extinguishing agent supplied under pressure from the fire extinguishing agent delivery facility, and the door opening / closing mechanism is activated in the event of a fire to open the box door. A fire extinguishing robot, comprising: a control device for activating the expansion mechanism to extend in the direction of the monitoring area and controlling the nozzle driving mechanism to direct the nozzle toward the fire source after . 2. The fire-extinguishing robot according to claim 1, further comprising: a tower having at least two stages of a telescopic structure as the telescopic mechanism, and a telescopic drive mechanism for extending and retracting the tower. Characteristic fire extinguishing robot. 3. The fire-extinguishing robot according to claim 1, wherein the extendable mechanism includes at least two foldable arms and a drive mechanism for driving the arms to bend. Fire extinguisher robot. 4. The fire extinguishing robot according to claim 1, wherein the nozzle driving mechanism includes a swivel driving mechanism that swivels the nozzle in a horizontal direction, and an elevation angle driving mechanism that swivels the nozzle in an elevation angle. ,
A fire-extinguishing robot characterized by having. 5. The fire-extinguishing robot according to claim 4, wherein the telescopic mechanism includes a fire source sensor that is interlocked with swivel drive and elevation drive of the nozzle, and the control device detects from the fire source sensor. A fire-extinguishing robot characterized in that a fire source position is specified based on a signal, and the turning drive mechanism and the elevation angle drive mechanism are controlled so that the fire extinguishing agent from the nozzle reaches the fire source position. 6. The fire-extinguishing robot according to claim 1, wherein the control device remotely receives a discharge start instruction and a discharge stop instruction to control start and stop of discharge of the extinguishing agent from the fire extinguishing nozzle. Fire extinguishing robot characterized by. 7. The fire-extinguishing robot according to claim 1, wherein the control device remotely receives a nozzle drive instruction to control the nozzle drive mechanism. 8. The fire-extinguishing robot according to claim 1, wherein the telescopic mechanism includes a video camera, which is interlocked with a swivel drive and an elevation drive of the nozzle, on a tip end side, and a captured image from the video camera is remotely controlled. Is displayed on the monitor, and the control device
A fire-extinguishing robot characterized by remotely controlling the start and stop of extinguishing agent from the fire extinguishing nozzle by receiving a discharge start instruction and a discharge stop instruction based on the monitor display. 9. The fire-extinguishing robot according to claim 8, wherein the nozzle driving mechanism is controlled remotely by receiving a nozzle driving instruction, and the nozzle is driven to rotate or rise in angle. 10. The fire-extinguishing robot according to claim 1,
A fire-extinguishing robot comprising a door structure that is opened by the opening / closing mechanism at a front opening of the box. 11. The fire-extinguishing robot according to claim 1,
The fire extinguishing robot, wherein the control device includes a synthetic voice output device that outputs a voice alarm when a fire is detected.