JPH10165535A - Fire robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an in-tunnel fire robot by which discharged fire extinguishing water is prevented from being deviated from a fire source position by the influence of wind. SOLUTION: The robot is provided in a tunnel and is provided with al fire extinguishing water discharge means 13, a fire source position measuring means 22 and a wind direction and speed measuring means 50. A means 17 for storing the fire source position and the reference values of wind direction and speed is provided. Moreover, the means 13 and 15 for controlling the discharge direction and/or the discharge pressure of fire extinguishing water based on a measurement values measured by the fire source position measuring means 22 and the wind direction and speed measuring means 50 and the reference values stored in the storage means 17.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire robot that is installed in a fire protection area and that moves near a fire spot to extinguish a fire during a fire.

[0002]

2. Description of the Related Art A fire robot of this type is equipped with fire extinguishing means such as fire extinguishing water discharging means, a fire source sensor, a traveling device, and the like.

[0003] A conventional fire robot is configured to operate fire extinguishing means such as discharging fire extinguishing water toward a fire source position specified by a fire source sensor when a fire occurs and a fire source position is reached. I have.

[0004]

However, if a wind blows in a fire protection target area where a fire robot is installed, for example, a tunnel, etc., the fire extinguishing means sufficiently obtains a fire extinguishing effect by the influence of the wind. You may not be able to do it. For example, if fire extinguishing water is released as fire extinguishing means, if the wind is blowing, even if the fire extinguishing water is released toward the fire source position, the released fire extinguishing water may be washed away by the wind However, if the fire water swept away by the wind deviates from the fire source position, the fire-extinguishing effect due to it can hardly be expected.

SUMMARY OF THE INVENTION In view of the above circumstances, it is an object of the present invention to provide a fire robot which can sufficiently obtain a fire extinguishing effect by a fire extinguishing means even if it is affected by wind blowing in a fire protection target area.

[0006]

According to a first aspect of the present invention, there is provided a fire extinguishing water discharging means, a fire source position measuring means, and a wind direction and a wind speed measuring means. And a means for storing a reference value of a fire source position, a wind direction and a wind speed, and further, a measurement value measured by the fire source position measuring means and the wind direction and a wind speed measuring means, and stored in the storage means. A fire robot comprising: means for controlling the direction and / or pressure of the fire extinguishing water based on the reference value set for the fire.

According to a second aspect of the present invention, there is provided fire extinguishing water discharging means, fire source position measuring means, wind direction and wind speed measuring means, and further, wind direction and wind speed, fire extinguishing water discharging direction and discharge. Pressure, and means for storing a reference value in which fire water reaches the position, furthermore, the measurement value measured by the fire source position measuring means and the wind direction and wind speed measuring means, and the storage means A fire robot is provided with means for controlling the direction and / or pressure of the fire extinguishing water based on a stored reference value.

According to a third aspect of the present invention, there is provided a refractory sheet injecting means for injecting a refractory sheet so as to cover an upper portion of the fire source, a fire source position measuring means, a wind direction and a wind speed measuring means, A means for storing a reference value of a fire source position, a wind direction and a wind speed, and further, a measurement value measured by the fire source position measuring means and the wind direction and a wind speed measuring means, and stored in the storage means. A means for controlling the direction and / or pressure of injection of the refractory sheet based on the reference value.

According to a fourth aspect of the present invention, there is provided a refractory sheet injecting means for injecting a refractory sheet so as to cover an upper portion of the fire source, a fire source position measuring means, a wind direction and a wind speed measuring means, Means for storing a reference value in which a wind direction and a wind speed, an injection direction and an injection pressure of a refractory sheet, and an arrival position of a refractory sheet are stored. Further, the fire source position measuring means and the measurement of the wind direction and the wind speed are provided. The fire robot according to claim 1, further comprising means for controlling an injection direction and / or an injection pressure of the refractory sheet based on a measured value measured by the means and a reference value stored in the storage means.

According to a fifth aspect of the present invention, fire extinguishing water discharging means, fire-resistant sheet emitting means for projecting a fire-resistant sheet so as to cover an upper part of the fire source, fire source position measuring means, wind direction and wind speed are defined. And a means for storing a reference value of a fire source position, a wind direction and a wind speed,
Means for controlling the discharge direction and / or discharge pressure of the fire extinguishing water based on the measurement values measured by the fire source position measuring means and the wind direction and wind speed measuring means, and a reference value stored in the storage means. Means for controlling the injection direction and / or injection pressure of the refractory sheet.

According to a sixth aspect of the present invention, there is provided a fire extinguishing water discharging means, a refractory sheet injecting means for injecting a refractory sheet so as to cover an upper portion of the fire source, a fire source position measuring means, a wind direction and a wind speed. Measuring means, and a fire source position, a wind direction and a wind speed, a fire extinguishing water discharge direction and a discharge pressure, a fire extinguishing water reaching position, a fire-retarding sheet ejection direction and an injection pressure, and a fire-retarding sheet reaching position. And a means for storing a reference value relative to, further, a measurement value measured by the fire source position measurement means and the wind direction and wind speed measurement means,
A means for controlling the direction and / or pressure of the fire extinguishing water based on the reference value stored in the storage means; and a means for controlling the direction and / or pressure of the fire-resistant sheet. There is a fire robot.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION
A monorail was provided on the upper side of or directly above the side wall, and the rail was provided with a fire extinguishing nozzle as fire extinguishing water discharging means.
A fire robot will be provided. This fire robot is provided with, for example, an impeller sensor type measuring device as a wind direction and wind speed measuring device, and a television camera as a fire source position measuring means, for example. Further, the control device of the fire robot is provided with a CPU, a ROM, a RAM, and the like, and the ROM stores a reference value of a fire source position, a wind direction and a wind speed.

When a fire occurs, the fire robot measures the wind direction and the wind speed by the wind direction and wind speed measuring device at the stop position near the fire source, and determines the positional relationship between the robot and the fire source position. Is measured and stored in the RAM of the control device. The measured value is compared with a reference value stored in the ROM of the control device to determine the strength of the wind and the distance of the fire source position. In accordance with the result determined here, the discharge direction and / or discharge pressure of the fire extinguishing water is appropriately corrected and controlled so that the arrival position of the fire extinguishing water matches the fire source position.

By doing so, it is possible to prevent the extinguishing agent from deviating from the fire source under the influence of wind.

Further, as another embodiment, the first
In the embodiment, the reference value stored in the ROM of the control device is measured in advance, and the wind direction and the wind speed, the fire water discharge direction and the discharge pressure, the arrival of the robot body and the fire water are obtained. The positional relationship between the positions, that is, the distance and the direction between the two are set as reference values that are made relative to each other. In particular,
For example, when the values of the wind direction and the wind speed are X, and the values of the fire water discharge direction and the discharge pressure are Y, the positional relationship between the robot body and the fire water arrival position, that is, the distance and direction values between the two. Is Z, the values of X, Y, and Z are set as reference values associated with each other. When a fire occurs, the reference value and a measured value of a wind direction and a wind speed, which are measured at a stop position near a fire source and stored in a RAM in the control device,
And, the positional relationship between the robot body and the fire source position, i.e., the distance and direction between the two, are compared with the measured values, the wind direction and wind speed at the reference value and the wind direction and wind speed at the measured value match, and The positional relationship between the robot body and the fire water arrival position at the reference value, that is, the distance and direction between the two, and the positional relationship between the robot body and the fire source position at the measured value, that is, the distance and direction between the two, , The discharge direction and discharge pressure of the fire extinguishing water at the reference value are derived, and based on that, the discharge direction and / or discharge pressure of the fire extinguishing water is corrected and controlled, and the arrival position of the fire extinguishing water matches the fire source position. To do.

Further, as another embodiment, a fire-resistant sheet is provided so as to shield the upper part of the fire source in place of or in addition to the fire extinguishing water discharging means in the first or second embodiment. Injection means for an injectable fire-resistant sheet, for example, a storage section for folding and storing the fire-resistant sheet in a deployable state to shield the upper part of the fire source, and a pair of injections at least at the corners at both ends on the drawer side of the fire-resistant sheet. The weights are connected, and an injection device for the injection weight is provided. When the fire-resistant sheet is injected, the discharge direction and / or the pressure of the fire-extinguishing water in the first or second embodiment are corrected. Thus, the injection direction and / or the injection pressure of the refractory sheet is corrected so that the arrival position of the refractory sheet matches the fire source position.

[0017]

【Example】

[First Embodiment] A monorail 30 is provided on the upper side wall of a tunnel, and a fire robot 10 is provided on the monorail 30 via wheels 11.

The fire robot 10 is, for example, a fire fighting robot for fire fighting and fire monitoring.
Plural numbers are arranged at intervals on zero.

The monorail 30 is provided with a plurality of robot stations 31 at which the fire robot 10 stands by at intervals. The robot station 31 is an openable and closable box.

The monorail 30 has a predetermined interval, for example,
Moving fixed points 32 are provided at 25 m intervals. The movement fixed point 32 is a stop position when the fire robot 10 moves for fire extinguishing or fire monitoring.

Fire Robot (Mobile Robot Body) 1
0, a storage battery 20 is provided.
Supplies power to the electric motor 12, the motor 21 for controlling the direction of the monitor nozzle 13, the electric pump 15, the control device 17, the transceiver 18 with the antenna 19, and the like. 50 is a wind direction and wind speed measuring device, and 22 is a television camera as a fire source position measuring means. Wind direction and velocity measuring device 5
In this embodiment, a measurement device of the impeller sensor type is used as 0. The impeller sensor type measuring device detects the direction of the impeller, which changes with the wind, and the number of revolutions of the impeller, which rotates with the wind, as a pulse signal with a proximity switch or photoelectric switch, and converts it into wind direction and wind speed. It is to do. This impeller sensor type measuring device can perform accurate measurement even under high temperature conditions, and is suitable for use in a fire scene.

The electric motor 12 drives the fire robot 10 by rotating the wheels 11 forward / reverse via a chain or the like. The electric pump 15 is provided on the connecting pipe 16, and the connecting pipe 16 is connected to the receiving pipe section 130 via the stretching device 23. The receiving pipe section 130
Is provided with a contact type fluid coupling 110 at the tip thereof.

Reference numeral 40 denotes a fire extinguishing agent storage unit, 41 denotes a control panel to which a fire receiver 44 and a transceiver 42 having an antenna 43 are connected, 45 denotes a connection to the fire receiver 44, and a space between the fire receiver 44 and the side wall of the tunnel. Each shows a plurality of fire detectors. As a fire detector, for example, heat,
There are various sensors based on smoke, light of flame, gas, smell, etc.
It is appropriately selected as needed.

The supply pipe 100 is disposed along the monorail 30, and the pipe 100 is provided with a plurality of supply pipe sections 120 corresponding to the moving fixed points 32. The supply pipe section 120 is provided with a valve 135 and a contact type joint 110.

The contact type fluid coupling 110 is connected to the supply pipe 12
0 and a receiving pipe section 130.

The fire robot 10 has its control device 17
And a CPU, a ROM, a RAM, and the like.
The control unit 17 is configured to control each operation unit of the robot 10 according to an instruction from the control unit 1 or independently by the control device 17.

In the control device 17, the ROM stores the positional relationship between the main body of the robot 10 and the fire source position, that is, the distance and direction between the two, and the wind speed and direction in the tunnel in advance. Stored reference values.

When the fire receiver 44 receives fire information, for example, a fire signal from the fire detector 45, the fire occurrence point is determined based on the fire signal and the information is transmitted to the control panel 41.
Output to

The control panel 41, based on the information of the fire occurrence point, controls the nearest fire robot 10 to the fire occurrence point.
Is specified and determined, and the specific information and the wind direction and wind speed measurement command are wirelessly output to the robot 10 via the transceiver 42.

When the fire robot 10 receives the specific information and the command to measure the wind direction and the wind speed, the fire robot 10 measures the wind direction and the wind speed by the wind direction and the wind speed measuring device 50, and wirelessly controls the measured values via the transceiver 18. Output to the board 41.

The control panel 41 receives the measured values of the wind direction and the wind speed, and is located on the windward (sometimes leeward) with respect to the fire occurrence point and the moving fixed point 32 closest to the fire occurrence point. Is determined, and information on the movement fixed point 32 and a movement command are wirelessly output to the fire robot 10 via the transceiver 42.

Here, as a method of specifying the fire robot 10, if the address output from the control panel 42 and the self address stored in each fire robot 10 match, the robot 10 determines the fire occurrence point. A method of receiving information and movement instructions is employed.

When the control device 17 of the fire robot 10 specified by the control panel 41 receives the fire occurrence point information, the movement command, and the information of the movement fixed point 32 to be stopped,
A movement stop point 32 which is a movement fixed point 32 to stop the fire robot 10 from the robot station 31 by rotating the electric motor 12 forward or backward by using the storage battery 20 as a power source.
Move to a.

Here, as a method of determining the movement stop point 32a which is the movement fixed point 32 at which the robot 10 should stop, for example, a protrusion (not shown) is provided at the movement fixed point 32, and a microswitch (not shown) is provided at the robot 10. Each time the microswitch passes the moving fixed point, the contact is closed to output a fixed point signal, and the fixed point signal is detected.
The movement stop point 32a is determined by counting the number of passed movement fixed points.

The control device 17 stops the electric motor 12 when it moves to the movement stop point 32a. At this time, the fact that the vehicle has stopped at the movement stop point 32a may be transmitted to the control panel 41.

When the control panel 41 receives a stop signal when the fire robot stops, the operator can control the control panel 41.
To send a rotation command of the television camera 22 to the robot 10 wirelessly.

When the television camera 22 rotating up, down, left, and right displays a fire spot, the control panel 41 sends a command to stop the rotation of the monitoring television camera 22.

Here, the television camera 22 is swung up, down, left, and right to project a fire spot in the center of the television camera 22. At this time, if the operator determines from the image that a fire has occurred, the control panel 41 wirelessly sends a fire determination command and a command for measuring the wind direction and wind speed by the wind direction and wind speed measuring device 50 to the robot 10.

The control device 17 of the fire robot 10 receives the fire determination command and the wind direction and wind speed measurement command.
The direction and distance to the fire source position are measured by detecting the rotation angle and the depression angle of the television camera 22, and the wind direction and wind speed are measured by the wind direction and wind speed measuring device 50.

Further, the control device 17 controls the monitor nozzle 1
3 controls the rotation of the direction control motor 21 to direct the discharge direction of the nozzle 13 to the fire source position.

Here, as a result of the measurement of the wind direction and the wind speed, when it is determined that there is no wind at the fire source position, the discharge direction of the nozzle 13 is kept as it is, and the electric pump 15 is also discharged with the specified pressure at the specified pressure. To start. When the release is started, the control device 17 drives the stretching device 23 to extend the receiving pipe portion 130 of the fire robot 10, and the supply pipe portion 12 provided corresponding to the movement stop point 32a.
0, and a member (not shown) provided on the fire robot 10 is brought into contact with the microswitch, whereby a signal is sent from the microswitch to the valve 135 to open the valve 135, and fire extinguishing water is discharged. Monitor nozzle 13
Release from

As a result of the measurement of the wind direction and the wind speed, when it is determined that there is a wind at the position of the fire source, the discharge direction of the nozzle 13 is corrected and controlled.
The discharge pressure of No. 5 is corrected and controlled so that the arrival position of the fire extinguishing water matches the fire source position.

Specifically, in the control device 17, RO
M, the positional relationship between the robot 10 body and the fire source position, that is, the distance and direction between them, the reference values for the wind speed and direction in the tunnel, and the RAM, which are stored in the RAM. The correction is performed by the robot 10 executing a correction program that corrects the discharge direction of the nozzle 13 and the discharge pressure of the electric pump 15 by comparing the two based on the measurement value obtained by measuring at the fire source position.

FIG. 3 shows the flow of the processing of the correction program in the controller 17 as shown in FIG. That is, (1) When it is determined that the wind in the measurement value is weak as a result of the comparison between the wind in the reference value and the wind in the measurement value,
The emission direction of the nozzle 13 is slightly corrected toward the windward side. (1-1) Further, as a result of comparing the fire source position in the reference value with the fire source position in the measured value, when it is determined that the fire source position in the measured value is close, the correction is left as it is, and (1- 2) When it is judged that the fire source position is far,
The discharge direction of the nozzle 13 is further corrected toward the windward side, and the discharge pressure of the electric pump 15 is corrected so as to increase. (2) When it is determined that the wind at the measurement value is strong as a result of the comparison between the wind at the reference value and the wind at the measurement value,
The discharge direction of the nozzle 13 is largely corrected toward the windward side, and the discharge pressure of the electric pump 15 is corrected so as to increase. (2-1) Further, when it is determined that the fire source position in the measured value is close as a result of the comparison between the fire source position in the reference value and the fire source position in the measured value, the correction is left as it is, and (2- 2) When it is judged that the fire source position is far,
The discharge direction of the nozzle 13 is further largely corrected toward the windward side, and the discharge pressure of the electric pump 15 is corrected so as to be further increased.

As described above, the discharge direction of the nozzle 13 and the discharge pressure of the electric pump 15 are corrected based on the correction program, and as a result, the position where the fire extinguishing water reaches the fire source position is corrected. FIG. 4 shows such a state, for example. The figure is a view showing a state in the tunnel when the road surface side is viewed from the ceiling side of the tunnel, where T is the tunnel, TW is the side wall of the tunnel, 30 is a monorail, 10 is a robot,
Reference numeral 13 denotes a nozzle, W denotes a wind, F denotes a fire source, F1 denotes a direction of the fire source F captured by the robot 10, A denotes a position where the fire extinguishing water reaches, A1 denotes a trajectory thereof, and B denotes a position where the fire extinguishing water reaches. B1 indicates the locus of the fire extinguishing water, and C1 indicates the locus of the fire extinguishing water, and C1 indicates the locus thereof. When the fire robot 10 receives the fire source F by the fire source sensor, if the fire extinguishing agent discharge direction and the discharge pressure are not corrected at all, a nozzle whose direction is controlled based on the direction F1 of the fire source F The fire extinguishing water discharged from 13 is made to flow downwind by the wind W and follows the trajectory A1 to reach the position A. Therefore, when the emission direction of the nozzle 13 is corrected toward the windward side, the fire extinguishing water follows the trajectory B1 and reaches the position B. Further, when the discharge pressure of the electric pump 15 is corrected so as to increase, the locus C1 follows the locus C1, and the position of the fire source F and the position C of the extinguishing water match.

As described above, by appropriately correcting the discharge direction of the monitor nozzle 13 and the discharge pressure of the electric pump 15 in accordance with the strength of the wind at the fire source position and the distance of the fire source position, the fire extinguishing water can reduce the flow of the wind. It can be prevented from being affected and deviating from the fire source.

When the fire robot 10 stops at the movement stop point 32a, the control panel 41 issues a joint connection command to drive the stretching device 23, and the receiving pipe 130 and the supply pipe 1
20.

The controller 17 corrects the discharge direction and the discharge pressure of the monitor nozzle 13 according to the wind direction, the wind speed and the position of the fire source as described above, and sends a valve opening command to the water discharge control unit to open the valve 135. Let it. The control device 17 starts the electric pump 15 and transmits a release start command to the control panel 41 via the transceivers 18 and 42, and the water supply pump 4
7 is started, and a fire extinguishing agent, for example, a foam mixture stored in a tank (not shown) is discharged from the monitor nozzle 13 through the fluid coupling 110.

During the fire extinguishing activity, the control device 17 causes the television camera 22 to monitor whether or not the fire has been extinguished, and when it is determined that the fire has been extinguished, the electric pump 15 is also stopped.
The end of discharge is transmitted to the control panel 41 via the receivers 18 and 42, and the water supply pump is stopped.

On the other hand, the control device 17 drives the stretching device 23 to shrink the receiving pipe portion 130 of the fire robot 10 and separates it from the feeding pipe portion 120 provided corresponding to the movement stop point 32a. By releasing a member (not shown) provided on the fire robot 10 from the microswitch, the valve 135 is closed, and the discharge of fire extinguishing water, for example, the foam mixture from the monitor nozzle 13 is stopped.

Thereafter, the electric motor 12 is rotated in the reverse direction or the normal direction to cause the fire robot 10 to travel, return to the robot station 31 and stop to prepare for the next fire.

[Second Embodiment] The present invention is not limited to the above embodiment. Instead of the program for correcting the discharge direction of the nozzle 13 and the discharge pressure of the electric pump 15 in the first embodiment, the following is applied. It may be a simple correction program.

The reference values stored in the ROM of the control device 17 are preliminarily measured to obtain the wind direction and the wind speed, the discharge direction of the nozzle 13, the discharge pressure of the electric pump 15, the fire extinguishing of the robot 10, and the fire extinguishing. The positional relationship with the arrival position of water, that is, the distance and direction between the two are set as reference values that are made relative to each other. Specifically, for example, when the values of the wind direction and the wind speed are X, and the values of the fire water discharge direction and the discharge pressure are Y, the positional relationship between the robot 10 body and the fire water arrival position, If the distance and direction values are Z, these X, Y, and Z values are used as reference values that are associated with each other. This reference value, the measured values of the wind direction and wind speed obtained by measuring at the stop position near the fire source, and the robot 10
The positional relationship between the main body and the position of the fire source, that is, the measured values of the distance and direction between the two are compared, and the wind direction and wind speed at the reference value match the wind direction and wind speed at the measured value, and the robot at the reference value The positional relationship between the main body 10 and the arrival position of the fire extinguishing water, that is, the distance and direction between them, and the positional relationship between the robot 10 main body and the fire source position in the measured values, that is, when the distance and direction between the two coincide. Nozzle 1 at reference value
3 and the discharge pressure of the electric pump 15 are derived,
Based on this, the discharge direction of the nozzle 13 and the electric pump 1
The discharge pressure of 5 is corrected.

In this manner, the fire extinguishing water can be more completely prevented from deviating from the fire source.

In the first and second embodiments,
Nozzle 1 to adjust the position of fire water to the position of fire source
Although the example in which both the discharge direction of No. 3 and the discharge pressure of the electric pump 15 are corrected has been described, only one of the two may be corrected.

In the first and second embodiments, the example in which the fire extinguishing water supply source is not mounted on the robot 10 but depends on the outside of the robot 10 has been described.
The fire extinguishing water supply source may be mounted on the vehicle.

Third Embodiment In each of the above embodiments, an example was described in which the direction and pressure of the fire extinguishing water were controlled according to the wind. However, in order to quickly extinguish a fire, the first embodiment was used. In the configuration of the fire robot 10 in the above, a fire-retarding sheet ejection device for a fire source is provided, and when the fire-retardant sheet is ejected so as to cover the fire source with the fire-retardant sheet, correction processing according to the wind is performed in the same manner as in each of the above embodiments. That is, in this case,
The injection direction and injection pressure of the refractory sheet may be corrected and controlled.

FIGS. 5 to 7 show an embodiment of a fire robot 10 equipped with a fireproof sheet ejection device.

The details of the injection device 250 in this embodiment will be described. First, the fire-resistant sheet 210 is, for example, a net-like fire-resistant fiber sheet, which is flexible and foldable. The fireproof sheet 210 is folded and stored in a zigzag shape in the storage room 218. Furthermore, corner portions 202a, 20a of both ends of the refractory sheet 210 on the drawer side drawn out in a direction intersecting the longitudinal direction of the monorail 30.
A pair of injection weights 202b, 202b are connected to 2a via wires 202c, 202c. This injection weight 2
02b, 202b and a pair of injection tubes 201a,
01a is attached to the front and back of the fire robot 10 in the longitudinal direction. The injection pipes 201a and 201a have a pair of air supply pipes 2.
06, 206, and an inert gas cylinder 204 via an on-off valve 205. The corners of both ends of the fireproof sheet 210 on the storage side are connected to the storage room 21 via wires 202c.
0.

When the fireproof sheet 210 is to be ejected, the on-off valve 205 is opened, and the cylinder 2 is opened via the air supply pipes 206, 206.
The inert gas of No. 04 is sent to the injection pipes 201a, 201a, and the injection weights 202b, 202b pop out at a high initial velocity as shown in FIG. 6, and at this time, the corners at both ends of the refractory sheet 210 through the wire 202c. Corner 202
a, 202a and the refractory sheet 21 as shown in FIG.
0 corners 202a, 202a, 202d, 202d
Is deployed so that a fire source, for example, a fire vehicle 215 is wrapped around by the fireproof sheet 210.

Then, simultaneously with the injection of 210, the pump 20
8 actuates the water supply tank 220 to the water supply pipe 209.
, And the foam concentrate flows from the foam concentrate tank 207 through the concentrate supply pipe 211, and bubbles 214 are discharged from the nozzle 213 as shown in FIG. Thereby, the foam 21
4 covers the fire-resistant sheet 210 wrapped around the fire vehicle 215, and the mesh of the fire-resistant sheet 210 is covered.
15 can be put out of oxygen to extinguish the fire instantaneously.

When the fire-resistant sheet 210 is ejected and the bubbles 214 are emitted, correction processing is performed in accordance with the strength of the wind and the distance between the positions of the fire sources, as in the above embodiment. The correction process is performed by executing a correction program following the first embodiment, or by executing a correction program following the second embodiment.

That is, according to the correction program according to the first embodiment, the positional relationship between the main body of the robot 10 and the position of the fire source stored in the ROM of the control device 17, that is, the distance between them and the distance between them. Direction, reference values of wind direction and wind speed in the tunnel, and, when a fire occurs, the wind direction and wind speed measured at the stop position near the fire source position, and the position of the robot 10 body and the fire source position Relationship, ie
The measured values of the distance and the direction between the two are compared, and the ejection direction and the ejection pressure of the refractory sheet 210, and further, the ejection direction and the ejection pressure of the foam 214 are imitated according to the first embodiment, that is, The correction is made according to the strength of the wind at the fire source position and the distance of the fire source position.

According to the correction program according to the second embodiment, the wind direction and the wind speed and the RO
The reference values to be stored in M are the relationship between the injection direction and injection pressure of the refractory sheet, the emission direction and release pressure of the foam, and the positional relationship between the robot 10 body and the arrival position of the refractory sheet, that is, the distance and direction between the two. , A positional relationship between the robot 10 body and the arrival position of the foam, that is, a distance and a direction between the two, as a reference value, and the reference value and the wind direction obtained by measuring at the stop position near the fire source. And the measured value of the wind speed, and the positional relationship between the robot 10 body and the fire source position, that is, the measured value of the distance and direction between the two, and the wind direction and wind speed at the reference value and the wind direction and wind speed at the measured value are compared. And the positional relationship between the robot 10 main body and the arrival position of the refractory sheet at the reference value, that is, the distance and direction between the two, and the positional relationship between the robot 10 main body and the bubble arrival position at the reference value, That is, both Distance and direction, and the positional relationship between the robot 10 body and the fire source position in the measured values, that is, when the distance and direction between the two coincide, the injection direction and injection pressure of the refractory sheet at the reference value, The ejection direction and the ejection pressure of the refractory sheet 210 and the ejection direction and the ejection pressure of the foam 214 are corrected based on the derived values.

As described above, the injection device 250 for the refractory fiber sheet 210 is provided.
At the time of the injection of 0, by correcting the injection direction and the injection pressure according to the strength of the wind and the distance of the fire source position, it is possible to prevent the refractory fiber sheet 210 from deviating from the fire source,
The fire source can be reliably covered, and the fire extinguishing effect of the fire-resistant fiber sheet 210 can be sufficiently obtained.

In the third embodiment, in order to correct the injection direction of the refractory sheet 210, the injection pipe 201a,
In order to correct the injection pressure by changing the direction of the opening 201a, the on-off valve 205 is used as a pressure adjusting valve and the opening degree is changed. Further, the direction in which the bubbles 214 are released is corrected by changing the direction of the nozzle 213, and the release pressure is corrected by changing the discharge pressure of the pump 208.

Further, in the third embodiment, an example has been described in which both the injection pressure and the injection direction are corrected to adjust the arrival position of the refractory sheet 210 to the fire source position. The correction may be performed, or similarly, the adjustment may be performed by correcting either one of the discharge direction and the discharge pressure for adjusting the arrival position of the bubble 214 to the fire source position.

In the third embodiment, the bubbles 21
4, the water supply tanks 220 and 207 are mounted on the main body of the robot 10, and a nozzle 213 that receives the supply of the foam from the supply source and discharges the foam is provided.
Like the fire extinguishing water supply source in the first and second embodiments, the fire extinguishing water is discharged from the fire extinguishing water supplied from the fire extinguishing water supply source provided outside the robot 10 main body. The nozzle 13 may be used.

In each of the above embodiments, the storage battery is used as the power supply for the fire robot 10. However, the power supply is not limited to this. For example, the power supply may be obtained as follows. .

Using a rechargeable battery, a charging device is arranged at the robot station, and during standby, non-contact charging is performed, for example, by the principle of electromagnetic induction.

Alternatively, a power supply wiring connected to an AC power supply is provided along the monorail, and a power receiving coil is provided in the fire robot, and current from the power supply is contactlessly supplied through the power supply wiring and the power receiving coil. And supply it to the electric motor and control device of the fire robot. That is, an alternating magnetic field is generated around the power supply wiring by an alternating current, and this electromotive force is rectified and transformed to be supplied. In addition, an internal combustion engine such as a gasoline engine may be mounted, the vehicle may be driven by the engine, and the generator may be driven to secure a necessary power supply.

When the fire source position is to be determined, a fire sensor may be used instead of the television camera. In this case, for example, a flame or heat ray is detected on a rotating base. It is also possible to mount two fire sensors, rotate the base so that the same maximum output is obtained from the two sensors, and determine the fire spot from the rotation angle and the depression angle at that time.

In addition, the fire source position may be determined by image processing. In this case, the fire robot is provided with, for example, a television camera and an image processing device, and is sent from the television camera. A hue change or a luminance change due to a signal may be detected to determine the position of the fire source, and an infrared camera may be used as the camera. Note that the television camera may be mounted rotatably.

The fire extinguishing water discharged from the water discharge nozzle may be water or powdery substance in addition to foamy substance by appropriately selecting the nozzle.

Further, in each of the above embodiments, an example in which the robot runs on a track provided in a tunnel is shown. However, the present invention is not limited to this. Also applies.

[0076]

According to the fire robot of the present invention,
With the above configuration, fire extinguishing means, for example, fire extinguishing water discharging means, when operating the fire-resistant sheet ejection means, by performing correction control according to the wind, even if the influence of the wind, A sufficient fire extinguishing effect by the fire extinguishing means can be obtained.

[Brief description of the drawings]

FIG. 1 is an enlarged vertical sectional view of a fire robot according to first and second embodiments of the present invention.

FIG. 2 is a schematic diagram of a fire robot facility provided with the fire robot.

FIG. 3 is a flowchart showing a control program for a nozzle discharge direction and an electric pump in the fire robot according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram showing how the arrival position of fire extinguishing water is adjusted to a fire source position by the control program of FIG. 3;

FIG. 5 is a longitudinal sectional view schematically showing a main part of a fire robot according to a third embodiment of the present invention.

FIG. 6 is a cross-sectional plan view of the refractory fiber sheet of FIG.

FIG. 7 is a perspective view when the refractory fiber sheet of FIG. 5 is deployed so as to cover a fire vehicle and bubbles are released.

[Description of sign]

 DESCRIPTION OF SYMBOLS 10 Fire robot 11 Wheel 12 Electric motor 13 Monitor nozzle 15 Electric pump 16 Connecting pipe 17 Control device 18 Transceiver 19 Antenna 21 Direction control motor 22 Television camera 23 Stretching device 50 Wind direction and wind speed measuring device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI B25J 13/08 B25J 13/08 Z

Claims (6)

[Claims] 1. A fire extinguishing water discharging means, a fire source position measuring means, a wind direction and a wind speed measuring means, and a fire source position, a wind direction and a wind speed reference value are stored. And controlling the discharge direction and / or discharge pressure of the fire extinguishing water based on the measurement values measured by the fire source position measuring means and the wind direction and wind speed measuring means, and the reference values stored in the storage means. A fire robot, comprising: 2. A fire extinguishing water discharging means, a fire source position measuring means, a wind direction and a wind speed measuring means, and a wind direction and a wind speed, a fire extinguishing water discharge direction and a discharge pressure, a fire extinguishing water, A means for storing a reference value relative to the arrival position, further comprising: a measurement value measured by the fire source position measurement means and the wind direction and wind speed measurement means; and a reference value stored in the storage means. A fire robot comprising means for controlling the direction and / or pressure of the fire extinguishing water based on the fire. 3. A fire-retardant sheet injecting means for injecting a refractory sheet so as to cover an upper part of a fire source, a fire source position measuring means, a wind direction and a wind speed measuring means, and a fire source position; Means for storing a reference value of the wind direction and wind speed, further based on the measured values measured by the fire source position measurement means and the wind direction and wind speed measurement means, and a reference value stored in the storage means And a means for controlling the injection direction and / or injection pressure of the refractory sheet. 4. A refractory sheet injecting means for injecting a refractory sheet so as to cover an upper portion of a fire source, a fire source position measuring means, a wind direction and a wind speed measuring means, and a wind direction and a wind speed are provided. A means for storing a reference value in which an injection direction and an injection pressure of the refractory sheet and an arrival position of the refractory sheet are made relative to each other; and further, a measurement measured by the fire source position measuring means and the wind direction and wind speed measuring means. A fire robot, comprising: means for controlling an injection direction and / or an injection pressure of a refractory sheet based on a value and a reference value stored in the storage means. 5. Fire extinguishing water discharge means, fire-retardant sheet injection means for injecting a fire-resistant sheet so as to cover an upper part of a fire source,
A measurement unit for measuring the position of the fire source and a measurement unit for measuring the wind direction and the wind speed; and a unit for storing the reference values of the fire source position and the wind direction and the wind speed. Means for controlling the discharge direction and / or discharge pressure of the fire extinguishing water based on the measurement value measured by the wind speed measuring means and the reference value stored in the storage means; A fire robot comprising: means for controlling pressure. 6. Fire extinguishing water discharging means, fire-retarding sheet injecting means for injecting a refractory sheet so as to cover an upper part of a fire source,
A fire source position measuring means, a wind direction and a wind speed measuring means, and a fire source position, a wind direction and a wind speed, a fire extinguishing water discharge direction and a discharge pressure, a fire extinguishing water reaching position, and a fireproof sheet. Injection direction and injection pressure, comprising means for storing a reference value relative to the arrival position of the refractory sheet, further, a measurement value measured by the fire source position measurement means and the wind direction and wind speed measurement means, A means for controlling the discharge direction and / or pressure of the fire extinguishing water based on the reference value stored in the storage means; and a means for controlling the discharge direction and / or pressure of the fire-resistant sheet. And a fire robot.