JPS59186569A - Automatic fire extinguishing apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention Technical Field The present invention automatically detects a fire point that is the source of a fire, guides a fire extinguishing agent nozzle to the fire point using an arm, and extinguishes the fire by emitting a fire extinguishing agent to the fire point. Regarding automatic fire extinguishing equipment that performs

PRIOR ART Conventionally, many proposals have been made for fire extinguishing systems and extinguishing devices that automatically detect the occurrence of a fire and extinguish the fire by automatically discharging extinguishing agent. When a fire occurs, the so-called area-wide fire extinguishing method is used to extinguish the fire by emitting extinguishing gas to the entire extinguishing area where the fire occurred.The method detects the point of fire that is the source of the fire, and directs the fire extinguishing agent toward that point. No one has yet provided a device that guides a nozzle for emitting fire extinguishing agent to the point of fire.

In the case of the above-mentioned area-wide extinguishing method, a large amount of extinguishing gas is inevitably used, and there are disadvantages in that it includes blind spots from the viewpoint of intensively and quickly extinguishing the fire spots that are the source of unreliable fires.

OBJECTS OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic fire extinguishing system that automatically detects a fire point that is a source of a fire at an early stage and intensively and quickly extinguishes the fire point to avoid the spread of the fire. The aim is to provide the equipment.

Structure 2 of the Invention In view of the above-mentioned object, the present invention provides an automatic system that detects a fire spot generated within a fire extinguishing area and guides a fire extinguishing agent discharge nozzle from a base position to the fire spot to activate the fire extinguishing operation. The fire extinguishing system includes: a fire detection unit installed at at least one position in the fire extinguishing area to detect a fire point relative to a fixed point; a fire extinguishing agent discharge nozzle attached to an arm having a pivot joint; A servo unit installed at a pivot joint and servo-driving the arm; and a servo unit that calculates and determines the fire point position according to a detection signal from the fire detection unit, and sends a control command to the servo unit to release extinguishing agent on the arm. An automatic fire extinguisher comprising: a control unit that guides a nozzle to the fire point position; and a fire extinguishing unit that supplies a fire extinguishing agent to a fire extinguishing agent discharge nozzle that has reached the fire point position according to a command signal. Equipment is provided.

According to such a configuration, the extinguishing agent discharge nozzle is quickly guided to the fire point according to the detection signal of the fire point, stops, and intensively emits the extinguishing agent toward the fire point to eliminate the fire source itself. The action is to extinguish the fire.

EXAMPLES Hereinafter, the present invention will be explained in detail based on examples shown in the accompanying drawings.

FIG. 1a is a mechanical diagram showing the overall configuration of an embodiment of the automatic fire extinguishing system according to the present invention, and FIG. 1b is a functional block diagram of the same device. Now, the automatic fire extinguishing system shown in FIG. 1a has a two-stage arm 9, a first arm 10, and a second arm 12. The first arm 10 is attached to the base position A via a pivot joint, and is provided so as to be rotatable in the direction of arrow "1" with respect to the axis of the pivot joint. The second arm 12 is still connected to the tip B of the first arm 10 via a pivot joint, and the arrow "■" is connected to the axis of the pivot joint.
The rotational axes of the first and second side arms are parallel to each other. Also, at the base position A, there is a mechanism that controls the rotation of the first arm 10. A servo unit 14 is provided, and a tip B of the first arm 10 is provided.
The servo unit 1 controls the rotation of the second arm 12.
6 is provided. Furthermore, a nozzle 18 for emitting a fire extinguishing agent is provided at the tip C of the second arm 12, and the direction of emitting the fire extinguishing agent from the nozzle 18 can be adjusted in a predetermined direction. Meanwhile these first.

An infrared camera as a fire detection unit 20 is installed in the fire extinguishing area where the second arm 10.12 is installed. This fire detection unit 20 detects the direction of occurrence of a fire point that becomes a fire source, as will be described later.

The detection signal, ie, temperature distribution data, from this fire detection unit) 20 is sent to a control unit 220, which is also connected to the servo unit) 14, 16 via a signal line, and is also connected to the fire extinguishing unit 24. is combined with This latter fire extinguishing unit 24 controls a fire extinguishing agent cylinder 26 storing a fire extinguishing gas such as carbon dioxide gas or halon gas (liquid, gas, powder) and a closing valve (not shown) of this fire extinguishing agent cylinder 26. unit 220
The extinguishing agent in the extinguishing agent cylinder 26 is supplied to the first arm 10 when the valve is opened. It is configured to be supplied to the nozzle 18 through a conduit extending along the second arm 12. In addition, 30 shows a part of the said extinguishing agent conduit.

Next, referring to the functional block diagram in FIG. The position data regarding the base point A of the nozzle 18 inputted from the fire point analysis means 221 that sends out position data, the storage means 222 that stores this fire point position data, and the fire point information of the fire point analysis means 221, which are input from the sarduniso (sarduniso) 14.16. A calculation means 223 determines whether the two match based on the position data and performs calculations for guiding the nozzle 18 to the fire point position, and a calculation means 223 so that the fire point position and the nozzle 18 match based on the calculation result of the calculation means 223. The servo unit) 14.16 is controlled and driven, and the first and second arms 1 of the device are operated by the servo unit) 14.16.
0 and 12 operate, the nozzle 18 reaches the fire point position,
It is configured to include a control means 224 etc. that activates the activation switch 28 of the fire extinguishing unit 24 when the fire extinguishing unit 24 is stopped, and it is preferable that this control unit 220 is configured by a microconbeater.

In addition, in the case of notifying the outside of the remote monitoring station 200 or the like of the occurrence of a fire, in this embodiment, the control means 224
By activating the fire notification unit 100 using the sending signal, the fire notification unit 100 can send a signal notifying the occurrence of a fire to the monitoring station 200.

In addition, it is preferable that the control means 224 also control the operation of fire alarm equipment installed in or near the fire extinguishing area, and peripheral equipment such as a CRT display device and printer installed in a controlled area near the extinguishing area.

Next, the operation will be explained according to FIG. 2 with reference to FIGS. 1a and 1b. The infrared camera, which is the fire detection unit 20, passes infrared light with a wavelength of 1 μm or more, which is always generated at a fire spot, through an infrared lens, and forms an image on an imaging plane located behind the infrared lens.

Points other than the fire point are similarly imaged on the imaging surface,
As a result, a temperature distribution image corresponding to the temperature distribution of the extinguishing region is formed on the imaging surface. This formed temperature distribution image is subjected to a predetermined scan and sent as temperature distribution data to the spark point analysis means 221 of the control unit 220 in the subsequent stage. The flash point analysis means 221 always receives temperature distribution data from the infrared camera 20, converts it into binary data, and then converts the level of the binary temperature distribution data and a predetermined temperature level, temperature distribution, and position. Compare with the reference value based on information etc., and if it exceeds the reference value, the base point A where the servo unit 14 is located.
The position coordinates and the fire point position data are sent to the storage means 222 and the calculation means 223. The storage means 222 stores the coordinates of the digestion area in advance, and the servo unit 'i' is stored on the coordinates.
14 and 16, the drive radius of the first and second arms 10112, rotation angles, etc. are stored. Therefore, the calculation of the position coordinates in the fire point analysis means 221 is performed by the storage means 222.
This is done based on the coordinates of the extinguishing area stored in .

The calculation means 223 calculates the coordinates of the extinguishing area stored in the storage means 222 based on the fire point position data from the fire point analysis means 221 and the position information of the sardunit 14.16 that is constantly input from the servo unit 14.16. While referring to the second
The calculation for guiding the nozzle 18 to the fire point is performed according to the calculation flow explained in detail in the figure. In this case, the process of guiding the nozzle 18 by operating the first and second arms 10.12 is generally performed when the first and second arms 10.12 are folded in their normal storage position, for example, against the wall of the fire extinguishing area. The process is carried out according to a certain algorithm until the nozzle 18 at the tip of the second arm 12 reaches the actual spark spot position, which will be described later.

The calculation results of the calculation means 223 are sent to the subsequent control means 224 one by one.
will be sent to. The control means 224 sends a control signal to the servo unit 14.16 based on the calculation result, and also sends a command signal to the fire extinguishing unit 24, which is a fire extinguishing means, and a fire signal to the fire reporting unit 100. 14 and 16 are driven based on the control signal from the control means 224, and at the same time send a signal indicating their current position to the calculation means 223. The calculation means 223 performs calculations one by one, and the nozzle 18 is controlled by the first and second arms 10 according to the control signal.
It is guided to the fire point by a movement of 12 degrees. The activation switch 22 of the fire extinguishing unit 24 is activated by a command signal to open the stopper of the extinguishing agent cylinder 26. On the other hand, the fire notification unit 100 is activated by a fire signal, makes an emergency notification by using an emergency bell, a lamp, etc., and simultaneously notifies the monitoring station 200.

FIG. 2 is a procedural diagram showing the operation of the automatic fire extinguishing system according to the present invention for extinguishing a fire. In FIG. 2, the infrared camera is first put into operation. (Step ■) As mentioned above, the temperature distribution data detected by the infrared camera is sent to the microconverter (Step ■) and binarized (Step ■), and then the level of the detected temperature distribution data is and the reference value of the temperature distribution level in the extinguishing area stored in the storage means 222.Step 2) For those exceeding the reference value, the calculation means 223 performs calculations to determine the position coordinates of the temperature distribution level in the extinguishing area, and the nozzle 18 is A control command is sent to guide the flame to the ignition point position. (Step ■) Nozzle 1
8 is guided and matches the fire point (step ■), nozzle 1
8 is fixed (step ■), and the start switch 28 of the extinguishing agent cylinder 26 is turned on (step ■), and extinguishing agent is supplied to the fire point. (Step ①) Although the infrared camera is fixed, it may be provided with a pan-tilt mechanism to rotate it.

FIG. 3a is a mechanical block diagram showing the overall configuration of another embodiment of the automatic fire extinguishing system according to the present invention, and FIG. 3b is a functional block diagram of the same device. The automatic fire extinguishing system shown in FIG. 3a is the same as that shown in FIG. 1a except that fire detection units 20a and 20b are installed. These fire detection units 20a and 20b have the same structure and detect the direction in which a fire point, which is a fire source, is generated, as will be described later. Note that the number of fire detection units 20a and 20b installed can be increased as necessary.

Referring now to the functional block diagram of FIG. 3b, the control unit 22 includes a fire detection unit 20a.

A flash point generation direction data storage means 34 receives the flash point generation direction data from 20b, and a flash point position calculation storage means calculates and determines the fire point position within the extinguishing area from these flash point generation direction data and stores it. 36, servo unit) 14
．． a spark point nozzle coincidence determining means 38 for determining whether the position data regarding the base point A of the nozzle 18 input from 16 and the spark point position data in the spark point position calculation storage means 36 match; 38 controls and drives the servo unit) 14.16 to determine the match, and the first and second arms 10.12 of the device are operated by the operation of the servo unit) 14.16, so that the nozzle 18 reaches the spark point position. However, it is preferable that the control unit 22 of the air conditioner is comprised of a control drive means 40 and the like that activates the start switch 28 of the fire extinguishing unit 24 when the fire extinguishing unit 24 is stopped.

In addition, in the case of notifying the outside of a remote monitoring station or the like of the occurrence of a fire, in this embodiment, the fire notification unit 100 is activated using the output signal of the control drive means 40.
The fire notification unit 100 may be operated using the sending signal from the fire spot position calculation storage means 36 or the fire spot generation direction data storage means 34, and the fire notification unit 100 can also send out a signal notifying the occurrence of a fire.

Furthermore, in the embodiments described above and below, one fire detection unit 20 and two fire detection units) 20a, 2Q
The operating principle of the automatic fire extinguishing system of the present invention will be explained using the case of using B as an example, but it is also possible to have a configuration in which two or more fire detection units are provided depending on the size of the fire extinguishing area, the accuracy of fire point detection, etc. The operating principle in that case is basically the same as the embodiment in which the two fire detection units 20a and 20b are used. On the other hand, two fire detection units) 20a, 20b
For fire detection, one of the fire detection units) 20a, for example, is always maintained in an operating state, and when one fire detection unit) 20a detects the occurrence of a fire spot, the other fire detection unit is activated. ) 20b to similarly detect the occurrence of a fire point, and the fire detection unit) 20a, which will be described later, is activated.
, 20b, it is possible to save operating power.

FIG. 4 is a functional block diagram of the microcomputer when the control unit 22 described above is constituted by the microcomputer.

In FIG. 4, the microcombinator forming the control unit 22 is a fire detection unit 20a.

20b1 servo units 14, 16, fire extinguishing unit 24
an input/output interface 42 forming an input/output section for signals such as a first flash point data receiving circuit 44 that receives flash point detection data from the fire detection unit 20a, and a first flash point data receiving circuit 44 that stores the received flash point detection data. a data storage circuit 46; a first fire unit control signal sending circuit 48 that is connected to the first fire point data storage circuit 46 and controls the operation and stop of the fire detection unit 20a; and the first fire point data storage circuit 46. A spark point position detection calculation circuit 50.The spark point position detection calculation circuit 50 receives the spark point data received from the first input terminal. a second fire point data receiving circuit 52 that receives the fire point detection data from the fire detection unit 20b;
A second fire point data storage circuit 54 that stores the received fire point detection data, and a second fire unit control signal sending circuit that is connected to the first fire point data storage circuit 46 to control activation and stop of the fire detection unit 20b. 56. The fire point position detection calculation circuit 50 receives the fire point data received from the circuit 46 at the first input terminal as described above and the fire point data transmitted from the second fire point data storage circuit 54 and received at the second input terminal. The position of the nozzle 18 is controlled via the spark point position storage circuit 58, which stores the calculation result of the calculation circuit 50 when the fire point position is detected and calculated from the flash point data, and the first and second arms 10.12. A servo information receiving circuit 60 that receives servo information from the servo units 14 and 16, and a nozzle guidance calculation circuit 62 that performs calculation processing to guide the nozzle 18 at the tip of the second arm 12 to the firing point position based on the information. , in determining the above calculation, store known data such as the coordinates of the coordinate origin, for example, the coordinates of the base point A# (Fig. 3a), the arm lengths of the first arm and the second arm, and each time the calculation is performed, the current nozzle A data storage circuit 64 that sequentially stores positions, a coincidence determination circuit 66 that determines whether the spark point position stored in the spark point position storage circuit 58 matches or does not match the current nozzle position of the nozzle guidance calculation circuit 62, and a coincidence determination circuit. Servo unit according to the discrimination signal of 66) 14.1
A servo unit drive control signal sending circuit 68 sends out a control signal to drive the fire extinguishing unit. Start switch drive signal sending circuit 7 that sends out a signal to start 24
0. It is equipped with a fire notification unit drive signal sending circuit 72 and the like. The operation flow of the microcomputer consisting of these various ports will be explained with reference to FIG.

As shown in FIG. 5, when the automatic fire extinguishing system of the present invention starts operating, the fire detection unit 20a constantly performs the fire point detection operation. In other words, the occurrence of a fire is monitored, and if a fire occurs, the direction of the fire spot (direction and perspective in a coordinate system predetermined within the extinguishing area with base point A as the origin), and the detection method are determined. (will be described later) is sent (steps ■, ■).

When the first fire detection unit) 20a detects the occurrence of a fire spot, the second fire detection unit) 20b is activated to detect the fire spot, and the fire detection unit 20b performs the same fire spot detection operation (step ■)0 Thus, based on the fire point data detected by both fire detection units) 20a and 20b, the fire point position detection calculation circuit 50 calculates and determines the actual fire point position as the intersection point of both data, and determines the actual fire point position as the fire point position. The position storage circuit 58 stores it as a fixed point on the coordinates (step 2). Once the fire point position is determined, serve unit 1
4. Activate 16 and move the first and second arms 10°12? ,
(The arithmetic processing for activating the nozzle 18 and guiding the nozzle 18 to the determined fire point is performed based on the servo information sent from the servo unit 14.16 (step ①). In this case, the nozzle 18 is activated by the first and second arms 10.12.
Generally, the guidance process for the first arm and the second arm 10.
This is carried out according to a certain algorithm until the nozzle 18 at the tip of the second arm 12 reaches the actual fire point position from the normal storage position, for example, the folded position next to the wall of the fire extinguishing area. This will be discussed later. When the nozzle 18 reaches the spark point position or a predetermined position close to it, the operation of the first and second arms 10.12 is stopped and the nozzle 18 is fixed (step (2)). Next, actuate the start switch 28 of the fire extinguishing unit 24 (step) to open the fire extinguishing agent cylinder 26, thereby opening the pipe line 30.
The fire spot is extinguished by feeding the extinguishing agent to the nozzle 18 via the nozzle 18 and discharging the extinguishing agent from the nozzle 18 (steps 1 and 2). By receiving the serve information in the servo information receiving circuit 60, the guiding process of the first and second arms is performed to guide the nozzle 18 to the fire point by operating the first and second arms 10.12. This will be explained below based on the flowcharts of FIGS. 5, 6, and 7.

Now, the fire point position memory circuit 58 and the servo data memory circuit 64
have the same memory circuit, a well-known ROM circuit and a RAM circuit, in which the coordinates of the extinguishing area, the first arm 10. Arm length of the second arm 12, i.e. rotation radius rx
o (length from base position "A" to tip "B"), r1
2 (the length from the tip "B" to the tip "C"), and a program for guiding the nozzle 18 to the spark point is also stored. In this case, the algorithm for guiding the nozzle 18 toward the fire point is to perform a trial-and-error method based on simple addition and subtraction. 12, and then from that state the second arm 1
2. By sequentially moving the first arm 10,
The purpose is to ultimately guide the nozzle 18 to the fire point or a fixed point near the fire point, and naturally the movement of the first arm 10 degrees and the second arm 12 is performed at the stage of forming the above-mentioned state. Below, the 6th
This will be explained based on the diagram.

Now, when the spark spot position is calculated and determined, the spark spot position "Pl" is written and stored in the spark spot position storage circuit 58 as described above, and the process of guiding the first and second arms is started. . First, the rotation radius r is set at the tip e B n point as a fulcrum.
Draw 12 circles in the memory of the servo data storage circuit 64 (
Step ■). Next, a straight line is drawn from the point "B" to the fire point "Pl #" (step 2). Next, it is determined whether there is an intersection between the circle having the radius r12 and the straight line BP1 (step 2).

If there is no intersection, the operation flow described below is performed.

In addition, if there is an intersection, the radius r12 of the second arm 12
Fire point P1 outside the rotation circle (its coordinates are Pxl + Px2)
First, the coordinates of the current position of the nozzle 18, that is, the coordinates C1 of point C'' are determined.

C2 is read from the ROM circuit of the servo data storage circuit 64 (step ■). Then, by comparing the coordinates of the fire point P1 and the nozzle position point C, it is determined whether they match (step 2). When both match, nozzle 1 is placed at the fire point position.
8 means that it is already located, and the process proceeds to step (2) in the operation flow of FIG. 5 described above, where the fire extinguishing action is immediately started.

On the other hand, if it is determined that the two do not match as a result of the coordinate comparison, it is determined whether the direction of the second arm 12 and the direction of the straight line BP1 match or do not match ix in the coordinate system (
Step ■). As a result of this judgment, if a match is found, the process moves to step (2), which will be described later. If they do not match, the angle/CBP1=ωb is determined based on the serve information from the servo unit 16 (of the step). Next, by rotating the second arm 12 by an angle ωb by the operation of the servo unit 16, a radius r1 is created on the bar straight line BP1.
Match 2 (step ■). Furthermore, this step ■
Prior to the operation of
An arithmetic processing process is carried out to determine the approximate direction of rotation for aligning 2 with the straight line BPl, whether clockwise or counterclockwise. However, in many cases, the automatic fire extinguishing system of the present invention is used in a manner that it is placed in one corner of the fire extinguishing area, and the rotation of the second KM r arm 10.12 is restricted by the wall of the fire extinguishing area. It is sufficient to rotate the second arm 12 over the angle of ωb as described above, without requiring calculation processing in the near-axis direction in order to receive the rotation.

Next, a circle of rlo is drawn on the memo IJ (RAM circuit) of the servo data storage circuit 64 for the first arm 10 with the point "'A" as the center (step 2).

Furthermore, “Draw a straight line from point A# to point Pl (step ol)
), then it is determined whether there is an intersection between the circle r16 and the straight line API (step 0). If there is no intersection, the fire point p
Although l exists outside the circle of radius r12 of the second arm 12, it is assumed that l exists within the circle of radius rlo of the first arm 10, and the process moves to step ◎. On the other hand, if there is an intersection, the fire point Pl exists outside the circle with radius rto, so in this case, rt.

It is determined whether the direction of and the direction of straight line AP1 match (step O). If they match, the fire point P1 is the first arm 10
In this case, the step ■
to move to. One! By rotating the second arm 12 again, the nozzle 1 provided at its tip "C"
8 can be guided to the fire point P1. In addition,
The scale of the fire extinguishing area is naturally the first arm 10 and the second arm 1.
If you draw a circle whose radius is the sum of the amphibatic diameter r1 (llr12) of
It goes without saying that lolr12 was selected by design.

Now, if a match is not obtained in the above step (2), the angle/CAP 1 =ω8 is calculated based on the servo information (step 0). Next, if the permissible rotation angle of the first arm 10 is 360° prior to the stellar fO in which the first arm 10 is rotated by the angle ω (step O) by the operation of the servo unit 14, then tb If it is possible to make one complete rotation, the calculation and determination process for the near rotation direction is performed in the same way as in the case of the second arm 12 described above. Then,
After the first arm 10 is rotated over an angle ω8/2, the position C of the nozzle 18 and the fire point Pi (coordinates Pxl
+PX2) is performed. At this time, the reason why the rotation angle of the first arm is selected as the angle ω8 of the calculation result is that as the first arm 10 rotates, the second arm 12 also rotates about the fulcrum "A". Therefore, in many cases, pullback is necessary. At this time, the first arm 1
If the second arm 12 is rotated by ω8, the pullback of the second arm 12 will be doubled, resulting in poor efficiency. If a match is obtained in this way, the process moves to step (3) in FIG. 5, where extinguishing action is immediately performed. On the other hand, if no match is found, step again◎
(Step @). In this way, the nozzle 18 is ultimately focused on the fire point P1, and by reaching step (2), the nozzle 18 at the tip of the second arm 12 is guided to the fire point P1. In addition, in the above, the arithmetic processing of step
1 (Pxl, Px2) is the radius r1 of the second arm 12
2 exists outside the circle, but exists inside the circle of radius rlO of the first arm 10. At this time, the first arm 10 is used as a fulcrum over a predetermined angle ω.
A'' is rotated by the operation of the servo unit 14, and then it is determined whether the position C of the nozzle 18 and the spark point Pl match.If a match is obtained, the process moves to step (2) in Fig. If a match is not obtained, the process moves to step O and the nozzle 18 is ultimately guided to the fire point P1 through trial and error again.

Next, with reference to FIG. 7, the case where no intersection point is obtained in steps 2 and 3 of FIG. 6 will be described.

In this case, first, a circle with radius r1Q of the first arm 10 is drawn in the memory of the servo data storage circuit 64 (step
). Next, draw a straight line AP from the first arm 100 base point "A" to the fire point P1 (step ■).

Next, at this time, it is determined whether there is an intersection point Y between the straight line AP1 and the circle having the radius rto (step 2). As a result of this determination, if there is no intersection, it means that the fire point P1 exists within the circle with the radius rto of the first arm 10 and within the circle with the radius r12 of the second arm 12. In this case, the first arm 10 is rotated around its fulcrum "A" by a predetermined angle ω7 by the operation of the servo unit 14, and the fire point P1 is placed outside the circle with the radius r12. (Step ■). After that, the position coordinates C (C11C2) of the nozzle 18 and the fire point P 1 (Pxl r PX
2) Determine if it matches Step ■). Then, according to the result of the judgment, the process moves to step ◎ or step ◎, and the nozzle 18 is ultimately guided to the fire point P1.

On the other hand, when an intersection exists in the above step (2), it is determined that the fire point Pl exists within the circle with the radius r12 of the second arm 12 but outside the circle with the radius rto of the first arm 10. . In this case, first, the angle/PIAB=ω is determined for the first arm 10 (step 2).

Next, the first arm 10 is rotated by the angle ω (step ■). After that, the coordinates C (C1 + C2) of the nozzle 18 at the tip of the second arm 12 and the fire point Pi (P
Step ■) to judge whether it matches or mismatches with Xl 1P
to move to. In other words, the nozzle 18 is guided to the fire point P1 by trial and error by sequentially moving the first and second arms 10.12. By selecting the rotational angles of the first and second arms 10.12 based on a certain algorithm, guidance to the spark point P1 is ultimately achieved.

As described above, when the automatic fire extinguishing system of the present invention detects the occurrence of the fire point P1, which is the origin of the fire, within the extinguishing area, the automatic fire extinguishing system determines the position of the fire point P1 in the coordinate system set within the extinguishing area. Then, by sequentially moving the movable arms, the first arm 10° and the second arm 12 from a fixed base point A through trial and error, the nozzle is attached to the tip of the second arm 12 at the forefront. 18 and the fire point P1 to a desired position, that is, the fire point P1 or a predetermined position close to this, and after fixing, extinguishing agent is fed from the fire extinguishing unit 24 to the nozzle 18 and the fire point P1 is guided to the fire point P1. It radiates to P1 and extinguishes the fire.

Next, a plurality of fire detection units) 20a having the same configuration are
, 20b is used, and the operation of its structure 9 will be explained below.

FIG. 8 is a schematic mechanical diagram showing an example of the overall configuration of the fire detection unit 20a or 20b. In the figure, the unit 20a or 20b has a rotating plate 110 provided at the tip of a rotating shaft 126a inserted into a fixed shaft 126b, and this rotating plate 110 is driven by a motor 140 to rotate the rotating shaft 126a.
It is driven to rotate at a constant speed via. The rotary plate 110 has three annular regions 110a, 110b, and 110c from the center with light transmission slits 112, 114, and 116 separated from the outer periphery in the circumferential direction and formed as optical filters. 114 and 116 are both rotating shafts 1
The fan-shaped slit 1 is formed with a fan-shaped slit having the same central angle with respect to the center of the slit 26a. Behind the rotary plate 110, a blocking plate 120 is fixedly fixed to a fixed 1) h126b, and this blocking plate 120 has a notch 122 formed therein. This notch 122 has a fan shape with respect to the center of the shielding plate 120, and its central angle is selected to have a monitoring angle width that covers the entire area of the target extinguishing area. , the central angle of the notch 122 is also large. Also,
A Hall effect element 124 is attached to a fixed position on the blocking plate 120 to sense a magnetic material (for example, a permanent magnet) 118 provided at a fixed position on the back surface of the rotary plate 1.10, and one The origin of the rotating plate 110 is detected by issuing a sensing signal. Behind the shielding plate 120, there is a built-in fire detection element that detects the flame spot, preferably an infrared detection element that detects electromagnetic waves with a wavelength of 1 μm in the infrared region emitted by the flame spot during a fire. The container 128 is fixed stationary and has a light receiving window 130. In addition, fire detector 1
28 is placed at a preselected position within the fire extinguishing area by means of a fixed stand 142. Note that, if necessary, instead of the fixed stand 142, an appropriate hanging means may be used, for example, to fix it to the wall or ceiling of the fire extinguishing area. A control circuit 144 is also provided which connects the Hall effect element 124 to the fire detector 12 via a signal line 148.
8 via signal line 146;
A calculation process for detecting the direction in which the spark spot is generated is performed as described below.

The direction data of the spark point is then sent to the control unit 22 described above via the signal line 150. The signal line 150 is also provided as a line for receiving control signals from the control unit 22.

FIG. 9 is a functional block diagram of the fire detection unit shown in FIG. 8, and shows an example in which the control circuit 144 is formed by a microconbeater. Accordingly, the same reference numbers as in FIG. 2 indicate the same components. 9th
In the figure, the microcomputer forming the control circuit 144 includes an amplifier 154, a converter 152, an input/output interface 156, a CPU 158, and a ROM 16.
0, a RAM 162, and a clock oscillation circuit 164, and the detection signal of the fire detector 128 is transmitted to the amplifier 15.
4. The signal is input to the interface 156 via the A/D converter 152, and the signal from the Hall effect element 124 is directly input to the interface 156.

Now, the fire point detection principle of the fire detection unit y) 20a or 20b described above is that the detected infrared rays emitted by the fire point P1 are sent to the rotary plate 1.
112, 114, 116, and from the Hall effect element 124 at the notch 122 of the shielding plate 120. Microconbee
The direction within the extinguishing area and the degree of perspective from the origin of the coordinate system of the extinguishing area are detected by performing calculation processing using
Region 110a where 2 is formed, region 110b where slit 114 is formed, region 1 where slit 116 is formed.
This is determined by which slit in the three regions 10c through which the infrared rays to be detected are received.

FIG. 10 is a block diagram in which the internal configuration of the microcomputer is further broken down by function. The various circuits in FIG.
62, CLOCK164. In FIG. 10, the infrared data receiving circuit 17
0 is a circuit that receives detection data related to spark point detection and infrared data inputted to the width converter 152 in FIG.
The signal is sent to the arithmetic circuit 174 via. Arithmetic circuit 174
, the correction value read from the correction value storage circuit 192 via the correction value reading circuit 190 is added to the infrared data, and calculation is performed, and the result is sent to the fire discrimination circuit 176. The fire determination circuit 176 determines whether or not there is an actual fire by determining the level value (threshold value) of the data resulting from the calculation, and sends the result to the subsequent position data conversion circuit 178. The position data conversion circuit 178 is the same as the fire discrimination circuit 17.
6 and a stored count value of a counter storage circuit 186 (to be described later), the position data of the fire point is determined from the actual fire data sent from Figure 9).

The origin signal receiving circuit 182 is the Hall effect element 12 shown in FIG.
The i filter plate 110 origin signal (sensing signal of the Hall effect element 124) inputted from the i filter plate 110 is received and sent to the timer count circuit 184. The timer count circuit 184 counts the clock signal from the clock oscillator 164 every time it receives this origin signal. Timer count circuit 184
The count value counted by is recorded in the count storage circuit 186. Further, the count value of the timer count circuit 184 is also input to the count discrimination circuit 188. This count determination circuit is provided as a circuit that determines what value the count number at the time when the arithmetic circuit 174 starts the addition operation is compared with a predetermined count value. For example, when the rotating disk 110 rotates in the direction of arrow 1W'' in FIG.
6, so if the count number when the slit 112 passes is 10, the count number when the slit 114 passes will further increase to 20.
The count number when 16 passes is 30. Therefore, the count number when the calculation circuit 174 performs the calculation is 10.20.
．． By determining which value of 30 corresponds to this, it is possible to determine through which slit of the rotating disk 110 the spark point detection was performed. At this time, the correction value to be added and corrected by the arithmetic circuit 188 is also added to the count discrimination circuit 1.
Since the correction value is read out from the correction value storage circuit 192 via the correction value readout circuit 190 according to the 880 determination result,
It is possible to read appropriate correction values corresponding to 10a, 110b, and 110e (FIG. 8). In addition, the correction value is
Each sulin of the rotating disk 110) 112, 114, 116
Since the area of each slit and the distance from the center of the slit that transmits the detected infrared rays are different, the distance of the detected infrared rays input from the fire detection area to each of the slits 112, 114, and 116 is different. Since there are differences in the signal levels detected by the detector 128, the amount of correction to unify these to a constant signal level and the amount of sensitivity correction of the fire detector 128, etc. are stored in advance in the ROM. It is stored in the correction value storage circuit 192 that is formed. The start/stop receiving circuit 194 is a circuit that receives signals indicating the start and stop of operation of the device from the control unit 22 shown in FIG. figure)
The driving and stopping of the motor is controlled. In addition, the abnormal signal sending circuit 1
98 sends out an abnormal signal via the external signal line 150 when an abnormality occurs such as when the rotary plate 110 (Fig. 8) rotates irregularly, and indicates that there is an abnormality in the fire detection unit 20a or 20b itself. This is to inform the public.

Now, FIG. 11 shows a fire detection unit equipped with a control circuit 144 consisting of the microcomputer shown in FIG.
20a or 20b, the unit) 20a or 20b is supplied with power, then the motor 140 is turned on and the rotating disk 110 is rotated at a constant speed, and then the CPU 158 is not operated. Disclose. After the start of operation, the timer count circuit 184 is set to zero each time the origin signal from the Hall effect element 124 is received.

Thereafter, a processing operation is performed in which the direction and perspective of the fire spot position are determined by the position data conversion action and the count discrimination action as described above.

Next, after the processing is completed, it is determined whether or not there is an abnormality due to the irregular rotation of the rotary plate 110. If there is an abnormality, an abnormality signal is sent and the unit 20a or 20b is stopped. If there is no abnormality, the detection operation is repeated.

Note that FIG. 12 is an operational flow diagram showing in more detail the processing steps in the operational flow of FIG. 11 executed by the control circuit 144 comprising the microcomputer configured as shown in FIG. 10 described above.

That is, in response to the clock signal from the clock oscillator 164, the N-converter 152 converts the detection signal from the fire detector 128 into N-converters (Step 2). When the conversion is completed, the infrared data receiving circuit 170 converts the detection signal from the fire detector 128 into N-converters. Read the infrared data of (step ■). This infrared data is written into the buffer storage circuit 172 (step ■), and in the meantime, the timer count circuit 184, which has been set to zero by the origin signal receiving circuit 182, counts up (step ■).
, the count numbers are sequentially stored in the counter storage circuit 186. The count number is determined by the count determination circuit 188 (
Steps (■, ■, ■), as a result, which region of the regions 110a, 110b, 110c of the rotary plate 110)
112 , 11 =1 , 116 , it is determined whether the fire spot has been detected, and the degree of distance of the fire spot position within the extinguishing area is determined based on L2 with respect to a constant reference position. Area 11 above
Correction values are read out corresponding to 0a, 110b, and 110c (steps ■, ■).

(2) Then, addition calculation processing is performed by the arithmetic circuit 174 (step (2)). Next, the fire discrimination circuit 176 performs threshold discrimination (step ■), reads the stored count value from the count storage circuit 186 (step o), and draws the pre-stored table υ by the position data conversion circuit 178 (step @) to determine the fire point position (step [phase]), and send the position data to the external signal line 150.
(Step ■) 0 Above, the structure 9 of the automatic fire extinguishing system according to the present invention has been explained based on the embodiments, and the effects thereof are as follows.

Effects of the Invention The fire point that is the source of the fire is detected, and the fire extinguishing agent emitting nozzle is quickly guided to the fire point position and the fire extinguishing agent is emitted to the fire point, thereby quickly and accurately extinguishing the fire and preventing the spread of the fire. can be prevented from occurring.

Furthermore, since extinguishing is achieved by emitting extinguishing agent to localized points of fire in the initial stage, consumption of extinguishing agent can be reduced.

An automatic fire extinguishing system is maintained at all times simply by keeping one of the fire detection units in operation.

Since the guiding operation, that is, the guiding operation of the γ-me with a nozzle is based on a simple algorithm, a highly accurate automatic fire extinguishing system or fire extinguishing rodet device utilizing a microcomputer can be established with simple software.

It should be noted that the present invention is not limited to the embodiments described above, and the flash point detection unit may use an ultraviolet detection method instead of infrared detection, and when there are a plurality of units, the detection principles may be different from each other.

In addition, if two or more fire detection units are installed, the fire spot position can be detected three-dimensionally, and by guiding the nozzle to a predetermined height above the fire spot position, extinguishing accuracy can be further improved. I can do it. Furthermore, a trial and error method was used to guide the nozzle to the fire point, but first the movement angle of the servo unit to the fire point was calculated on the control unit, and then the servo unit was operated to guide the nozzle to the fire point. You may let them.

In this example, a multi-stage arm is used, but if the extinguishing area is narrow, it may be one stage. In this case, a rail can be placed along the arm and the nozzle can be moved to supply the extinguishing agent. The tube shall be flexible.

[Brief explanation of drawings]

Figures 1a and 1b are a mechanical block diagram and a functional block diagram of the overall configuration of the automatic fire extinguishing system according to the present invention;
The figure is a flowchart showing the operation flow of the automatic fire extinguishing system shown in FIG. 5 is a flowchart showing the operation flow of the automatic fire extinguishing system shown in FIG. 3; FIG. 6 is a flowchart explaining the operation flow for guiding the arm of the automatic fire extinguishing system; Fig. 7 is a similar flowchart, Fig. 8 is a schematic mechanical diagram showing the configuration of the fire detection unit, Fig. 9 is a functional block diagram of the unit, and Fig. 10 is a block diagram showing the detailed configuration of the control circuit of the unit. 11 is a flowchart showing the basic operation flow of the same unit, and FIG. 12 is a flowchart explaining the processing flow for determining the fire point position in the same operation flow. 10...first arm, 12...second arm, 14.
...First servo unit, 16... Second servo unit, 18... Nozzle, 20a, 20b... Fire detection unit, 22, 220... Control unit, 24...
・Fire extinguishing unit, 26... Fire extinguisher Dempe, 28...
Start switch. Patent Applicant Nippon Sobi Medical Disability Co., Ltd. Patent Application Agent Akira Aoki Patent Attorney Kazuyuki Nishidate Patent Attorney Takashi Nakayama Patent Attorney Akira Yamaguchi Figure 5

Claims (1)

[Scope of Claims] 1. An automatic fire extinguishing system that detects a fire point occurring in a fire extinguishing area and guides a nozzle for discharging extinguishing agent from a base point to the fire spot to extinguish the fire, the apparatus comprising: a fire detection unit provided at at least one position to detect a fire point relative to a fixed point; a fire extinguishing agent discharge nozzle attached to an arm having a pivot joint; and a fire extinguishing agent discharge nozzle attached to an arm having a pivot joint; At least one or more servo units are servo-driven, and the fire point position is calculated and determined according to the detection signal of the fire detection unit, and a control command is sent to the servo unit to move the fire extinguishing agent discharge nozzle on the arm to the fire point position. An automatic fire extinguishing system comprising: a control unit that guides the extinguishing agent to the position; and a fire extinguishing unit that supplies extinguishing agent to the extinguishing agent discharge nozzle that has reached the fire point position according to a command signal. 2. The automatic fire extinguishing system according to claim 1, wherein the control section comprises a unit structure that is detachably attached to the fire extinguishing unit. 3. Claim 1 or 2, wherein the fire extinguishing unit is installed on the wall or ceiling of the fire extinguishing area.
Automatic fire extinguishing system as described in section. 4. The automatic fire extinguishing system according to claim 1 or 2, wherein the fire extinguishing unit is installed and fixed on the floor inside and outside the fire extinguishing area. 5. The automatic fire extinguishing system according to claim 1, wherein the fire detection unit detects the direction of occurrence of the fire, which includes the direction of the fire point and distance data with respect to the fixed point. 6. The automatic fire extinguishing system according to claim 1, wherein the extinguishant discharge nozzle is attached to the front end of the arm.