JPS592757A - Fire extinguishing robot - 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 The present invention is a fire extinguisher that detects a fire source using an infrared sensor such as a flame element, and extinguishes the fire by emitting Y11 human agent from a water spray nozzle toward the detected fire source. About robots.

The inventors of the present application have proposed, for example, the one shown in FIG. 1 as this type of bed-clearing robot.

In Fig. 1, reference numeral 1 denotes a pedestal, and the rotation of a horizontal scanning pulse motor 2 installed on the top of the pedestal 1 transmits the rotation to a concave mirror 5. A pyroelectric element 6 that detects infrared rays is installed, and fires are monitored by horizontal rotation scanning of the concave mirror 5 by the pulse motor 2 and vertical rotation scanning by the pulse motor 4. During the monitoring scan, the pyroelectric element 6 is used to detect fires from the fire source. When infrared rays are detected, the water nozzle 7' is directed to the horizontal and vertical scanning angles indicating the direction of the fire source, and the fire extinguishing pump 8 is activated to emit extinguishing agent from the extinguishing agent tank 9. .

By the way, in the case of a fire, such a fire extinguishing robot detects the vertical scanning direction by rotating the concave mirror 5 upward from the most downward position after detecting the horizontal scanning angle with respect to the fire source, as shown in FIG. However, the scanning angle α1 when a fire source is detected is detected, and the water nozzle 7 is set to emit a fire extinguishing agent in this detection direction α.

However, fires do not necessarily start near the floor, as shown by the fire source 10 in Figure 2, and when things are piled up, the fire starts from the floor, for example, as shown by the fire source 11. It is also expected that the fire will flare up at the position of the spider's height h.

In this way, for the fire source 11 which has a height h above the floor surface, the fire extinguishing robot rotates the four-sided mirror 5 upward in the same way as for the fire source 1o, and the scanning angle α at which the fire source 11 is detected! is determined to be the direction of the fire source 11, but since the height h of the fire source 11 cannot be detected, the fire extinguishing robot assumes that the fire source 11' is on the floor as an extension of the scanning angle α passing through the fire source 11. If the extinguishing agent reaches the fire source 11', the angle of the water spray nozzle 70 should be determined so that the extinguishing agent will not be able to be extinguished. Ta.

The present invention was made in view of these problems, and
Two sensors that detect fire by horizontal and vertical scanning are installed vertically a certain distance apart, and when a fire is detected, each sensor is scanned in the vertical direction to find the scanning angle for each sensor to detect the fire source. The aim is to provide a highly reliable fire extinguishing robot that can reliably extinguish a fire no matter where in the monitoring area it is by calculating the horizontal distance to the fire source based on the detection angle. do.

Hereinafter, the present invention will be explained based on the drawings.

FIG. 3 is a perspective view showing an embodiment of the present invention.

First, to explain the configuration, 12 is a base having a fire extinguishing agent tank 15 equipped with a control circuit section 13 and a fire pump 14.
A pedestal 16 is installed on the base 12, a pulse motor 17 for horizontal rotation scanning is installed on the top of the pedestal 16, and a sensor rotation pedestal 18 is installed on the rotation axis of the pulse motor 17.
is installed. A pulse motor 19 for vertical rotation scanning is provided on the sensor rotation table 18.
The rotation of the belt 21 is transmitted to the pulley 22 attached to the rotating shaft of the support arm B by the rotation of the belt 21 applied by the pulley.
, 24b are mounted rotatably around a horizontal axis, and pyroelectric elements 25a, 25b for detecting infrared rays from the fire source are disposed at the center of the opening side of the concave mirrors 24a, 24b, respectively, and a support arm device is also provided. A water discharge nozzle station is attached to the side end of the water discharge nozzle 26, and a fire pump 14 built in the base 12 is connected to this water discharge nozzle 26 by a hose 27.

Two concave mirrors 24a attached to support arm B.

The water discharging nozzle 24b is configured to be rotated in the vertical direction by rotation of the pulse motor 190 about each horizontal mounting shaft as a rotation axis, and the tip of the water discharge nozzle 26 can be rotated in the vertical direction by the Mobalus motor 19.

FIG. 4 is a block diagram showing an embodiment of the control circuit section 13 in the embodiment of FIG.

First, to explain the configuration, the unit is a microcomputer, and has a monitoring scanning program that rotates and scans two concave mirrors 24a and 24b in horizontal and vertical directions.When a fire is detected, the concave mirrors 24a and 24b rotate and scan in a predetermined direction to detect the fire source. A calculation program for calculating the horizontal distance to the fire source based on the scanning angle at the time of detection, a fire extinguishing program for starting the fire pump and causing the water nozzle to emit more extinguishing agent, etc. are stored in advance.

The outputs of the pyroelectric elements 25a and 25b are input to this microcomputer 28IC via an input interface 29, and control outputs are given to scanning pulse motors 17 and 19 via an output interface blade. It is configured to provide a control output to the fire pump motor 32 via the fire pump motor 32.

Next, the principle of detecting the distance to a fire source when detecting a fire according to the present invention will be explained with reference to FIGS. 5 and 6.

First, if a fire occurs at a distance X from the fire extinguishing robot as shown in FIG.
The concave mirror 2 is detected by the horizontal rotation scanning of 4b, and the concave mirror 2 is held in the detected horizontal direction.
4a and 24b are rotated and scanned in the vertical direction.

By rotating and scanning the concave mirrors 24a and 24b in the vertical direction, the pyroelectric element 25a provided on the concave mirror 24a first detects the fire source 33, and the scanning angle at this time is set to α. Subsequently, the fire source 33 of the pyroelectric element 25b of the concave mirror 24b is detected, and the scanning angle at this time is set to β.

In this way, when the scanning angles α and β for detecting the fire source 33 are detected by vertical rotational scanning of the pyroelectric elements 25a and 25b provided on the two concave mirrors 24a and 24b,
The horizontal distance X to the fire source 33 is calculated using the trigonometric function method shown in FIG.

That is, if the installation interval of the pyroelectric elements 25a and 25b is A, and the horizontal distance to the fire source 33 is X, then the pyroelectric elements are 0.

The distance of 25b in the Y-axis direction is ys = x tan (2-α)...
・(1)y, = x tan (100-β)
・・・・・・It is given by (2).

where)'t y,==A
・・・・・・(3) Therefore, when calculating the horizontal distance X by substituting the above equations (1) and (2) into this equation (3), the horizontal distance to the fire source is obtained as X is calculated. The calculation of the horizontal distance X to such a fire source is as follows: 1. Even when the fire source 11 shown in FIG. 2 has a height h from the floor surface, the calculation is performed in exactly the same way.

The height h from the floor can be calculated by subtracting yi or y2 determined above from the vertical distance from the floor to which the pyroelectric element 25a or 25b is attached.

Next, the present invention will be explained in detail.

First, in the steady monitoring state, the pulse motors 17 and 19 are driven under program control by the microcomputer 4 of the control circuit section shown in FIG.
After rotating the turntable 18 by 360 degrees by 7, the concave mirrors 24a and 24 are driven by the pulse motor 19.
The vertical directivity angle of b is rotated by a predetermined angle downward from the horizontal direction in the initial state, and then the pulse motor 17
It is rotated 0° in the opposite direction to return to the initial position, and in this state, the concave mirrors 24a and 24b are vertically rotated and scanned downward at a predetermined angle by the pulse motor 19, and by repeating such horizontal and horizontal scanning, the fire extinguishing robot is centered. 3
A 60° range is being monitored and scanned. In such a monitoring scanning state, the pyroelectric element 25a of the concave mirror 24a or 24b,
25b detects infrared rays from the fire source,
While maintaining the vertical scanning angle at this time, pulse motor 1
7 returns the sensor rotating table 18 to the reference position (initial position), starts horizontal rotation scanning from this initial position, and calculates the angle of the fire source in the horizontal direction based on the scanning angle when the fire source is detected. To detect.

Subsequently, the sensor rotary table 18 is held at a detection horizontal angle, and the concave mirror 24a is driven by the pulse motor 19.

24b are vertically rotated to the most downward position, and from this position upward rotational scanning is started, as shown in FIG. Find each of the source and detection scanning angles β.

Subsequently, the horizontal distance X to the fire source is calculated based on the detected scanning angles α and β using equation (4).

In addition, as for the vertical scanning angle for the water nozzle to emit more extinguishing agent, a predetermined radiation angle can be found based on the horizontal distance X to the fire source and the height h from the floor to the fire source. .

When the horizontal and vertical directions of the fire source and the horizontal distance to the fire source are calculated in this way, the Norkurus motor 17.19
The water nozzle is set towards the fire source by the drive of the
By starting the fire extinguishing pump 14, the nozzle of the extinguishing agent from the extinguishing agent tank 15 is radiated more toward the fire source.

The extinguishing agent is emitted by the water nozzle 26 for a certain period of time, and when the extinguishing agent stops emitting, the concave mirror 24a,
Check whether the fire source has been extinguished by operating 24b, and if fire is detected again, start the fire pump 14 again and eject extinguishing agent from the water nozzle 26, and if it is confirmed that the fire has been extinguished, level it again. and return to vertical surveillance scanning.

Furthermore, when the water nozzle is set in that radial direction, the extinguishing agent emitted from the water nozzle will draw a parabola and reach the fire source, so the water nozzle 26 is detected according to the horizontal distance X to the fire source. The direction is corrected to point the fire extinguishing agent upward, so that extinguishing agent can be reliably emitted to the fire source even if the fire source is far from the fire extinguishing robot.

In addition, since it is expected that the detected fire source may be spreading, operate the water nozzle A/26 in a vertical motion to expand the radiation range of the extinguishing agent while the extinguishing agent is being emitted by the water nozzle. You can do it like this.

As described above, according to the present invention, a fire detection sensor having a predetermined directivity angle is driven and scanned in the horizontal and vertical directions to detect a fire source, and extinguishing agent is emitted toward the detected fire source. In a robot, two fire detection sensors are installed vertically a certain distance apart, and the horizontal distance to the fire source is determined based on the fire source detection angle of each sensor obtained when each fire detection sensor is rotated and scanned in the vertical direction. Since the distance is calculated, it is possible to accurately detect the direction of the fire source and the horizontal distance to the fire source, regardless of whether the fire source is located not only on the floor but also in the warning area of the fire extinguishing robot. The effect is that the extinguishing agent can be radiated accurately toward the fire source.

In addition, although the above-mentioned embodiment took as an example a fire extinguishing robot that is fixedly installed in a restricted area, the present invention is not limited to this, and can also be applied to a self-propelled fire extinguishing robot that has a traveling drive means. The same can be applied.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of a fire extinguishing robot proposed by the inventors of the present invention, FIG. 2 is an explanatory diagram showing problems with the fire extinguishing robot shown in FIG. 1 and 4 are block diagrams showing an example of the control unit used in the present invention, and FIGS. 5 and 6 show the principle of detecting the horizontal distance to the fire source according to the present invention. It is an explanatory diagram. 12... Base 13... Control circuit section 14
... Fire pump 15 ... Fire extinguishing agent tank 16
... Frame 17, 19... Pulse motor 18...
Sensor rotary table addition, 22...Pulley 21...Bell) 23...Support arm 24a, 2
4b-Concave mirrors 25a, 25b... Pyroelectric element addition...
...Water nozzle 27...Hose 4...Input interface garden, 31...Output interface vane...Micro combiator 32...Motor for fire pump...Fire source patent applicant Hochiki Co., Ltd. Representative Patent Attorney Susumu Takeuchi Drawing of Oki IF (Contents without armor seal) Ministry of Procedural Correction (spontaneous) %ff request dated July 2, 1980 by Kazuo Wakasugi, Commissioner of the Correction Office, filed on June 28, 1981 22. Name of the invention Fire extinguishing robot 3. Relationship with the person making the amendment. Address of the applicant for the license: 4th floor 1, Nishi-Shinbashi Chuinu Building, 2-10-43 Kamiosaki, Parts Ward, Tokyo! , Tsume 03 (432) 1007 Name Patent Attorney (7935) Susumu Takeuchi 5, Specification subject to amendment and drawings 6, Engraving of the amended specification and drawings (no changes in content).

Claims (1)

[Scope of Claim] A fire extinguishing robot that detects a fire source by driving and scanning a fire detection sensor having a predetermined orientation angle in the horizontal and vertical directions, and emits a fire extinguishing agent toward the detected fire source, comprising: A calculation that calculates the horizontal distance to the fire source based on the fire source detection angle of each sensor obtained when two detection sensors are set up and down with a certain distance apart and each fire detection sensor is rotated and scanned in the vertical direction. A fire extinguishing robot characterized by being equipped with a means.