JPS592758A - 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 relates to a simple fire extinguishing robot that monitors fires only by horizontal rotational scanning of a fire detection sensor and emits extinguishing agent toward the detected fire source.

The inventor of this application developed a fire extinguishing robot of this type, using a pyroelectric element that detects infrared rays from the fire source as a sensor for fire monitoring, and detecting fires by horizontally and vertically rotating the sensor. We have proposed a system that monitors fire sources, and when a sensor detects a fire source, sets a water nozzle in the direction of detection and extinguishes the fire by releasing extinguishing agent.

This method of scanning the sensor horizontally and vertically separately allows the direction of the fire source to be detected accurately, and the set of water nozzles can reliably extinguish the fire with a small amount of extinguishing agent. Also, the mechanism for rotating and scanning in the i-direction is complicated, and there is a risk that the cost will be high.

The present invention was made in view of these problems.
By using a fire detection sensor with vertical directivity in a predetermined angular range from approximately horizontal to downward, the structure is simple, allowing fire detection and extinguishing by setting a water nozzle only by horizontal rotational scanning of the sensor. The aim is to provide a low-cost fire extinguishing robot.

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

FIG. 1 is a perspective view showing an embodiment of the present invention.

First, the configuration will be described. Reference numeral 1 denotes a base, and a fire extinguishing agent tank 4 equipped with a control circuit section 2 and a fire pump 3 is built inside the base 1. A pedestal 5 is installed on the base 1,
A pulse motor 6 for scanning water and 1,000 rotations is attached to the top of the pedestal 5, and a sensor rotation table 7 is attached to the rotation axis of the pulse motor 6.
is installed. A semi-turning mirror 9 is supported on the sensor rotary table 7 by a horizontal shaft 8, and this semi-turning mirror 9 has a lid 10 on the opening side, and a rectangular opening 11 is cut out in the lid 10. A pyroelectric element 12 for detecting infrared rays from a fire source is attached at a predetermined position on the central axis of the semi-turning mirror 9. Further, a water discharge nozzle 13 is installed on one side of the sensor rotary table 7 that directs the semi-turning mirror 9, and a hose 16 drawn out from the fire pump 3 is connected to this water discharge nozzle 13. Further, the fire extinguishing nozzle 13 is configured so that the direction of the water discharge nozzle 13 can be oscillated within a predetermined vertical angle range by a driving means (not shown).

Figure 2 shows the embodiment of Figure 1. The semi-circular mirror 9 equipped with a pyroelectric element 12 as a fire detection sensor is shown taken out, and the pyroelectric element 12 is located on the central axis inside the focal point F on the central axis 17 of the semi-circular mirror 9. By placing the focusing element 12 inside the focal point F, the directivity angle θ of the infrared rays incident on the semicircular mirror 9 is adjusted downward at an angle θ with respect to the horizontal direction along the central axis 17. The structure is configured to obtain the vertical directivity properties as follows. Further, it is desirable to provide a filter 18 at the opening of the semi-concave surface @9 in order to block the incidence of weak infrared rays from heat sources other than fire.

FIG. 3 is a block diagram showing an embodiment of the control circuit section 2 in the embodiment of FIG. First, Jo will explain the configuration,
The microcomputer also includes a scanning program for horizontally rotating and scanning the semi-turning mirror 9 by a pulse motor 6, and a pyroelectric element 1 of the semi-turning mirror 9.
A fire extinguishing program for setting the water discharge nozzle 13 in the detection direction and starting the fire pump 3 when a fire is detected in step 2 is stored in advance. In order to realize program control by this microcomputer, the output of the pyroelectric element 12 is connected to the input 1 via the input interface 21.
Further, control outputs are provided to the horizontal scanning pulse motor 6 and the fire pump motor through respective microcomputer output interfaces 22 and 23.

Next, the present invention will be explained in detail with reference to FIG.

First, the temperature in the steady state monitoring state is determined by the
The sensor rotary table 7 is horizontally rotated and scanned by repeating 0° reversible rotation, and at this time, the 7
．． As shown by the dashed line, the detection area has a substantially sector-shaped detection area with a width corresponding to the opening 11 of the semicircular mirror 9 in the horizontal direction and a vertical directivity angle θ in the vertical direction. It is rotating and scanning around the installation location of the fire extinguishing robot.

If a fire source I due to a fire is detected during such monitoring scanning, the rotational scanning of the pulse motor 6 is stopped based on the detection and output output of the pyroelectric element 12, and the direction of the water nozzle 13 in the horizontal direction is changed to half. Since it is set in the detection direction of the rotating mirror 9, the fire pump 3 is started by energizing the fire pump motor based on the detection output of the fire source 30.
The extinguishing agent from the extinguishing agent tank 4 is emitted from the water spray nozzle 13 toward between the fire sources. When discharging extinguishing agent from the water nozzle 13, the fire source is the pyrotechnic element 12.
Since the extinguishing agent is within the detection area, by swinging the water nozzle 13 up and down within the range of the vertical directivity angle θ while emitting the extinguishing agent, the extinguishing agent can be reliably emitted between the fire sources within the detection area. and extinguish the fire. Further, the extinguishing agent is emitted by the water nozzle 13 for a predetermined period of time,
When the infrared rays from the fire source I are detected again by the pyroelectric element 12 after stopping the emission of the extinguishing agent, the extinguishing nozzle 1 is activated again.
From 3, do not emit extinguishing agent for a certain period of time, and repeat extinguishing and checking until infrared rays from the fire source can no longer be detected.

Of course, when infrared rays from between the fire sources are no longer detected, it is confirmed that the fire extinguishment has been completed, and the process returns to monitoring scanning by driving the pulse motor 6 again. .

In addition, as a means for swinging the water nozzle 13 while discharging the extinguishing agent, a motor for swinging operation may be provided, or the water nozzle 13 may be oscillated by using the liquid pressure of the extinguishing agent discharged from the water nozzle 13. It may also be made to swing. In addition, although the fire extinguishing robot of the present invention in the above embodiment was taken as an example where it was fixedly installed in a warning area, it is also possible to use a self-propelled fire extinguishing robot by using a traveling drive means. Of course.

As explained above, the present invention! If so, fire monitoring scanning is performed only by horizontal rotational scanning of a fire sensor that has vertical directivity in a predetermined angular range from approximately horizontal to downward, and when a fire is detected by the sensor, water is released in the detection direction. Since the extinguishing agent is released by directing the nozzle, 1. The structure is simplified because only a horizontal rotating scanning mechanism is required as a monitoring scanning mechanism for the fire detection sensor, and a vertical rotating scanning mechanism is not required. On the other hand, in order to ensure fire extinguishment by detecting only the horizontal direction of the fire source and ejecting the extinguishing agent from the water nozzle, the water nozzle can be used during extinguishing. Since the fire detection sensor is oscillated up and down within the range of the vertical orientation angle, it is possible to reliably emit extinguishing liquid to the fire source existing in the detection area of the fire detection sensor, thereby reducing the risk of impairing the fire extinguishing performance. It is possible to achieve the effect of reducing costs by simplifying the structure without having to do so. 6

[Brief explanation of drawings]

FIG. 1 is a perspective view showing one embodiment of the present invention, FIG. 2 is a cross-sectional explanatory view showing the directivity of the sensor used in the present invention, and FIG.
The figure is a block diagram showing one embodiment of the control circuit section of the present invention, and FIG. 4 is an explanatory diagram showing the operation of the present invention. 1... Base 2... Control circuit section 3...
Fire pump 4... Fire extinguishing agent tank 5... Frame
6...Pulse motor, 7...Sensor rotary table 8...Axis 9...Semi-turn mirror 10...Lid 11...Opening 12...Pyroelectric element 13...Water discharge Nozzle 16...Hose 17...Center axis 1
8... Filter addition... Microcomputer 21
... Input interface 4, 23 ... Output interface U ... Fire pump motor (equipment) ... Fire source patent applicant Hochiki Co., Ltd. Representative patent attorney Susumu Takeuchi Figure 2 Figure 3 Procedure amendment 1985, month 2, day 2, name of the invention: Fire extinguishing robot 3, relationship with the person making the amendment case: Special W Tenshi Hashige 03 (432) 1007 Name Patent Attorney (7935) Susumu Takeuchi 5, Return of the specification subject to amendment 6, Engraving of the specification and drawings of the amendment (no changes in content).

Claims (2)

[Claims] (1) a fire detection sensor having vertical directivity in a predetermined angular range from a substantially horizontal direction downward; a scanning means for rotationally scanning the fire detection sensor around a vertical axis; the fire detection sensor detects a fire source; A fire extinguishing robot characterized in that it is equipped with a fire extinguishing means that directs a water spray nozzle in the direction of detection and releases a fire extinguishing agent when detected. (2) The fire extinguishing robot according to claim 1, wherein the fire extinguishing means has a nozzle operating means that swings a water nozzle up and down within the range of the orientation angle of the fire detection sensor when discharging the extinguishing agent.