JPS592759A - 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 uses a directional sensor such as a pyroelectric element that detects infrared rays from a fire source to scan horizontally and vertically, and when a fire source is detected, the detection direction /7Regarding a fire extinguishing robot equipped with a water nozzle to emit extinguishing agent.

The inventors installed a fire extinguishing robot 50 in an open area as shown in FIG. At the same time, the pulse motor 1 (l) performs vertical rotation scanning, and during this monitoring scan, the fire is detected from the horizontal and vertical scanning angles when the concave & 49 pyroelectric element detects infrared rays from the fire source 40. One proposal is to detect the direction of the source 40 (angle flf rt , ), and discharge the extinguishing agent toward the fire #t5 by starting the fire pump with the water nozzle 15 set in the detected direction. ing.

However, in the 11th fire extinguishing robot, the direction of the water spray nozzle 15 was set so that it would hit in the detection direction of the fire extinguisher, so the extinguishing agent could not be applied to the fire source 40 located at a distance J close to the fire extinguishing robot 50. It can be emitted, but the fire source 40
If the distance from the fire extinguishing robot 50 is far as l, as shown in ', even if the direction of the water nozzle 15 is set according to the detection angle α of the fire source 40', the ejected extinguishing agent will be Since the water spray nozzle 15 is set in a parabola shape as shown in FIG.

The present invention was made in view of these problems, and
A water nozzle set toward the direction in which the fire source is detected by the fire detection sensor is swung up and down within a predetermined angle range upward relative to the fire source detection direction while extinguishing agent is being discharged, thereby detecting distant fire sources. The purpose of the present invention is to provide a highly reliable fire extinguishing robot that can reliably emit extinguishing agent even to

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

FIG. 2 is a perspective view showing an embodiment of the present invention.

First, to explain the configuration, reference numeral 1 is a base incorporating a control circuit section 2, a fire extinguishing agent tank 3, and a fire pump 4 driven by a motor. A pulse motor 6 for horizontal rotation scanning is installed, and a sensor rotation table 7 is attached to the rotation shaft of the pulse motor 6.

The sensor rotating table 7 is equipped with a pulse motor 10 for vertical rotation scanning.
is installed, and the rotation of the pulse motor 10 is transmitted from the pulley 11 to the belt 13 to rotate the pulley 12 connected to @8, and the concave surface @9 is supported on the shaft 8.
The concave mirror 9 is configured to vertically rotate and scan, for example, within a range of 60° downward from the horizontal direction.

A pyroelectric element 12 for detecting infrared rays from a fire source is arranged at the center of the opening side of the concave mirror 9, and a filter 9a is provided at the opening side of the concave mirror 9, and the filter 9a detects causes other than fire. This prevents weak infrared rays from entering the pyroelectric element 12, and allows the pyroelectric element 12 to detect the incidence of strong infrared rays emitted from flames caused by a fire.

Furthermore, the pyroelectric element 12 disposed at the center of the opening side of the concave mirror 9 is disposed on the central axis line that is inside the focal point of the concave surface @9, and therefore, the pyroelectric element 12 is reflected by the concave mirror 9. The angle of incidence of the infrared rays incident on the mirror 12, that is, the directivity of the concave mirror 9, is configured to spread out at a predetermined homogeneous angle.

Note that the concave mirror 9 is horizontally rotated by the pulse motor 6.

A water nozzle 15 is installed on the right side of the concave mirror 9 so as to rotate in almost the same direction as the central axis of the concave mirror 9. A hose 16 is connected to the water nozzle 15 from the fire pump 4, and when a fire is detected, The fire extinguishing pump 4 is started, and the extinguishing agent is discharged from the extinguishing agent tank 3 toward the fire source through the water nozzle 15.

FIG. 3 is a block diagram showing one embodiment of the control circuit section 2 in the embodiment of FIG. 1.

First, to explain the configuration, an 18Vi microcomputer is used, a scanning program is used to rotate and scan the concave mirror 9 equipped with the pyroelectric element 12 in the horizontal and vertical directions, and when a fire is detected, the concave mirror 9 is driven and scanned in a predetermined manner, and the concave mirror 9 is moved to the reference position. Based on the program for detecting scanning angles in horizontal and vertical directions indicating the direction of the fire source, and the detection direction of the fire source, the water nozzle 15 is set, and one A nozzle control program and the like are stored in advance for controlling the water discharge nozzle 15 to dig in a predetermined angular range upward with respect to the direction of the water source.

For this microcomputer 18, a pyroelectric element 12
The output of the microcomputer 18 is inputted and connected via an input interface 19, and the control output from the microcomputer 18 is applied via an output interface 20 to a pulse motor 6.10 for horizontal and vertical scanning.
A control output is given to the fire pump motor 22 via.

Incidentally, the neck shooting control of the water discharge nozzle 15 based on the nozzle control program of the microcomputer 18 is performed by the pulse motor 1o for vertical rotation scanning via the output interface 20.
By giving a control output to the water discharge nozzle 15, the water discharge nozzle 15 is oscillated.

Next, the principle of operation of the water nozzle when discharging fire extinguishing agent in the present invention will be explained with reference to FIG.

FIG. 4 shows the installation point S of the concave mirror 9 equipped with the pyroelectric element 12 and the water nozzle 15 in the fire extinguishing robot of the present invention,
PI*P the location of the fire source for 8 points! *P3...Pn
The distance to the fire source PI-Pn is expressed as "
191t, I! ,...In is shown as,
This is the maximum monitoring distance at which the fire source Pn can be extinguished.

Assuming that the fire sources P, ~pn are hypothetically determined for the fire extinguishing robot in this way, the angle in the vertical direction from the 8 points with respect to the fire source P+-Pn is α2. α,.

It is expressed as α3...αn, and this angle α, ~ αnl
d It is obtained as the vertical scanning angle of the concave mirror 9 equipped with the pyroelectric element 12 when detecting saliva.

On the other hand, the extinguishing agent emitted from the water nozzle 15 reaches each of the fire sources P+-Pn from eight points (if the angle of water discharge from the water nozzle 15 is determined experimentally).

A depiction of the extinguishing agent from the water nozzle 15 on the fire sources P, ~Pn (the trajectory is a parabola as shown by the broken line, and the fire source P1 ~
For the angle α, ~αn that holds the detection direction of pn, θ, ~θ
It must be turned upward by an angle of n to spray water.

Therefore, in the fire extinguishing robot of the present invention, fire sources P, ~P
The correction angles θ, ~θn of the water discharge nozzle 15 with respect to the vertical scanning angles α, ~αnK, which indicate the detection direction of Correction angle θ of the water discharge nozzle 15 corresponding to the scanning angle αn
Water nozzle 1 that reads n and swings the water nozzle 15 set toward the detection direction of the fire source up and down within the range of a correction angle θn upward with respect to the detection direction when emitting extinguishing agent.
5 swing control will be performed.

Further, as another method for controlling the neck of the water discharge nozzle in the present invention, the vertical scanning angle α indicating the detection direction shown in FIG.
The horizontal distance l, ~in from ~αn to the fire sources P1~pn is calculated, and the initial velocity of the extinguishing agent emitted from the water nozzle 15 is substituted into the equation of the parabola prepared in advance as a parameter, and the horizontal pressure @1I is calculated. -7! The set angle of the water spray nozzle 15 may be calculated, and the water spray nozzle 15 may be oscillated between the calculated set angle and the detection direction.

Next, the present invention will be described in detail with reference to the program flow shown in FIG.

First, when power is turned on to the control circuit section 2 shown in FIG. 2, initial settings are performed in the microcomputer 18 of the control circuit section 2 shown in FIG. 3 as shown in block a. Proceeding to step b, monitoring scanning by horizontal and vertical rotational scanning of the concave mirror 9 is started.

(7) The Q-scanning is performed using a concave mirror 9 driven by a pulse motor 6.
First, horizontal rotation scanning is performed from the reference position, and the concave mirror 9 returns to the reference position by horizontal rotation of 360 degrees (then, the pulse motor 10 is driven to rotate and scan the concave mirror 9 downward by a fixed angle in the vertical direction.

The fire extinguishing robot of the present invention is scanned 360 degrees around the installation point of the fire extinguishing robot of the present invention by again scanning 360 degrees in the opposite direction and returning to the reference position, and repeating horizontal and vertical scans in the same manner.
Monitor direction.

During such monitoring scanning, the focusing element 12 provided on the concave mirror 9
When detecting infrared rays emitted from flames caused by a fire, horizontal and vertical fire source detection scanning is performed as shown in block dK of FIG.

That is, if a fire source is detected during horizontal rotation scanning at a predetermined vertical scanning angle, the concave mirror is horizontally rotated while maintaining the vertical scanning angle to return to the reference position, and then horizontally rotated again from the reference position. Scanning is performed to determine the horizontal scanning angle at which the fire source is detected, and then, while maintaining the horizontal scanning angle at which the fire source was detected, the concave mirror 9 is vertically rotated by driving the pulse motor 10 to the most downward position. A vertical scanning angle αn indicating the direction of the fire source is detected at the position where the fire source is detected by performing vertical rotational scanning upward from this position.

Next, in block e, as shown in FIG. 4, the correction angle θn of the water discharge nozzle 15 corresponding to the vertical scanning angle αn indicating the direction of the fire source pn, which was obtained experimentally, is read out.

Next, the water spray nozzle 15 is set at the horizontal scanning angle and vertical scanning angle indicating the direction of the fire source detected in block d, and power is supplied to the fire extinguishing pump motor 22 to start the fire extinguishing pump 4, and the detected fire source is Fire extinguishing agent towards.

During the discharge of fire extinguishing agent by the water discharge nozzle 15, as shown in block h, with respect to the set direction of the water discharge nozzle,
The nozzle motor 10 for vertical rotation scanning is operated to vertically operate the water discharge nozzle 15 in the range of the correction angle θn read in the upward block e.

Later, when the engine was stopped, the concave mirror 9 was pointed in the direction of the fire source detected in block d to confirm that the fire had been extinguished, and when the fire source was detected again, the operator returned to block g and sprayed water again to confirm that the fire had been extinguished. Sometimes, it returns to block b and continues the monitoring scan again.

In addition, although the above-mentioned embodiment is an example of a fire extinguishing robot that is fixedly installed in a warning 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. It can be applied as is.

As described above, according to one aspect of the present invention, the water nozzle, which is set toward the direction in which the fire source is detected by the fire detection sensor, is placed in a predetermined position facing upward relative to the direction in which the fire source is detected during the discharge of extinguishing agent. Since it is made to swing up and down within an angular range, the extinguishing agent does not reach even if the water nozzle is set in the detection direction (this makes it possible to reliably emit extinguishing agent even to fire sources located far from the fire extinguishing robot). The effect is that the fire source detected by the fire detection sensor can be quickly and reliably extinguished.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing a problem when a water nozzle is set in the detection direction of a fire source, Fig. 2 is a perspective view showing an embodiment of the present invention, and Fig. 3 is a control circuit of the present invention. FIG. 4 is an explanatory diagram showing the principle of the swinging operation of the water nozzle according to the present invention, and FIG. 5 is a program flow diagram showing an example of the operation of the present invention. . 1... Base 2... Control circuit section 3...
Fire extinguisher tank 4... Fire pump 5... Frame 6
@ 10...Pulse motor 7...Sensor rotary table
8... Shaft 9... Concave mirror 11, 1+... Pulley 13
... Belt 15 ... Water nozzle 16 ... Hose
18... Microcomputer 19...
Input interface 20.21... Output interface 22... Fire pump motor patent applicant Hochiki Co., Ltd., agent patent attorney Takeuchi Susumu procedure amendment (self-motivated) July 2, 1980 Wakasugi, Commissioner of the Japan Patent Office Mr. Aio 2, Name of the invention Fire extinguishing robot 3, Relationship with the person making the amendment Patent applicant address 2-10-43 Kamiosaki, Parts Ward, Tokyo Name (
340) Hochiki Co., Ltd. Representative Version: Shigeru Fuchi 4, Agent Address: 105 Composition: 03 (432) 1007 Name: Patent Attorney (7935) Susumu Takeuchi 5, Specification subject to amendment and drawings 6, Contents of amendment and details of drawings Engraving (no changes in content). 319

Claims (1)

[Claims] In 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 directs a water nozzle toward the detected fire source to emit a fire extinguishing agent. , during the discharge of extinguishing agent by the water nozzle, the water nozzle is positioned above the fire source detection direction. A fire extinguishing robot characterized by being equipped with a nozzle control flat membrane that allows the nozzle to move up and down KWR within an angular range.・