JPS592760A - 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 fire extinguishing robot that emits extinguishing agent by directing a water spray nozzle in the direction of a fire source detected by a fire detection sensor such as a pyroelectric element.

The inventors of the present application have proposed a fire extinguishing robot of this type, such as the one shown in FIG. 1, for example.

In FIG. 1, a pulse motor 2 for horizontal rotation and scanning angle is provided on the upper part of the pedestal l, a sensor rotation table 3 is attached to the rotation axis of the pulse motor 2, and a pulse motor for vertical rotation and scanning is mounted on the sensor rotation table 3. 4, and a concave mirror 6 and a water spray nozzle 7 equipped with a pyroelectric element 5 for detecting infrared rays are installed on the sensor rotating table, and horizontal rotation of the sensor rotating table 3 by the pulse motor 2 causes the concave mirror 6 and the water spray nozzle 7 to be The concave mirror 6 and the water nozzle 7 can be rotated and scanned vertically by the pulse motor 4.

During normal operation, the fire is monitored by rotational scanning in the horizontal and vertical directions by pulse motors 2 and 4, and when infrared rays from the fire source are detected by the pyroelectric element 5 of the concave mirror 6 during the monitoring scanning. The direction of the water spray nozzle 7 is set to face the detection direction of the fire source, and when the fire extinguishing pump 8 is activated, the extinguishing agent from the extinguishing agent tank 9 is radiated toward the fire source.

However, in such a fire extinguishing robot, the concave mirror 6 for fire detection and the water spray nozzle 7 are driven and scanned in the horizontal and vertical directions by the same pulse motor 2.4, so the fire detection angle of the concave mirror 6 and the water spray nozzle 7 are Since the radiation angle of the water nozzle 7 is different in consideration of the trajectory, when the water nozzle 7 is set toward the detected fire source and the extinguishing agent is being emitted, it is not possible to confirm that the pyroelectric element 5 of the concave mirror 6 has extinguished the fire. Therefore, the emission of extinguishing agent by the water nozzle 7 is stopped for a certain period of time, and while the emission of extinguishing agent is stopped, the concave mirror 6 is pointed at the detected fire source to confirm extinguishment. There is a risk of the fire spreading because the fire extinguishing agent may be released more than necessary because the extinguishing agent cannot be used at the same time, or because the release of extinguishing agent is temporarily stopped to confirm that the extinguishing agent is not completely extinguished. was there.

The present invention was made in view of these problems, and
By separately providing the drive scanning mechanism for the fire detection sensor and the drive scanning mechanism for the water spray nozzle, it is possible to simultaneously monitor the fire source and confirm extinguishment even while extinguishing agent is being emitted. Monitoring scanning detects the spread of a fire at the same time as water is released, and the direction of the water nozzle is changed.
The purpose is to provide a fire extinguishing robot with high fire extinguishing ability.

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, numeral 10 is a base for installation, and inside the base 10 there is a control circuit section 11. A fire pump 12 and a fire extinguishant tank 13 are built-in.

Pulse motors 15a and 15b for horizontal rotation scanning are arranged in parallel on the pedestal 14 placed on the base 10, and the Hals motor 1
A sensor rotation table 16 is attached to the rotation axis of 5a, and a lice nozzle rotation table 26 is attached to the rotation axis of the pulse motor 15b.
is installed. The sensor rotary table 16 is provided with a pulse motor 18a for vertical rotation scanning, and a pulley 19a, a belt 20a and a Boo! Rotation is transmitted to the shaft 22 via j21a, and a concave mirror 24 equipped with a pyroelectric element 25 for detecting infrared rays is attached to the shaft 22. On the other hand, the nozzle rotating table 26 of the pulse motor 15b is also provided with a pulse motor 18b for vertical rotation scanning, and a pulley 19b and a belt 20b.
The water discharge nozzle 27 is configured to rotate and scan in the vertical direction via the pulley 21b.

FIG. 3 is a block diagram showing an embodiment of the control circuit section 11 in the embodiment of FIG. 2.

First, to explain the configuration, numeral 30 is a microcomputer;
a, 18a, a fire detection sensor, i.e., a concave mirror 24 equipped with a pyroelectric element 25, is rotated and scanned horizontally and vertically; pulse motor 15
A nozzle control program and the like for driving the 18b are stored in advance.

In this microcomputer 30, the detection output of the focusing element 25 is inputted and connected via an input interface 31, and the pulse motors 15a, 18a for sensor scanning and the nozzle scanning are connected via output interfaces X32a, 32b. A control output is given to the pulse motors 15b and 18b for the fire pump, and further a control output is given to the fire pump motor 34 via the output interface 33.

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

First, when the power of the fire extinguishing robot is turned on, the initial setting shown in block a is performed by the microcomputer 30 in FIG. 3, and then monitoring scanning of block b is started.

In this monitoring scan, the concave mirror 24 equipped with the pyroelectric element 25 is rotated and scanned in the horizontal and vertical directions by driving the pulse motors 15&I and 18a. When it rotates and returns to the reference position, it vertically rotates downward by a certain angle, then rotates 360° horizontally and horizontally in the opposite direction to return to the reference position, and in the same way, each horizontal and vertical rotation scan is performed in the most downward direction. The fire extinguishing robot is monitored in a 360° direction around the point where the fire extinguishing robot is installed.

If the pyroelectric element 25 of the concave mirror 24 detects infrared rays from the fire source during such a monitoring scan, the concave mirror 24 is returned to the reference position of horizontal rotation while maintaining the vertical scanning angle at the time the fire source was detected. The horizontal scanning angle at which the fire source is detected is determined by counting the drive pulses of the pulse motor 15a.

Next, while maintaining the horizontal scanning angle that is the direction of the fire source, the pulse motor 18a is driven to create a concave surface @! 24 is set in the most downward direction (vertical reference position) and then rotated and scanned upward, and when a fire source is detected, the vertical scanning angle is determined by counting the number of driving grooves of the pulse motor 18a.

Drive scanning of the pulse motors 15b and 18b is performed in block e based on the horizontal scanning angle and vertical scanning angle indicating the direction of the fire source detected in block d, and the detection 1. The water spray nozzle 27 is set in the direction of the fire source at a radiation angle that takes into account the water spray trajectory, and after the setting is completed, the fire pump 12 is started to start discharging the extinguishing agent from the fire extinguisher tank 13 toward the fire source.

On the other hand, in addition to controlling the water nozzle 27, the fire source is monitored by the pyroelectric element 25 of the concave mirror 24 in parallel, and the status of the fire source is detected in real time7, and when it is confirmed that the fire has been extinguished, the water nozzle 27 The water discharge of extinguishing agent by the fire extinguisher will be stopped, and the system will return to block b again to carry out monitoring scanning.

In addition, for fire source monitoring during water discharge in Block I, the concave mirror 24 is not fixedly oriented in the direction of the detected fire source;
The concave mirror 24 is driven and scanned horizontally and vertically within a fixed detection area centered on the direction of the detected fire source, and the vicinity of the first detected fire source is also monitored to detect the spread of the fire and release water. Once it is confirmed that the fire is extinguished in the direction in which the nozzle is set, it is desirable to set the water spray nozzle in the direction of other fire sources detected during the extinguishment to stop the spread of the fire.

In addition, in the embodiment shown in FIG.
4 and the water spray nozzle 27 are arranged horizontally so that they can be driven and scanned individually, but in another embodiment, the concave mirror 24 and the water spray nozzle 27 are arranged vertically, and the monitoring area of the concave mirror 24 and the water spray nozzle are It is desirable that the emission directions of 27 are not mutually obstructed.

Furthermore, although the above embodiments have been taken as examples of fire extinguishing robots that are fixedly installed, the present invention is not limited thereto, and is equally applicable to self-propelled fire extinguishing robots that have a traveling drive mechanism. can do.

As described above, according to the present invention, in a fire extinguishing robot that directs the water nozzle toward the fire source detected by the drive scanning of the fire detection sensor and releases extinguishing agent, Since the 1 scanning mechanism and the water spray nozzle drive scanning mechanism are provided separately, it is possible to simultaneously monitor the status of the fire source while the water spray nozzle is set toward the detected fire source to extinguish the fire. Since the extinguishing agent continues to be released until infrared rays are no longer detected, the fire can be extinguished by releasing an appropriate amount of extinguishing agent depending on the size of the fire source, eliminating the need for using more extinguishing agent and preventing the spread of the fire. This has the effect of being able to reliably stop this.

[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 a perspective view showing an embodiment of the present invention, and FIG. 3 is a perspective view of a control circuit section of the present invention. FIG. 4 is a block diagram showing one embodiment, and a flowchart showing the operation flow according to the present invention. 10...Base 11...Control circuit section・
12... Fire extinguishing pump 13... Fire extinguishing agent tank 14... Frame 15a, 15b, 18a, 18b... Pulse motor 16... Sensor rotating stand 19a, 19b, 21a, 21b-Pulley 20a,
20b...Belt 24...Concave mirror 25...
・Pyroelectric element 26... Nozzle rotating table 27...
- Water nozzle 30... Microcomputer 31... Input interface 32a, 32b, 33... Output interface 34.
... Fire pump motor patent applicant Ho-Teki Co., Ltd. agent Patent attorney Susumu Takeuchi V-side engraving (no change in content) Figure 3 Figure 4 Procedural amendment (voluntary) July 2, 1980 Patent Office Director Kazuo Wakasugi 2 Name of the invention Fire extinguishing robot 3 Relationship to the case of the person making the amendment Patent applicant address 2-10-43 Kamiosaki, Tokyo Parts Ward Name
(340) Houteki Co., Ltd. Representative Iibuchi
Shigenishi Shinbashi Chuo Building 4wt Telephone: 03 (432) 1007 Name Patent Attorney (7935) Susumu Takeuchi 5,
Description and drawings to be amended 6. Description of the contents of the amendment and engraving of the drawings (no changes in content).

Claims (1)

[Claims] In a fire extinguishing robot that directs a water spray nozzle in the direction of a fire source detected by drive scanning of a fire detection sensor and emits extinguishing agent, the fire detection sensor and the water spray nozzle are rotated in horizontal and vertical directions. A fire extinguishing robot characterized by having an individual scanning drive mechanism.