KR102011792B1 - Monitoring system for underground common tunnel - Google Patents

Abstract

The present invention relates to an underground hole monitoring system, which comprises: a track formed in the entire area of an underground hole where a power line or a communication line is arranged; and a monitoring robot moving along the track and monitoring the abnormality and fire of the power line or the communication line. The monitoring robot includes: a horizontally formed robot body; a tractor coupled to the robot body to form driving force to move the robot body along the track; a fire extinguisher provided in the robot body; a monitoring box provided in the robot body for sensing environmental information in the underground hole; and a monitoring arm unit having a thermal imaging camera coupled to a lower portion of the tractor and proximately photographing the power line or the communication line, and a fire extinguishing nozzle injecting extinguishing fluid into the power line and the communication line in which a fire is generated at a temperature sensor.

Description

Underground Surveillance System {MONITORING SYSTEM FOR UNDERGROUND COMMON TUNNEL}

The present invention relates to a subterranean underground monitoring system, and more particularly, to a subterranean monitoring system capable of monitoring in real time whether there is an abnormality of a power line or a communication line of a subterranean zone and whether or not a fire occurs and initiating a suppression in the event of a fire.

In general, a number of power lines or communication lines are arranged in the basement. These underground areas are inspected and inspected by workers from time to time.

Among the checks performed during this instantaneous inspection, the overheating of the power line connection area and the concentration of gas generation such as carbon monoxide (CO) and harmful gases inside the underground pit are the main checks, and the underground pit manager may cause overheating when overloaded. For efficient performance management of existing power lines or telecommunication lines and prevention of accidents, surveillance cameras and preventive instantaneous inspections are conducted at all times.

Due to the narrow space and poor ventilation in the underground facility management department, this preventive inspection management work is an absolute evacuation area for managers and patrols.

The instant underground inspection is performed in the form of visual inspection or measurement by measuring equipment, and it is necessary to check and measure many facilities in a short period of time, including difficulties in the field work including the safety of workers, such as being restricted by activities due to the characteristics of underground pipelines. There is also a great difficulty in terms of urgency and work productivity.

In addition, since the instantaneous method by the patrolman is performed only depending on the sense of the patrol, there is a disadvantage that the accuracy is poor.

In addition, when a fire occurs in the basement, the response speed is slow, and there is a risk of spreading a large fire by missing an initial fire suppression time.

Publication 10-2010-0001685 "Underground monitoring system and method"

An object of the present invention is to solve the above-mentioned problems and to provide a basement monitoring system that can automatically move and monitor the presence or absence of power lines or communication lines in the basement and whether or not the fire or external ingress.

Another object of the present invention is to provide an underground sphere monitoring system capable of immediately extinguishing the fire immediately.

The above objects and various advantages of the present invention will become more apparent from the preferred embodiments of the present invention by those skilled in the art.

The object of the present invention can be achieved by the underground ball monitoring system. The object of the present invention can be achieved by the underground ball monitoring system. The underground ball monitoring system of the present invention includes a track formed in the entire area of the underground ball in which a power line or a communication line is disposed; It includes a monitoring robot that moves along the track and monitors whether there is an abnormality of the power and communication lines and whether or not a fire occurs. The monitoring robot is coupled to a horizontally formed track and the robot body to move the robot body along the track. A tractor for forming a driving force so as to; A fire extinguisher provided in the robot body; A monitoring box provided in the robot body for sensing environmental information in the basement; Coupled to the tractor is characterized in that it comprises a thermographic camera or temperature sensor for photographing the power line or communication line and a monitoring arm having a fire extinguishing nozzle for injecting the extinguishing fluid or powder into the power, communication line generated by the fire.

According to one embodiment, the power supply line and the communication cable is integrally coupled to the track, the upper portion of the tractor is coupled to the track movably is provided with a current collector to receive power from the power supply line to the tractor One side of the main body of the main body is provided with a surveillance camera for photographing the inside of the basement, and includes a control unit for receiving the environmental information collected from the surveillance box and the image information captured by the surveillance camera through the communication cable. The controller determines whether there is an abnormality of the power line and communication line, external invader, temperature, and fire based on the environment information and the image information, and when the fire occurs, the monitoring robot moves to the place where the fire occurs. Remotely control the tractor so that the extinguisher is sprayed by operating the fire extinguisher To do that.

According to one embodiment, the surveillance box includes a surveillance camera temperature sensor, humidity sensor, gas sensor, microphone and speaker, the surveillance arm is provided to be capable of 360-degree rotation and vertical height adjustment in the form of a joint.

Underground monitoring system according to the present invention is to monitor the presence of power line, communication line and the occurrence of a fire, the robot automatically moves along the track installed in the basement without patrol visitor to the underground directly.

In addition, the underground sphere monitoring system according to the present invention is equipped with a variety of sensors that can detect the temperature, humidity, gas concentration of the surveillance camera on the surveillance robot can immediately detect the change in the environment inside the underground sphere. When the environmental change is detected, the control unit analyzes an abnormality of the communication line or monitors the occurrence of a fire.

The surveillance robot can be rotated 360 degrees and equipped with a surveillance arm that can be adjusted up and down in height to observe communication lines at various locations without blind spots. In addition, a fire extinguishing nozzle is provided at the end of the monitoring arm to immediately extinguish the fire by spraying the extinguishing liquid or powder to the area where the fire has occurred. This can prevent the spreading of a large fire in advance.

The operation and operation of the surveillance robot and the injection of fire extinguishers can be controlled autonomously or remotely, reducing the time required for surveillance and the manpower required for surveillance.

1 is an exemplary view showing the overall configuration of the underground sphere monitoring system according to the present invention,
Figure 2 is a perspective view showing the configuration of the underground sphere monitoring system according to the present invention,
Figure 3 is an exploded perspective view showing an exploded configuration of the underground sphere monitoring system according to the present invention,
Figure 4 is a schematic diagram showing the internal configuration of the underground ball monitoring system according to the present invention,
Figure 5 is a bottom perspective view showing the bottom configuration of the underground ball monitoring system according to the present invention,
Figure 6 is a perspective view showing the configuration of the monitoring arm of the underground monitoring system according to the present invention,
7 is an exemplary view illustrating a process of monitoring a power line or a communication line by the underground sphere monitoring system according to the present invention.

In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiment of the present invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described in detail below. This example is provided to more completely explain the present invention to those skilled in the art. Therefore, the shape of the elements in the drawings and the like may be exaggerated to emphasize a more clear description. It should be noted that the same members in each drawing are sometimes shown with the same reference numerals. Detailed descriptions of well-known functions and configurations that are determined to unnecessarily obscure the subject matter of the present invention are omitted.

Figure 1 is a schematic diagram schematically showing the overall configuration of the underground sphere monitoring system 1 according to the present invention.

As shown, the underground sphere monitoring system 1 monitors the power line or communication line (hereinafter, the track 20) disposed in the underground sphere 10 in real time by the surveillance robot 200 that autonomously runs along the track 100. It is determined whether there is an abnormality of the track 20 and whether a fire occurs. As a result, more accurate monitoring can be achieved as compared with the conventional method of manual patrol, and the manpower and time required for patrol can be reduced.

In addition, the monitoring robot 200 of the present invention has a fire extinguishing function, there is an advantage that the initial extinguishing is possible when a fire occurs in the track (20).

The underground sphere monitoring system 1 according to the present invention is built in the underground sphere 10. The track 20 is arranged in multiple stages in the basement 10. The track 20 is supported by a hanger 30 (see FIG. 7).

2 is a perspective view showing the configuration of the underground ball monitoring system 1, Figure 3 is an exploded perspective view showing an exploded configuration of the underground ball monitoring system 1, Figure 4 is a perspective view of the underground ball monitoring system (1) It is a schematic diagram which shows an internal structure, and FIG. 5 is a bottom perspective view which shows the bottom structure of the underground mouth monitoring system 1. As shown in FIG.

The underground sphere monitoring system 1 includes a track 100 provided inside the underground sphere 10 and a surveillance robot that autonomously runs along the track 100 and monitors the abnormality of the track 20 and the occurrence of a fire ( 200 and a control unit 300 that receives the information monitored by the monitoring robot 200 determines whether there is an abnormality of the line 20 and whether a fire has occurred and controls the operation of the monitoring robot 200.

The track 100 is formed in the basement 10. The track 100 may be installed at the top or may be installed at the bottom of the bottom depending on the position of the hanger 30 installed in the basement 10, the track is formed.

The track 100 supports the surveillance robot 200 to be moved. The track 100 is formed in the shape of a square tube or a rail with an empty inside, as shown in an enlarged view in FIG. 2. A plurality of cable support rails 110 are provided at an upper portion of the track 100, and a power supply line 120 and a communication cable 130 are accommodated between the cable support rails 110.

The cable support rail 110 is a three-phase five-wire type, the power supply line 120 of R, S, T and G is accommodated, and one communication cable 130 is accommodated. The power supply line 120 is connected to the power supply 40 as shown in FIG. 1 to receive power. The power supply line 120 contacts the current collector 240 to be described later, and transmits power to the current collector 240.

The communication cable 130 is connected to the leakage current cable 310 connected to the control unit 300 by Wi-Fi communication, Ethernet communication, 5G communication, etc. and transmits the information collected by the monitoring robot 200 to the control unit 300. .

The lower portion of the track 100 is provided with a roller contact plate 140 formed horizontally. The front lower roller 222 of the front tractor 220 and the rear lower roller 232 of the rear tractor 230 are in contact with the roller contact plate 140.

Surveillance robot 200 is equipped with a variety of smart sensors that can monitor the presence or absence of abnormality of the track 20 and the fire, and move along the track 100 to monitor the track 20. The monitoring robot 200 travels by the control signal of the controller 300, monitors the track 20, and transmits the monitored information to the controller 300.

Surveillance robot 200 is formed of a structure that can be easily separated from the track 100 in the event of repair or failure.

Surveillance robot 200 is coupled to the robot body 210, the front of the robot body 210, as shown in Figure 3 to provide a driving force to move the robot body 210 along the track 100 A front tractor 220, a rear tractor 230 operating in conjunction with driving of the front tractor 220, a current collector 240 accommodated in the track 100 and supplying power to the front tractor 220; , A pair of fire extinguishers 250 provided at both sides of the robot main body 210, a monitoring box 260 provided at one side of the robot main body 210 to collect environmental information in the basement 10, and underground Surveillance camera 270 for photographing the inside of the sphere, and the lower portion of the robot body 210 includes a monitoring arm 280 for supporting the fire extinguishing nozzle (283).

The robot body 210 is formed of a plate material having a predetermined area. The robot body 210 is provided in a flat plate shape because it must move along the lower portion of the track 100. Both sides of the robot body 210 is coupled to the pair of side support plates 211 on which the fire extinguisher 250 is seated.

The front tractor 220 and the rear tractor 230 are respectively coupled to the front and rear of the robot body 210 so that the robot body 210 can be moved along the track 100. The front tractor 220 is a front frame 221 coupled to the front of the robot body 210, as shown in Figure 3 and 5, and the roller contact plate 140 is rotatably coupled to the front frame 221 The front lower roller 222 and the roller driving motor 223 for generating a driving force to rotate the front lower roller 222 and the roller driving motor 223 are driven along the front lower roller 222. It comprises a transmission means for transmitting to 224 and the upper front roller 225 is provided in the upper portion of the front frame 221 so as to be idle rotation accommodated inside the track (100).

The front tractor 220 moves forward and backward along the track 100 when the roller driving motor 223 is forward and reverse rotated under the control of the controller 300 and provides driving force to move the monitoring robot 200. The front frame 221 supports the front lower roller 222 to be rotated, and supports the two pairs of the front upper rollers 225 to be idled.

The front lower roller 222 is rotated by receiving the driving force of the roller driving motor 223 by the driving means 224. The front lower roller 222 contacts the roller contact plate 140 of the track 100 and rotates forward and backward, thereby causing the robot body 210 to which the front tractor 220 is coupled moves back and forth along the track 100. do.

The roller driving motor 223 is driven forward and backward by the control signal of the controller 300 to rotate the front lower roller 222. The roller driving motor 223 is connected to the current collector 240 to receive power, and is connected to the communication cable 130 to receive a control signal from the controller 300.

The transmission means 224 is provided between the roller driving motor 223 and the front lower roller 222 to transfer the rotational force of the roller driving motor 223 to the front lower roller 222. Drive means 224 may be implemented by a combination of a variety of gears, chains, belt rollers and the like.

Two pairs of front upper rollers 225 are accommodated inside the track 100 and idlely rotate when the front lower roller 222 rotates and moves along the track 100. The front upper roller 225 serves to connect the track 100 and the front tractor 220 so that the surveillance robot 200 can be moved along the track 100. Two pairs of front upper rollers 225 are disposed in front, rear, left, and right inside the track 100 to support the surveillance robot 200 to be stably moved along the track 100.

The front upper roller 225 is preferably provided to withstand the load of the monitoring robot 200 and to be moved along the track 100. To this end, three or more pairs may be provided in some cases.

The rear tractor 230 is coupled to the rear of the robot body 210 when the front lower roller 222 of the front tractor 220 is rotated and moved, the child moves in conjunction with this and stable movement of the robot body 210 I support it. The rear tractor 230 is coupled to the upper portion of the rear frame 231 is coupled to the robot body 210, the rear lower roller 232 is rotatably coupled to the rear frame 231, the rear frame 231 And a rear upper roller 235 of two wheels accommodated in the track 100 to idle.

The rear lower roller 232 and the rear upper roller 235 are pressurized by a thrust force issued when the front lower roller 222 moves and rotate idle. The front tractor 220 and the rear tractor 230 are provided at the front and the rear of the robot body 210, respectively, so that the robot body 210 can be balanced and run stable.

The current collector 240 is accommodated in the track 100 to supply power to the roller driving motor 223. Current collector 240 is provided with a connection end 241 at the top, as shown in FIG. The connection end 241 is connected to the power supply line 120 of the track 100 to receive power.

The current collector 240 is coupled to the front of the front frame 221 is moved along the track 100 in conjunction with the movement of the front frame 221. To this end, the track movement rollers 243 are provided at both sides of the lower portion of the current collector 240.

Fire extinguisher 250 is seated on the side support plate 211 provided on both sides of the robot body (210). The fire extinguisher 250 supplies the extinguishing liquid to the extinguishing nozzle 283 of the monitoring arm 280 at the time of fire.

The fire extinguisher 250 includes a lever 251 for injecting extinguishing liquid, a lever driving means 252 for remotely driving the lever 251, and a first pipe connector 253 for discharging extinguishing liquid as shown in FIG. 5. And a connection pipe 255 connecting the first pipe connector 253 and the second pipe connector 284a.

The lever driving means 252 is driven by a remote control of the control unit 300 in the event of a fire to pressurize the lever 251 to be discharged to the first pipe connector 253. The lever driving means 252 may be implemented in a mechanical form using a motor, implemented using a wire drawn by the motor, or may be implemented using a cam or a link or hydraulic or pneumatic.

The monitoring box 260 detects an abnormality of the track 20 by detecting an environment change inside the basement. The monitoring box 260 includes a temperature sensor 261 for detecting an internal temperature, a humidity sensor 263 for detecting humidity, a gas sensor 265 for detecting a concentration of gas, and detecting an internal sound or sounding an alarm. A speaker / microphone 267 is provided. The information detected by the temperature sensor 261, the humidity sensor 263, and the gas sensor 265 is transmitted to the controller 300 through the communication cable 130.

As a result, the controller 300 may monitor temperature, humidity, oxygen, and CO ₂ concentration information in the basement in real time.

The speaker may be used to transmit an alarm sound, and the microphone may transmit an internal sound to the controller 300 or allow a patrolman who has patrolled to the site and a manager of the controller 300 to make a call.

On the other hand, the monitoring box 260 is provided with a smoke detection sensor 262. The smoke sensor 262 detects smoke and transmits it to the controller 300 when a fire occurs.

Surveillance camera 270 is provided on the upper portion of the surveillance box 260, when the surveillance robot 200 is moved along the track 100 to photograph the inside of the underground sphere and transmits to the control unit 300. The internal image captured by the surveillance camera 270 is displayed in real time on the communication cable 130 and the display unit 320 of the controller 300 as shown in FIG.

The lower portion of the surveillance camera 270 is provided with an LED lamp 271 may serve to illuminate the front to move the surveillance robot 200. As a result, the surveillance camera 270 can capture a clear image.

Surveillance arm 280 is provided in the lower portion of the robot main body 210 to move close to various locations of the underground sphere 10 to take a close-up image, by spraying the extinguishing fluid to the fire extinguishing nozzle 283 provided at the end of the fire Early evolution is possible.

6 is a perspective view illustrating the configuration of the surveillance arm 280. As shown, the monitoring arm 280 may include a fire extinguishing nozzle 283 and a thermal imaging camera 283a provided at an end of the first arm 281, the second arm 282, and the second arm 282. The first arm connector 284 rotatably coupled to the lower part of the temperature sensor robot body 210, the second arm connector 285 coupled between the first arm connector 284 and the first arm 281. ), The third arm connector 286 coupled between the first arm 281 and the second arm 282, and the first arm connector 284 are provided in the first arm connector 284. The first directional rotation driving unit 287 providing a driving force to rotate about the main body 210 and the second female connecting pipe 285 are provided in the second female connecting pipe 285 to the first female connecting pipe 284. The second direction rotation driving unit 288 for providing a driving force to rotate relative to the third arm connecting pipe 286 is provided to provide a driving force to rotate the second arm 282 relative to the first arm (281). And a third direction rotation driver 289.

The first arm connecting pipe 284 is rotatably coupled in a horizontal direction with respect to the robot body 210 by the first direction rotation driving unit 287. As a result, the second arm connecting tube 285, the first arm 281 and the second arm 282 coupled thereto may be rotated in the horizontal direction about the first arm connecting tube 284.

Here, the first female connector 284 is provided with a second piping connector 284a as shown in FIG. The second pipe connector 284a is connected by the first pipe connector 253 and the connection pipe 255 of the fire extinguisher 250 to receive the digestion fluid A.

The digestive fluid introduced into the second piping connector 284a is disposed inside the first arm connecting pipe 284, the second arm connecting pipe 285, the first arm 281, and the second arm 282. A movement path for moving up to) is formed.

The second arm connecting pipe 285 is rotatably coupled to the first arm connecting pipe 284 in the vertical direction by the second direction rotation driving part 288. As a result, the first arm 281 and the second arm 282 coupled to the second arm connecting pipe 285 may be moved up and down and have a variable height.

The third female connector 286 is provided between the end of the first arm 281 and the second arm 282. The third arm connecting pipe 286 may be rotated up and down by the third direction rotation driving unit 289. As a result, the second arm 282 is rotated with respect to the first arm 281, and the height and the angle may be adjusted.

Here, the first direction rotation driver 287, the second direction rotation driver 288, and the third direction rotation driver 289 are provided as motors and are remotely driven by the control of the controller 300.

As shown in FIG. 7, the first arm 281 and the second arm 282 can be multi-refractive and rotate 360 degrees. Therefore, it is possible to monitor the whole area without the blind spot inside the basement (10).

On the other hand, the end of the second arm 282 is provided with a fire extinguishing nozzle 283, a thermal imaging camera (283a), or a temperature sensor. The thermal imaging camera 283a may capture an image in high quality, and may photograph the track 20 having various positions and heights close by the multi-refraction structure of the first arm 281 and the second arm 282. As a result, the administrator can check whether the surface of the track 20 is abnormal and whether a fire has occurred through the display 320.

In addition, when a fire occurs, the fire extinguishing nozzle 283 is positioned close by the first arm 281 and the second arm 282 at the time of ignition and may spray the extinguishing liquid to the ignition point.

On the other hand, the end of the first arm 281 and the second arm 282, but not shown in the figure is provided with an anti-collision sensor (not shown). This prevents the collision with the track 20 or the hanger 30 during the movement of the first arm 281 and the second arm 282.

The control unit 300 is provided in the central control center (not shown) spaced apart from the basement (10). The controller 300 is provided in the form of a computer server, and the display unit 320 and an input unit (not shown) are provided together. The controller 300 receives information collected by the monitoring robot 200 through Wi-Fi communication, Ethernet communication, and 5G communication as shown in FIGS. 1 and 5 to determine whether there is an abnormality in the basement or a fire. And control the operation of the surveillance robot 200.

The controller 300 reversely rotates the roller driving motor 223 to control the monitoring robot 200 to move back and forth along the track 100. In addition, the control unit 300 monitors the change in the environment inside the basement by comparing the temperature, humidity, and concentrations of the gases received from the temperature sensor 261, the humidity sensor 263, and the gas sensor 265 with reference values. .

When the temperature, humidity, and gas concentration are significantly different from the reference value, the controller 300 causes the patrolr to patrol the inside of the underground sphere directly or the surveillance camera 270 and the thermal imaging camera 283a of the surveillance robot 200. Can be controlled to monitor the inside more closely.

In particular, the controller 300 remotely drives the first directional rotation driver 287, the second directional rotation driver 288, and the third directional rotation driver 289 of the surveillance arm unit 280 so that the thermal imaging camera 283a operates. Close-up photography of the track 20 in various locations. At this time, the connection point 21 etc. which are easy to generate | occur | produce heat can be monitored in detail.

On the other hand, when a fire occurs, the manager drives the lever driving means 252 through the input unit (not shown) to press the lever 251 of the fire extinguisher 250, the fire extinguisher 250 is extinguisher (A) extinguishing nozzle ( 283). This may enable early fire suppression.

In addition, the controller 300 communicates with the manager's mobile terminal 400 and transmits the current surveillance image and surveillance information received from the surveillance robot 200 so that the administrator is always aware of the situation of the underground. When a fire occurs, by sending a fire occurrence message to the administrator's mobile terminal 400, the administrator immediately recognizes the fact that the fire occurred.

The operation of the underground sphere monitoring system 1 according to the present invention having such a configuration will be described with reference to FIGS. 1 to 7.

As shown in FIG. 1, the surveillance robot 200 of the present invention is moved along the track 100. When the roller driving motor 223 is driven by the remote control of the controller 300, the front tractor 220 moves along the track 100, and in conjunction with the rear tractor 230, the rear tractor 230 moves along the track 100. . The robot body 210 coupled between the front tractor 220 and the rear tractor 230 is also moved in conjunction with the movement of the front tractor 220.

The surveillance camera 270 coupled to the robot main body 210 captures an internal image at the time of movement of the surveillance robot 200 and transmits it to the controller 300, and the surveillance box 260 has temperature information, humidity information, and various gas concentrations. Detects and transmits it to the control unit 300.

The image captured by the surveillance camera 270 is displayed on the display 320, and the sensing information detected by the surveillance box 260 is stored in a storage unit (not shown). In addition, the sensing information is compared with the reference value, and if the difference between the reference value exceeds the set range or more, the control unit 300 moves the monitoring robot 200 to monitor in detail the area where the abnormality occurred.

In addition, the controller 300 drives the first direction rotation driver 287, the second direction rotation driver 288, and the third direction rotation driver 289 of the monitoring arm 280 so that the second arm 282 moves up and down. Move left and right.

As shown in FIG. 7, when the hangers 30, 30a and 30b are disposed in multiple stages in the basement 10, and the tracks 20, 20a and 20b are positioned on the hangers 30, the first arm ( 281) and various angle changes of the second arm 282, it is possible to closely monitor the thermal imaging camera (283a) from the top to the lowest track (20, 20a, 20b).

The monitoring robot 200 may move from the initial position to the last position of the track 100 and then repeat the process of returning to the initial position, thereby allowing continuous monitoring of the inside of the basement 10.

If there is an abnormality in the analysis result of the monitoring information through the monitoring box 260, the monitoring robot 200 is moved along the track 100 to perform detailed monitoring, and in this process, as shown in FIG. When the fire (F) occurs in the control unit 300, the administrator is recognized by the control unit 300, the administrator drives the surveillance arm 280 to move the second arm 282 to the location of the connection point 21 where the fire occurred. Move it.

Then, the lever driving means 252 is driven to press the lever 251 of the fire extinguisher 250, the extinguishing liquid (A) is introduced into the monitoring arm 280 through the connection pipe 255. The extinguishing liquid A introduced into the monitoring arm 280 is discharged through the extinguishing nozzle 283 and sprayed into the fire position.

This makes it possible to extinguish the initial fire and prevent the disaster from spreading to a large fire.

On the other hand, the track 100 of the present invention has a smoke duct function. In a cable such as communication line, heat is generated first above a certain temperature, and if it exceeds a certain temperature, smoke (toxic gas) is generated before ignition. In addition, if a certain temperature is maintained in the next step, ignition occurs.

When smoke occurs within the narrow underground communication zone, smoke (toxic gas) quickly rises in the presence of a person can choke, and due to the smoke it is impossible to check the fire scene from the monitoring camera 270. In this case, the smoke detection sensor 262 is automatically operated to operate the external blower facility 430, and the smoke duct function is a track 100 in which smoke is mounted on the ceiling of the basement through the exhaust hose 330 near the fire site. External exhaust facility 430 is installed separately at the end or the middle of the track through the exhaust duct 331 installed inside or outside to quickly discharge the smoke to the outside of the underground. This allows the surveillance camera 270 to accurately grasp the fire situation and to take better action.

Meanwhile, the fire extinguishing nozzle 283 and the fire extinguisher 250 may be automatically operated when the line temperature inside the basement hole is not less than the set temperature as well as the remote operation.

If the surface temperature of the communication line or the power line rises above the set temperature, even if the remote manager is absent, the monitoring robot 200 detects the temperature and the smoke according to the preset temperature or the smoke detection function and actively notifies the fire alarm to the situation room. Sub-equipment 430 is operated to discharge the smoke to the outside. At the same time, by actively operating the lever drive means 252 of the fire extinguisher 250, which is self-installed as a preliminary measure, it is possible to prevent the fire from spreading greatly in advance by acting as an elementary fire.

As described above, the underground ball monitoring system according to the present invention allows the patrolman to directly visit the underground ball and monitor the abnormality of the track and the occurrence of fire without automatically patrolling the track. do.

In addition, the underground sphere monitoring system according to the present invention is equipped with a variety of sensors that can detect the temperature, humidity, gas concentration in the monitoring robot can immediately detect the change in the environment inside the underground sphere. When the environmental change is detected, the control unit analyzes whether the track is abnormal or monitors the occurrence of a fire.

The surveillance robot can be rotated 360 degrees and equipped with a surveillance arm that can be adjusted up and down in height, allowing observation of tracks in various positions without blind spots. In addition, a fire extinguishing nozzle is provided at the end of the monitoring arm to immediately extinguish the extinguishing liquid in the area where the fire has occurred, thereby enabling initial fire suppression. Thereby, it can prevent that it spreads by a large fire.

The operation and operation of the surveillance robot and the injection of fire extinguishers can be controlled remotely, reducing the time spent on surveillance and the manpower involved in monitoring.

On the other hand, when there is a lot of fire in the underground hole and the underground hole is already filled with toxic smoke, it is difficult to grasp the location of the fire, and after the fire is spread, the detector is activated, and when the fire extinguisher enters the fire extinguisher, the toxic gas can be suffocated and suppressed It takes a lot of time and equipment to exhaust the heat and toxic fumes to the outside. In addition, firefighters and sprinkler systems spray water to extinguish a fire, but when water is sprayed on a power line or a communication line, the power line and communication line soaked with water absorb water. Even if some of the power lines or communication lines installed in multiple stages have a fire, the entire wire that is not fired must be replaced. Therefore, it takes a lot of time and manpower for huge damages, demolition and new facilities.

Since the underground sphere monitoring system of the present invention does not use the water of the fire fighter, the powder fire extinguisher is selected and sprayed only at the fire-producing area, thereby minimizing damage by replacing only a part of the power line and the communication line or partially reconnecting the wire and quickly recovering in a minimum time. This can minimize the inconvenience of the people.

On the other hand, the inner and outer surfaces of the monitoring box 260 may be formed with an antifouling coating layer coated with an antifouling coating composition so as to effectively prevent the removal and removal of contaminants.

The antifouling coating composition includes ampodiglycinate and sorbitol ester in a 1: 0.01 to 1: 2 molar ratio, and the total content of ampodiglycinate and sorbitol ester is 1 to 10% by weight based on the total aqueous solution. to be.

The ampodiglycinate and sorbitol esters are preferably in a molar ratio of 1: 0.01 to 1: 2. If the molar ratio is out of the above range, the coating property of the substrate is reduced or the moisture absorption of the surface is increased after application, thereby removing the coating film. There is a problem.

The ampodiglycinate and sorbitol esters have a problem in that 1 to 10% by weight of the total composition aqueous solution is preferred. If the content is less than 1% by weight, the coating property of the substrate is lowered. Precipitation is likely to occur.

On the other hand, it is preferable to apply | coat by the spray method as a method of apply | coating this antifouling coating composition on a base material. The final coating film thickness on the substrate is preferably 500 to 2000 kPa, more preferably 1000 to 2000 kPa. If the thickness of the coating film is less than 500 kPa, there is a problem of deterioration in the case of high temperature heat treatment, and if the thickness of the coating film exceeds 2000 kPa, crystal precipitation of the coated surface is liable to occur.

In addition, the present antifouling coating composition may be prepared by adding 0.1 mol of ampodiglycinate and 0.05 mol of sorbitol ester to 1000 ml of distilled water, followed by stirring.

In addition, the anti-corrosion coating layer may be applied to the track 100 to prevent corrosion of the metal surface. This anti-corrosion coating layer is 20% by weight of guanadino benzoimidazole, 15% by weight of oxycarboxylic acid leaves, 10% by weight of imidazoline thione, 15% by weight of hafnium, 10% by weight of molybdenum (MoS2), and 25% by weight of aluminum oxide. %, Diglycidyl aniline 5% by weight, the coating thickness can be formed to 7㎛.

Guanadino benzoimidazole, oxycarboxylic acid leaf, imidazoline thione, and diglycidyl aniline serve as corrosion protection and discoloration prevention.

Hafnium is a corrosion-resistant transition metal element that serves to have excellent waterproofness and corrosion resistance.

Molybdenum emulsion plays a role of imparting slidability and lubricity to the surface of the coating film.

Aluminum oxide is added for the purpose of fire resistance, chemical stability, and the like.

The reason for limiting the numerical value of the ratio and the coating thickness of the components as described above, the inventors analyzed through the test results several times, showed the optimum anti-corrosion effect at the ratio.

The embodiment of the underground sphere monitoring system of the present invention described above is merely exemplary, and it is well understood that various modifications and equivalent other embodiments are possible to those skilled in the art to which the present invention pertains. You will know. Therefore, it will be understood that the present invention is not limited to the forms mentioned in the above detailed description. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims. It is also to be understood that the present invention includes all modifications, equivalents, and substitutes within the spirit and scope of the invention as defined by the appended claims.

1: underground tunnel monitoring system 10: underground tunnel
20: communication line 21: connection point
30: hanger 40: power supply
100: track 110: cable support rail
120: power supply line 130: communication cable
140: roller contact plate 200: monitoring robot
210: robot body 211: side support plate
220: front tractor 221: front frame
222: front lower roller 223: roller drive motor
224: power transmission means 225: front upper roller
230: rear tractor 231: rear frame
232: rear lower roller 235: rear upper roller
240: current collector 241: connection end
243: track movement roller 250: fire extinguisher
251: lever 252: lever driving means
253: first pipe connection 255: connection piping
260: monitoring box 261: temperature sensor
263: humidity sensor 265: gas sensor
267 microphone 270 surveillance camera
271: LED lamp 280: surveillance arm
281: first arm 282: second arm
283: fire extinguishing nozzle 283a: thermal imaging camera
284: first female connector 284a: second piping connector
285: second arm connector 286: third arm connector
287: first direction rotation drive unit 288: second direction rotation drive unit
289: third direction rotation drive unit 300: control unit
310: leakage current cable 320: monitor
330: exhaust hose 331: exhaust duct
400: mobile terminal 430: external broa equipment
A: digestive fluid

Claims (3)

A track 100 formed in the entire area of the basement where the power line or communication line is disposed;
It moves along the track 100 and includes a monitoring robot 200 for monitoring the presence or absence of abnormal power and communication line of the power line or communication line,
The monitoring robot 200,
A tractor (220, 230) coupled to the track (100) formed horizontally and the robot body (210) to form a driving force to move the robot body (210) along the track (100);
A fire extinguisher 250 provided in the robot body 210;
A monitoring box 260 provided in the robot body 210 for sensing environmental information in the basement;
A monitoring arm unit coupled to the lower portions of the tractors 220 and 230 and equipped with a thermal imaging camera 283a for photographing the power line or communication line in close proximity, and a fire extinguishing nozzle 283 for injecting extinguishing fluid or powder into a power line or communication line in which a fire occurs. 280;
The monitoring box 260 is provided with a smoke sensor 262 detects the smoke in the event of a fire and transmits it to the control unit 300, the smoke sensor 262 is connected to the broa facility 430 smoke detection sensor ( When smoke is detected at 262, the broa facility 430 is operated, and when the broa facility 430 is operated, the smoke generated from the communication line cable is exhausted from the track 100 or the exhaust hose 330, and the exhaust pipe acts as a smoke duct. Basement monitoring system, characterized in that it is discharged to the outside of the underground through the duct 331 so as to check the fire scene from the monitoring camera (270).
The method of claim 1,
The power supply line 120 and the communication cable 130 is integrally coupled to the track 100,
An upper part of the tractors 220 and 230 is provided with a current collector 240 movably coupled to the track 100 to receive power from the power supply line 120 and to supply the tractors 220 and 230.
One side of the robot body 210 is provided with a surveillance camera 270 for photographing the inside of the basement,
It further includes a control unit 300 for receiving the environmental information collected by the surveillance box 260 and the image information taken by the surveillance camera 270 through the communication cable 130,
The controller 300 determines whether there is an abnormality of the power line or communication line, external invader, temperature, and fire based on the environmental information and the image information, and when the fire occurs, the monitoring robot 200 generates a fire. Remote control the tractor (220,230) to be moved to the place, the underground mouth monitoring system, characterized in that the extinguishing fluid is injected into the extinguishing nozzle (283) by operating the fire extinguisher (250).
The method of claim 2,
The surveillance box 260 includes a surveillance camera temperature sensor, humidity sensor, gas sensor, microphone and speaker,
The surveillance arm 280 is an underground sphere monitoring system, characterized in that it is provided to be able to adjust the 360-degree rotation and vertical height in the form of a joint.

Images