KR20160139305A - A fire fighting robot - Google Patents

Abstract

The present invention relates to a firefighting robot dispatched to the scene of a fire. The present invention comprises: a mobile platform including a driving device to move by itself while supporting a device of a robot; a caterpillar track operating device installed on both side edges of the mobile platform to enable smooth driving as well as easily passing through an obstacle; a firefighting cannon installed on the mobile platform to spray firewater to the scene of a fire; a sensor unit exploring a fire spot and securing sight; an integrated controller controlling the entire operating part of the robot; a cooling system embedding an inert refrigerant tank, and cooling the operating part by supplying an inert refrigerant if temperature increases to more than a predetermined level; and a free spray nozzle forming a water screen to prevent an increase in the temperature of the robot body when suppressing the fire. Therefore, the firefighting robot is capable of being dispatched to the scene of a fire without interruptions by obstacles by using a caterpillar track, remotely exploring and suppressing the fire spot, and effectively suppressing the fire by using a self-cooling unit.

Description

FIRE FIGHTING ROBOT FIRE FIGHTING ROBOT

FIELD OF THE INVENTION The present invention relates to a fire fighting robot for fire fighting, and more particularly, to a fire fighting robot capable of effectively detecting a fire scene by being able to recognize a fire scene while being driven on its own, FIELD OF THE INVENTION The present invention relates to a fire fighting robot. In the event of a fire, the hot flame and the combustion gas usually cause a great deal of damage. Especially when the fire flame is generated and there is a risk of explosion, the firefighter can not effectively control the fire site even if it is put into the fire site, In the case of severe flames, access to the fire scene may not be possible.

In particular, there was a problem that a person or a firefighting apparatus can not approach the place where a person can not enter, because it is made up of a narrow space, so that the fire can not be effectively suppressed.

In order to solve these problems, various fire fighting robots or fire fighting devices have been invented which can be put in place of people at a fire site. However, since the various fire fighting robots invented so far are not effective, It is a fact that it does not become. For example, in the patent application No. 10-2006-0129930, an infrared sensor is not suitable for detecting a near obstacle in a fire scene of a fire fighting robot for fire suppression, and is a fire fighting fire fighting robot which is replaced with an ultrasonic sensor.

 SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the conventional general fire-fighting robots, and it is an object of the present invention to provide a fire fighting apparatus and a fire fighting apparatus capable of accurately detecting and identifying a fire scene, The present invention has been made to solve the above problems.

 In order to accomplish the above object, the fire-fighting robot of the present invention comprises a mobile platform provided with traveling equipment for supporting the device of the robot and capable of self- An endless track driving device for allowing an obstacle to pass through easily, a fire fighting device installed at the upper end of the mobile platform for spraying fire water at a fire point, a sensor unit for searching for a fire spot and securing a field of view, A cooling system that incorporates an inert coolant tank and cooling the operation unit by supplying compressed inert refrigerant when the temperature rises above a predetermined value, and a water system to prevent the temperature of the robot main body from rising at the time of fire suppression And a free spray nozzle for spraying.

 The fire-fighting robot of the present invention having such a structure is capable of inputting a high-temperature fire scene without being disturbed by an obstacle by using an infinite orbit, searching for a fire by remote control and suppressing it, Can effectively suppress the fire.

As described above, the fire fighting robot for fire fighting according to the present invention is equipped with a fire bell for spraying fire water, as well as a sensor unit for monitoring an image in front of a fire scene and sensing a temperature or the like, In addition to cooling the various control devices and the robot body to enable the robot to perform its normal function in a hot fire scene, it is also possible to cool the robot body by forming a water film around the robot by spraying fire water It is possible to effectively extinguish the initial fire by putting it in a high-temperature fire scene and operating a normal function.

1 is a perspective view of a fire fighting robot according to the present invention,
2 is a plan view of a fire fighting robot according to the present invention,
3 is a front view of a fire fighting robot according to the present invention.
Figure 4 is a left side view of Figure 3,
Fig. 5 is a right side view of Fig. 3,
6 is a perspective view of a sensor unit mounted on a fire fighting robot according to the present invention,
7 is a front view of the sensor unit according to the present invention,
8 is a side view of the sensor unit according to the present invention,
FIG. 9 is an arrangement view of a cooling tube mounted on a fire fighting robot according to the present invention. FIG.
10 is a piping diagram illustrating an algorithm of a cooling system according to the present invention.
DESCRIPTION OF REFERENCE NUMERALS
1 - Mobile platform 3 - Infinite track system
5 - Body 7 - Fire Fighting
9 - Sensor unit 11 - Integrated controller
13 - Cooling System 15 - Free Spray Nozzles
17 - Infinite track 19 - Suspension
21 - Up and down rotation axis 23 - Right and left rotation axis
25 - CCD camera 27 - Thermal imaging camera
29 - Ultrasonic sensor 31 - Thermocouple
33 - Headlight 35 - Laser range finder
37 - Inert coolant tank 39 - Piping for inert refrigerant
41 - Opening and closing valve

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of a fire fighting robot according to the present invention, FIG. 2 is a plan view of a fire fighting robot according to the present invention, FIG. 3 is a front view of a fire fighting robot according to the present invention, The robot includes a mobile platform (1) provided with traveling equipment such as a motor and the like so as to support the device of the robot and to be able to move by itself, and a robot installed at both edges of the mobile platform to smoothly travel, A fire fighting gun 7 for spraying fire water at a point where a fire is generated and mounted on an upper end of the mobile platform 1; , An integrated controller (11) for controlling the entire operating portion of the robot, and an inert refrigerant tank. When the temperature of the fire point rises above a predetermined value, Cooling of supplying a refrigerant cooling unit the number of operating system 13, and, the fire fighters in the various devices coming to or greater than a predetermined temperature

And a free spray nozzle 15 for spraying fire water to form a water film in order to prevent the water from rising. The endless track driving device 3 includes an endless track 17 and a suspension 19 for supporting the endless track 17 so that an obstacle or the like in a fire scene can be easily ridden and moved. The fire extinguisher 7 is vertically and horizontally rotatable by the vertical rotation shaft 21 and the left and right rotation shaft 23

The main body 5 of the robot does not move according to the position of the fire point, but only the fire fighting gun 7 is rotated so that the fire-fighting water can be sprayed to the necessary place to effectively suppress the fire.

As shown in FIGS. 6 to 8, the sensor unit 9 includes a CCD camera 25 that captures an image of the front of the robot and transmits it to an operator of the robot so that the robot can be remotely controlled wirelessly, A thermal imaging camera 27 for sensing the temperature difference of the room and for communicating firearms and people to the operator, an ultrasonic sensor 29 for detecting an obstacle in the vicinity of the robot in front of the robot, A headlamp 33 for securing a field of view in front of the fire zone in indoor or nighttime and a fire zone and a laser distance meter 35 for detecting an obstacle at a long distance, .

9 and 10, the cooling system 13 includes an inert refrigerant tank 37 in which a liquid-inert refrigerant is stored, and an inert refrigerant pipe 39 through which the sensor unit 9 and the mobile platform (1) and the integrated controller (11). The cooling system 13 of the present invention having such a structure is controlled by the integrated controller 11. The fire controller of the present invention, which is put into a fire site, detects the temperature of the sensor unit 9 at a high temperature The integrated controller 11 opens the opening and closing valve 41 of the inert coolant pipe 39 connected to the inert coolant tank 37 so that the inert coolant is supplied to each controller, It allows operation without any problems even in a high temperature fire scene. In addition to the cooling system 13, the robot according to the present invention has a separate means for protecting the robot body from the high temperature of the fire scene, and the free spray nozzle 15 is installed at the upper end of the robot When the temperature of the fireplace rises to a high temperature above a predetermined value, a water film is formed by spraying fire water and covering the body of the robot from above, so that firearms on the fire scene are not directly transmitted to the robot body.

Claims (3)

A mobile platform 1 provided with traveling equipment for supporting the device of the robot and moving the robot 1; and an infinite-orbital driving device 2 installed on both edges of the mobile platform 1 for smooth running and capable of passing obstacles easily A fire extinguisher 7 mounted on a main body 5 installed at an upper end of the mobile platform 1 for spraying fire water at a point where a fire has occurred, a sensor unit 9 for searching for a fire point and securing a field of view, An integrated controller 11 for controlling the entire operation portion of the robot, and an inert refrigerant tank. When the temperature of the fire point rises above a predetermined value, the compressed inert refrigerant is supplied to the fly- A cooling system 13 for cooling an operating unit constituted by the sensor unit 9 and the integrated controller 11 and a free spray nozzle for spraying fire water to cool the robot body at the time of fire suppression, (15), a fire fighting fire fighting robot [2] The method according to claim 1, wherein the sensor unit (9) comprises: a CCD camera (25) for capturing an image of the front of the robot and transmitting it to an operator of the robot to remotely control the robot; A thermal image camera 27 for sensing and communicating a fire and a person to an operator, an ultrasonic sensor 29 for detecting obstacles in the vicinity of the robot in front of the robot, a thermocouple 29 for measuring room temperature 31), a headlight (33) for securing a field of view in front of the indoor or night moving and fire zones, and a laser distance measuring device (35) for detecting obstacles at a long distance and near and ground through laser scanning A fire fighting robot for fire fighting The system according to claim 1, characterized in that the cooling system (13) comprises an inert coolant tank (37) in which a liquid inert refrigerant is stored is connected to the sensor unit (9), the mobile platform (1) 11. The fire fighting fire fighting robot according to claim 1,

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