RU2686421C1 - Method for local protection of an object from fire and device for implementation of method, method for creation of fast-setting barrier with fast-setting foam and mobile robot for creation of fireproof barrier from fast-setting foam - Google Patents

Abstract

FIELD: fire safety.SUBSTANCE: invention relates to firefighting equipment and is intended for creation of confined space in case of fire due to formation of mesh screen above protected object. To this end, on the outer surface of the screen, a foamed heat-insulating layer is formed on the entire area of its cellular structure, and material used for formation of foamed heat-insulating layer is fast-setting foam. Declared method is implemented by means of the local protection device of the object against fire, which contains a mesh screen forming a limited volume above the protected object and a foamed heat-insulating substance. Protective layer of the foamed heat-insulating substance is formed outside on the entire area of the screen, and the heat-insulating substance is made in the form of fast-setting foam. To implement the method, a mobile robot is used, which is equipped with a homing on the target system which recognizes a mesh screen of a certain configuration with an on-board electronic system to perform a fast-setting foam solution supply operation when a protective heat-insulating layer is applied in the form of fast-setting foam to a mesh screen in conditions of formation of a local source of ignition. Mobile robot for creation of fireproof barrier from fast-setting foam comprises chassis on caterpillar track, power units, a system for controlling and monitoring and transmitting data from real-time monitoring and a platform on which a manipulator with a foam supply device is mounted, to guide a selected surface of the mesh screen of a certain configuration on the body of the foam supply device, a sensor is mounted – a video module facing the selected surface of the named screen in conditions of formation of a local source of ignition.EFFECT: disclosed technical solution is simple in operation and enables to repeatedly perform a single mobile robot operation to create local protection of an object from fire in case of emergency, when human intervention in the process under these conditions, as a rule, is short-term or almost impossible.4 cl, 6 dwg

Description

The invention relates to fire fighting equipment and is designed to create a fire limited from the external environment of the space due to the formation of a mesh screen over the protected object. To this end, a foamed heat-insulating layer is formed on the outer surface of the screen over the entire area of its cellular structure, and a fast-hardening foam is used as the material for the formation of the foamed heat-insulating layer.

It is known (A.N. Baratov. Combustion-Fire-Explosion-Security. - M .: FGU VNIIPO EMERCOM of Russia, 2004 p. 326) that taking into account the effect of leakage of the protected premises on the effectiveness of aerosol fire extinguishing, highly relevant problem. The presence of leakage requires an increased consumption of fire extinguishing aerosol. Moreover, this flow rate depends not only on the amount of leakage, but also on the intensity of filling the room with an aerosol or on the operating time of the generator.

The intensity can be estimated by the ratio of the area of openings and enclosing structures (in%) and by the ratio of the area of openings to the volume of the room (in m ² / m ³ ) leaks by the first method the shape of the structure plays a significant role.

There is a method of stopping burning (PG. Demidov. Combustion of substances and methods of extinguishing. - M .: RSFSR Public Service Ministry, 1955, 96 p.), Which consists in isolating a combustible substance during burning by any obstacle that does not let in vapors and gases from the burning zone, causing the burning to stop.

A device for the elimination of single emergency fires is known (Copyright Certificate SU No. 1653791, class A62C 8/00 (2000.01), publ. 07.06.1991).

The device contains a sealed dome with aerostatic lifting force, with controlled by-pass valve, external auxiliary detachable chamber, internal tanks with neutralizing reagents, skirt with weights, pull lines of the skirt, main lines, movable anchors with winches and swing beams.

The device works as follows.

At a safe distance from the emergency source of fire, the dome is deployed with an auxiliary detachable chamber, filled with a carrier gas that creates aerostatic lifting force (for example, hot air), which is held at a certain height using the main lines, after which the moving anchors, moving synchronously, move the dome Positioning it above the emergency focus, separate the auxiliary chamber and turn on the winches. At the final stage of lowering the dome simultaneously with the winches, rotary beams come into action, speeding up the process of lowering the dome, after which the tanks with neutralizing reagents are triggered and the seat of fire is eliminated.

In addition to the elimination of fires, the proposed device can be used in the protection of the environment, for example, for the elimination of individual chemical foci of highly active toxic substances.

However, this device is stationary and has a complex structure.

There is a method of creating a fire curtain (Patent RU No. 2156628, A62C 2/08 (2000.01), publ. 09/27/2000), including the installation of a mesh screen and supplying it with a protective cooling curtain on the side opposite to the direction of heat flow, characterized in that the protective the cooling curtain is created in the form of a film stream fed along the mesh screen from the nozzle mounted above it.

However, this method is not intended to create a long-lasting heat insulating layer on the entire area of its cellular structure, and the effectiveness of the protective cooling curtain depends on the presence of a cooling agent at the time of creating the said curtain.

A mobile robot and a method for adjusting its course are known (Patent RU No. 2210492, B25J 5/00, B25J 9/00, published on March 27, 2003).

This solution contains a device for moving a mobile robot around the room, a device for detecting the presence of an obstacle, a control unit connected to the device for moving the mobile robot and a device for detecting an obstacle and controlling them, a device for determining the current location of the mobile robot connected to the control part, and power supply. The device for determining the current location of the mobile robot contains the first camera to create an image of the ceiling of the room and recognize the base sign on the ceiling and the first video card that processes the image obtained from the first camera and sends data to the control unit. The power source is connected to the control part and accumulates electricity and feeds the device for moving the mobile robot, the device for detecting obstacles, the device for determining the location and the control part. A device for detecting an obstacle comprises a linear laser for emitting a linear light beam towards the obstacle, a second viewing camera for recognizing a linear light beam reflected from an obstacle, and a second video card for processing video data received by the second camera. The invention allows to determine the location of the robot and adjust its direction when an obstacle is detected.

The disadvantages of this device are that this robot has low maneuverability when performing reconnaissance operations in an area of catastrophic nature in the face of numerous destructions, blockages and other obstacles that it is sometimes impossible to overtake it.

However, this mobile robot is adapted to a specific type of operation and has only sensory means (which together form the information-sensor system), the signals from which are sent to the control system (Industrial robot - Wikipedia. Html).

There is a method of automatic control of ground-based robotic complex (Patent RU No. 2574938, B25J 5/00 (2006.01), publ. 10/27/2015), including radio communication between the control panel and the robotic complex, providing input and processing of input information from on-board sensors, calculating current orientation and location of the robotic complex. When radio communication between the control panel and the robotic complex is lost, it is automatically returned to the starting point or to the zone of confident radio traffic along the previously traversed trajectory, correcting this trajectory bypassing the detected obstacles by implementing onboard the robotic complex the basic motion algorithms in a previously unknown situation using an external image of the distance environment using the navigation and computing unit.

The invention relates to the field of robotics, namely to robotic tools designed to work in remote mode in particularly dangerous conditions without human intervention.

However, this mobile robot is adapted to a specific type of operation and has only sensory means (which together form an information-sensor system), the signals from which are sent to the control system (Industrial robot - Wikipedia.html).

A control device for an adaptive mobile robot is known (Patent RU No. 2187832, G05D 1/02, G06F 19/00, publ. 08/20/2002).

This device is designed to control the movement of an adaptive robot with the properties of artificial intelligence.

The adaptive robot control device contains a block of sensory sensors, the outputs of which are connected to the inputs of the environment model forming unit, whose outputs are connected to the first inputs of the computing unit, the second inputs of which are connected to the second outputs of the actuator unit, and the outputs are connected to the inputs of the m-stable trigger. A neural network containing a matrix of k⋅m key elements is used as a computing unit. In addition, there is a comparison circuit, a motion reference block, a constant reference block, a control block, a robot coordinate determination unit, an internal information sensor block.

The disadvantages of this device are its poor adaptation to a complex and changing environment and to a complex and changing internal state of the robot and a narrow scope.

There is a method and a device for thermal protection of a fire robot (Patent RU No. 2403928, А62С 2/06 (2006.01), B25J 19/06 (2006.01), publ. 11/20/2010), adopted as the prototype of the proposed technical solution in paragraphs 1 and 2 of the claims .

The method includes the installation of a mesh screen and supply along it a protective curtain in the form of a film stream of cooling agent from a nozzle mounted above the screen, installed only above the zone of vital controls of the fire robot, the screen surface is covered with black paint on the outside, and fire retardant on the inside paint, before applying a cooling agent from an autonomous feeder, a thickener is introduced into it, and after that - a cooling agent flowing down from the screen is collected for subsequent use. Use it after cleaning in an autonomous feeder. In case of an abnormal development of fire and the appearance of a surface without a protective curtain in local areas or on the entire screen, a continuous foamed heat-insulating layer is formed on the inner side of the screen in zones of intensive heating of its outer side. After using the entire stock of the cooling agent in an autonomous feeder, it is dumped in a place that does not interfere with the unimpeded movement of the robot.

The device comprises a screen made in the form of a skeleton on which the web is stretched, and means for supplying a cooling agent to the screen, further comprises means for mixing the cooling agent with a thickener, made in the form of a cylinder connected through a valve to an autonomous feeder, and a closed system for reusing the cooling agent, which includes a chute mounted around the perimeter of the frame to collect the cooling agent flowing down from the screen and a piping system for subsequent delivery of the latter through the systems filters in standalone feeder. The platform for an autonomous feeder is made folding with the possibility of axial rotation in the direction opposite to the main direction of movement of the robot. The invention provides reflection and absorption of radiant energy arising near the fire.

However, the screen operation in case of an abnormal fire development is designed for a short-term stay of the robot in the emergency zone for the following reasons.

First, the reserves of the cooling agent are limited by the capacity of the self-contained feeder, and the cooling agent itself gradually evaporates when exposed to heat flow.

Secondly, a continuous foamed heat-insulating layer formed during a fire on the inside of the screen in zones of intense heating of its outer side has limitations in thickness.

It is known (konstanta30.wordpress.com / Fire protection of metal structures / Construction blog) that modern flame retardants are applied to the protected surface with a layer up to 2 mm thick. Under the influence of high temperatures, they increase in volume up to 70 times and have a flame retardant efficiency up to 90 minutes. As practice shows, the application of flame retardant intumescent paints, a layer of more than 2 mm is impractical, because with a thickness of more than 2 mm, the layer of fire retardant paint is heated and swells unevenly. This leads to inhomogeneity of the resulting protective layer, reduction of its strength and leads to the fact that the fire-retardant layer peels off.

It is known (http://alfa.moreprom.ru) that fires in the technosphere have a serious impact on the environment (OS): in industry, transport, etc., as combustible materials are extremely diverse in composition, and a fire can arise on almost any object. As a result, a wide variety of chemical compounds and toxic compounds may be present in the combustion products. Oxides of carbon, sulfur, nitrogen, hydrogen chloride, hydrocarbons of various classes, alcohols, aldehydes, benzene and its homologues, polyaromatic compounds (PAHs), etc. are the most common. Heavy metals salts and oxides, benzo (a) pyrene are among the most dangerous. (Bap) dioxins. Most of these chemicals have harmful effects on living organisms. For example, dioxins, PAHs and others can cause cancer in humans, and sulfur oxides cause the death of vegetation.

The most dangerous situations associated with the impact on the environment arise on fires during the spillage of flammable liquids and alimentary fluids on tank farms (in tanks and dumping and beyond), vehicles (during sea transportation), chemical plants, radiation facilities, fertilizer depots , pesticides, emergency hazardous substances (hazardous substances).

The work (http: //poznayka.org.html) found that death rates among firefighters are immediately after the death rates of sailors and builders, that is, firefighters die before representatives of many other dangerous professions. The number of deaths during a fire continues to grow. The main causes of deaths, according to experts, are due to smoke poisoning (60%), heart attacks (22%), burns (16%).

Modern fires due to heat generation and the toxicity of combustion products pose a significantly greater threat to health and life than they used to have when burning traditional materials.

The complication of the situation in case of fires and accidents due to the development of industry leads to the fact that cardiovascular diseases, increased blood pressure, diseases of the upper respiratory tract, mental disorders and so on have become more frequent among firefighters.

Particular attention is paid to the work of firefighters and rescuers in the event of a thermal burn.

A thermal burn is an injury that occurs as a result of exposure of a person to open fire (flame), thermal radiation, contact of the body with hot objects, liquids, gases, inhalation of flame, combustible air, steam, smoke. The characteristic signs of a thermal burn are: reddening of the skin in places of a burn, swelling, asphyxiation, formation of burn blisters, charring of the affected area, burn shock.

Most of the toxic substances released during fires belong to the following classes: drugs, irritants, nerves, carcinogens.

Therefore, at present, industrial robots are widely used to exclude exposure of personnel to hazardous factors characteristic of high-risk industries (Industrial Robot - Wikipedia.html).

In the claimed technical solution to create a foamed heat-insulating layer on the entire area of the cellular structure of the screen, the use of a robot is provided.

Known fire-fighting robot (Application RU №2003138037, IPC A62C 3/02, B25J 18/00, publ. 10.06.2005), adopted for the prototype of the proposed technical solution in paragraphs 3 and 4 of the claims.

The robot contains a movable platform with a fire extinguisher and a manipulator, the manipulator being designed as a double-hinged unit with mutually perpendicular and non-intersecting axes of mobility, while the axis of mobility associated with the hinge platform is parallel to the support plane of the robot, and on the second hinge the socket of the fire extinguisher is fixed, with the platform additional fire extinguishers aimed at the main components and elements of the robot.

However, this technical solution does not provide for its use to create pre-fabricated barriers from quick-hardening foam.

The objective of the invention is to increase the efficiency of local protection of the object from fire when extinguishing the hearth of combustion by aerosol, gas and other available extinguishing agents.

The essence of the proposed method according to paragraph 1 of the claims is that the method of local protection of an object from a fire, consisting in the formation of a mesh screen above the protected object and the formation on it of a foam insulating layer in the cellular structure of the screen, creating an environment in the space protected that does not support combustion , and extinguishing a fire source with available fire extinguishing agents, when forming a space limited from the external environment in case of fire, form an external foam heat-insulating layer on the entire area of the cellular structure of the screen, and as a material for the formation of a foamed heat-insulating layer, a fast-hardening foam is used.

The essence of the claimed device according to item 2 of the claims is that in the device of local protection of an object against fire, containing a mesh screen forming a limited volume over the object to be protected and foamed heat insulating substance designed to create a protective layer in the cellular structure of the screen, and fire extinguishing agents The protective layer of foamed heat-insulating substance is formed outside on the entire screen area, and the heat-insulating substance is made in the form of a rapidly hardening foam.

The essence of the proposed method according to paragraph 3 of the formula of the invention lies in the fact that in the method of creating a pre-fabricated barrier of fast-hardening foam using a mobile robot, including the detection of a fire, the delivery of flame retardant prevention equipment and fire extinguishing of the fire source by means of the manipulator to the fire center the mobile robot is equipped with a homing system on the target by recognizing a specific mesh screen with an onboard electronic system for Making a feeding operation fast-hardening foam of the solution during application of the protective insulation layer in the form of fast-hardening foam on the mesh screen in a formation of a local ignition source.

The essence of the claimed device according to item 4 of the claims is that in a mobile robot to create a fire retardant barrier from a quick-hardening foam containing a crawler chassis, power units, control systems and surveillance and data transmission from the conducted observation in real time, and a platform , on which a manipulator with foam supplying means is mounted, a sensor is mounted on the body of the device for supplying foam to point to the selected surface of the mesh screen of a certain configuration - video module facing toward the selected surface of said screen in a formation of a local ignition source.

The technical effect of the claimed method according to paragraph 1 of the claims, is caused by the following.

The creation of an external foam insulating layer in case of fire over the entire area of the cellular structure of the screen makes it possible to form a space bounded from the external environment in the following cases:

- in the formation of local sources of ignition;

- in case of violation of the tightness of the protected object, when, for some reason, in existing aisles and openings, mechanisms (fire blocking barriers) for blocking the corresponding openings, hatches and the like were not launched in an emergency mode;

- in case of damage to sections of partitions and violation of the tightness of the premises as a result of external and internal exposure (all sorts of atmospheric phenomena, technological accidents, and the like);

- when carrying out technological operations associated with the implementation of flammable and explosive works: gas cutting, welding, soldering cables and pipes, machining metal structures, testing systems and equipment, as well as painting, insulation, gumming, finishing and other works.

The use of a quick-hardening foam as a material for the formation of a foamed heat-insulating layer allows speeding up the process of forming a limited volume above the protected object.

This is due to the fact that the foamed heat-insulating substance, made in the form of quick-hardening foam has specific features.

In the liquid phase, this substance has a certain fluidity; however, the process of transition of a fast-hardening foam from the liquid phase to the solid phase is transient. This is confirmed by the data presented in the works (N. D. Gutsev, N. V. Mikhailova, G. N. Kuprin, D. S. Kuprin, A. V. Vinogradov, V. V. Vinogradov. Results of laboratory studies of the properties of a fast-hardening foam with the purpose of assessing the possibility of using it to create fireproof foam bands. Proceedings of the St. Petersburg Forestry Research Institute, No. 1, 2016; http://journal.spb-niilh.ru/pdf/1-2016/spbniilh-proceedings-1 -2016-2-full.pdf; Scientists suggest extinguishing fires with fast-hardening foam. News. 0-1.ru.html; Patent RU # 2590379, СВВ 33/16 (2006.01), publ. 10.07.2016, For the turnout of the RU for invention No. 2016125510, IPC A62C 3/02 (2006.01), A62D 1/02 (2006.01), published on 12/28/2017).

It is obvious that installed in the claimed technical solution in case of fire over the protected object, the mesh screen will heat up.

It was previously established (A.N. Baratov, E.N. Ivanov. Fire fighting at the enterprises of the chemical and petrochemical industry. 2nd revised edition. M., Chemistry, 1979, p. 73) that with increasing foam viscosity, its durability increases, but deteriorates spreading on the burning surface.

It is known that fast-hardening foam, which is a multicomponent substance, has the unique ability to quickly harden under certain conditions, therefore, its dynamic viscosity in the process of spreading over the heated surface will increase. This phenomenon is confirmed by tests carried out, for example, in a well-known technical solution (Patent RU No. 2590379, C01B 33/16 (2006.01), published on July 10, 2016), where silica gel used as a fire extinguishing agent for fire and explosion prevention and extinguishing fires, It has a dynamic viscosity index from 20 mPa⋅s to 100 Pa⋅s in the time range from 2 seconds to 2 minutes.

In the claimed case, the process of forming a space bounded from the external environment consists in the formation of an external foamed heat-insulating layer on the entire area of the cellular structure of the screen, for example, by feeding an air extinguisher from an air foam through a low-expansion barrel. As a result of this interaction, spreading of foamed heat-insulating substance over the surface occurs, which will flow into each cell in the path of its movement. At the same time, the cellular structure of the screen additionally inhibits the flow of this substance in the liquid phase.

The rate of deceleration of the flow of foamed heat-insulating substances along the surface of the cellular structure of the screen depends on the number of cells, the thickness of the wire from which the mesh is woven, the adhesion properties of the substance and other factors characterizing this process.

To cover the largest area of the cellular structure of the screen with foamed heat-insulating substance made in the form of a fast-hardening foam, the inventors propose in the claimed technical solution to perform the following steps to optimize the process of setting the hardness of the fast-hardening foam:

- carry out the selection of the main components of the foamed heat-insulating substance;

- select the concentration of foaming surfactant, which in a particular case may depend on its individual foaming ability;

- pick up targeted supplements.

The uniformity of applying the foamed heat-insulating layer over the entire area of the cellular structure of the screen is achieved by moving the means for forming a protective layer, for example, a low-fold stem, over the outer surface of the screen.

The technical effect of the claimed device according to paragraph 2 of the claims is determined as follows.

Creating a protective layer of foamed thermal insulating material on the outside of the entire screen area makes it possible to create a fast-build and reliable barrier at the lowest cost and implement:

- formation of limited volume for local fire extinguishing;

- minimize the inflow of oxygen from the external environment into the combustion zone and the outflow of extinguished extinguishing agent, for example, gas from a limited volume.

Execution of non-combustible material in the form of a rapidly hardening foam allows you to create a pre-fabricated fire retardant barrier on the cellular structure of the screen, which has significant fire resistance.

Moreover, in the claimed technical solution, the mesh screen acts as a skeleton created by a pre-fabricated fire retardant barrier, the heat insulating substance will spread over the surface of the mesh screen after it is delivered until it is completely solidified.

The unique properties of fast-hardening foam are noted in the work (ND Gutsev, N.V. Mikhailova, G.N. Kuprin, D.S. Kuprin, A.V. Vinogradov, V.V. Vinogradov. Results of laboratory studies of the properties of fast-hardening foam in order to assess the possibility of using it to create fireproof foam bands. Proceedings of the St. Petersburg Forestry Research Institute, No. 1, 2016; http://journal.spb-niilh.ru/pdf/l-2016/spbniilh-proceedings- 1-2016-2-full.pdf).

It was found that when components are mixed with each other and with air, a gel-like foam substance (fast-hardening foam) with a given cure time is formed in the ejection process during the ejection process. Silica particles (Fig. 1) can polymerize in the range from 5 to 30 seconds. Curing time can be easily varied by changing the ratio of components. The resulting foam is a non-combustible substance and an excellent heat insulator (Testing of new chemical extinguishing agents and developing recommendations for their use: R & D report (conclusion) / FBU SPbNIILH; leader Gutsev ND; artist: Artsybashev E. S., Mikhailova N.V., Korchunova I.Yu. - St. Petersburg., 2014. - 254 pp. - Bibliogr .: pp. 112-120. - № GR 01201255954. - Inv. No. 215022440055, 11). It has high fire resistance, good adhesive ability, due to which it adheres to the surface of almost any solid material, including vertical and ceiling structures. After solidification, the foam layer is held on objects protected from fire for tens of hours.

The technical effect of the claimed method according to paragraph 3 of the claims, is caused by the following.

The equipment of a mobile robot with a homing system on a target by recognizing a mesh screen of a specific configuration with an onboard electronic system allows:

- recognize the mesh screen of a specific configuration;

- to automate the process of applying the necessary layer of fast-hardening foam on the mesh screen;

- eliminate the impact of harmful factors on personnel in the conditions of formation of a local source of ignition. For example, it has been established ((http: //poznayka.org.html) that firefighters are exposed to high temperatures. Too high temperatures cause burns, and lower ones violate thermoregulation: unstable blood circulation, impaired water-salt balance, thermal edema and convulsions.

With a heat load of 375 kJ, a person weighing 70 kg and growing about 170 cm feels discomfort. In suits that completely protect the body from heat exposure, and in breathing apparatus, firemen can withstand temperatures up to 274 ° C for 5 minutes, 393 ° C for 45 s. However, protective clothing increases the heat load on the body, preventing the body from cooling. On average, a working fireman produces 300-400 watts of heat, which also affects his health. Therefore, firefighters should monitor the water-salt metabolism, drink plenty of water, and be in buttoned protective clothing should be only during operation.

The technical effect of the claimed device according to paragraph 4 of the claims is determined as follows:

- mounting the sensor - the video module on the foam supply housing allows you to control the process of applying the fast-hardening foam on the mesh screen in real time;

- orientation of the sensor - video module towards the selected surface of the named screen in the conditions of formation of a local source of ignition allows you to speed up the implementation of this process in compliance with the requirements imposed on the foamed thermal insulating layer.

This is due to the fact that the fast-hardening foam quickly gains the necessary hardness, as a result of which the spreading of the foamed heat-insulating substance on the surface of the mesh screen can occur.

For example, fast-hardening foam obtained in the technical solution, gains the necessary hardness within 2 seconds to 2 minutes.

In case of manual application of this substance to the surface of the mesh screen, the operator may be mistaken or not notice defective areas in the created layer in conditions of poor visibility during a fire. All this may further affect the tightness of the space created from the external environment.

In the claimed technical solution, the proposed mobile robot can be attributed, in the opinion of the inventors, to intelligent robots (Industrial robot - Wikipedia.html).

This device possesses elements of artificial intelligence, is able to independently perceive and recognize the situation using the homing system and the on-board electronic system, and successfully perform the operation of supplying a solution of fast-hardening foam in the absence of a person or remote control when applying a protective heat-insulating layer in the form of a fast-hardening foam on the mesh screen formation of a local source of ignition.

According to the authors of the invention, the features shown in the claims are necessary and sufficient to achieve the specified technical result, that is, they are essential.

Thus, the distinctive features of the proposed technical solutions are new and meet the condition of patentability "novelty."

In determining the conformity of the distinctive features of the present invention to the condition of patentability "inventive step", the level of technology was analyzed and, in particular, the known methods and devices relating to fire deterrence devices.

In the work (II Strizhevsky, VF Zakaznov. Industrial flame arresters. - M .: Chemistry, p. 74) it is noted that metal grids with a cell diameter less than the critical can be used to prevent the spread of combustion (fire).

The same nets can be used to extinguish fires and as heat shields to protect people and equipment from heat exposure. The small diameter of the grid cells does not give advantages over solid metal screens. The scope of such grids for extinguishing is also limited due to the impossibility of implementing the extinguishing mechanism by means of sealing.

A known method of extinguishing fires and fire protection of objects in case of fire (Patent RU No. 226,476, A62C 3/06 (2000.01), publ. February 27, 2005).

The essence of this method lies in the fact that in reservoirs the vapor, gas and heat fluxes are reduced to the combustion zone with the help of nets or net bags, which are treated with foaming fire retardant paints, the net or net bags are placed inside the liquid.

In case of fire between the liquid and the mesh or mesh bags, the distance is set by changing the fluid level or the position of the mesh or mesh bags relative to the liquid level, taking into account the type of fire retardant paint (adhesion, foaming ratio), the geometric dimensions of the mesh or mesh packet (wire diameter, cell size ), the distance between the fluid and the mesh or mesh package, the type of fluid.

A flame starts to act on the mesh treated with expandable fire retardant paint. The mesh material is heated, foaming occurs, the foam coke overlaps the mesh cells, and the mesh becomes impermeable to vapors, gases, and heat fluxes, and the burning stops.

However, the application of this technical solution will not be sufficiently effective in extinguishing a fire for the following reasons.

1. It is known (konstanta30.wordpress.com / Fire protection of metal structures / Construction blog) that modern flame retardants are applied to the protected surface with a layer up to 2 mm thick. Under the influence of high temperatures, they increase in volume up to 70 times and have a flame retardant efficiency up to 90 minutes. As practice shows, the application of flame retardant intumescent paints, a layer of more than 2 mm is impractical, because with a thickness of more than 2 mm, the layer of fire retardant paint is heated and swells unevenly. This leads to inhomogeneity of the resulting protective layer, reduction of its strength and leads to the fact that the fire-retardant layer peels off.

For these reasons, the size of each grid cell should be no more than 4 by 4 mm in order to ensure that penoxox covers the entire area of this grid cell.

2. It is known (E.N. Ivanov. Fire protection of open technological installations. - 2nd ed .., revised and enlarged. - M .: Chemistry, 1986, p. 20), that in case of emergency outflow of gases or flammable liquids It is advisable to block objects adjacent to the emergency apparatus. In this case, the mode of heat exchange between the flame and the process equipment is essential.

Large open fires are characterized by diffusion burning of volatile gases released during combustion in a gas-air turbulent flow. The rate of combustion, and, consequently, most of the characteristics of the fire depends on the process of suction of air into the zones of mixing, heating and burning. Due to the large temperature and density differences in the combustion zone and the environment, significant vertical velocities of hot gases are created, which lead to a discharge near the convective column, where the air rushes from the surrounding atmosphere.

It is considered to be (E. N. Ivanov. Fire protection of open technological installations. - 2nd ed .., revised and enlarged. - M .: Chemistry, 1986, p. 23), that the average velocity profiles, temperature and density are selected for all sections of the convective jet column; air absorption into the combustion zone (in the absence of wind) is proportional to the average speed (on the axis of the column of the same height).

Studies show that in the convective part of the jet there is an uneven distribution of temperatures, both along the height of the jet, and in its cross section. The highest temperature is noted on the jet axis and the lowest - on its boundary. The temperature decreases with distance from the source of combustion.

In the work (E.N. Ivanov. Fire protection of open technological installations. - 2nd ed .., revised and enlarged. - M .: Chemistry, 1986, p. 21) it is noted that the turbulent convective jet consists of three zones, between which there is no abrupt transition.

Moreover, zone I is the diffusion part of the flame with the highest temperature and radiation.

So, for example, in this work the temperature of the flame of crude oil, diesel fuel, and kerosene of a tractor, which is 1373 ° K, is given.

It is known (Effective intumescent paints for fire protection of metal structures, http://ngdelo.ru/files/old_ngdelo/2012/3/ngdelo-3-2012-p174-178.pdf) that intumescent materials have become popular in many countries fireproof paints that are applied with a thin layer on the surface of the structures and in the process of operation perform the functions of a decorative and finishing material. When exposed to fire, foamcoke is formed, having a coating volume many times larger than the initial one and preventing the metal from heating to a temperature at which the structure loses its bearing capacity. With prolonged fire exposure, foamcoke gradually burns out and after a certain time, usually not exceeding 1 hour, it mechanically collapses and peels off from the surface.

From this it follows that the fire blocking barrier created by the method (Patent RU No. 2226969, A62C 3/06 (2000.01), publ. 27.02.2005) will not be sufficient in case of fire, since the fire resistance of the foamed flame retardant layer of foam coke will be much lower than the average duration of fire reservoirs.

Therefore, in the claimed technical solution, when creating a fire blocking obstacle, the inventors propose to apply a fast hardening foam, which according to the data in (Scientists suggest to extinguish fires with a fast hardening foam. News. self-destruction.

Known fire retardant intumescent material (Patent RU No. 2091424, C09K 21/12 (1995.01), C09K 21/14 (1995.01), C08L 27/06 (1995.01), C08K 5/521 (1995.01), publ. 27.09.1997).

The inventive fire-retardant material is made of glass fabric coated with polyvinyl chloride intumescent composition containing polyvinyl chloride, dioctyl phthalate, pentaerythritol and diammonium phosphate in a mass ratio, respectively, 1: 1-1.8: 1-1.7: 1-1.7. The composition may additionally contain as an adhesive 1.5 to 5.0 wt.h. epoxy resin and 0.3 to 1.5 wt.h. silica lead per 100 wt.h. polyvinyl chloride. The material is mounted in the form of sheets or rolls on the surface of the protected product. Material properties: the temperature on the back surface of the sample after a 15-minute exposure to an open flame of a blowtorch with a temperature of 900-1000 ° C at a distance from the sample of 80 mm 130-145 ° C.

The invention relates to the field of chemistry, in particular to a material capable of protecting the substrate behind it from the effects of an open fire flame or high-temperature heat fluxes, and more specifically to a flame retardant intumescent material.

However, the installation of this flame retardant material in the form of sheets or rolls on the surface of the mesh screen in the claimed case will take a lot of time, and the weight of the material itself from glass fabric coated with polyvinyl chloride intumescent composition is much larger compared to the known coatings of quick-hardening foam.

For example, the foamed silica gel (Patent RU No. 2590379, C01B 33/16 (2006.01), published on July 10, 2016) has a bulk density of 0.1-0.8 g / cm ³ .

In addition, when mounting sheets or rolls of flame retardant material (Patent RU No. 2091424, C09K 21/12 (1995.01), C09K 21/14 (1995.01), C08L 27/06 (1995.01), C08K 5/521 (1995.01), publ. 09/27/1997) the joints between the named sheets or rolls should be carefully fitted. Otherwise, there is a problem with the leaktightness of the fire-retardant coating created by the device for local protection of an object from fire during the formation of a restricted space from the external environment during a fire.

A known way to ensure the buoyancy of the vessel (Patent RU No. 2519162, V63V 43/10 (2006.01), publ. 10.06.2014), which consists in the fact that the free spaces on the inner side of the sides, decks and the bottom between the longitudinal and transverse stiffening ribs, unused and the spaces not occupied by the equipment are filled with synthetic foam (for example, polystyrene foam, assembly foam used in the construction of buildings or any plastic foam), the volume of which is calculated so that it is slightly larger than the displacement of the watercraft and after captivity upper deck was slightly above the water level and it could be people before the arrival of the rescue team. Synthetic foam covers all walls and ceilings of cabins, corridors and captain bridges with a layer thickness of 5 to 10 cm or more, creating a smooth, solid, foamy coating that is painted, coated on top with leatherette or other coating. To create a synthetic foam using air or helium, which is lighter than air and does not support combustion, and, therefore, the foam will occupy a smaller volume and will be fireproof. Fire-resistant foams can also be used to withstand high temperatures and force of an explosion, or synthetic foam is coated with a fire-resistant and explosion-proof coating.

It is known (http://stroy-king.ru/vse-ob-ognestojkix-montazhnyx-penax.html) that fire-resistant polyurethane foam is used for fire insulation. This is a one-component polyurethane foam sealant, fully ready for use and polymerizing under the influence of moisture in the atmosphere.

Special substances introduced into the recipe provide an excellent acoustic and thermal effect. Such an insulating layer does not allow smoke and gases.

Foam can withstand open fire for 60, 120, 180, 230, 240 minutes (depending on the version). The higher the requirements for fire safety in the room, the higher should be the indicators of fire resistance.

However, the foam completely hardens only after a day. For this reason, the use of synthetic foam as a non-combustible material to create a fast-built fire retardant barrier in the present invention is impossible.

A device for extinguishing a fire is known (Copyright Certificate SU 1512626, class A62C 7/00, A62C 1/18, publ. 07/09/1989).

The invention relates to fire equipment designed to extinguish large fires in the oil, gas and chemical industries in the nuclear power industry, and improves the efficiency of the device through the use of blankets with sealed cavities communicated with a source of gas, made in the form of a spherical cap lifting force with the possibility of sustainable moving it to the fire center through the air by means of winches of vehicles. In addition, the device provides for the removal and disposal of the combustion products accumulated under it, thereby ensuring the protection of the environment from pollution.

The device contains a fire-resistant shell in the form of a spherical cap with radially located hermetic cavities tapering to the bottom. In the center of the top of the cap there is a spherical cavity communicating with hermetic cavities provided in the lower part with fittings connected with hoses to a compressor. In the upper part of the cavity, there are bleed valves, and the lower part of the device along the perimeter is equipped with an apron with prigruz. Using cables through shock absorbers, the device is connected to winches installed on mobile vehicles. A fitting is located in the upper part of the device, to which a fan and a filter are connected by means of a suction hose.

The device works as follows.

At a safe distance from the emergency object, the cap is turned around and through the fittings and hoses with the help of a compressor, the corresponding cavities are filled, for example, with warm air before the cap is lifted above the ground, and the bleed valves should not operate. The hose from the fitting is connected to the fan.

After lifting the hood above the ground with the help of vehicles, it is moved and positioned above the burning object. Then, by pulling the cables with winches, cover the object. At the same time possible explosive loads are absorbed by shock absorbers. When the cap reaches the ground, the apron with the weights covers all leaks between the cap and the ground. For a more stable and long-lasting operation of the device, the apron on the outside can be boned with soil. After the object is covered, a fan is turned on, and through the hose suction of the object, which is processed in the filter, is sucked off.

Constructive execution of the device in the form of a cap with a lifting force makes it possible to bring it through the air and reliably create a tight overlap of the fire, eliminating the access of oxygen to it and reduce the amount of harmful products of combustion into the environment. The presence of shock absorbers ensures the operation of the device with explosive loads. The fitting with intake hose allows you to remove and dispose of the combustion products accumulated inside the device.

However, this device has a complex and cumbersome design and does not apply to pre-fabricated devices.

In the work (E.V., Poyzzhaeva, E.A. Zakirov., M.V. Malev. Kinematics of the redundant robot arm for extinguishing fires // Young Scientist. - 2015. - №23. - p. 204-206. - URL https : //moluch.ru/archive/103/23785/ (access date: 12/09/2017) described a robot that mimics an insect and produces handling robots with kinematic redundancy. According to the authors, this robot will be able to cope with a fire and prevent its occurrence. redundant manipulators have increased maneuverability, avoid falling into singular states and can be effectively used Appear when working in complex cluttered environments.

When forming the movements of such manipulators, two approaches are usually used. One of the approaches to solving the problem is based on finding the Jacobi pseudo-inverse matrix and using it to determine velocities in degrees of mobility. From the velocities found in this way, the required increments of the generalized coordinates can be determined. For a manipulator with kinematic redundancy, the problem arises of determining displacements in excess degrees of mobility in order to eliminate singular states, bypass obstacles, and the like. Thus, along with the requirement to move the working body to a predetermined position, additional goals are put forward. Below we propose a method for solving the inverse kinematics problem for redundant manipulators, based on the introduction of Lagrange multipliers.

Equations define a system that maximizes the criterion. The accuracy of the obtained solution was determined by direct kinematic transformation of the angular coordinates found. The results of computer experiments are compared with the use of the method with a preliminary determination of the angular velocities based on finding the Jacobi pseudo-inverse matrix. The calculations performed demonstrate a higher accuracy of the solution when using the proposed method. This method provides a good repeatability of the movements of the manipulator and when the direction of movement along a given contour changes, different values of the angular coordinates are obtained, ensuring a fixed position of the working member.

However, when moving the working body of these manipulators, issues related to their interaction with the means for delivering extinguishing agents, such as foam, are not solved.

A mobile robot is known (Patent RU No. 2487007. B25J 5/00 (2006.01), published on July 10, 2013), which contains a platform installed on the vehicle, an obstacle detection device, a control system with a vehicle motion control unit and obstacles and connected to them, a manipulator pivotally mounted on the platform and made in the form of equipped with actuators and pivotally connected to each other links, at the final of which is placed a device for detecting obstacles having a movable yn with a tip and a position-sensitive detector. The vehicle motion control unit is connected to a power unit connected to a series-connected microcontroller, sixth amplifier and electric drive, the microcontroller inputs are connected to the outputs of the current position, speed, angular and linear displacement sensors, made in the form of encoders, toothed on each wheel of the vehicle . The invention allows the mobile robot to move along arbitrary trajectories, to detect obstacles with high accuracy, to produce entrances and departures from obstacles that are controlled with clearly controlled parameters.

However, this mobile robot is adapted to a specific type of operation and has only sensory means (which together form an information-sensor system), the signals from which are sent to the control system (Industrial robot - Wikipedia.html).

Known portable installation for the production and application of self-curing foamed polymer composition (Patent RU No. 2183487, A62C 5/00 (2000.01), A62C 15/00 (2000.01), publ. 20.06.2000). The installation relates to technological equipment, in particular, portable devices for the manufacture and application of fast-hardening self-curing polymer coatings in the form of high-expansion foamed materials, including for the preparation and application of heat-resistant fast-hardening foam high-fold polymeric fire-fighting foams for localizing fires and extinguishing oil, oil products, chemically combustible materials, preventing the penetration of fire to other objects by diving, creating artificially fire barriers.

The installation works as follows. Depending on the purpose and application of the installation - fire extinguishing, environmental protection works (sorption of spilled oil and oil products), construction works, etc. the tanks of the total capacity of the backpack fire extinguisher in accordance with the calculated parameters of the composition of the compositions are filled with the initial components. The starting components used are carbamide-formaldehyde resin, a foaming agent, water, and an inorganic acid. Removable cases with gas-generating solid-fuel charges, for example, based on the thermochemical charge, the composition of the STP used in the GAO-40 or SOT-5M smoke generators, etc., are additionally installed to each tank. with ignition device. The device for igniting a gas-generating solid propellant chemical charge is not turned on and is in the state of constant readiness.

If necessary, planned or emergency work, the operator fixes a knapsack tank on himself with the help of straps and prepares the unit for launch, having previously filled the gasoline engine with gasoline. Having determined the area or object of treatment, the operator puts the handpiece of the air barrel connected, for example, to the socket, to work position, and, using a hand starter, turns on the gasoline engine. Then, holding in hand a switched on engine connected in conjunction with an air fan and a barrel, the operator switches on the ignition device located in the case of the gas-generating chemical charge. At the same time, the operator does not need to adjust the supply (flow) of the emitted gas to the tanks and control other parameters when the installation is in operation, since all measuring instruments with shut-off control valves and equipment are calibrated and pre-regulated, thus simplifying the installation and ensuring its safety.

However, the operation of this device is carried out only with the help of an operator, whose stay in an emergency zone without adequate protection is extremely dangerous.

Analysis of other technical solutions showed that the known methods and devices do not solve the problems noted earlier, which are solved by the claimed method and device.

Based on the above, we can conclude that the proposed technical solution meets the condition of patentability "inventive step", and the invention itself is new.

The implementation of the technical solution can be implemented as follows.

When implementing the proposed technical solution, it is necessary to consider the following well-known information from the prior art.

The work (Fire Extinguishing Protection: A Manual. Section 6. Fire Stages / Compiled by AI Sechin, OS Kirmakova; Tomsk Polytechnic University. - Tomsk: Tomsk Polytechnic University Publishing House, 2015, p. 145) describes the process development of fire in the room (its three phases).

Phase I (10 min) - the initial stage, which includes the transition of a fire to a fire (1-3 min) and the growth of the combustion zone (5-6 min).

During the first phase, a predominantly linear spread of fire occurs along the fuel or material. The burning is accompanied by abundant smoke emission, which makes it difficult to determine the location of the fire. The average volume temperature rises indoors to 200 ° C (the rate of increase in the average volume temperature in the room is 15 ° C per minute). The inflow of air into the room increases. Therefore, it is very important at this time to ensure isolation of the room from outside air (it is not recommended to open or open windows and doors to a burning room. In some cases, with sufficient provision of air tightness of the room, self-extinguishing of the fire occurs).

If the fire is visible, it is necessary, if possible, to take measures to extinguish the fire with primary fire extinguishing agents.

The duration of the first phase is 2-30% of the duration of the fire.

Phase II (30-40 min) - the stage of fire development.

Rugged burning process; indoor temperature rises to 250-300 ° C, begins the development of fire volume. The flame fills the entire volume of the room, and the process of flame propagation is no longer superficial, but in the whole volume of the room. The destruction of the glazing occurs in 15-20 minutes from the start of the fire. Due to the destruction of the glazing, the flow of fresh air dramatically increases the development of fire. The rate of increase in the average volumetric temperature is up to 50 ° C in 1 min. The indoor temperature rises from 500-600 to 800-900 ° C.

Stabilization of fire occurs at 20-25 minutes from the beginning of the fire and lasts for 30-60 minutes.

Phase III - the decaying stage of the fire.

Burnout in the form of slow smoldering.

The temperature field of the fire is uneven in the volume of the room. So, when burning gasoline on an area of 2 m ² in a room with a volume of 100 m ³ for 15 minutes in the burning zone, the temperature was 900 ° C, and at the most distant point, 200 ° C. At the same time, the temperature at the ceiling reached 800 ° С and more, in the center of the room height - 500 ° С, at the floor - 200 ° С.

Heated products of combustion rise to the top of the room, which is especially characteristic of rooms with high ceilings.

It was previously established (A.N. Baratov, E.N. Ivanov. Fire fighting at the enterprises of the chemical and petrochemical industry. Revised 2nd edition. M., Chemistry, 1979, p. 128) that gas halide hydrocarbon compositions should be used in those cases when the protected building at the initial moment of the fire retains some tightness, that is, it is possible to accumulate fire extinguishing agents in the atmosphere to the desired concentration.

In the work (A.N. Baratov. Combustion-Fire-Explosion-Security. - M .: FGU VNIIPO EMERCOM of Russia, 2004, p. 326 - 327), it is noted that a calculation method is known for accounting for leakage when estimating the minimum required aerosol concentration (Yu .N. Shebeko, VI Gorshkov, A.Ya. Korolchenko, etc. Influence of leakage of a room on the fire-extinguishing efficiency of gas-aerosol compositions. Fire and explosion safety. (1996, No. 1, pp. 51-56), based on solving equations material and heat balance in terms of the dynamics of creating a fire extinguishing environment in a room with openings. The results of the calculations turned out to be in satisfactory agreement with the data of a specially staged experiment in a 30 m chamber.

In this work, leakage was estimated by the ratio of the areas of openings and enclosing structures in the range of 0-6% or from 0 to 0.038 m ^-1 . From the results of the study, it follows that with a change in the generator operation time from 10 to 100 s, the concentration of aerosol decreases, respectively, by 12.5 and 50%.

The effect of the size of the openings was less significant. For example, with the generator 40 operating time, the fire extinguishing aerosol concentration at a leakage of 1.3 and 6% is 75 and 55 g / m ³ , that is, the change in fire extinguishing concentration was about 30%. The last result seems unexpected.

There is a method of volumetric extinguishing (A.N. Baratov, E.N. Ivanov. Fire extinguishing at the enterprises of the chemical and petrochemical industry. Edition 2-e processed. M., Chemistry, 1979, p. 80-81), which is based on the creation in the protected volume of the environment that does not support combustion, and is one of the most effective methods of fire protection of premises. Along with the possibility of rapid extinguishing, this method ensures that an explosion is prevented when inflammable gases and vapors accumulate in the room.

In this work it is noted (p. 85) that in the case of supplying an inert diluent to a closed hermetic room, the environment may remain acceptable for the life of people until the fire is suppressed. This is due to differences in the mechanisms of human respiration and combustion.

It was previously established (Abstract on the topic “Development of fire-retarding mesh screens with foaming epoxy coatings and overlapping foam-coke cells under fire conditions.” AS Krutolapov. Scientific library of dissertations and abstracts; disserCat http://www.dissercat.com) that , passive fire protection of process equipment is the most rational and reliable way, both to prevent fire and reduce the impact of its dangerous factors. Often passive methods of protection that do not require human intervention in the ongoing process become competitive with active ones and can replace them partially or completely.

One of such methods of passive fire protection of process equipment of the oil and gas complex are fireproof screens. They are designed to prevent fire, slow down or stop the development of the initial stage of fire, provide its localization, reduce the impact of hazardous factors on vehicles and pipelines (S.V. Sour. Fire protection of building materials and structures: a Handbook. - M .: Spetstekhnika, 2001. p. 112). At the same time, the use of such measures to improve fire safety is not always justified if the fireproof screens are made in the traditional design (walls, partitions, etc.), which can create certain inconveniences and sometimes increase the fire danger. Recently, studies have been carried out on the possibility of using grids as screens for protection against thermal effects of fire (NN Brushlinsky, M.Kh. Usmanov. Combined means of protection against thermal injury. // Fire Safety-97).

One of the most elegant and effective engineering solutions in this area is the metal wire mesh used as fire barrier screens, which are used very widely and for a long time. For example, the Devi grids were used in the mining industry from the end of the 18th century and still have not lost their relevance (II Strizhevsky, VF Zakaznov. Industrial flame arresters. - M .: Chemistry, p. 261) .

A new direction in the passive fire protection of process equipment is the use of grid fragments, coated with fire retardant paints, foaming when heated and completely covering the grid cells with flame retardant foamcoke. Foaming coatings practically do not change the required functional properties of the grid elements (visual observation of the controlled process or the protected device, maintenance of the general climate and temperature conditions). However, when exposed to high temperature and flame, the free space of the grid cells completely overlaps with flame retardant foamcoke, forming a thermal barrier for the spread of combustion. Such structures have a number of valuable advantages, namely: relatively easy installation, if necessary, the possibility of free disclosure, the creation of portable structures and, as a result, low financial costs (NN Brushlinsky, M.Kh. Usmanov. Combined means of protection against thermal injury . // Fire Safety-97: Materials of the Scientific and Practical Conference, Moscow, November 19, 1997 - Moscow: Ministry of Internal Affairs of Russia, 1997. pp. 114-116; V. Malinin, O. Khoroshilov. devices for the protection of technological equipment and comm Nekatsii from the spread of fire: Teaching manual. SPb .: SPbPTSH MIA RF, 1997, pp. 104. Fire prevention in construction. / BV Grushevsky, AI Yakovlev, I. Krivosheev and others. / Under the editorship of VF Kudalenkin - Moscow: MVIPTSH Ministry of Internal Affairs of the Russian Federation, 1985 p. 454).

An obstacle to the wider introduction of mesh fire-blocking devices is the almost complete lack of theoretical and experimental study of this issue.

Thus, the creation of heat-shielding screens, combining the properties of nets and foaming paints, is a relevant scientific and practical direction, research which allows to expand their field of use and increase the effectiveness of passive means of fire protection of process equipment of the oil and gas complex.

The execution of the heat insulating substance in the form of a fast-hardening foam allows to improve the quality of the resulting hermetic coating and create a fast-build fire retardant barrier with significant fire resistance.

This is due to the fact that the quick-hardening foam in a free state on the surface is rapidly gaining mechanical strength.

For example, the foamed silica gel obtained in a well-known technical solution (Patent RU No. 2590379, С01В 33/16 (2006.01), publ. 10.07.2016) has a dynamic viscosity index of 20 mPa used as a fire extinguishing agent from up to 100 Pas in the time range from 2 seconds to 2 minutes.

Known quick-hardening foam for localization of the centers of combustion of peat fires (Application RU №2016125510, 06/24/2016, A62C 3/02, publ. 12.28.2017), in which a spatially reticulated structure of a urea-formaldehyde polymer is formed, the cells of which contain silica gel other targeted supplements. Hardening of the foam occurs in the range from 2 to 30 seconds (depending on the amount of concentrated sulfuric acid used in the creation of the fast-hardening foam (acid hardener).

Marked non-combustible materials (silica gel foam, quick-hardening carbamide-formaldehyde-based polymer foam) are environmentally safe.

This non-combustible materials could be used in the creation of quickly erected fire retardant barriers in order to further extinguish the resulting fire with available fire extinguishing agents.

It is known (Industrial Robot - Wikipedia. Html) that an industrial robot contains a mechanical part (including one or several manipulators) and a control system for this mechanical part. In addition, the robot can have sensitization tools (forming an information-sensor system as a whole), the signals from which are sent to the control system.

Intelligent robots (robots with elements of artificial intelligence) are robots that are able to independently perceive and recognize the situation using sensory devices, build a model of the environment, and automatically decide on further actions, as well as learn from their own experience.

Established (Industrial robot is ... What is Industrial robot_.htm, that among the most common actions performed by industrial robots are the following:

- loading / unloading of technological machines, machine tools;

- handling of parts (for example: stacking, sorting, transportation and orientation);

- movement of parts and blanks from the machine to the machine or from the machine to the interchangeable systems will fall;

- welding and spot welding;

- assembly of mechanical and electrical parts;

- assembly of electronic parts;

- painting;

- cable laying;

- execution of cutting operations with the movement of the tool along a complex trajectory, etc.

In the work (Korneev V.V., Vyaltsev G. B. Modern developments in the field of remote-controlled robots // Technical sciences - from theory to practice: collection of articles. Materials. XXIII international. Scientific. - practical. Conf. - Novosibirsk: SibAK, 2013) noted that in recent times the tendency to create robots using a modular system has been widely developed. According to this system, to perform specific tasks, the robot is assembled from several typical modules that are able to work autonomously.

Mobile mini-robots need to have enough active time on one battery charge - in the range from 30 minutes to 2-3 hours or more. To be able to quickly recharge or even change the power supply, the mass of batteries should be minimal.

It is known (A.F. Batanov and others. Mobile robotic explosion-engineering complexes. Special equipment, No. 1, 2000; http://www.bnti.ru) that the robot control system includes an information and control part (robot control equipment, sensors, a vision system) located on a mobile robot, a mobile robot operator post (control panel, video viewing devices, computer for information processing) and a set of transceiver equipment providing information transfer from the robot to the operator post and controllers command from operator post to mobile robot. To ensure high mobility of the control station outside the means of transportation by mobile robotic explosion-protection complexes (MRVK), the components of the control station are mounted on a wheeled cart. Sometimes, to ensure that the robot can be controlled "by hand" with direct observation, the control panel is removable.

The presence of an additional set of video equipment is explained by the need to remotely control the actions of the operator engaged in diagnosing or disarming an explosive device. To do this, use the remote remote control camera, which can be installed using a robot near the object. Visual information from the remote camera, camera mobile robot and x-ray equipment should be recorded for further analysis.

Given that the main trend in the development of robotics is the widespread use of elements of artificial intelligence in mobile robots, the inventors believe that the proposed performance of a mobile robot will increase the efficiency of work related to the creation of a fast-built fire retardant barrier from a rapidly hardening foam using the homing system used in the claimed technical solution

The invention is further illustrated by the example of its implementation.

FIG. 1 shows a variant of the layout solution of a device for local protection of an object from fire and a mobile robot at the time of creating a fire retardant barrier from a quick-hardening foam (at the beginning of the operation), FIG. 2 shows a variant of the layout solution of a device for local protection of an object against fire and a mobile robot at the time of creating a fire retardant barrier from a quick-hardening foam (in the middle of an operation), FIG. 3 shows a variant of the layout solution of a device for local protection of an object against fire and a mobile robot at the time of creating a fire retardant barrier from a quick-hardening foam (at the end of the operation), FIG. 4 shows a variant of the layout solution of a device for local protection of an object from fire and a mobile robot at the time of monitoring the uniformity of applying a protective layer of foamed thermal insulating substance using a sensor module (at the end of the operation to apply a protective layer of foamed thermal insulating substance on the cellular structure of the screen); in FIG. 5 shows an enlarged view of a fire retardant barrier from a rapidly hardening foam at the time of creating the claimed barrier on the cellular structure of the screen; in FIG. 6 shows an enlarged view of a fire retardant barrier from a quick-hardening foam with a section with an uneven (defective) layer of the created coating on the cellular structure of the screen.

The device (Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6), which implements the inventive method of local protection of the object from fire (claim 1), consists of a mesh screen 1, made in working position in the form of a dome. This dome forms a limited volume 2 above the protected object 3 when a local fire is formed.

In the present embodiment, the layout of the device for local protection of an object from a fire, the protected object 3 is made in the form of technological equipment.

Mobile robot 4, which implements the inventive method of creating a quickly erected barrier of fast-hardening foam (claim 3), consists of a crawler-mounted chassis 5, which provides the necessary permeability of the claimed device over rough terrain, power units 6, control system 7 with a mini-computer, surveillance systems 8 and data transmission systems 9 from the conducted monitoring in real time.

Mobile robot 4 has a platform 10, on which is mounted a manipulator 11 with power units.

For the operation to create a foamed heat-insulating layer on the manipulator 11, a telescopic boom (extension) 12 is provided on which the working member 13 is mounted. The working member 13 is made multi-tier, for example, two-link, i.e. has two links 14 and 15. At the end of the link 15 is working the body 13 is pivotally arranged means 16 of forming a protective layer, intended for supplying foam 17. In the present case, when creating a protective layer (foamed heat-insulating layer), at the final stage only fast-hardening is used foam.

Platform 10 is movable. It can make with the help of the rotary mechanism 18 in a circular motion together with the manipulator 11.

In the process of creating a quick-build barrier of fast-hardening foam with a manipulator 11, its telescopic boom (extension) 12 has the ability to change its length, link 14 has the ability to make translational movements, and link 15 has the ability to make both translational and rotational movements.

For targeting the means 16 for supplying foam 17 to a selected surface 19 of the mesh screen 1 of a certain configuration, an electronic homing complex 20 is provided in the surveillance system 8, including a sensor module - video module 21, which includes a digital video camera 22 with an optical system 23 and a digital video processor 24 The output of which is connected to the input of the control system 8 of the mobile robot 4 (conventionally not shown).

Sensor - video module 21 is mounted on the bracket 25 of the housing of the device 26 of the means 16 and facing the selected surface 19 of the named screen in the conditions of formation of a local source of ignition 27.

The components of the foam 28 are stored in a multisection tank 29 mounted on the platform 30 of the robot 4. To supply the components of the foam 28 to the device 26, the means 16 are provided with separate piping along the telescopic boom (extension) 12 and links 14 and 15 (conventionally not shown) named device. The movable platform 18 is installed on the tank 29.

To keep the mobile robot 4 in equilibrium in a static position with the telescopic boom extended (extension) 12), folding hydraulic stops 31 mounted on the tank 29 are provided.

In the transport position, the telescopic boom (extension) 12 is fixed on the stop 32.

The claimed technical solution works as follows.

After detecting a fire on the protected object 3 above it install the screen 1, made in the form of a dome. The screen 1 is moved to the protected object 3 by any known mobile lifting device. Then, the mobile robot 4 is moved to screen 1 using a remote control, for example, from an observation point or offline using a predetermined program.

In the case of moving the mobile robot 4 offline, he independently finds using the surveillance system 8 the created screen 1 above the protected object 3.

FIG. 1, FIG. 2, FIG. 3, FIG. 4, mobile robot 4 is depicted in a position where there is only one available approach to screen 1, and the robot is able to carry out an operation to apply a protective layer of foamed heat-insulating substance (fast-curing foam 17) on the cellular structure of screen 1 only from one place of the controlled zone. If there are other available places in the controlled area, mobile robot 4 has the ability to perform this operation from a more optimal position by additional movement from one place to another around the created device for local protection of the object from fire.

In any case, when moving the mobile robot 4, the control system 7 stops the latter at the required distance from screen 1, after which the following preparatory work is carried out:

- fix folding hydraulic stops 31 on the ground or other floor 33;

- translate the telescopic boom (extension) 12 from the transport position to the working position. Moreover, the boom 12 is extended (moved apart) by the required amount in the direction of the mesh screen 1 at a safe distance from the latter.

In the future, the robot 4 proceeds to perform operations to create a protective insulating layer 34 (Fig. 5) in the form of a quick-hardening foam 17 on the surface 19 of the mesh screen 1.

The control system 7 starts an electronic homing complex 20, as a result of which the following actions are carried out:

- sensor - video module 21 recognizes the surface 19 of the mesh screen 1 of a certain configuration;

- mini-computer control system 7 builds a model of the environment in the conditions of formation of a local source of ignition and selects the optimal trajectory of movement of the working body 13;

- the working body 13 moves the links 14 and 15 at the optimum distance from the screen 1, and the homing complex 20 constantly orients the device 26 towards the selected surface 19 of the named screen in the conditions of formation of a local source of ignition 27.

In the process of creating a protective insulating layer 34 in the form of a rapidly hardening foam 17 on the surface 19 of the mesh screen 1, the following actions are carried out:

- serves the components of the foam 28 through separate pipelines from the multisection tank 29 to the device 26 means 16, where they are mixed by the method of air-mechanical foaming;

- get at the exit of the device 26 from the finished solution 31 fast-hardening foam 17. Fast-hardening foam, as noted earlier, is able to polymerize in a short period of time (Testing of new fire extinguishing chemical compositions and development of recommendations for their use: report on research (concluding) / FBU "SPbNIILH"; the head. Gutsev ND. Performed by: Artsybashev ES, Mikhailova N.V., Korchunova I.Yu. - St. Petersburg, 2014. - 254 pp. - Bibliogr .: p. 112 -120. - № ГР 01201255954. - Inv. № 215022440055, 11). The curing time is changed by adjusting the ratio of the components 28 of the foam 17. The foam 17 is fed from the device 26 in the form of a torch.

- apply a uniform layer 34 fast-hardening foam 17 on the selected surface 19 of the cellular structure of the mesh screen 1 of a certain configuration by moving the links 14 and 15 of the working body 13 of the manipulator 11 according to a given program, while simultaneously with the link 15 moving the device 26 (Fig. 1, Fig. 1). 2, Fig. 3 and Fig. 5). The cellular structure of the mesh screen 1 is a grid 35, for example, metal, having cells 36 of a certain size (Fig. 5).

When creating a uniform layer 34, the fast-hardening foam 17 spreads in the liquid phase along the selected surface 19 of the mesh structure 35 of the screen of screen 1. At the same time, the foam 17 flows into the cells 36, where it rapidly hardens due to the high polymerization rate. Moreover, the curing time can be easily varied by changing the ratio of the components of the 28 foam 17. (ND Gutsev, N.V. Mikhailova, G.N. Kuprin, D.S. Kuprin, A.V. Vinogradov, V.V. Vinogradov The results of laboratory studies of the properties of fast-hardening foam in order to assess the possibility of using it to create fire-prevention foam strips. Proceedings of the St. Petersburg Forestry Research Institute, No. 1, 2016; http://journal.spb-niilh.ru/pdf/1 -2016 / spbniilh-proceedings-1-2016-2-full.pdf; Patent RU No. 2645542, А62С 3/02 (2006.01), publ 21.02.2018).

Based on the data given in the work (Testing of new fire extinguishing chemical compositions and the development of recommendations for their use: research report (conclusion) / FBU "SPbNIILH"; head. Gutsev ND; performer: Artsybashev ES, Mikhailova N.V., Korchunova I.Yu. - St. Petersburg., 2014. - 254 pp. - Bibliogr .: pp. 112-120. - № GR 01201255954. - Inv. No. 215022440055, 11), it should be noted that quick setting Foam 17 is, according to the inventors, a substance with a variable viscosity, the value of which quickly increases as the protective layer of the foamed heat-insulating substance hardens.

The protective layer 34 of the foam 17 obtained after creation is an incombustible substance and an excellent heat insulator. It has high fire resistance, good adhesive ability, due to which it adheres to the surface of the cellular structure of the grid 35.

After solidification, a layer of foam can be held on the grid for a long time (Patent RU # 2590379, СВВ 33/16 (2006.01), published on July 10, 2016; Patent RU # 2645542, А62С 3/02 (2006.01), publ. 21.02.2018).

The structure of the foamed flame retardant layer is gastight, even at high temperatures.

In the process of creating a protective insulating layer in the form of a rapidly hardening foam on the surface 19 of the mesh screen 1, the following actions are carried out:

- at the same time using the sensor - video module 21 control the uniformity of applying a protective layer 34 of foamed thermal insulating substance on the entire screen area 1. At the same time, the sensor - video module 21 is moved together with the device 26, it has a certain control zone 37. At the end of the operation to create a protective thermal insulation layer on the entire surface 19 of the mesh screen 1 (FIG. 4), the supply of foam 17 from the device 26 is stopped and the working body 13 of the manipulator 11 is moved only to complete the control operation evenly Spons of applying a protective layer 34 of foamed heat-insulating substance in the areas that did not pass the control 38 of screen 1 (Fig. 4);

- carry out the detection sensor - video module 21 plots 39 and 40 with an uneven layer created by the coating 34 or section 41, on which there is no protective insulating layer 34 (Fig. 6). These defective areas 39, 40 and 41 can form as a result of a disruption in the mixing process of components 28 in the device 26 of the means 16, when the viscosity of the foam 17 changes dramatically, which significantly affects its spreadability over the surface 19 of the mesh screen 1;

- re-apply from the device 26 a protective layer of foamed insulating substances on the defective areas 39, 40 and 41 of the screen 1.

The main indicators of the uniformity of the application of the protective layer 34 of the foamed heat-insulating substance are, according to the authors of the invention, the following:

- violation of the tightness of the created limited volume over the protected object 3, which manifests itself in the penetration of smoke from the local source of ignition 27 through the cellular structure of the screen 1 in areas with an uneven layer of the created coating 39, 40 and 41 (Fig. 6);

- visible glow of the flames created by the local source of ignition 27, which is observed through the cellular structure of the screen 1 in areas with an uneven layer of the created coating 39, 40 and especially in section 41 (Fig. 6).

As a result, in the process of creating during a fire, an external foamed heat-insulating layer on the entire area of the cellular structure of the screen 1, a volume 2 limited from the external environment is formed and the fire 27 is subsequently eliminated with available fire extinguishing agents, for example, gas or aerosol.

In the claimed technical solution, the fire is eliminated after the creation of the external foamed heat-insulating layer 34 on the entire area of the cellular structure of the screen 1. In FIG. 3 it is conditionally considered that the created external foamed heat-insulating layer 34 does not have any defects on the entire area of the cellular structure of screen 1. Then autonomous gas or aerosol charges 42 are started, of which 43 are extinguished. (Fig. 3). As a result, in a limited volume of 2 above the protected object 3, an environment is formed that does not support combustion.

Charges 42 are mounted inside the screen 1 in its lower part. Such an arrangement of charges 42 is, in the opinion of the inventors, optimal for creating a fire extinguishing medium.

With an abnormal pressure jump of the gas-vapor mixture in a limited volume 2, it is depressurized in the upper part of the mesh screen 1 using the device 44 to relieve excess pressure and emit the vapor-gas mixture 45 from the limited volume 2 to the atmosphere (Fig. 3).

The optimal place to place the device 43 on the mesh screen 1, according to the inventors, is the upper part of the limited volume 2.

After performing the intended operation, perform the following steps:

- translate the telescopic boom (extension) 12 from the working position to the transport position;

- translate folding hydraulic stops 31 in the transport position;

- take away the mobile robot 4 from the quick-build barrier of the quick-hardening foam to a safe distance.

- on command from the control center or offline, the mobile robot 4 is returned to the starting point or to the zone of reliable radio exchange, and then, if necessary, the robot 4 is transported by land transport, for example, to the place of repair or maintenance work or to another area of catastrophic character

Industrial applicability of the claimed technical solution is as follows.

The proposed fire blocking barrier, made in the form of a mesh screen, refers to lightweight, fast-built barriers that can be mounted above the protected object by any known mobile lifting device (machine), including a specially equipped lifting mechanism of the mobile robot (depending on the weight of the barrier).

Currently, numerous compositions of fast-hardening foam are known (Patent RU # 2590379, СВВ 33/16 (2006.01), published on 07/10/2016; Patent RU # 2645542, А62С 3/02 (2006.01), published on 02/21/2018, and so on ), which can:

- successfully modernize the existing methods of passive fire protection of technological equipment (Abstract on "Development of fire-retarding mesh screens with foaming epoxy coatings and overlapping foam-coke cells in fire conditions." AS Krutolapov. Scientific library of dissertations and abstracts disserCat http: // www. dissercat.com);

- significantly increase the fire resistance of the foamed fire retardant layer during the erection of a pre-fabricated barrier (Scientists suggest extinguishing fires with a rapidly hardening foam. News. 0-1.ru.html).

Robots currently produced in Russia and abroad allow the invention to be implemented by revising the elements and components of their structure, which in some cases for the proposed technical solution will be insignificant.

Applied modern technologies make it possible to equip the claimed mobile robot with an artificial intelligence program, which ensures that this robotic tool will work under extreme conditions completely automatically according to a predetermined program designed to implement the proposed technical solution.

Currently, there are lifting machines, in which there are numerous schemes of their layout with a telescopic boom (http://bookfi.net/book/486047). In the opinion of the authors of the invention, they can be used in a manipulator together with a means of supplying foam in the implementation of the proposed technical solution (Kuleshov VS Remotely controlled robots and manipulators: Textbook for universities / VS Kuleshov, NA Lakota, VV Andryunin, etc .; under the general editorship of EP Popov; M .: Mashinostroenie, 1986. - 328 p.).

The claimed technical solution is easy to use and allows you to repeatedly perform a single mobile robot operation to create local protection of an object from fire in case of an emergency, when human intervention in the ongoing process under these conditions is usually short-lived or almost impossible.

Claims (4)

1. A method of local protection of an object from a fire, consisting in the formation of a mesh screen above the protected object and the formation on it of a foamed heat-insulating layer in the cellular structure of the screen, the creation of an environment that does not support combustion in the protected space and the extinguishing of the fire center by means of fire extinguishing, characterized by that during the formation of a space limited from the external environment in case of fire, an external foamed heat-insulating layer is formed on the entire area of the cellular structure of the screen, and as a material A quick-hardening foam is used to form the foamed heat-insulating layer. 2. A device for local protection of an object from fire, containing a mesh screen that forms a limited volume over the object to be protected, and a foamed heat insulating substance designed to create a protective layer in the cellular structure of the screen, and means for forming a protective layer and fire fighting, characterized in that the protective layer is foamed heat insulating substance is formed outside the entire area of the screen, and the heat insulating substance is made in the form of a quick-hardening foam. 3. A method of creating a quick-build barrier from a rapidly hardening foam using a mobile robot, including the detection of a fire, delivery by means of a manipulator to the fire center of means to prevent the spread of flame and extinguish the fire center with fire extinguishing agents, characterized in that the mobile robot is equipped with a homing target system by recognizing a mesh screen of a specific configuration with an onboard electronic complex for performing the operation of supplying a solution of fast-hardening foam during applying a protective insulating layer in the form of a fast-hardening foam on the mesh screen in the conditions of formation of a local source of ignition. 4. Mobile robot to create a fire retardant barrier of quick-hardening foam, containing a tracked chassis, power units, control systems and surveillance and data transmission from the conducted surveillance in real time and the platform on which the manipulator with foam supply is mounted, characterized in that a sensor is installed on the body of the foam supply device for pointing the foam supply means onto a selected surface of the mesh screen; the video module is facing the selected direction the surface of said screen in a formation of a local ignition source.

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