RU2755461C1 - Self-propelled fire extinguishing complex based on self-propelled robot - Google Patents

Abstract

FIELD: firefighting.

SUBSTANCE: invention relates to means of fire extinguishing, namely to robotic fire extinguishing units. The self-propelled fire extinguishing complex based on a self-propelled robot includes a self-propelled platform and drive gear, a fire extinguishing module including a carriage made in the form of a system of pipes, drives and means for targeting and supplying a fire extinguishing agent, as well as a fire source location system, a positioning module including means for determining the exact location of the robot, a module for connection with a stationary supply pipeline including means for connecting the robot with a pipe through which a fire extinguishing agent is supplied, as well as a power supply and control system with accumulators are placed in the body of the platform, the complex also includes stationary assemblies for coupling the supply pipeline with the robot, guides for moving the robot, a stationary charging station of the robot, a control, monitoring and state recording system, and a system for communication with the robot. According to the invention, the means for connecting the robot with the pipe through which a fire extinguishing agent is supplied are made in the form of motors transmitting rotation to a screw rod configured to lift the upper plate using sleeves, wherein said plate lifts the upper double flange whereto the fasteners of the catcher and a clamp are attached; in the form of a pipe of the robot, connected with the compressor and configured to move up and down in the upper double flange by means of sealing rings; in the form of a lower plate lifting the lower double flange attached to the pipe; in the form of stoppers on guides, configured to limit the movement of the clamp and the upper plate.

EFFECT: complex ensures fire extinguishing at the site, the unified trolley, moving along the guides attached on the ceiling, develops a high speed and can be located outside of the area of location of people or various equipment, wherein deviation from the predetermined path is avoided, the design is simple and inexpensive.

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Description

The invention relates to means for fire extinguishing, namely, to robotic fire extinguishing installations.

To assess the novelty of the claimed solution, let us consider a number of known technical means of a similar purpose, characterized by a set of features similar to the claimed device.

Known mobile robotic fire fighting system on a caterpillar under the patent of the Russian Federation No. 2580779, which consists of a chassis, a housing with compartments for the power unit, for a fire extinguishing system and an on-board control system, as well as special equipment, including a bulldozer blade located in the front of the housing , a water barrel-monitor (fire monitor) with a video surveillance system and a remote control of the fire extinguishing agent supply system. The main features of this complex, as well as other similar devices, are:

- movement on a horizontal surface (ground, floor), with the ability to overcome obstacles and stairs, for which robots are equipped with wheels or tracks. This has the following disadvantages: a relatively low speed, moving along the surface, the robot can interfere with people, it needs to go around obstacles that it cannot overcome;

- power supply from accumulators, which limits their operating time;

- remote control (by radio channel), which makes the control dependent on interference.

Known robotic fire complex according to the patent of the Russian Federation No. 2319530, containing two or more robotic fire extinguishing installations, including a fire monitor with drives for vertical and horizontal guidance, nozzles with a drive for changing the spray angle and a local control panel connected to the switching unit at the entrance, and at its output with a control device, in which control commands for targeting the barrel and fire extinguishing are formed, a fire detection and TV observation device installed on the barrel so that its optical axis is oriented in the direction of supply of the extinguishing agent, connected to a video signal processing device, in which the algorithms are implemented in software determining the coordinates of the ignition source, connected to a video monitoring device and a control device, characterized in that robotic fire extinguishing installations are installed in such a way that each point of the protected zone is irrigated with at least two streams and controlled there are two devices for detecting fire and television surveillance, and on the monitors, a butterfly valve with a drive and a pressure sensor are additionally installed, connected to a switching unit at the input, the output of which is connected to a control device, additionally connected to addressable fire detectors. The disadvantage of this device is the limitation in use due to the stationary installation of fire robots, the working area of which, for example, in shelving warehouses or tunnels, requires the installation of fire robots in narrow zones, which leads to a significant increase in their number and, accordingly, to a decrease in the efficiency of use.

Known robotic fire complex with a full-process control system according to the patent of the Russian Federation No. 2424837, which contains two or more robotic fire extinguishing installations, including a fire monitor with drives of vertical and horizontal guidance, nozzles with a drive for changing the angle of spray jet, a butterfly valve with a drive, a pressure sensor and a control panel connected to the switching unit at the input, and at its output - to the control device. A control unit for the fire extinguishing process is introduced into the control device, which generates control commands for targeting the barrel and fire extinguishing, connected at the input with a receiving and control device, a digital signal processing device in the IR range and additionally introduced by an ignition control unit, also connected to a digital signal processing device in the infrared range, and a timer. At the output, the control unit for the fire extinguishing process is connected to the control unit and the control search unit, which is also connected to the control unit. The technical result is to reduce the cost of fire extinguishing agent and increase efficiency by adjusting the fire extinguishing program and the intensity of irrigation, depending on the development of ignition. The main disadvantage of these complexes is stationary robots. Quite a large number of them are required, especially if there are tall racks in the room or equipment that blocks the path of the robot's jet. In addition, these robots are highly specialized - they can only be firefighters.

Known automatic mobile-positioned robotic local fire extinguishing system according to RF patent No. 2637745. The system contains a vehicle capable of moving along a transport highway and equipped with two powder fire extinguishing modules; a water-foam monitor with a remote control and a program control unit, as well as a pipeline with an extinguishing agent and a mechanism for connecting to it, a fire alarm in the form of a temperature-sensitive cable. In the event of a fire, a stationary automatic fire alarm system detects the source of the fire and sends a mobile robotic device moving along the guides to the fire zone. When it enters the specified zone, the search for the exact location of the fire source is turned on. After finding, preliminary powder quenching is carried out. At the end of the preliminary extinguishing, the mobile robotic device is docked with the nearest docking unit and begins to extinguish the fire by means of a spill from the extinguishing agent carriage. The extinguishing is controlled remotely by the dispatcher-operator, according to the data transmitted from the robot. He also gives the command to end the extinguishing.

A mobile robotic fire extinguishing installation based on gyro scooters is known according to RF patent No. 2642770, containing two or more fire robots on mobile devices, including a fire monitor, with vertical and horizontal guidance drives installed on the barrel, nozzles with a drive for changing the spray angle, an ignition detection device connected to the switching unit, a transport drive, a docking drive with a hydraulic valve and a power supply connector, a range finder and a battery connected through a control unit to a switching unit, which at the output is connected via a radio channel through a radio control unit with a remote control and a control device connected through a receiving and control device with fire detectors, characterized in that the fire robot is installed on a mobile device - a hoverboard and additionally includes a controller for controlling the position of the center of gravity, a route map navigator with a parking device to the places of water intake a pole for docking with a hydraulic valve and a power supply connector.

Known mobile robotic fire complex under the patent for a useful model of the Russian Federation No. 93284, containing two or more fire robots, including a fire monitor connected to a fire pipeline. Drives for vertical and horizontal guidance, a nozzle with a drive for changing the spray angle, and a combustion detection device are installed on the barrel. The robot is controlled by radio from a remote control and a control device. The fire robot is installed on a mobile device - a car equipped with a transport drive, a docking drive with a hydraulic valve and a power supply connector, a range finder and a battery connected to the car control unit.

This technical solution, as the closest to the one declared in terms of the technical essence and the achieved result, was adopted as its prototype. This technical solution makes it possible to expand the working zones of fire robots while reducing their number in a robotic fire complex, as well as to move fire robots to places of fire in a targeted manner.

The main disadvantages of this solution are as follows:

- guides for movement are fixed to the pipeline. This is a rather significant design flaw. Such an arrangement of the pipe makes it very difficult to install the system in place, since the guides must be sufficiently flat (for high-speed movement of the robot), and it is quite difficult to lay the pipe exactly. Plus, the pipe has welded seams, and with such a design, it is impossible to connect pipes (sometimes it is much cheaper than a welded one). In this case, the pipe is structurally limited in diameter. If it is necessary to increase the volume of supplied water, it will be necessary to develop a new design of the car.

- the guides are open and not protected from fire. So, according to the existing standards, they must withstand prolonged exposure to fire and high temperatures, in order to ensure the possibility of the car's approach to the place of fire. To protect against it, the outer areas of the structural materials of the guides (steel or metal), which can be directly affected by fire or high temperatures, must be covered with a special fire-resistant coating. In this design of the guides, the inner surface is open to the effects of fire and high temperatures. Moreover, a fire-resistant coating cannot be applied to the inner surface - its layer is rather "thick", and the robot will not be able to move along such a guide.

The objective of the claimed invention is to create a self-propelled fire extinguishing complex based on a self-propelled robot with fire-protected guides for its movement, capable of reliably providing fire extinguishing at the facility.

The essence of the claimed technical solution is expressed in the following set of essential features sufficient to solve the technical problem indicated by the applicant and obtain the technical result provided by the invention.

A self-propelled fire extinguishing complex based on a self-propelled robot, including a self-propelled platform and a chassis, a fire extinguishing module is located in the platform body, including a carriage made in the form of a system of pipes, drives and means for targeting and supplying a fire extinguishing agent, as well as a fire source search system, a positioning module , including means for determining the exact location of the robot, a module for connecting to a stationary supply pipeline, including means for connecting the robot to a pipe through which fire extinguishing agent is supplied, as well as a power supply and control system with batteries, in addition, the complex includes stationary nodes for joining the supply pipeline with the robot, guides for moving the robot, a stationary charging station of the robot, a control system, monitoring and recording states and a communication system with the robot, characterized in that the means for connecting the robot with the pipe through which the fire extinguishing agent is supplied is made in in the form of motors transmitting rotation to a screw rod, made with the ability to lift the upper plate with the help of bushings, which lifts the upper double flange, to which the catcher fasteners and gripper are attached; in the form of a robot tube connected to the compressor and made with the possibility of up and down movement in the upper double flange by means of the sealing rings; in the form of a bottom plate lifting the bottom double flange, which is adhered to the pipe; in the form of stoppers on the guides, made with the possibility of limiting the movement of the gripper and the upper plate.

In addition, the claimed technical solution is characterized by the presence of a number of additional functional features, namely:

- the undercarriage consists of two pairs of wheels interacting with the guides for moving the robot, an electric motor or a gear motor and a brake;

- the carriage is made with the possibility of supplying a fire extinguishing agent from the pipeline around the robot with an angle of rotation in the horizontal plane up to 360 degrees and up to 90 degrees in the vertical plane with a radius of delivery up to 100 m by a continuous jet or sprayed at different angles of the torch;

- the guides are made with a C-shaped profile, the outer side of which is equipped with a fire retardant coating ..

The claimed set of essential features ensures the achievement of a technical result, which consists in the creation of a self-propelled fire extinguishing complex based on a self-propelled robot with guides for movement, capable of providing fire extinguishing at the facility. The unified cart moves along the guides, which allows you to develop high speed, is outside the area where people or various equipment are located (for example, the guides are fixed on the ceiling), and also to exclude deviations from the specified route. The design of the claimed is simple and inexpensive compared to other mobile robots.

The essence of the proposed technical solution is illustrated by a drawing, in which FIG. 1 shows a general view of the claimed complex, FIG. 2 is a general view of a self-propelled cart and a fire extinguishing module installed on it, FIG. 3 is a left side view of the self-propelled cart and the fire extinguishing module installed on it, FIG. 4 is a functional diagram of the docking unit.

In the drawings, the positions indicate: 1 - self-propelled cart, 2 - fire extinguishing module, 3 - solenoid valve; 4 - module for connecting to the supply pipeline, 5 - stationary pipeline; 6 - guides for the trolley, 7 - wheels (running gear), 8 - body on the trolley (not shown in the figures), 9 - pipe, 10 - upper pipe, 11 - gripper, 12 - upper plate, 13 - guides, 14 - screw rod, 15 - bushings, 16 - bottom plate, 17 - motors, 18 - compensator, 19 - upper double flange, 20 - catcher fasteners, 21 - lower double flange, 22 - base for the docking unit.

The declared complex is intended for installation:

- in large premises (from about 5 thousand square meters), especially without fire partitions, including workshops, production facilities, warehouses (including with shelves), hangars, parking lots. These premises can be cluttered with equipment, machinery, or various goods. Therefore, the fire spreads over them rather quickly;

- in tunnels, cable tunnels and conveyors. By virtue of their design, these objects are difficult to extinguish a fire. In cable tunnels and conveyors, in principle, the passage of a person is difficult;

- outdoors for large sites (more than 10 hectares). The scheme of work is as follows:

After receiving a signal from a stationary fire alarm system, the robot starts from the parking point to the fire site. The geared motor works at full power and accelerates the robot to the set speed - up to 30 km / h.

After reaching the set speed, the robot with the help of a geared motor maintains the required speed until it enters the zone of the docking unit closest to the focus. The required node is set by the stationary system based on data from stationary sensors in the room. Node data is transmitted to the robot before it starts. The robot locates this node using the positioning module.

When entering the area of the node, the robot slows down - it puts the engine at idle speed. This turns on the fire search system, which must find a fire.

The robot enters the docking area and starts docking. The sequence and principle of docking and operation of the nodes is shown in figure 4.

Position 1. The robot is driving along the guides.

Position 2. Gripping the outer pipe 10. With the help of motors 17, the screw rod 14 rotates and with the help of the bushings 15 the upper plate 12 is lifted, which raises the upper double flange 19, to which the catcher fastener 20 and, accordingly, the grip 11 are attached. catches ”the outer tube 10, the limit switch is triggered, stopping the motor and turning on the brake. This lifts the pipe in the robot 9. The pipe 9 can go up and down in the upper double flange 19 using the sealing rings. The upper double flange 19 is rigidly connected to the fastening of the catcher 20, that is, with the help of the upper double flange 19, the pipe is guided to the right-left, since there is a hole of the corresponding figure in the upper plate 12. The upper plate 12 can walk relative to the pipe 9 up and down, but at the same time it can raise and lower the upper double flange 19, and, accordingly, the fastening of the catcher 20 with the gripper 11 attached to it. With the help of the double upper flange 19, the pipe 9 can move to the right and to the left and adjust to the upper pipe 10. The same freedom is provided by the lower double flange 21. The presence of the compensator allows the pipe 9 to move to the right-left, which gives a backlash, which can compensate for the error in the placement of the pipe in the stationary joint.

Position 3. Connection. The motors 17 and the screw rods 14 try to lower the upper plate 12, but since it clings to the double upper flange 19, the movement of which is limited by its connection through the fastener of the catcher 20 with the catch 11, which is held on the upper tube 10. Therefore, the lower plate 16 rises, which lifts the lower double flange 21, which is attached to the pipe 9. Thus, the lower plate 16 can raise and lower the pipe 9. In this case, the pipe 9 can move to the right and left along the cut in the upper 12 and the bottom plate 16, respectively.

Thus, the pipe 9 can only be lifted with the help of the lower plate 16. That is, the expansion joint 18 is stretched. The stopper on the guides 13 during undocking does not allow the grip 11 and the upper plate 12 to go "far" upwards.

After stopping, the fire search system detects a fire. Since the movement of extinguishing is carried out by simple aiming of the jet (direct fire), then, in principle, for the robot, only the direction is important, and not the distance to the fire. In this case, the range of detection of the fire detection system must correspond to the range of supply of the extinguishing agent in the form of a jet.

Solenoid valve 3 opens, pumps for supplying water to the pipeline are turned on (not included in the developed complex). The robot starts to extinguish the fire. In this case, the fire detection system monitors the fire for the necessary correction of work. Robots (there must be at least 2 robots per room) exchange information with a stationary control, monitoring and status recording system that performs their joint work.

After the end of extinguishing (the robot's scanners and stationary sensors do not detect signs of fire), the robots are given a command to return to the parking place. The pumps of the water supply system to the fire system are turned off, the drain valve is opened (to drain the remaining water from the stationary pipeline 5). The solenoid valve 3 closes at the docking unit. The robots undock from the docking unit (the sequence of operations is reverse to the docking operations), accelerate to the required speed and follow to the parking space.

When approaching it, they park - reduce speed in advance, dock with the charging station.

The claimed device is designed to reliably provide fire extinguishing at various facilities and can be implemented using known equipment, technical and technological means.

Claims (4)

1. A self-propelled fire-extinguishing complex based on a self-propelled robot, including a self-propelled platform and a chassis, a fire extinguishing module is located in the platform body, including a carriage made in the form of a system of pipes, drives and means for targeting and supplying a fire extinguishing agent, as well as a system for searching for an ignition source, a positioning module, which includes means for determining the exact location of the robot, a module for connecting to a stationary supply pipeline, including means for connecting the robot to a pipe through which a fire extinguishing agent is supplied, as well as a power supply and control system with batteries, in addition, the complex includes stationary docking units for the supply pipelines with a robot, guides for moving the robot, a stationary charging station of the robot, a control system, monitoring and recording of states and a communication system with the robot, characterized in that the means for connecting the robot with the pipe through which the extinguishing agent is supplied are made in in the form of motors transmitting rotation to a screw rod, made with the ability to raise the upper plate with the help of bushings, which lifts the upper double flange, to which the catcher fastener and the gripper are attached; in the form of a robot tube connected to the compressor and made with the possibility of up and down movement in the upper double flange by means of the sealing rings; in the form of a bottom plate lifting the bottom double flange, which is attached to the pipe; in the form of stoppers on the guides, made with the possibility of limiting the movement of the gripper and the upper plate. 2. The complex according to claim 1, characterized in that the chassis consists of two pairs of wheels interacting with the guides for moving the robot, an electric motor or a gear motor and a brake. 3. The complex according to claim 1, characterized in that the carriage is made with the possibility of supplying the extinguishing agent from the pipeline around the robot with a rotation angle in the horizontal plane up to 360 ° and up to 90 ° in the vertical plane with a delivery radius of up to 100 m solid or sprayed under various torch corners with a jet. 4. The complex according to claim 1, characterized in that the guides are made with a C-shaped profile, the outer side of which is provided with a fire retardant coating.

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