JP3477541B2 - Robotic equipment for automatic cleaning of fire detectors - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to robot equipment, and more particularly to robot equipment for automatic cleaning of fire detectors.

[0002]

2. Description of the Related Art Fire detectors are arranged at predetermined intervals in a tunnel. In a fire detector in a long and large automobile tunnel with a large amount of traffic, the light-receiving lens and the like are contaminated in a short period of time due to exhaust gas and dust. If this dirt is left unattended, the amount of light received by the fire detector is reduced and the functions thereof are deteriorated, so problems such as false alarms and false alarms occur.

In order to solve this problem, therefore, the sensor is cleaned with a washing car while the traffic of the car is regulated on a regular basis. This washing car is operated by the operation of a worker, and the light receiving window of the sensor is cleaned by rotating the rotating brush while pouring water from the water tank mounted on the washing car.

However, this washing car has the following problems. (1) When cleaning a long tunnel with this washing car, the cleaning work takes a long time. Therefore, the hygiene of workers is adversely affected and traffic congestion occurs due to the regulation of automobiles.

(2) Since a large amount of water is required for the cleaning work, it is necessary to replenish the water supply tank with water from time to time.
It takes time to replenish this water and the work efficiency decreases.

Therefore, it is conceivable that the fire detector is cleaned by providing a traveling body that automatically travels on the passage of the observer in the tunnel and providing a rotating brush on the traveling body. However, since a rechargeable storage battery is used for this traveling body, there are the following problems.

(1) Since the battery is used as a power source, it is difficult to supply power for a long time. Therefore, the action range and ability of the robot are restricted. (2) If a large-capacity storage battery is mounted in order to supply power for a long time, the running body becomes large and heavy, and the moving motor must be large enough to withstand it. (3) The side wall surface cleaning work is performed regularly, for example, once every two to three months, and maintenance of the storage battery during the suspension period is very troublesome. (4) After cleaning, cleaning water adheres to the lens surface of the fire detector, and the adhered water is contaminated by dust and the like.

In view of the above circumstances, an object of the present invention is to clean a fire detector and to sufficiently maintain power supply and water supply of a fire robot.

[0009]

The present invention is intended to achieve the above object by the following constitution. According to a first aspect of the present invention, a robot provided with a water supply tank and a cleaning jig device for a fire detector is arranged on a movement path, and a supply pipe section arranged along the movement path and a continuous supply to the water supply tank. While communicating with the pipe section through the fluid coupling,
A robot equipment including a power supply / reception device for supplying power to the robot; the cleaning jig device includes cleaning means and removal means for adhering cleaning water;
A spot-type power supply including non-contact type power receiving means for charging a rechargeable battery provided in the robot, and non-contact type power feeding means arranged along the moving path and feeding power to the non-contact type power receiving means. A power receiving device, wherein the fluid coupling includes a discharge port having a reduced diameter, a supply pipe body for converting pressure energy of pressure fluid into velocity energy, and a supply port facing the discharge port through a communication interval. A robot equipment for automatic cleaning of a fire detector, which is a non-contact type fluid coupling comprising: a receiving pipe body for converting velocity energy of the pressure fluid into pressure energy.

A second aspect of the invention is to arrange a robot having a water supply tank and a cleaning jig device for a fire detector on a moving path,
A robot facility provided with a power supply / reception device for supplying power to the robot while connecting a supply pipe section arranged along the movement path and a receiving pipe section continuous to the water supply tank via a fluid coupling. The cleaning jig device includes cleaning means and means for removing adhering cleaning water; the power supply / reception device is provided with power supply wiring extending along the movement path and the robot. An all-wire type power supply / reception device comprising a power-receiving coil which is provided and which detects a current flowing in the power-supply wiring in a non-contact manner; the fluid coupling includes a discharge port having a reduced diameter, and a pressure of a pressure fluid. A non-contact type comprising a supply pipe body for converting energy into velocity energy, and a supply pipe body for converting the velocity energy of the pressure fluid into pressure energy, the supply pipe body having a receiving port facing the discharge port through a communication interval. Be a fluid coupling Automatic cleaning robot equipment fire detector, wherein a.

[0011]

The operation of the first invention will be described. After the robot is moved to the position of the fire sensor to be cleaned, the cleaning jig device is operated to clean the sensor, and the cleaning water adhering to the sensor is removed. Then, when the water in the water supply tank becomes low, the robot interrupts the cleaning work and stops at the position of the nearby supply pipe section. Then, the robot receives water supply from the supply pipe portion via the contact type fluid coupling, and the water supply tank becomes the reference water amount. After the water supply is completed, the robot starts cleaning work again. When the voltage of the rechargeable storage battery drops, the robot interrupts the cleaning work and stops at the position of the spot type power supply means in the vicinity. Then, the rechargeable storage battery of the robot is charged via the spot type power supply / reception device, and the storage battery becomes the reference voltage. After the charging of the rechargeable storage battery is completed, the robot starts cleaning work again. The sensor to be cleaned is cleaned by repeating such water supply and charging processes.

The operation of the second invention will be described. After moving the robot to the position of the sensor to be cleaned, activate the cleaning jig device to wash the sensor and
Wash water adhering to the sensor is removed. When the water in the water supply tank becomes low, the robot interrupts the cleaning operation and stops at the position of the supply pipe section in the vicinity. Then, the robot receives the water supply from the supply pipe portion via the non-contact type fluid coupling, and the water supply tank becomes the reference water amount. After the water supply is completed, the robot starts the cleaning operation again. In this way, the sensor to be cleaned is cleaned by repeatedly supplying water. Since the robot always moves while receiving power supply via the all-line power supply / reception device, it is not necessary to stop the cleaning work for power supply as described above.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. The monorail 30 is provided above or just above the side wall of the running path of the tunnel, and the fire robot 10 is provided on the monorail 30 via the wheels 11.

The fire robot 10 is, for example, a fire extinguishing robot for fire extinguishing and fire monitoring, and a plurality of fire extinguishing robots are arranged at intervals. The monorail 30 is a movement route that guides the traveling of the fire robot, and is arranged along the fire extinguishing target such as the tunnel.

The monorail 30 is provided with a plurality of robot stations 31 for holding the fire robot 10 on standby at intervals. The robot station 31 is a box that can be opened and closed.

The monorail 30 has a predetermined space, for example,
Movement fixed points 32 are provided at intervals of 25 m. The moving fixed point 32 is a stop position when the fire robot 10 moves to extinguish a fire or to monitor a fire.

Fire robot (mobile robot body) 1
0 is provided with a rechargeable storage battery 20, which is used in the electric motor 12, the direction control motor 21 of the monitor nozzle 13, the electric pump 15, the control device 17, the transceiver 18 with the antenna 19, and the like. Supply power.

The electric motor 12 causes the wheels 11 to rotate normally / reversely via a chain or the like to drive the fire robot 10. The electric pump 15 is provided in the connecting pipe 16, and the connecting pipe 16 is connected to the receiving pipe portion 130 via the stretching device 23. A contact type fluid coupling 110 is provided at the tip of the receiving pipe section 130.

Reference numeral 22 is a surveillance television camera, 40 is an extinguishant storage unit, 41 is a control panel to which a fire receiver 44 and a transceiver 42 having an antenna 43 are connected, and 45 is connected to the fire receiver 44. , And a plurality of fire detectors arranged at intervals on the side wall of the tunnel. As the fire detector 45, for example, there are various detectors based on heat, smoke, flame light, gas, odor, etc., which are appropriately selected as necessary. Reference numeral 47 is a water supply pump that is connected to the supply pipe 100 via the communication pipe 33 and is controlled by the control panel 41.

Reference numeral 60 denotes a device connecting device provided in the fire robot 10. As shown in FIG. 11, a cleaning jig device for a fire detector is connected to the connecting device 60 via a manipulator 61. This cleaning jig device includes, for example, a rotating brush 62 and a high-pressure air nozzle 63. This rotating brush 62 is cleaned by ejecting cleaning water and rotating the brush to rub the lens 45L or the like on the front surface of the sensor to clean it. As a result, the lens surface immediately becomes dry.

The rotating force of the rotating brush 62 is given by the electric motor 12 of the fire robot 10, the washing water is supplied from the water tank 50 mounted on the fire robot 10, and the high-pressure air is supplied to the fire robot 10. It is supplied from the mounted high-pressure air tank 66. In addition, water tank 5
0 is provided with a water storage amount detection device (not shown) that detects that the water storage amount of the tank has become equal to or less than a predetermined value. Further, in the water supply tank 50, a pipe 16a branched from the connecting pipe, and a pipe 16b connected to the device connecting device 60
Is provided, and valves 16c and 16d are provided in each pipe, and are normally closed.

The supply pipe 100 is disposed along the monorail 30, and the pipe 100 is provided with a plurality of supply pipe portions 120 corresponding to the fixed moving points 32. The supply pipe 120 is provided with a valve 135 and a contact type fluid coupling 110.

As shown in FIG. 4, the contact type fluid coupling 110 is composed of a supply pipe section 120 and a reception pipe section 130.

The supply passage 123 of the supply pipe portion 120 is formed to have a diameter D, but the tip portion thereof is narrowed down and has a truncated cone shape in cross section. The diameter d of the discharge port 121 is significantly smaller than the diameter D. The ratio d / D of both diameters is appropriately determined as necessary. For example, d / D is 1 /
5 is selected.

A flange 122 is provided at the tip of the supply pipe 120.
Is provided. The tip end surface of the supply pipe portion 120 forms a contact surface 124, and the contact surface 124 is formed to be smooth and perpendicular to the axis C.

The receiving pipe portion 130 is provided with a receiving passage 133, which gradually expands toward the outlet 136. The diameter w of the receiving port 131 is slightly larger than the diameter d of the discharge port 121. The ratio d / w of the both diameters is appropriately selected as necessary, and, for example, d / w is 0.9. The discharge port 121 and the receiving port 131 are opposed to each other, and the axes of both ports 121 and 131 are located on the axis C of the fluid coupling 110.

The flange 13 is provided at the rear end of the receiving pipe portion 130.
Two are provided. The rear end surface of the receiving pipe section 130 is
The contact surface 134 is formed so as to be smooth and perpendicular to the axis C.

The contact surface 134 is in contact with the contact surface 124 via the O-ring 137, but both contact surfaces 12 are in contact with each other.
There is a slight gap between 4 and 134, and this gap forms the suction part G.

The suction part G has a discharge port 121 and a receiving port 13.
When communicating with 1 and passing water, the pressure is the same as the pressure between both ports 121 and 131, that is, negative pressure. The size of the area of both contact surfaces 124 and 134 is appropriately selected as needed, but the suction force increases as the area increases.

Non-contact type power supply devices 401 and 402 are provided at the robot station 31 and the movement fixed point 32, which are arranged at intervals on the monorail 30, respectively.

This power feeding device is the first non-contact type power feeding device 4
01 and a second non-contact power supply device 402, and FIG.
As shown in FIG. 3, the power supply wirings 401b and 402b wound around the U-shaped magnetic bodies 401a and 402a are provided. The wirings 401b and 402b are covered with resin to prevent corrosion and are connected to the control panel 41 via the high frequency power supply device 411 (FIG. 1).

The non-contact power feeding devices 401 and 402 are provided along the monorail 30 at predetermined intervals, for example, every 25 m on a monorail having a total length of 100 m, and the total length of the power feeding device is, for example, 5 m. Even if the stop position of 10 is slightly displaced, power can be supplied to the fire robot 10.

The first non-contact type power supply device 401 is provided in the robot station 31 and has a power supply circuit C1.
It is installed in. The second non-contact power supply device 402,
It is provided at the moving fixed point 32 and is provided in the power feeding circuit C2 formed separately from the power feeding circuit C1.

First and second non-contact type power supply devices 401,
402 is connected to a high frequency power supply device 411 via a high frequency current supply destination switching device 412.

Fire robot (mobile robot body) 1
0 is provided with a non-contact power receiving device 321. This device 321 has a U-shaped magnetic body 32 as shown in FIG.
The power receiving coil 321b is wound around 1a. The power receiving coil 321b is connected to the power conversion device 322.

The power conversion device 322 includes the power receiving coil 3
The high frequency current received by 21b is converted into a direct current to charge the storage battery (rechargeable battery) 20, and the electric motor 12, the direction control motor 21 for the monitor nozzle 13, the electric pump 15, the control device 17, the antenna 19 are charged. Power is supplied to the transceiver 18 and the like.

A block circuit diagram of the fire robot 10 will be described with reference to FIG. In FIG. 5, MPU 10 is a microcomputer, ROM 11 is a read-only memory that stores the operation programs shown in the flowcharts of FIGS. 7 to 10, EEPROM 11 is a self-address of the fire robot 10, set values that are different for each robot required for control, etc. Each of the electrically rewritable EEPROMs in which is stored. A dip switch or the like may be used instead of the EEPROM 11.

RAM 11 is a random access memory as a work area, CB 11 is a control circuit for the electric motor 12,
CB12 is a control circuit of the direction control motor 21 of the monitor nozzle 13, CB13 is a control circuit of the electric pump 15, CB1
4 is a control circuit of the stretching device 23, CB 15 is a water discharge control circuit of the valve 135, CB 16 is a control circuit of the surveillance TV camera 22, CB 17 is a charge monitoring circuit of the storage battery 20, and CB 1
8 is a control circuit of the device connection device), CB 19 is a control circuit of a water storage amount detection device (not shown) of the water supply tank 50, C
B20 and CB21 are control circuits for the respective valves 16c and 16d, PN11 is an input operation section provided with various switches and ten keys (not shown), and DP11 is an indicator (not shown) such as various indicators and LCD. ) Is provided on the display unit, M
S11 is a micro switch for fixed point counting, IF11
To IF19 and IF101 to IF106 respectively indicate interfaces. The IF 19 is an interface for connecting the transceiver 18.

A block circuit diagram of the control panel 41 will be described with reference to FIG. In FIG. 6, MPU 20 is a microcomputer, ROM 21 is a read only memory for storing the operation programs shown in the flowcharts of FIGS. 9 and 10, and E
The EPROM 21 is an electrically rewritable E that stores each address of the plurality of fire robots 10 and setting values which are required for each fire robot 10 and which are different for each fire robot.
EPROM, respectively. A dip switch or the like may be used instead of the EEPROM 21.

The RAM 21 is a random access memory as a work area, the TRX 21 is a fire information transmission / reception circuit for exchanging signals with the fire receiver 44, the CB 21 is a control circuit of the high frequency power supply device 411, and the CB 22 is controlled via the control panel 41. The controller of the water supply pump 47, the PN21 is an input operation unit provided with various switches and ten keys (not shown), and the DP21 is an image display device such as various indicators and LCDs and the video signal from the surveillance TV camera 22. A display unit provided with a CRT or the like (not shown) for displaying based on the IF21.
~ IF28 indicates an interface, respectively. still,
The IF 28 is an interface for connecting the transceiver 42.

The operation of this embodiment will be described. In the fire robot 10, the voltage monitoring circuit CB17 monitors the charging voltage of the rechargeable battery (storage battery) 20 (S10).
2) When detecting that the voltage has dropped to a predetermined voltage, the control device 17 wirelessly transmits a power supply request signal to the control panel 41 via the transceivers 18 and 42 (S104).

When the control panel 41 receives the power supply request signal,
The fire robot 10 that has transmitted the power supply request signal is identified,
The high-frequency power supply device 411 and the switching device 412 are provided on the power supply wiring 401b of the non-contact power supply device 401 of the robot station 31 in which the requested fire robot 10 is stopped.
High-frequency current is supplied through (S204, S20
5).

The fire robot 10 has a power supply wiring 401.
The high frequency current flowing in b is received by electromagnetic induction by the power receiving coil 321b of the non-contact power receiving device 321, and the received high frequency current is converted into a direct current by the power conversion device 322 to charge the rechargeable battery 20.

When the voltage monitoring circuit CB17 detects that the voltage of the rechargeable battery 20 has recovered to the specified voltage (S10).
2), the controller 17 outputs a power supply completion signal to the control panel 41 (S103). As a result, the control panel 41 stops the operation of the high frequency power supply device 411 and stops the power supply (S20).
7, S202).

When the fire receiver 45 receives fire information, for example, a fire signal from the fire detector 45, the fire occurrence point is determined based on the fire signal and the information is used as the control panel 41.
Output to.

The control panel 41 determines the moving fixed point 32a at which the fire robot 10 is stopped based on the information on the fire occurrence point (S203, S206, S208), identifies the fire robot 10 and information on the fire occurrence point. And movement fixed point 32
The information of a and the movement command are wirelessly transmitted through the transceivers 18 and 42 (S209).

Here, for example, as a method of identifying the fire robot 10, when the address output from the control panel 41 and the self address stored in each fire robot 10 match, the fire robot 10 is A method of receiving information on the location of the fire and a move command is used.

Further, the control panel 41 sends the transmitted fixed point 32.
A high-frequency current is supplied to the power supply wiring 402b provided at a and the moving fixed points before and after that (that is, the moving fixed points near the fire occurrence point) through the high-frequency power supply device 411 and the destination switching device 412 (S210).

When the control device 17 of the fire robot 10 designated by the control panel 41 receives the information on the fire occurrence point and the movement command (S105), the electric motor 12 is positively moved by using the current of the rechargeable battery 20. The robot station 31 rotates or reverses to move from the robot station 31 to a fixed point 32a designated by the control panel 41 (S106 to S11).
2). The control device 17 stops the electric motor 12 when the fire robot 10 moves to the designated movement fixed point 32a (S113). At this time, the moving fixed point 32 that has stopped
You may make it transmit the position of a to the control panel 41.

As a method for discriminating the stop position, as shown in the flow chart, a protrusion is provided at each moving fixed point 32, while
The fire robot 10 is provided with a micro switch MS11 for detecting a protrusion of the moving fixed point 32, and each time the micro switch passes through the moving fixed point 32, the contact is closed to output a fixed point signal, and the fixed point signal is detected. The number of moving fixed points that have passed is counted (S110, S111), and the counted number and the number of moving fixed points that should be passed as the fire point information read by the fire robot along with the movement command K.
Is compared with the size (S112), and the movement stop point 32
Determine a.

As another method, there is a method of determining the movement stop point by measuring the number of rotations of the electric motor 12 with a tachometer or the like. As a counting method, a method of providing a light emitting element and a light receiving element may be adopted.

The fire robot 10 stopped at the fixed moving point 32a electromagnetically induces a high frequency current flowing through the power supply wiring 402b of the second non-contact type power supply device 402 provided at the fixed moving point 32a by the power receiving coil 21b. The power is converted by the power conversion device 322 into a direct current or an alternating current and supplied to various mounted devices.

When the control panel 41 receives the stop signal when the fire robot 10 is stopped, the operator operates the control panel 41 to wirelessly issue a command to rotate the surveillance TV camera 22 for the fire. Send to the robot 10. Then, when the surveillance TV camera 22 rotating vertically and horizontally captures the fire spot, the control panel 41 sends a rotation stop command for the surveillance TV camera 22.

Here, the monitoring television camera 2 is vertically and horizontally displayed.
2 is swung and the fire spot is displayed in the center of the surveillance TV camera 22. At this time, if the operator determines that there is a fire from the image, the control panel 41 sends a fire confirmation command.

The control device 17 of the fire robot 10 determines the fire position by detecting the rotation angle and the depression angle of the surveillance TV camera 22 according to the fire confirmation command (S115).
The direction of the monitor nozzle 13 is controlled. Note that the operator operates the control panel 41 and wirelessly sends a command to rotate the surveillance TV camera 22 to the fire robot 10, but instead of the fire robot 10, the surveillance TV camera 22 automatically operates when the fire robot 10 stops. The rotation may be started, or the rotation stop command and the fire confirmation command may be issued by one signal.

At this time, the control device 17 may superimpose the position information signal of the stationary moving point 32a on the video signal and transmit the superimposed position information signal so that the position information signal is displayed in the video.

In addition, the fire robot 10 has a movement stop point 3
When it stops at 2a, the control panel 41 sends a joint connection command S
114 to drive the stretching device 23, and move the receiving pipe portion 130A at the position indicated by the alternate long and short dash line to move the flange 132
Is applied to the flange 122 of the supply pipe 120, and the contact surface 12
4,134 is brought into contact.

The controller 17 rotationally controls the direction control motor 21 of the monitor nozzle 13 to direct the monitor nozzle 13 to the fire spot (S116), and at the same time, sends a valve opening command (S117) to the water discharge control unit for fire. A member (not shown) provided on the robot 10 is brought into contact with a micro switch provided on the supply pipe 120 to open the valve 135. The control device 17 starts the electric pump 15 and sends a discharge start command to the control panel 41 via the transmitters / receivers 18, 42 (S118) to start the water supply pump 47 and start the operation of the extinguishant via the contact fluid coupling 110. Storage 40
A fire extinguishing agent stored in, for example, a foam mixture is discharged from the monitor nozzle 13.

At this time, the release start may be transmitted to the control panel 41. For the valve opening command, for example, a micro switch may be provided on the supply pipe 120 side and a lever may be provided on the receiving pipe 130 side, and the lever may be tilted to operate the micro switch.

When a fluid, for example, fire extinguishing water S is supplied to the inlet 126 of the supply pipe 120 at a pressure P1, the water S is narrowed down at the discharge port 121 while passing through the supply passage 123, and the pressure P1 of the water is the velocity head. After being converted into the pressure head, it is supplied from the discharge port 121 to the receiving port 131 of the receiving pipe portion 130, and is converted into the pressure head again in the receiving path 133, so that the pressure P
It is discharged from the outlet 136 at 3.

Water discharge pressure P2 from the discharge port 121 at this time
Is calculated by the following equation based on Bernoulli's theorem. ^{P2 = P1-Q 2 / 2gS} 1 2

In this equation, Q is the flow rate of the discharge port 121, S1 is the cross-sectional area of the discharge port 121, and g is the gravitational acceleration. Therefore, when the flow rate Q and the pressure P1 are constant, the discharge pressure P2 becomes a function of the cross-sectional area S1 of the discharge port 121, and the value of the water discharge pressure P2 can be made negative by selecting the cross-sectional area S1.

In this way, the water discharge pressure P2 of the discharge port 121 is
The pressure becomes the smallest in the supply path 123 and the reception path 133. For example, the pressure P1 in the supply path 123 is 10 kg / cm ²
, And the when the pressure P3 of the receiving path 133 is 8 kg / cm ^2, the water discharge pressure P2 becomes -1 kg / cm ^2.

The water discharge pressure P2 is equal to the contact surfaces 124, 13
The pressure of the suction portion G between the four contact surfaces 124, 1
34 strongly attracts and adsorbs via the suction part G. As a result, the two pipe parts 120 and 130 are firmly connected and integrated.

Even if both pipes 120 and 130 are pulled in opposite directions during water supply, they cannot be separated from each other due to the suction force of the suction portion G. However, when the water supply to the supply pipe section 120 is stopped, the suction force in the suction section G disappears.
For 0, the adsorption is automatically released and the object is separated.

A fire robot is provided with a tank storing a fire extinguishing agent, for example, a foam mixture, and an extinguishing agent amount detection unit for detecting the amount of the extinguishing agent stored in the tank. Supply to the monitor nozzle 13,
The extinguishant may be supplied from the extinguishant storage unit 40 when the extinguishant amount detection unit determines that there is no extinguishant.

Further, only the foam stock solution is stored in the tank, and only the fire extinguishing water is supplied from the extinguishant storage section.
For example, they may be discharged from the monitor nozzle 13 after being mixed using a mixer such as line proportion. Here, when a tank is provided, a valve is provided between the monitor nozzle 13 and the electric pump 15, and a water discharge control unit that controls the valve is also provided in the control device 17.

During the fire extinguishing activity, a video signal of the fire occurrence point sent from the surveillance TV camera 22 is displayed on a cathode ray tube (not shown) of the control panel 41 to monitor whether or not the operator has extinguished the fire ( S119), when it is determined that the fire has been extinguished, a fire extinguishing completion command is issued from the control panel 41 to the control device 17
(N in S119). Then, the electric pump 15 is stopped, and the control device 17 causes the control panel 4 to stop.
A discharge stop command (S120) is transmitted to the control unit 1 to stop the water supply pump 47 (S214).

On the other hand, the control device 17 drives the stretching device 23 to contract the receiving pipe portion 130 of the fire robot 10 and separates it from the supply pipe portion 120 provided corresponding to the moving fixed point 32a (S121). ), A member (not shown) provided in the fire robot 10 is separated from the microswitch to close the valve 135 and stop the extinguishing agent, for example, the monitor nozzle 13 from discharging the foam mixture.

After that, the electric motor 12 is rotated in the reverse direction or the normal direction by the electric motor start command (S122) to run the fire robot 10, and when the robot station 31 is reached, the electric motor stop command (S126) is transmitted and the electric motor is driven. The motor 12 is stopped to return the fire robot 10 to its original position and prepare for the next fire. Control device 1
7 is returned to the control panel 41 (S127, S2
15), the power supply unit at the moving fixed point is turned off and the power supply is stopped (S216).

As a method of determining that the fire robot 10 has returned to the robot station 31, as shown in the flowchart, the number of fixed moving points that have passed since the stopped moving stop point 32a is counted, and The method of returning to the robot station 31 when the difference between the number and the number K of moving fixed points to be passed as the fire point information read together with the moving command becomes 0 is adopted (S123 to S125).

As another method, there is also a method of determining how many times the electric motor 12 has been reversely rotated by a tachometer or the like to determine that the electric motor 12 has returned to the robot station 31. As the counting method, a method of providing the light emitting element and the light receiving element may be adopted.

In addition, the fire robot 10 has a movement stop point 3
After moving to 2a and stopping the electric motor 12, a program may be provided for determining whether or not the electric motor 12 is further stopped at a predetermined position and, if not, correcting the position.

Further, movement fine adjustment means may be provided for stopping the fire robot 10 at an accurately designated movement fixed point. As the movement fine adjustment means, for example, when the fire robot 10 moves from the robot station 31 to a target moving fixed point, the moving speed of the fire robot 10 is set to a high speed halfway, and when it reaches the vicinity of the moving fixed point, the moving speed is low. Then, the method of controlling the speed is used so that the moving fixed point can be easily stopped.

Further, the receiving pipe portion 13 of the fire robot 10
0 and the water supply pipe portion 12 provided corresponding to the movement fixed point 32a
It is determined that the connection with 0 has been completed by using a pressure sensor that senses that the pressure water has been fed. If the connection is determined to be insufficient, the position of the fire-extinguishing robot 10 is corrected, You may try to connect again. Note that the fire position determination (S115) and the fire monitoring (S119) may be performed automatically by using a flame sensor instead of using the monitoring television camera 22 as described above.

Next, a case where the fire detector 45 is cleaned by the fire robot 10 will be described. The manipulator 61 stored in a tunnel or the like is connected to the fire robot 10 via the device connecting device 60.
In addition, cleaning water is stored in advance in the water supply tank 50.

The control board 41 determines the fixed moving point corresponding to each fire detector 45 as the cleaning moving fixed point 32C.

The control board 41 sends a movement command to each cleaning movement fixed point 32C via the transmitters / receivers 42 and 18 to the fire robot 1.
0 to the control device 17.

The fire robot 10, which has received the command, rotates the electric motor 12 and moves to the cleaning movement fixed point 32C. Then, the fire robot 10 moves the moving fixed point 32.
When C is reached, the valve 16 is commanded by the controller 17
The d is opened, and the rotating brush 62 which is fed from the tank 50 by free fall or the like is rotated while jetting the cleaning water to start cleaning the fire detector 45. After cleaning fire detector 45
High-pressure air is blown from the high-pressure air nozzle 63 toward the lens 45L, and the cleaning water adhering to the lens surface is immediately removed, and the lens is dried.

After the completion of cleaning the fire detector 45, the valve 16d is closed by a command from the control device 17, and the rotating brush 62
Stops rotating, and the high pressure nozzle 63 also stops blowing high pressure air. Then, the fire robot 10 moves toward the next cleaning movement fixed point 32C, and if the amount of water stored in the water supply tank 50 falls below a predetermined value during the movement,
The control device 17 detects the fact via the water storage amount detection device of the tank 50 and transmits a water supply request signal to the control panel 41.

The control panel 41 which has received the water supply request signal is connected to the supply pipe section 120 located at the position closest to the fire robot 10.
The moving fixed point 32W corresponding to is selected as the water supply position.
Then, the fire robot 10 is instructed to stop at the movement fixed point 32W and supply water.

The fire robot 10, which has received the command, stops at the movement fixed point 32W, makes the supply pipe 120 and the reception pipe 130 communicate with each other via the fluid coupling 110 as described above, and controls the controller 17. Sends an opening command to the valve 16c to supply water to the water supply tank 50.

When the water supply tank 50 reaches the reference water amount, the control device 17 detects the fact via the water storage amount detection device of the tank 50, transmits a water supply completion signal to the control panel 41, and supplies water in the same manner as described above. At the same time, the controller 17 sends a valve closing command to the valve 16c to separate the supply pipe section 120 and the supply pipe section 130 from each other.

Thereafter, the fire robot 10 again moves toward the cleaning movement fixed point 32C, but the water tank 50
When the amount of stored water becomes less than a predetermined value, the vehicle moves while replenishing water as described above.

When the voltage of the rechargeable storage battery 20 of the fire robot 10 falls below a predetermined value during movement, the control device 17 informs the fact that the charge monitoring circuit C of the rechargeable storage battery 20 is in use.
It is detected via B17 and a power supply request signal is transmitted to the control panel 41.

The control panel 41, which has received the power supply request signal, selects the fixed moving point 32E corresponding to the non-contact type power supply device 402 located closest to the fire robot 10 as the power supply position. Then, the fire robot 10 is instructed to stop at the moving fixed point 32E and supply power.

The fire robot 10 that has received the command
Stops at the movement fixed point 32E and charges the rechargeable storage battery 20 via the non-contact type power supply / reception devices 321 and 402 as described above.

When the voltage of the rechargeable storage battery 20 reaches the reference value, the control device 17 detects the fact via the charge monitoring circuit CB17 of the rechargeable storage battery 20 and sends a charge completion signal to the control panel 41. The power supply is stopped as described above.

Thereafter, the fire robot 10 again moves toward the cleaning movement fixed point 32C, but when the voltage of the rechargeable storage battery 20 becomes equal to or lower than a predetermined value, it moves while supplying power in the same manner as described above.

The fire robot 10 repeats the above-mentioned power supply and water supply as necessary, and the final cleaning movement fixed point 32F.
When the cleaning is completed, the cleaning completion signal is sent to the control panel 41.

During the cleaning work, the operator monitors the cleaning condition by the monitoring TV camera 22, and the position and the rotation speed of the rotary brush 62 and the supply amount of the high pressure air from the high pressure air nozzle 63 are adjusted so that the desired finishing state can be obtained. The supply amount of cleaning water and the like are controlled via the control panel 41.

A second embodiment of the present invention will be described with reference to FIGS. 13 to 16. The same reference numerals as those in FIGS. 1 to 12 have the same names and functions. The difference between this embodiment and the first embodiment is as follows. (1) As the fluid coupling, a non-contact type fluid coupling is used instead of the contact type fluid coupling.

(2) As a power supply / reception device, a spot-type power supply / reception device, that is, a power reception coil provided in a fire robot and a plurality of U-shaped magnetic bodies arranged along the moving path. Instead of using the power supply wiring, an all-line power supply / reception device, that is, a power reception coil provided in the fire robot and power supply loop wiring extended along the movement path are used. .

The non-contact type fluid coupling of the present invention will be described with reference to FIG. The non-contact fluid coupling 510 is a supply pipe 520.
And a receiving pipe 530. Both tubes 52
Although 0 and 530 are opposed to each other via the communication interval WD, the communication interval WD is appropriately determined as necessary, and for example,
30 mm is selected.

The supply passage 523 of the supply pipe 520 has a diameter Da.
However, the tip is narrowed down and has a truncated cone shape in cross section. The diameter da of the discharge port 521 is significantly smaller than the diameter Da. Ratio of both diameters d
Although a / Da is appropriately determined as necessary, for example, d
1/5 is selected as a / Da.

The supply pipe body 520 is fixed to a support member 524 provided on a wall surface or a ground surface so as to face the fixed moving point 32, and the outer peripheral surface of the tip end portion thereof is formed in a truncated cone shape.

The receiving pipe 530 is supported by the supporting member 534 of the fire robot 10.
A receiving path 533 is provided at 30. This receiving path 5
33 is a diffuser portion, which gradually expands toward the outlet 536. The receiving port 531 is provided with a receiving guide 532 that widens toward the discharge port 521.

The diameter wa of the supply port 531 is formed to be slightly larger than the diameter da of the discharge port 521. The ratio da / wa of the both diameters is appropriately selected according to need, and for example, da / wa is selected to be 0.9. The outlet 52
1 and the receiving port 531 face each other, and both ports 521, 53
The shaft center of No. 1 is located on the shaft center C of the fluid coupling 510.

Next, the non-contact type power supply / reception device will be described with reference to FIGS.
Will be described. Loop-shaped power supply wirings 620 are arranged along the monorail 30 for each power supply section. The power supply wiring 620 is coated with a corrosion resistant resin and is connected to the high frequency power supply device 411 via a high frequency current supply destination switching device 412.

The fire robot 10 is provided with a power receiver 650 for receiving power from the power supply wirings 610 and 620. The high-frequency current received by the power receiver 650 is converted into direct current or alternating current as necessary, and supplied to the electric motor 642, the control device 17, the rechargeable storage battery 20, the monitor camera 22 for monitoring, and the like. As the power receiver 650, for example, a power receiving coil is used.

FIG. 15 is a diagram for explaining the positional relationship between the power feeding wiring 620 and the power receiving coil 650. 660 is a support member for the power feeding wiring 620 wired in a loop, and 661 is an arm 663 of the fire robot 10. Auxiliary wheels provided in
Reference numeral 662 is an arm provided on the upper portion of the fire robot 10 and having wheels 641 and an electric motor 642 at the upper end.
A power receiving coil 650 is fixed to the arm 662 of the fire robot 10 so as to be inserted between the power supply wirings 620 with a gap.

Further, the power conversion device 322 of the fire robot 10 includes, for example, in parallel with the power receiving coil 650, a capacitor forming a resonance circuit that resonates at the frequencies of the power receiving coil 650 and the power supply wiring 620, and the resonance circuit. Rectifying diode connected in parallel with the capacitor, a stabilizing power supply circuit connected to the diode for controlling the output to a predetermined voltage, a DC-AC converter for converting direct current into alternating current, and the like. The stabilized power supply circuit is
For example, it is composed of a current limiting coil, an output adjusting transistor, and a diode and a transistor that form a filter.

The operation of this embodiment will be described, but the operation of the non-contact type fluid coupling and the all-line power supply / reception device, which are different from those of the first embodiment, will be mainly described.

When the control panel 41 receives the fire information from the fire receiver 44, it supplies a high-frequency current from the power supply device to the power supply wiring 620 to supply power to the fire robot 10 in a contactless manner. The fire position information and the movement command are wirelessly transmitted to the robot 10. Fire robot 10
Is contactlessly received by the power receiving coil 650 and the power converter 32
The electric motor 12 is driven by the power source converted in 2 to move to the scheduled stop movement fixed point, the television camera 22 is operated, the situation of the fire point is photographed, and the control panel 41 is wirelessly transmitted.

The power supply wiring 620 and the power receiving coil 65
The contactless power supply between 0 and
The high-frequency current flowing through 0 causes an alternating magnetic field around the power supply wiring 620 as indicated by a dotted line M in FIG. 15, and causes the power receiving coil 650 to generate an electromotive force. The alternating current generated by this electromotive force is rectified by the diode of the power supply conversion device 322, converted into a predetermined direct current voltage by the stabilized power supply circuit, and output, and also output as the alternating current voltage by the DC-AC converter. , 20, 22, etc.

After the fire robot 10 has stopped at the cleaning movement fixed point 32C as described above, the receiving pipe section 530 is extended in the same manner as in the first embodiment, and the receiving pipe section 530 and the supply pipe section 52 are extended.
The interval with 0 is as designed.

When a fluid, for example, fire extinguishing water S is supplied at a pressure P1 to the inlet 526 of the supply pipe 520, the water S is narrowed down at the discharge port 521 while passing through the supply passage 523, and the water pressure P1 is the velocity head. Is converted to a predetermined speed.

The fluid thus obtained at the predetermined speed is ejected from the discharge port 521 and supplied to the supply port 531 while being guided by the supply guide 532 through the communication interval WD. The fluid S that has flowed into the receiving pipe 530 is supplied to the receiving passage 5
It is converted into pressure head again in 33, and the outlet 53 at pressure P3
It is discharged from 6.

At this time, the following relational expression is obtained by considering Bernoulli's theorem and the conversion efficiency from velocity energy to pressure energy. ^{P2 = P1-Q 2 / 2gS} 1 2 P3 = ε (P2 + Q 2 / 2gS 1 2)

In this equation, P2 is the pressure of the fire extinguishing water at the discharge port 521, P3 is the pressure of the fire extinguishing water when it is taken into the receiving pipe 530 and is in a steady state, Q is the flow rate of the discharge port 521, and S ₁ is A cross-sectional area of the discharge port 521, g represents gravitational acceleration, and ε = 0.7 to 0.8.

As a result, the pressure P3 of the fire-extinguishing water S when it is taken into the receiving pipe 530 and is in a steady state is 70 to 70 times the pressure P1 of the fire-extinguishing water when the water S for extinguishing the fire is supplied to the supply pipe 520. 80% is obtained.

After the fire is extinguished, the fire robot returns to the original robot station 31 in the same manner as in the first embodiment, and when a return signal to the effect is sent to the control panel 41, the supply destination switching device 412 switches and power is supplied. The power supply to the power supply wiring 620 is stopped and the power supply to the power supply wiring 610 of the robot station 31 is started. As a result, the rechargeable storage battery 20 is charged via the power receiving unit of the fire robot.

When cleaning the fire detector 45,
The procedure is the same as that of the first embodiment, but in this embodiment, since the fire robot is powered by using the all-line power supply / reception device, the fire robot always maintains the reference voltage.
Therefore, unlike the first embodiment, it is not necessary to stop the fire robot for power supply, so that the cleaning time can be shortened.

The third embodiment of the present invention will be described. The differences between this embodiment and the first embodiment are as follows. That is, the non-contact type fluid coupling was used instead of the contact type fluid coupling as the fluid coupling. Since this non-contact type fluid coupling is the same as that used in the second embodiment, its explanation is omitted.

The fourth embodiment of the present invention will be described. The differences between this embodiment and the second embodiment are as follows. That is, as the fluid coupling, a contact fluid coupling was used instead of the non-contact fluid coupling. Since this non-contact type fluid coupling is the same as that used in the first embodiment, its explanation is omitted.

The embodiment of the present invention is not limited to the above, and for example, the power supply device of the power supply / reception device in the first embodiment may be arranged only at the fixed moving point excluding the robot station. Further, the water tank mounted on the fire robot and the water source may be connected via a reel wheel, and the hose may be extended while rotating the reel wheel to supply water to the water tank. In this way, it is not necessary to stop the fire robot for water supply, so that the cleaning work can be performed efficiently.

In the above-mentioned embodiment, the example of cleaning the fire detector in the tunnel is shown, but it is not limited to the inside of the tunnel but for cleaning the fire detector provided in an indoor stadium, an outdoor stadium, a plant factory or the like. Can also be used as In addition to the flame detector, the cleaning target includes a separate dimming smoke detector having a light receiving window and a light projecting window. In the present embodiment, an example is shown in which the robot also functions as a fire robot that also performs fire extinguishing and fire monitoring, but this robot may be a robot that only cleans the flame detector 9, and a fire monitoring device and a fire extinguisher may be used. It may be a robot equipped with at least one of the devices.

[0118]

Since the present invention is constructed as described above, the cleaning water adhering to the fire detector during cleaning can be reliably removed. Therefore, the problem of dust attachment due to the attachment of cleaning water does not occur.

Moreover, since the required voltage and water supply can be maintained at all times, the fire detector can be cleaned efficiently in a short time. Furthermore,

(1) Since the spot type power supply / reception device or all-line power supply / reception means is provided, the fire robot can be easily
In addition, it is possible to reliably ensure the required voltage power supply at all times. Therefore, it is possible to drive the cleaning jig device of the fire detector to clean the desired fire detector, and there is no restriction on the range of action of the fire robot and the ability to extinguish or monitor the fire. The robot for fire can work as designed.

(2) Since the contact type fluid coupling is provided, when the pressure fluid is supplied to the supply pipe portion, the vicinity of the discharge port becomes negative pressure and the suction portion becomes negative pressure. Therefore, since both contact surfaces attract each other, the supply pipe portion and the reception pipe portion are firmly connected and integrated. Further, when the supply of the pressure liquid to the supply pipe portion is stopped, the suction portion becomes the atmospheric pressure, so that the suction force is lost and the two pipe portions are separated. In this way, the fluid coupling can be easily and reliably attached and detached.

(3) Since the non-contact type fluid coupling is provided, the pressure energy of the pressure fluid supplied to the supply pipe portion is converted into velocity energy by the discharge port and then passed through the communication interval at a predetermined velocity to the receiving port. Is converted into pressure energy again in the receiving pipe portion. Therefore, the pressure fluid supplied to the supply pipe section can be efficiently transferred to the receiving pipe section.

[Brief description of drawings]

FIG. 1 is a schematic view of a fire robot equipment according to a first embodiment of the present invention.

FIG. 2 is an enlarged vertical sectional view of a fire robot.

FIG. 3 is a schematic diagram of a spot type power supply / reception device.

FIG. 4 is an enlarged sectional view of a contact type fluid coupling.

FIG. 5 is a block circuit diagram of a fire robot.

FIG. 6 is a block circuit diagram of a control board.

FIG. 7 is a diagram showing the first half of a flow chart of a program for a fire robot.

FIG. 8 is a diagram showing the latter half of the flowchart of the program for the fire robot.

FIG. 9 is the first half of the flow chart of the program of the control panel.

FIG. 10 is the second half of the flowchart of the program of the control panel.

FIG. 11 is a perspective view showing a cleaning work situation of a side wall surface of a tunnel.

FIG. 12 is a schematic diagram showing a power supply and water supply situation.

FIG. 13 is a diagram showing a second embodiment of the present invention.

FIG. 14 is an enlarged sectional view of the fire robot.

FIG. 15 is a schematic diagram of an all-line power supply / reception device.

FIG. 16 is an enlarged cross-sectional view of a non-contact type fluid coupling.

[Explanation of symbols]

10 Fire robot 30 monorail 31 Robot Station 32 Moving fixed point 62 rotating brush 64 Side wall surface 110 Contact type fluid coupling 120 supply pipe section 124 contact surface 130 Receiving pipe section 134 contact surface 321 Non-contact power receiving device 401 Non-contact type power supply device 402 Non-contact power supply device 510 Non-contact type fluid coupling 520 Supply pipe section 530 Receiving pipe section 610 Non-contact power supply device 620 Non-contact power supply device 650 Non-contact power receiving device G suction unit WD communication interval

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-3-202187 (JP, A) JP-A-58-185172 (JP, A) JP-A-6-285180 (JP, A) JP-A-7- 67271 (JP, A) JP-A-6-189403 (JP, A) JP-A-57-146986 (JP, A) Actual opening Flat 6-79453 (JP, U) Actual opening Sho-52-107688 (JP, U) Actual Kaihei 3-26660 (JP, U) (58) Fields surveyed (Int.Cl. ⁷ , DB name) A62C 27/00 507 F16L 25/00

Claims (9)

(57) [Claims] 1. A robot apparatus comprising a robot having a cleaning jig device for a fire detector arranged on a moving path and a power supply / reception device for supplying electric power to the robot; A cleaning means and a means for removing adhering cleaning water; the power supply / reception device is arranged along the movement path, and a non-contact type power reception means for charging a rechargeable battery provided in a fire robot. And a non-contact type power feeding means for feeding power to the non-contact type power receiving means, and a spot type power feeding / receiving device. 2. A robot facility comprising a robot having a cleaning jig device for a fire detector arranged on a movement path and a power supply / reception device for supplying electric power to the robot, wherein the cleaning jig device is provided. A cleaning means and a cleaning means for removing the adhered cleaning water; the power supply / reception device is provided with power supply wiring extending along the moving path, and the power supply wiring provided in the robot. Robot equipment for automatic cleaning of fire detectors, which is an all-line power feeding and receiving device consisting of a power receiving coil that detects the current flowing in the power wiring in a contactless manner. 3. A robot provided with a water supply tank and a cleaning jig device for a fire detector is arranged on a moving path, and a supply pipe section arranged along the moving path and a receiving pipe continuous with the water supplying tank. A robot equipment for communicating with a portion via a fluid coupling; the cleaning jig device includes a cleaning means and a means for removing adhering cleaning water; the fluid coupling has a contact surface of the supply pipe portion. And a contact surface of the receiving pipe portion are brought into contact with each other so that the reduced diameter outlet of the supply pipe portion and the receiving port of the receiving pipe portion communicate with each other. Robot equipment for automatic cleaning of a fire detector, characterized in that it is provided with a suction section communicating between the discharge port and the receiving port between the surfaces. 4. A robot provided with a water supply tank and a cleaning jig device for a fire detector is arranged on a movement path, and a supply pipe section arranged along the movement path and a receiving pipe continuous with the water supply tank. And a cleaning device for removing adhered cleaning water from the cleaning jig device; the fluid coupling has a discharge port with a reduced diameter. A supply pipe body for converting the pressure energy of the pressure fluid into velocity energy; and a supply pipe body that faces the discharge port via a communication space, and a receiving pipe body for converting the velocity energy of the pressure fluid into pressure energy. Robot equipment for automatic cleaning of fire detectors, characterized in that it is a non-contact type fluid coupling consisting of. 5. A robot provided with a water supply tank and a cleaning jig device for a fire detector is arranged on a movement path, and a supply pipe section arranged along the movement path and a receiving pipe continuous with the water supply tank. And a power supply / reception device for supplying power to the robot, the cleaning jig device including a cleaning unit and a cleaning unit for removing adhering cleaning water. The power supply / reception device is a non-contact type power receiving means for charging a rechargeable battery provided in the robot, and a non-contact type power supply means arranged along the movement path and supplying power to the non-contact type power receiving means. A spot type power supply / reception device comprising: power supply means; the fluid coupling includes a discharge port having a reduced diameter, a supply pipe body for converting pressure energy of pressure fluid into velocity energy, and a communication interval with the discharge port. Equipped with a receiving port that faces through A receiving tube body that converts the velocity energy of the pressure fluid into pressure energy, the non-contact type fire detector automatic cleaning robot equipment, characterized in that a fluid coupling comprising a. 6. A robot provided with a water supply tank and a cleaning jig device for a fire detector is arranged on a moving path, and a supply pipe section arranged along the moving path and a receiving pipe continuous with the water supplying tank. And a power supply / reception device for supplying power to the robot, the cleaning jig device including a cleaning unit and a cleaning unit for removing adhering cleaning water. The power feeding and receiving device extends along the movement path and is provided with a power feeding wire, and a power receiving coil that is provided in the robot and that detects a current flowing through the power feeding wire without contact. And an all-line power supply / reception device comprising: a fluid coupling provided with a discharge port having a reduced diameter,
A supply pipe body for converting the pressure energy of the pressure fluid into velocity energy; and a receiving pipe body for converting the velocity energy of the pressure fluid into pressure energy, the supply pipe body having a receiving port facing the discharge port through a communication interval. Robot equipment for automatic cleaning of fire detectors, which is a non-contact type fluid coupling. 7. The cleaning means is a rotary brush that rotates while pouring water,
Robot equipment for automatic cleaning of the fire detector according to 4, 5, or 6. 8. The automatic cleaning robot equipment for a fire detector according to claim 1, wherein the means for removing the adhered water is a high pressure air nozzle. 9. The robot is equipped with at least one of a fire monitoring device and a fire extinguishing device, wherein the robot is equipped with a fire monitoring device and / or a fire extinguishing device. Robot equipment for automatic cleaning of fire detectors.