JP3655382B2 - Fire fighting robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a fire extinguishing robot that extinguishes fire by releasing a fire extinguishing agent when a fire occurs in a wide space such as a vehicle fire in a tunnel.
[0002]
[Prior art]
Conventionally, there is a tower-type fire extinguishing device as a fire extinguishing device that extinguishes a fire generated in a wide space such as a building with a high ceiling. As this type of tower-type fire extinguisher, for example, one fixed to a carriage as in Japanese Patent Publication No. 3-57788 and one fixed to a firefighting ship as shown in Japanese Patent Publication No. 3-31320 are known. Yes. In these tower-type fire extinguishing devices, a nozzle that releases foam or powder extinguishing agent is provided at the upper end of a liftable or telescopic tower, and the swivel angle and elevation angle of the nozzle are controlled by a motor so that the extinguishing agent is supplied to the fire source. Released.
[0003]
However, since the motor for controlling the nozzle is mounted on the upper part of the tower, there is a problem that a large driving force is required for driving up and down or expansion depending on the weight of the motor. A tower-type fire extinguisher having a pair of nozzle control motors is proposed (Japanese Patent Laid-Open No. 6-228).
In this tower-type fire extinguisher, the rotation of each motor for elevation angle control and swivel control provided in the lowermost tower portion is rotated by a pair of spline shafts and chains provided in the respective towers. Is transmitted to a pair of spline shafts. Then, the nozzle is controlled in the elevation direction by the rotation of the spline shaft of the uppermost tower section by the elevation angle control motor. At the same time, the nozzle is controlled in the turning direction by the rotation of the spline shaft of the uppermost tower portion by the turning control motor, and the fire extinguishing agent is discharged by directing the nozzle to the fire source.
[0004]
In this way, since it is not necessary to arrange two motors for controlling the elevation angle and turning control of the relatively heavy nozzle in the uppermost tower section, the driving force for raising and lowering or extending the tower can be reduced, and the drive mechanism Can be reduced in size and cost.
[0005]
[Problems to be solved by the invention]
By the way, it is considered that such a conventional tower-type fire extinguisher is applied as a fire extinguishing system in a large-scale tunnel for automobiles, for example. When installing a tower-type fire extinguisher in a tunnel, it is usually stored in a position that does not interfere with the driving of the car. In the event of a fire, the tower is extended into the tunnel and a fire extinguisher is ejected from a higher nozzle. Is required to be released.
[0006]
However, the technical problem of how to install a tower fire extinguisher in a tunnel and how to operate it in the event of a fire is still unresolved. The construction of a tunnel fire extinguishing system is desired. Similar problems occur in systems that attempt to use tower fire extinguishers other than tunnel fire extinguishing systems.
[0007]
On the other hand, fire hydrants are currently installed as fire extinguishing systems in tunnels, etc., but people in the field at the time of a fire are ordinary people, so they do not use fire hydrants to extinguish the fire and evacuate Therefore, there was a problem that initial fire fighting was not possible.
The present invention has been made in view of such a situation, and appropriately installs in a monitoring area such as a tunnel, and operates quickly in the event of a fire so that a fire extinguisher is accurately applied to a fire source such as a fire vehicle. It is an object of the present invention to provide a fire extinguishing robot using a liftable or telescopic fire extinguishing device that can be discharged.
[0008]
[Means for Solving the Problems]
In order to achieve this object, the fire extinguishing robot of the present invention is configured as follows.
The fire extinguishing robot of the present invention is provided in a monitoring area, and discharges a fire extinguisher pressurized and supplied from a fire extinguishing agent delivery facility to a front end side in a box having a door that can be opened and closed by a door opening / closing mechanism on the front surface, for example. The expansion / contraction mechanism provided with the nozzle is stored in a contracted state. In the event of a fire, the control device activates the door opening / closing mechanism to open the box door, then activates the expansion / contraction mechanism to extend in the direction of the monitoring area, and controls the nozzle drive mechanism to direct the nozzle toward the fire source. Let
[0009]
The extinguishing mechanism of the fire extinguishing robot is composed of a tower having at least a two-stage extension structure and an extension drive mechanism for extending and retracting the tower. Moreover, you may comprise at least 2 steps | paragraphs of the arm which can be bent and the drive mechanism which bends and drives an arm.
The nozzle is driven to turn in the horizontal direction by a turning drive mechanism that constitutes the nozzle drive mechanism, and is driven to rise in the vertical direction by an elevation angle drive mechanism. The telescopic mechanism also has a fire source sensor that is linked to the swivel drive and elevation drive of the nozzle.The control device identifies the fire source position based on the detection signal from the fire source sensor, and the fire extinguishing agent from the nozzle is placed at the fire source position. The turning drive mechanism and the elevation drive mechanism are controlled so as to arrive.
[0010]
The control device remotely receives a discharge activation instruction and a discharge stop instruction to control the start and stop of the discharge of the extinguishing agent from the nozzle, and remotely receives a nozzle drive instruction to control the nozzle drive mechanism. More specifically, a video camera that interlocks with the swivel drive and elevation drive of the nozzle is provided on the distal end side of the telescopic mechanism, and the captured image from this video camera is displayed remotely on a disaster prevention center or the like. A discharge start instruction, a discharge stop instruction, and a nozzle drive instruction based on this monitor display are received remotely to control the start and stop of the discharge of the extinguishing agent from the nozzle, and the nozzle turning drive and elevation angle drive are controlled.
[0011]
The door structure may be a door structure that is double-opened by an opening / closing mechanism at the front opening of the box. Furthermore, the control device includes a synthesized voice output device that outputs a warning voice when a fire is detected.
Such a fire extinguishing robot of the present invention is normally housed in a box placed on a wall surface in a tunnel, for example, but in the event of a fire, the box door is opened and an expansion / contraction mechanism extends to the monitoring area and expands and contracts. The fire source position is detected by a fire source sensor such as an infrared sensor provided on the tip nozzle side of the mechanism, and the nozzle is directed in the fire source direction by turning driving and elevation driving. The state of the fire source is photographed with a video camera and displayed remotely on the disaster prevention center.
[0012]
For this reason, when a monitor confirming a fire on the monitor display performs a fire extinguishing start operation, a start instruction is given to the control device, and the fire extinguisher pressurized from the fire extinguisher delivery facility is discharged from the nozzle. . If fire extinguishing can be confirmed on the monitor by the extinguishing of the extinguishing agent, the extinguishing agent is stopped by performing the extinguishing operation.
Further, the controller controls nozzle turning driving and elevation angle driving by giving a nozzle driving instruction while confirming on the monitor so that the nozzle is directed toward the fire source.
[0013]
Thus, a rapid and accurate release of fire extinguishing agent to a fire source such as a vehicle fire in a monitoring area, for example a tunnel, is possible. In addition, the fire extinguishing robot of the present invention can be adjusted if necessary by confirming the delivery direction of the fire extinguishing agent to the fire source by a remote operation while monitoring the monitor image from the video camera in a remote place such as a disaster prevention center. Therefore, it becomes possible to accurately discharge the fire extinguishing agent to the fire source.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is an explanatory view showing a first embodiment of a fire extinguishing robot of the present invention applied to a tunnel fire extinguishing system, taking an extendable tower type fire extinguishing robot as an example.
In FIG. 1, the telescopic tower section 1 has a four-stage telescopic tower structure, and is normally stored in a box 2 provided on the inner wall of the tunnel. The telescopic tower unit 1 includes a nozzle 16 and a video camera 47 at the tip, and operates by either manual activation operation, fire detection by a disaster prevention facility, or fire detection by an infrared sensor provided in the fire extinguishing robot itself, as shown in the figure. After extending the tower, in response to the start-up instruction from the disaster prevention center, bubbles and powder extinguishing agents are released to the fire source.
[0015]
The box 2 accommodates the telescopic tower portion 1 in a normally contracted state and includes a tilt / extend mechanism 5. The tilt / extension mechanism 5 tilts with the lower part of the box 2 as a fulcrum in the event of a fire, opens the upper side of the door, and then extends the extension tower 1. A speaker 87c and an emergency light 88 are disposed in front of the box 2. A manual activation switch 84 and a control unit 3 are disposed in the vicinity of the box 2.
[0016]
The control unit 3
(1) When operating the manual start switch 84,
(2) When the detection level from the infrared sensor provided in the fire extinguishing robot is above a predetermined level,
(3) When a fire alarm installed in the tunnel, for example, a fire alarm signal from a fire detector from a fire detector,
▲ 4 ▼ When receiving the activation signal from the disaster prevention center,
The fire extinguishing robot is activated by determining that a fire has occurred. That is, in the event of a fire, the control unit 3 activates the tilting / extending / retracting mechanism 5 to tilt the box 2 forward and open upward as shown in the figure, and then extend the extending / contracting tower unit 1 toward the monitoring area.
[0017]
Further, a fire extinguishing agent delivery facility 4 is provided, which is activated in the event of a fire to supply and discharge the fire extinguishing agent to the nozzle 16 at the tip of the tower. Such an extensible tower-type fire extinguishing robot is installed in the tunnel at predetermined intervals. The fire extinguishing agent delivery facility 4 may not be provided for each box 2 but may be provided as a common facility in the same manner as a conventional fire hydrant facility. A flexible hose such as a rubber hose or a bellows hose (not shown) for delivering the extinguishing agent is provided between the extinguishing agent delivery facility 4 and the nozzle 16.
[0018]
FIG. 2 is an explanatory view of the nozzle drive mechanism in a state in which the telescopic tower portion 1 is extended. FIG. 3 shows the tilt / extension mechanism 5 in the retracted state of the tower, and FIG. 4 shows the tilt / extension mechanism 5 in the tower. Is shown in a stretched state.
In FIG. 2, the telescopic tower section 1 includes a first-stage tower 11 at the lowest stage, a second-stage tower 12, a third-stage tower 13 provided in the middle, and a fourth-stage tower 14 at the uppermost stage. . The uppermost fourth stage tower 14 has a nozzle support 15 that can be swiveled in the horizontal direction, and the nozzle support 15 has a nozzle that discharges a fire extinguishing agent and is swiveled in the elevation direction (vertical direction). 16 is provided.
[0019]
Further, an elevation angle control motor 11a for turning the nozzle 16 in the elevation angle direction and a turning control motor 11b for turning the nozzle 16 in the horizontal direction are attached to the lower part of the lowermost first stage tower 11. ing.
In addition, the spline shafts 21a, 21b, 31a, 31b, 41a, 41b arranged perpendicularly from the second stage to the fourth stage towers 12 to 14, and the rotational force of the elevation control motor 11a and the turning control motor 11b Is transmitted to the spline shafts 21a and 21b, the transmission chains 22a and 22b are transmitted to the spline shafts 31a and 31b, and the rotations of the spline shafts 31a and 31b are spline shafts 41a and 41b. It has transmission chains 32a and 32b that transmit to 41b. For this reason, all the spline shafts 21a to 41b can be turned in the horizontal direction by the vertical axis.
[0020]
The tip of the spline shaft 41a of the fourth stage tower 14 and the nozzle support portion 15 include a gear 51a that converts the rotation direction of the spline shaft 41a into turning in the elevation angle direction, and the tip of the spline shaft 41b and the nozzle support portion 15 include A gear 51b for transmitting the rotation direction of the spline shaft 41b to the nozzle support portion 15 as it is is provided. For this reason, when the elevation angle control motor 11 a rotates, the nozzle 16 turns in the elevation direction (vertical direction) with respect to the nozzle support portion 15. When the turning control motor 11 b rotates, the nozzle 16 turns in the horizontal direction together with the nozzle support portion 15.
[0021]
A video camera 46 is provided above the nozzle 16 via a video camera mounting portion 45, and the video camera 46 is interlocked with the displacement of the nozzle 16 in the elevation angle direction and the horizontal direction. Further, two infrared sensors 47 for detecting a vehicle fire or the like are arranged on both sides of the video camera 46.
As shown in FIG. 4, the tower lifting mechanism includes rotating drums 55 and 56 for lifting and lowering the tower provided in the first stage tower 11, wires 57, second stage, third stage, and fourth stage tower 12. , 13 and 14 are respectively constituted by rotating drums 63, 64, 73 and 74, respectively.
[0022]
The tilt / extensible mechanism 5 is normally housed in the box 2 as shown in FIG. 3, and in the event of a fire, the entire apparatus is tilted forward to open the door 81a upward as shown in FIG. The fourth towers 11 to 14 are driven to extend from the first stage of the telescopic tower unit 1. For this purpose, a tilting / extending / contracting motor 75 with the end of the wire 57 fixed to the drum, an arm 76 that is displaced when tilting or retracting, a spring 77 that functions when the telescopic tower portion 1 is tilting or retracting, and a box 2 A pulley 78a fixed to the wall and rotatably attached to one end of the arm 76 is provided.
[0023]
A pulley 78b is attached to the other end of the arm 76 and moves while the wire 57 is wound, and a pulley moving plate 79 on which the shaft of the pulley 78b moves in the guide groove M is provided. Furthermore, the base 81 which rotates back and forth around the fulcrum member L is provided, and the door 81 a of the box 2 is provided in the front part direction of the base 81. A transparent window 81b made of a transparent member is provided on the door 81a, and the video camera 46 and two infrared sensors 47 arranged on both sides thereof are positioned behind so that a fire can be monitored.
[0024]
As shown in FIG. 4, one end of a wire 57 is connected to the drum of the tilt / extension motor 75 in the tilt / extension mechanism 5. The other end of the wire 57 is fixed to the lower end of the fourth stage tower 14 after being wound around the pulley 78 b and the rotating drums 55 to 74. The tilt / extension mechanism 5 is provided with a limit switch that operates as a door opening / closing detection switch and an expansion / contraction position detection switch. Further, the door opening / closing detection switch and the expansion / contraction position detection switch may be installed at appropriate locations within the box 2.
[0025]
FIG. 5 shows the operation of the tilt / extension mechanism 5. First, in the initial state, as shown in FIG. 5A, the telescopic tower portion 1 and the tilting / extending mechanism 5 are completely stored in the box 2, and the door 81 is closed. In this stored state, the wire 57 is wound around the drum of the tilting / extending / extending motor 75, and the telescopic tower portion 1 and the tilting / extending mechanism 5 are stored in the box 2 by the contraction elasticity of the spring 77.
[0026]
FIG. 5B shows a start-up operation at the time of a fire. First, when the tilting / extending / retracting motor 75 is rotated clockwise, the wire 57 wound around the drum is loosened, and the extending / retracting tower unit 1 having a heavy weight The base 81 on which the tilt / extension mechanism 5 is placed tilts forward with the fulcrum member L as a fulcrum, and the door 81a is opened upward. By tilting forward, the shaft of the pulley 78b moves along the guide groove M of the pulley moving plate 79, and stopping at the upper end terminal portion of the guide groove M, the tilt is regulated and the door 81a is opened. Set to
[0027]
FIG. 5C shows the tower extending operation after the door 81a is opened. In this case, the tilting / extending motor 75 is rotated in the opposite direction to the clockwise direction. With this reverse rotation, the wire 57 is wound around the drum of the tilting / extending motor 75, and the second, third, and fourth towers 12 to 14 of the extending tower 1 are as shown in FIG. Ascends to the lower tower and extends.
[0028]
In the storing operation after the fire is extinguished, the telescopic tower portion 1 is contracted and stored in the box 2 together with the tilt / extensible mechanism 5 by the operation opposite to that at the start, the box 2 returns to the initial position, and the door 81a is closed. .
FIG. 6 is a system block diagram showing the entire system including the fire extinguishing robot. In FIG. 6, the control unit 3 includes a control unit 82 having a ROM, a RAM, a CPU, and an I / O circuit, a voice synthesis unit 87a, an amplifier 87b, and a communication I / F circuit 91a.
[0029]
For the control unit 3, the equipment on the box 2 side includes an elevation angle control motor 11 a, a turning control motor 11 b, a video camera 46, a pair of infrared sensors 47, a tilt / extension motor 75, and a fire extinguishing agent delivery facility 4. There are provided an electric valve 83 for sending out the fire extinguisher to the nozzle 16, a manual activation switch 84, a door opening / closing detection switch 85, an expansion / contraction position detection switch 86 for detecting tower expansion / contraction, an emergency light 88 flashing in the event of a fire, and a speaker 87c.
[0030]
In addition, a VTR 90 is connected to the control unit 3 and records the state of fire taken by the video camera 46.
The determination of fire detection in the control unit 82 of the control unit 3 is based on the activation signal from the manual activation switch 83 provided on the box 2 side, the detection signal of the infrared sensor 47, and the disaster prevention panel 150 installed in the tunnel. This is performed based on the transfer signal. The disaster prevention panel 150 connects the fire detectors 152 a to 152 n installed in the tunnel, and outputs a transfer signal to the control unit 3 when receiving the fire detection signal. A fire detector such as smoke or heat or a flame detector is used as the fire detector.
[0031]
The detection signal from the infrared sensor 47 is compared by the CPU of the control unit 82 to determine whether the detection level is equal to or higher than a predetermined threshold value.
The control unit 3 is connected to the disaster prevention center 140 side via the communication I / F circuit 91a. The communication I / F circuit 91a connects the I / O circuit of the control unit 82 to the input / output, inputs the video camera 46, and connects the speaker 87c as an output destination.
[0032]
The disaster prevention center 140 is provided with a disaster prevention center monitoring panel 92 and connected to the control unit 3 via a communication I / F circuit 91b. The communication I / F circuit 91b is connected to a monitor 93 for displaying a video signal from the video camera 46, a remote operation device 94 for controlling the start and stop of the fire extinguishing robot, nozzle orientation control, and the amplifier 156. The microphone 154 is connected.
[0033]
Next, operations and functions in the first embodiment will be described. FIG. 7 is a flowchart showing a processing procedure of the operation of the first embodiment.
In FIG. 7, in the steady monitoring state, in step S <b> 1, the control unit 82 of the control unit 3 captures the activation signal of the manual activation switch 84, captures the detection signal of the infrared sensor 47, and outputs from the disaster prevention panel 150. The transfer signal is taken in, and the activation signal is taken in from the disaster prevention center 140, and the process of checking for the occurrence of a fire in step S2 is repeated. In the case of the start signal of the manual start switch 84, the transfer signal from the disaster prevention panel 150, and the start signal from the disaster prevention center 140, it is immediately determined that a fire has occurred, and the detection signal of the infrared sensor 47 indicates a preset threshold level. If it exceeds, it is judged as a fire.
[0034]
In this state, as shown in FIG. 8A, if a vehicle fire occurs and, for example, the manual activation SW 84 provided near the box 2 is turned on, the manual activation SW 84 is turned on in step S1. An ON signal is taken in and fire is determined in step S2.
Next, in step S3, the control unit 82 controls the voice synthesizing unit 87a to output the fire alarm synthesized voice from the speaker 87c disposed in front of the box 2 in FIG. Blinks. For example, a notification by synthetic voice such as “Fire has occurred. Extinguishant is released. At the same time, the fire prevention center control panel 92 is notified of the occurrence of a fire and displayed as an alarm, and further notifies the activation of the fire extinguishing robot.
[0035]
Next, in step S <b> 4, the control unit 82 performs start-up control for rotating the tilt / extension / contraction motor 75. In this case, as shown in FIG. 5 (a), the telescopic tower portion 1 and the tilting / extensible mechanism 5 are housed in the box 2 in the initial state. In this stored state, the wire 57 is wound around the drum of the tilting / extending / extending motor 75, and the telescopic tower portion 1 and the tilting / extending mechanism 5 are stored in the box 2 by the contraction elasticity of the spring 77.
[0036]
In this initial state, as shown in FIG. 5B, when the control unit 82 rotates the tilt / extension motor 75 in the clockwise direction, the wire 57 wound around the drum is loosened and the extension / contraction is heavy. A base 81 on which the tower unit 1 and the tilt / extension / contraction mechanism 5 are placed tilts forward with the fulcrum member L as a fulcrum. By tilting forward, the shaft of the pulley 78b moves along the guide groove M of the pulley moving plate 79 and stops at the end of the upper end of the guide groove M, so that tilting is restricted and the door 81a is opened. Is done.
[0037]
Next, in step S5, the control unit 82 determines whether to turn on the door open / close detection switch 85 that detects opening / closing of the door 81a. When the complete opening of the door 81a is detected, in step S6, the control unit 82 rotates the tilt / extension / contraction motor 75 in the direction opposite to the clockwise direction as shown in FIG. With this reverse rotation, the wire 57 is wound around the drum of the tilting / extending / contracting motor 75, and the second, third, and fourth stage towers 12 to 14 of the telescopic tower section 1 in FIG. As shown.
[0038]
Next, in step S7, the control unit 82 captures the signal of the expansion / contraction position detection switch 86, and the second to fourth stage towers 12 to 14 of the expansion / contraction tower part 1 have the maximum height or a predetermined height. Determine whether it has been set. When the detection signal of the expansion / contraction position detection switch 86 is captured, the control unit 82 calculates the horizontal direction of the fire source based on the detection signals from the pair of infrared sensors 47 in step S8.
[0039]
For example, two sensor detection levels are monitored while turning the nozzle 16 horizontally, and a detection position in the horizontal direction, for example, a horizontal turning angle α with respect to a predetermined reference direction is detected at a position where both detection levels are substantially the same. .
Subsequently, in order to detect the elevation direction in step S9, for example, the detection level is monitored while rotating the nozzle 16 in the elevation direction at the horizontal fire source detection position, and the position where the peak level is obtained is detected in the elevation direction. That is, the elevation angle β with the horizontal or vertical direction as the reference direction is detected.
[0040]
If the fire source position can be detected from the horizontal direction and the elevation angle in this way, in step S10, the discharge direction is determined by adding a correction that takes into account a parabolic curve or the like when discharging the extinguishing agent from the nozzle 16 to the fire source. Then, the nozzle 16 is swung in the vertical direction determined in step S11, and further, the nozzle 16 is swung in the horizontal direction determined in step S12 to complete preparation for discharging the fire extinguishing agent.
[0041]
If the pair of horizontally arranged infrared sensors 47 can be individually turned in the horizontal direction, the distance from the fire source detection angle of each sensor to the fire source can be calculated. If the distance to the fire source can be calculated, the discharge direction in which the fire extinguisher can reach the fire source can be determined more accurately by adjusting the discharge pressure of the fire extinguisher and the elevation angle of the nozzle.
The completion of the preparation of the extinguishing agent in the fire extinguishing robot is notified to the disaster prevention center monitoring panel 92, and the completion of the extinguishing robot is displayed. Therefore, the monitoring person confirms the image of the fire site photographed by the video camera 46 on the monitor 93, and when it is determined that the extinguishing agent needs to be released, operates the release start switch provided in the remote control device 94 to control the control unit. 3 sends a release start signal. When receiving the release start signal in step S <b> 13, the controller 82 controls the opening of the motor operated valve 83. As a result, the motor-operated valve 83 is opened, and the extinguishing agent pressurized and supplied from the extinguishing agent delivery facility 4 is discharged from the nozzle 16 toward the fire source.
[0042]
The state of the fire extinguisher discharged by the fire extinguishing robot is displayed on the monitor 93 of the disaster prevention monitoring center 140 by the video camera 46, so that the situation at the site can be grasped and the nozzle 16 necessary for the fire situation can be adjusted appropriately. For example, when the fire extinguisher released by the wind direction in the tunnel does not reach the fire source sufficiently, or when there is an obstacle such as a vehicle, the remote control device 94 is operated to displace the fire extinguisher discharged from the nozzle 16 by the wind. The turning control motor 11b is controlled so that the nozzle 16 is turned so as to be sent from above, or the elevation control motor 11a is controlled so that the fire extinguishing agent is discharged from the obstacle so as to control the elevation of the nozzle 16. To do.
[0043]
In addition, in the case where it is necessary to evacuate a person at the site for the release of a fire extinguisher by the fire extinguishing robot, the microphone 154 installed in the disaster prevention center 140 is used and the speaker provided in the fire extinguishing robot. A voice instruction can be issued from 87.
While the extinguishing agent is being discharged, it is checked in step S15 whether or not there is a release stop signal from the disaster prevention center 140 side. If the fire prevention can be confirmed from the image of the monitor 93 at the disaster prevention center 140, a release stop signal is sent by the release stop operation of the remote control device 94, and this is discriminated, and the release operation is stopped at step S16.
[0044]
This operation stop is, for example, only closing the motor-operated valve 83, and a re-release standby state that can be dealt with in the case of burning again after thinking that the fire has been extinguished. For this reason, even when the operation is stopped in step S16, the fire extinguisher can always be released again. The fire extinguishing robot is finally stopped by operating a recovery switch after confirming that the fire has been extinguished.
[0045]
The recovery operation when the recovery switch is operated is the reverse operation of FIG. 5, the tilt / extension motor 75 is rotated in the reverse direction, and the wire 57 is wound around the drum of the tilt / extension motor 75. That is, by the operation opposite to that at the start of fire extinguishing, the telescopic tower portion 1 is contracted and the tilt / extensible mechanism 5 is accommodated in the box 2, and the box 2 returns to the initial position.
[0046]
Further, during the operation of the fire extinguishing robot, the state of fire taken by the video camera 46 is recorded by the VTR 90, which can be used later for analysis of the vehicle fire situation and investigation of the cause.
Here, the discharge of the fire extinguishing agent from the nozzle 16 is started by a release start signal from a remote place such as the disaster prevention center 140, but the disaster prevention center 140 may be unmanned. By setting the automatic mode with the operation device 94 or the like, it is possible to automatically start the discharge of the extinguishing agent. When the discharge of the extinguishing agent is started in this automatic mode, the discharge is automatically stopped when the output level from the infrared sensor 47 as the fire source sensor becomes lower than a predetermined threshold value, thereby causing water loss or the like. Can be less affected.
[0047]
In addition, when the video of the monitoring area from the video camera 46 arranged behind the transparent window 81b provided on the door 81a of the box 2 is monitored by the monitor 93 of the disaster prevention center 140 and it is confirmed that a fire has occurred, By sending a start signal, control signals such as a turning control / elevation angle control signal of the nozzle 16 and a discharge start / release stop signal to the control unit 82 of the control unit 3, the fire extinguishing robot is completely remotely controlled to perform the fire extinguishing operation. You can also
[0048]
FIG. 9 is an explanatory diagram of the second embodiment of the present invention. This second embodiment is an arm-type fire extinguishing robot using an arm unit 101. The arm unit 101 includes a discharge nozzle 116 and a video camera 120, and extends as shown in the figure when a fire is detected. Release extinguishing media.
Similarly to the first embodiment, an openable / closable box 102 that houses the arm unit 101, a control unit 103 that performs control for manually or automatically opening and closing the box 102 together with manual activation or automatic activation, and a fire extinguishing agent are sent out. A fire extinguishing agent delivery facility 104 is provided. Further, an opening / closing mechanism (not shown) for opening and closing the door of the box 102 and tilting the entire arm unit 101 is provided.
[0049]
FIG. 10 shows the storage state of the arm-type fire extinguishing robot of the second embodiment. In FIG. 10, an arm portion 101 is accommodated in a box 102, and the arm portion 101 has a first arm 106 and a second arm 107 that are connected so as to be bent. In addition, the arm unit 101 is tilted forward together with the box 102, and the tilt / rise drive mechanism 110 that drives to raise the first arm 106, the tip of the second arm 107 are foldably provided, and And a nozzle support portion 111 that is accommodated in the space portion of the second arm 107 when being accommodated.
[0050]
In addition, the nozzle support unit 111 is provided with a nozzle 116, and at the lower part, a turning drive unit 117 having a turning control motor (not shown) for turning the nozzle 116 in the horizontal direction and an elevation angle controlling motor for turning in the elevation direction are built in. The elevation angle driving unit 118 is provided. Further, a video camera 120 is attached to the upper part of the elevation angle driving unit 118, and a pair of infrared sensors 121 are arranged on both sides of the video camera 120.
[0051]
The first and second arms 106 and 107 of the arm portion 101 and the nozzle support portion 111 are linearly extended as shown in FIG. 9 during the fire extinguishing operation. For this reason, the first and second arms 106 and 107 and the nozzle support 111 have a built-in motor mechanism for setting them in a bent state or a linear state.
Further, a wire is provided inside the first and second arms 106 and 107 and the nozzle support portion 111, and the first and second arms 106 and 107 are wound or loosened by the tilt / rise drive mechanism 110. The nozzle support 111 may be set in a bent state or a straight state. This mechanism may be selected in consideration of the weight and length of the arm unit 101.
[0052]
Between the extinguishing agent delivery facility 104 and the nozzle 116, flexible hoses such as a rubber hose and a bellows hose (not shown) for delivering the extinguishing agent through the first and second arms 106 and 107 and the nozzle support 111 are provided. Yes.
Here, the control unit 103 is basically the same as that of the first embodiment shown in FIG. 5, but in addition to the block configuration of FIG. 5, the first and second arms 106 and 107 and the nozzle support 111 are bent or A motor for setting the linear state is provided.
[0053]
Next, operations and functions of the second embodiment will be described. FIG. 11 is a diagram illustrating a fire extinguishing state of the arm type fire extinguishing robot according to the second embodiment.
In FIG. 11, the operation of the second embodiment is basically the same as that of the first embodiment. First, when the occurrence of a fire is detected, for example, when the detection level of the infrared sensor 121 is equal to or greater than a threshold value, the tilt / rise drive mechanism 110 operates to tilt the box 102 forward. Subsequently, the first and second arms 106 and 107 are extended and started up. Thereafter, the fire source position is determined, the discharge direction of the nozzle 116 is calculated in the same manner as in the first embodiment, and the fire extinguisher is sent out toward the fire source when a discharge activation signal is received.
[0054]
At the time of recovery after the fire extinguishing activity is completed, the first and second arms 106 and 107 and the nozzle support 111 are folded and housed in the box 102 by an operation reverse to that at the start, and the box 102 is closed to the initial position.
FIG. 12 shows another embodiment of a storage box used in the fire-fighting robot of the present invention, which is characterized by a double door structure.
[0055]
In the front view of FIG. 12A, two doors 162 and 164 are provided on the front surface of the main body 160 of the box 2 so as to open at the center by hinges 166a to 166d. Emergency lights 168 and 170 are installed in front of the doors 162 and 164. A manual activation switch 172 is installed on the door 164 side.
In the door opening / closing mechanism, a motor 172 and a link arm 174 are provided in the lower left corner of the door 162, and a motor 176 and a link arm 178 are similarly provided in the upper right corner of the door 164 at a diagonal position. In this door opening / closing mechanism, as shown in the plan view of the internal structure of FIG. 12B, for example, at the lower left corner, one end of an L-shaped link arm 174 is attached to the rotation shaft of the motor 172, and the other end is attached. It is inserted into the guide groove 180 of the door 162.
[0056]
Regarding the upper right corner, one end of an L-shaped link arm 178 is pivotally attached to the rotating shaft of the motor 176, and the other end is fitted into the guide groove 182 of the door 164. Further, a stopper 184 is provided on the inner side of the center matching portion of the doors 162 and 164 so as to be fixed to the door 162 side.
To open the door, first, the motor 176 is rotated counterclockwise to open the door 164 like 164 '. Subsequently, the motor 172 is rotated clockwise to open the door 162 like 162 '. The doors are closed in the reverse order. First, the motor 172 is rotated clockwise to close the door 162 'like 162, and then the motor 176 is turned clockwise to make the door 164' like 162. Close to. Note that the door structure of the box may be any structure such as a structure that slides up and down or left and right as another embodiment.
[0057]
The fire extinguishing robot of the present invention is not limited to a tunnel fire extinguishing system, and can be applied to a fire extinguishing system of an appropriate structure having a wide space.
[0058]
【The invention's effect】
As described above, according to the fire-extinguishing robot of the present invention, the fire extinguishing agent is released from the nozzle by being normally stored in a box, extending a tower or an arm in the event of a fire, and directing the nozzle toward the fire source. Therefore, the fire extinguisher can be quickly and accurately discharged to a fire source such as a vehicle fire in a monitoring area such as a tunnel.
[0059]
Further, according to the fire extinguishing robot of the present invention, it is possible to appropriately start and stop the extinguishing agent, control the nozzle direction, etc. while monitoring the monitor image from the video camera in a remote place such as a disaster prevention center, and is efficient. Fire extinguishing can be done quickly.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a tunnel installation state of a fire extinguishing robot according to a first embodiment of the present invention.
FIG. 2 is an explanatory view showing a state in which the telescopic tower portion is extended in the embodiment of FIG.
FIG. 3 is an explanatory view showing a state in which the telescopic tower portion is contracted in the embodiment of FIG. 1;
4 is a side view showing a lifting mechanism of the tower in FIG. 1. FIG.
FIG. 5 is an explanatory diagram of the operation of the tilt / extension mechanism of FIG.
FIG. 6 is a system block diagram of FIG.
7 is a flowchart of operation processing according to the embodiment of FIG.
8 is an explanatory view showing a fire extinguishing operation for a vehicle fire in the tunnel according to the embodiment of FIG.
FIG. 9 is an explanatory diagram showing the configuration of an arm-type fire extinguishing robot according to a second embodiment of the present invention.
FIG. 10 is an explanatory diagram of a storage state of the arm fire extinguishing robot according to the second embodiment of FIG.
FIG. 11 is an explanatory diagram of a fire extinguishing state of the arm type fire extinguishing robot according to the second embodiment of FIG.
FIG. 12 is an explanatory diagram of another embodiment of a box used for storing the fire-fighting robot of the present invention.
[Explanation of symbols]
1: Telescopic tower
2,102: Box
3,103: Control unit
4,104: Fire extinguishing agent delivery equipment
5: Tilt / extension mechanism
11: First stage tower
12: Second stage tower
13: Third stage tower
14: Fourth stage tower
15: Nozzle support
16: Nozzle
11a: Elevation angle control motor
11b: Turning control motor
46, 120: Video camera
47, 121: Infrared sensor
57: Wire
75: Tilt / extend motor
80: Base
81a, 162, 164: Door
82: Control unit
84,172: Manual start switch
88,168,170: Emergency light
90: VTR
92: Disaster prevention center monitoring panel
93: Monitor
94: Remote control device
101: Arm part
106: First arm
107: Second arm
110: Tilt / rise drive mechanism
117: Turning drive unit
118: Elevation angle drive unit
150: Disaster prevention board
154: Microphone
172, 176: Motor
174, 178: Link arm

Claims (11)

A box with a door that can be opened and closed;
A door opening and closing mechanism that opens the door of the box in the event of a fire;
A telescopic mechanism that is stored in a contracted state in the box and extends in the direction of the monitoring area in the event of a fire,
A nozzle that is provided on the distal end side of the expansion and contraction mechanism and that discharges the extinguishing agent supplied under pressure from the extinguishing agent delivery facility;
After opening the door of the box by operating the door opening / closing mechanism in the event of a fire, the expansion / contraction mechanism is operated to extend in the direction of the monitoring area and the nozzle drive mechanism is controlled to direct the nozzle toward the fire source A control device;
A fire extinguishing robot characterized by comprising: In the fire-extinguishing robot according to claim 1,
As the telescopic mechanism,
A tower with at least a two-stage telescopic structure,
A telescopic drive mechanism for extending and contracting the tower;
A fire extinguishing robot characterized by comprising: In the fire-extinguishing robot according to claim 1,
As the telescopic mechanism,
At least two foldable arms;
A drive mechanism for bending and driving the arm;
A fire extinguishing robot characterized by comprising: In the fire-extinguishing robot according to claim 1, as the nozzle drive mechanism,
A turning drive mechanism for turning the nozzle in a horizontal direction;
An elevation drive mechanism for driving the nozzle in the vertical direction;
A fire extinguishing robot characterized by comprising: 5. The fire extinguishing robot according to claim 4, wherein the expansion and contraction mechanism includes a fire source sensor interlocking with the turning drive and the elevation drive of the nozzle, and the control device performs fire based on a detection signal from the fire source sensor. A fire extinguishing robot characterized by specifying a source position and controlling the turning drive mechanism and the elevation drive mechanism so that a fire extinguishing agent from a nozzle reaches the fire source position. 2. The fire extinguishing robot according to claim 1, wherein the control device remotely receives a discharge start instruction and a discharge stop instruction and controls start and stop of the discharge of the extinguishing agent from the fire extinguishing nozzle. robot. 2. The fire extinguishing robot according to claim 1, wherein the control device remotely receives a nozzle driving instruction and controls the nozzle driving mechanism. The fire extinguishing robot according to claim 1, wherein the expansion and contraction mechanism includes a video camera interlocking with a turning drive and an elevation drive of the nozzle on a distal end side, and remotely displays a captured image from the video camera, The fire extinguishing robot, wherein the control device remotely receives a discharge start instruction and a discharge stop instruction based on the monitor display and controls the start and stop of the discharge of the fire extinguishing agent from the fire extinguishing nozzle. 9. The fire extinguishing robot according to claim 8, wherein a nozzle driving instruction is received remotely to control the nozzle driving mechanism, and the nozzle is driven to turn or drive at an elevation angle. 2. The fire extinguishing robot according to claim 1, further comprising a door structure that is opened by the opening / closing mechanism at a front opening of the box. 2. The fire-extinguishing robot according to claim 1, wherein the control device includes a synthesized voice output device that outputs a warning voice when a fire is detected.

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