JPS6238989B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fire extinguishing robot that is installed indoors in hotels, schools, general houses, etc., and automatically detects indoor fires and automatically extinguishes them.

Traditionally, sprinklers have been used as initial fire extinguishing devices, but these devices are expensive and
The disadvantage was that the fire extinguishing efficiency was low because the fire was extinguished from a fixed location.

In view of the above circumstances, the present invention provides a fire extinguishing robot that is inexpensive and has high fire extinguishing efficiency. a driving means for horizontally rotating the swirling chamber; a rod that is horizontally telescopically attached to the side wall of the swirling chamber and communicates with the swirling chamber; a stop/release mechanism for opening the tip of the rod; a fire sensor for detecting fire; an elevating mechanism for elevating the turning chamber; a drive means for the turning chamber based on the output of the fire sensor, the valve, and the stop. a release mechanism, and a control unit that controls the elevating mechanism, and when the fire sensor detects a fire, the driving means directs the rotating room in the direction of the fire and the elevating mechanism causes the rotating room to be elevated. Then, extinguishing agent is supplied from the fire extinguishing cylinder to the rod through the turning chamber, and the rod is stretched by the pressure (during this period, the rod and the turning chamber are maintained almost airtight), so that the tip of the rod is near the source of the fire. It is characterized by releasing the airtightness of the rod and injecting extinguishing agent at the source of the fire to extinguish the fire. In this case, in order to bring the rod tip closer to the fire source, the position of the fire source is detected using, for example, a pair of fire sensors (flame detectors), and the rod is airtightly released by installing a sensor at the rod tip. mechanism (more on this later)
It is now being done by

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a partially cutaway side view showing the structure of an embodiment of the present invention, and FIG. 2 is a partially cutaway side view showing the structure of the main part of the same embodiment. In these figures, 1 is a cylindrical casing, a rotation device 2 is provided on the bottom surface of a bottom plate 1b of the casing 1, and a turning chamber 3 is provided on the head of the casing 1. As shown in FIG. 3, the rotating device 2 drives a rotating table 5, which is rotatably provided on a fixed table 4 made of concrete or the like, by means of a driving means 6 consisting of a motor and a speed reducer. The rotation of the drive means 6 is transmitted to the turntable 5 via the wheels 7, and the rotation speed is detected by a rotation detector 6a. Further, the fixed base 4 is adjusted by a horizontal bolt 4a provided at the bottom thereof, and is installed horizontally on the floor 8. On the other hand, a guide 9a is provided on the upper back surface of the casing 1, and this guide 9a
A distal end portion of a support member 9b suspended from the ceiling 9 is slidably fitted into the support member 9b. In this way, the casing 1 and the turning chamber 3 are turned together in the horizontal direction by the turning device 2.

Next, inside the casing 1, a fire extinguishing cylinder 10 containing a fire extinguishing agent such as halon gas is installed on the upper surface of the bottom plate 1b, and an output valve 10a (manual) of the fire extinguishing cylinder 10 is connected to a conduit extending vertically upward. 11 are connected. This pipe line 11 is a fire extinguishing cylinder 10
It is for connecting the rotating chamber 3 and the rotating chamber 3, and has a manual switching valve 12 and a solenoid valve 13 in the middle thereof. Further, the upper end of the pipe line 11 is connected to a pipe joint 14 provided on the bottom surface of the swirling chamber 3. Here, the conduit 11 between the solenoid valve 13 and the pipe joint 14 is formed of a flexible pipe 11a, and a swirling chamber 3 which will be described later
It is designed so that it does not restrict the upward and upward movements of the robot. Further, the manual switching valve 12 is for manually switching between the fire extinguishing cylinder 10 and the test cylinder 15,
When the manual switching valve 12 is on the "STAND BY" side, the fire extinguishing cylinder 10 is connected to the turning chamber 3 via the pipe line 11, and when it is on the "TEST" side, the test cylinder 15 is connected to the swirling room 3. . In addition, when a fire is detected, the solenoid valve 13 opens the pipe 11 and transfers the extinguishing agent injected from the fire extinguishing cylinder 10 to the turning chamber 13.
supply to. Furthermore, at the upper end of the casing 1,
A motor 16a capable of forward and reverse rotation, and this motor 16
a worm 16b fixed to a rotating shaft of a, a worm wheel 16c rotationally driven by the worm 16b, and a worm wheel 16c.
An elevating mechanism 1 consisting of an arm 16d having a substantially doglegged cross section that is fixed to and rotates together with the arm, and a rotation detector 16e that detects the number of rotations of a motor 16a.
6 is provided. And the arm 16d
is attached to the bottom surface of the turning chamber 3, and as the motor 16a rotates, the turning chamber 3 moves up and down about the pin of the hinge 16f.

Next, a reel 18 on which the wire 17 is wound is provided inside the turning chamber 3, and a rotary encoder 18b (FIG. 5) for detecting the amount of rotation and an electromagnetic brake 19 are installed on the rotating shaft 18a of the reel 18. installed. Further, a handle 20 for manually rotating the rotating shaft is provided on the outer peripheral surface of the turning chamber 3, and when the handle 20 is rotated, the wire 17 is wound onto the reel 18. Furthermore, a human sensor 21 is attached to the front of the outer bottom of the rotating room 3 to monitor the same area as the extinguishing area of the fire extinguishing robot. This human sensor 2
Reference numeral 1 includes, for example, a pyroelectric infrared sensor, which outputs a voltage corresponding to the differential value of heat rays emitted from the human body.

Next, in front of the side wall of the turning chamber 3, a pipe 22-i (i=
Rod 2 formed by sequentially fitting 1, 2...15)
2 is installed. Here, the swirling chamber 3 and the rod 22 communicate with each other via a hole 3a provided in a side wall of the swirling chamber 3. In addition, an inner flange 22-ia is formed on the inner circumferential surface of each left end of each pipe 22-i (i=1 to 14) except for the pipe 22-15, while each pipe 22-i except for the pipe 22-1 i(i
= 2 to 15) has an annular packing 2 on the outer periphery of the right end.
2-ib is fitted, and each pipe 22-i (i=1~
15) are tightly and slidably fitted. As a result, the rod 22 can be expanded and contracted freely and will not fall out. In addition, Rod 22 cutting edge pipe 22
A support member 23 having a U-shaped cross section is attached to the inner wall near the left end of the unit 15, and both side walls 23
A rod 24 having a flange 24a is inserted through the holes provided in a and 23b. A spring 25 is inserted between the flange 24a and the right side wall 23b, and the spring 25 connects the flange 24a to the left side wall 23b.
Pressing on a. Further, the right end of the rod 24 is connected to the wire 17 wound around the reel 18, and the left end is connected to the opening/closing member 26. This opening/closing member 26 is slidably provided on a nozzle 27 fixed to the lower end of the inner peripheral surface of the pipe 22-15, and the spring 25 moves the flange 24a to the left side wall 23.
When the pressure is pressed to point a, the nozzle 27 is closed, and the inside of the pipe 22-15 is kept substantially airtight. On the other hand, when the wire 17 is pulled to the right and the opening/closing member 26 is moved to the right, the nozzle 27 is opened and the extinguishing agent is sprayed to the outside. Note that a plug 28 is fitted to the tip of the pipe 22-15. Further, in FIG. 1, 30 is a control section, 31 is a voice generating circuit, and 32 is a reset switch, which will be described later. The driving means 6, the rotation detectors 6a, 16e, the solenoid valve 13, the motor 16a, and the rotary encoder 18 described above
b. The electromagnetic brake 19, the human sensor 21, and the reset switch 32 are connected to the control section 30 via a connection cord (not shown) (see FIG. 5).

Next, Figure 4 shows the fire extinguishing robot body and fire sensor 3.
FIG. As shown in the figure, the fire extinguishing robot body is installed in one corner of the room 37. The fire sensors 35 and 36 are installed at a position overlooking the floor 8 from a high place in the room 37. Here, the fire sensors 35 and 36 include an optical system consisting of a lens etc., a detection element that detects flames from infrared rays given through this optical system, a vertical slit provided in the front surface of the optical system, and all of these components. A panning device 35 for horizontally rotating the
a, 36a (Fig. 5). The fire sensor 35 detects whether or not there is a flame in the monitoring image obtained through the slit while constantly panning. In this case, the direction of the virtual vertical plane 35b passing through the slit and the detection element is determined by the rotary encoder 3 connected to the panning device 35a.
The direction of the fire source can be detected by detecting it with a rotation amount detector such as 5c (FIG. 5). On the other hand, the fire sensor 36 is
is activated when it detects a fire and starts panning to detect the fire. In this case, the direction of the fire source is determined by detecting the direction of the virtual vertical plane 36b using the rotary encoder 36c. The direction in which the rod 22 should face is on the intersection line (vertical line) of the virtual vertical planes 35a and 36a, assuming that the height of the flame is, for example, about 1.5 m from the floor 8. It is given by a line segment CP connecting the element p) and the center c of the swirling chamber 3.

Next, FIG. 5 is a block diagram showing the configuration of the control system of this embodiment, and parts corresponding to those in FIGS. 1 to 4 are given the same reference numerals. In the figure, 41 and 42 are pulses output from the rotation detectors 6a and 16e (these pulses are the driving means 6,
This is a counter that counts the number of revolutions (corresponding to each number of rotations of the motor 16a). Also, 43a, 44a, 4
5a is rotary encoder 35c, 36c, 18
a determination circuit that outputs pulse trains CW and CCW based on pulse trains A and B supplied from b, 43b;
Reference numerals 44b and 45b are reversible counters that count up the pulse train CW and count down the pulse train CCW, and these configurations are known. The reversible counters 43b and 44b are set in the direction of the fire sensors 35 and 36 (strictly speaking, the virtual vertical plane 35b,
The reversible counter _45b outputs a count value _{N 3 corresponding} to the amount of rotation of the reel 18. Next 4
Reference numerals 6 and 47 are amplification determiners that output a "1" signal when the fire sensors 35 and 36 detect a fire, and output a "0" signal at other times;
outputs pulses P ₁ and P ₂ having pulse widths corresponding to the size of the fire source p when the fire sensors 35 and 36 face the direction of the fire source p. Further, 48 is an amplification determination device that outputs a "1" signal when the human sensor 21 detects a human being, and outputs a "0" signal when no human being is present. Further, 49 is a controller, and the count values N ₁ and N ₂ of reversible counters 43b and 44b are
It has a calculation means for determining the position of the fire source p based on , and calculating the direction and length of the line segment CP, and a sequence control means for performing various controls described below based on the direction and length of the line segment CP. are doing. And the above-mentioned components 41, 42, 43a to 45a, 43b to 4
5b, 46 to 49 constitute the control section 30.
Next, the voice circuit 31 says, "There's a fire. There's a fire."
The reset switch 32 is used to reset the controller 49 and cancel the fire extinguishing operation, and its usage will be described later.

Hereinafter, the operation of this embodiment having the above-described configuration will be described as "extinguishing mode" (manual switching valve 12 is set to "STAND").
This will be explained separately for the "BY" side) and the "test mode" (the manual switching valve 12 is on the "TEST" side).

First, in "extinguishing mode", fire extinguishing cylinder 1
0 output valve 10a is open, and the extinguishing agent is passed through line 11 and stopped at solenoid valve 13.
In addition, the turning chamber 3 is turned all the way to the right,
It shall be possible to turn only in a counterclockwise direction. Furthermore, there are no humans in the room, and the amplification judger 4
The output of 8 is a "0" signal. It is also assumed that each of the counters 41, 42, 43b, 44b, and 45b has been cleared (this clearing is done by pressing the reset switch 32). In such a setting, the controller 49 controls the panning device 35a.
The fire sensor 35 is constantly panning (horizontal rotation). Then, the direction of the fire sensor 35 is detected based on the count value _N1 of the reversible counter 43b.

Now, when the fire sensor 35 detects a fire, the amplification determiner 46 outputs a pulse P ₁ , and the count value N ₁ at this time is read into the controller 49 . The controller 49 also controls the panning device 3.
6a to start panning the fire sensor 36. When the fire sensor 36 detects a fire, the amplification determiner 47 outputs a pulse _P2 , and the controller 49 reads the count value _N2 of the reversible counter 44b. Next, the controller 49
calculates the position of the line of intersection of the virtual vertical planes 35b and 36b based on the count values _N1 and _N2 , calculates the position of the fire source p based on this, and calculates the direction and length of the line segment CP. do. Then, after determining the amount of rotation and elevation of the turning chamber 3 and the amount of extension of the rod 22 based on the direction and length of the line segment CP, the controller 49 activates the voice circuit 31, and the voice circuit 31 issues a message saying, ``There is a fire. There is a fire. We will begin extinguishing the fire."
A sound will be output. Also controller 49
drives the drive means 6 of the rotation device 2 to rotate the casing 1. As a result, the rotating chamber 3 also rotates together, and the rotational speed of the driving means 6 is detected by the rotation detector 6a.
is detected by the counter 41 and counted by the counter 41. When the count value of the counter 41 reaches a value corresponding to the amount of rotation calculated above, the controller 49 stops driving the driving means 6 and rotates the motor 16a of the elevating mechanism 16. This rotation of the motor 16a is detected by the rotation detector 16e and counted by the counter 42. When the count value of the counter 42 reaches a value corresponding to the amount of elevation calculated above, the controller 49
stops the rotation of the motor 16a. In this way, the rotating chamber 3 is rotated and raised in the direction of the fire source p. Next, the controller 49 operates the solenoid valve 13. As a result, the extinguishing agent is transferred to the solenoid valve 13 and the turning room 3.
It is supplied to the rod 22 through. Here, the nozzle 27 provided at the tip of the rod 22 is the opening/closing member 2.
6, the rotating chamber 3 and the rod 22 are substantially airtight. Therefore, the rod 22 expands due to the pressure created by the extinguishing agent. Also, at this time, the wire 17 is pulled by the rod 24 attached to the tip of the rod 22, and the reel 18
It is pulled out while rotating clockwise.
In this case, the rotation of the reel 18 is detected by the rotary encoder 18b, and the number of output pulses thereof is counted by the reversible counter 45b. and,
The count value _N3 is the rod 2 calculated above.
When the value corresponding to the extension amount of 2 is reached, the controller 49 operates the electromagnetic brake 19. This applies a brake to the reel 18, and the wire 17
is stretched between the reel 18 and the support member 23 without bending, and the rod 24 is pulled to the right against the biasing force of the spring 25. As a result, the extension of the rod 22 is stopped, the opening/closing member 26 is slid to the right, the nozzle 27 is opened, and the extinguishing agent is injected from the nozzle 27. In this case, the rod 22 is tilted downward due to the elevation of the swirling chamber 3, and the nozzle 27
Since the fire is located at a position approximately 1.5m above the floor 8 as previously assumed, the above injection can effectively extinguish the fire. When the fire is successfully extinguished,
Since no detection signals are output from the fire sensors 35 and 36, the output of pulses P ₁ and P ₂ from the amplification determiners 46 and 47 disappears, and as a result, the controller 49
to confirm that the fire has been extinguished. Here, a flowchart of the above fire extinguishing operation is shown in FIG.

Next, when firing is detected when a person is present in the room, that is, when the output of the amplification determiner 48 is a "1" signal, the controller 49 first sends the voicing circuit 31
, and outputs a warning voice saying "There's a fire. There's a fire." Even if a certain period of time (for example, 10 seconds) has elapsed after the ignition, the reset switch 32
If it is not pressed down, perform the extinguishing operation described above. On the other hand, within the certain period of time, the reset switch 3
When 2 is pressed down, the controller 49 and the voice circuit 31 are reset and no fire extinguishing operation is performed.

Next, the operation in "test mode" will be explained. In this case, the inspector connects the test cylinder 15 shown in FIG.
Switch to the “TEST” side. If the fire is ignited on a trial basis at a suitable location in the room, the above-described extinguishing operation will be started, and it will be possible to determine whether the device is working properly or not.

Now, when the fire extinguishing operation described above is completed, the worker performs post-processing. That is, while turning the handle 20 to retract the rod 22, the driving means 6 and the motor 16a are rotated in the opposite direction (this reverse rotation is performed by a manual switch (not shown)), and the rod 22 is moved as shown in FIGS. 1 and 2. After returning to the position shown, the fire extinguishing cylinder 10 is replaced with a new one, and the post-processing is completed.

Note that various modifications can be made to this embodiment. For example, the present fire extinguishing robot can be coupled with a transmitting device for transmitting an abnormality signal to a remote control center, so that when the fire sensor detects a fire, the fire signal can be transmitted to the control center. It is also possible to contribute to crime prevention by detecting an intruder using a human sensor and reporting this to the management center.

Further, in the above embodiment, the electromagnetic brake 19
is installed inside the whirling chamber 3, but it may be attached to the outer frame of the whirling chamber 3. Further, the human sensor 21 may be attached to a wall or ceiling. Furthermore, instead of the solenoid valve 13, the output valve 10a of the fire extinguishing cylinder 10 can be opened and closed by an actuator operated by electricity.

Further, in the above embodiment, a pair of fire sensors 35 and 36 are installed at a high place in the room 37 to detect a fire, but the present invention is not limited to this.
A fire may be detected by one infrared camera, and a heat ray sensor or the like is attached to the tip of the rod 22.
The tip of the rod 22 may be extended to the vicinity of the fire source based on the output of the heat ray sensor.

Further, in the above embodiment, an elevating mechanism for adjusting the height of the rod is provided, but instead of elevating the rod, the rod is extended horizontally and positioned above the fire source, and extinguishing agent is injected. Good too.

As explained above, when a fire sensor detects a fire, the present invention rotates the rotating chamber in the direction of the fire and raises it upward, supplies extinguishing agent from a fire extinguishing cylinder to the rod via the rotating chamber, and extinguishes the rod. The rod is extended to the fire position by the pressure generated by the agent, and at this position the extinguishing agent is injected from the rod to extinguish the fire.The following effects can be obtained.

Extinguishing agent can be injected from the point closest to the source of the fire. Therefore, efficient initial fire extinguishment can be performed.

Since there is no turning point in the middle of the road,
- Compared to the one described in Publication No. 57875, the mechanism is simpler and leakage of extinguishing agent is reduced.

The components are inexpensive, and therefore the overall configuration is also inexpensive.

By providing the voice circuit, it is possible to give an audio warning.

By providing a human sensor, it is possible to only issue a warning while a person is in the room.

Since the nozzle can be brought to the closest point to the source of the fire, if an infrared sensor or the like is provided near the nozzle, the presence or absence of embers can be reliably detected. This makes it possible to issue an alarm or notify the safety center in the event of an ember.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway side view showing the structure of an embodiment of the present invention, FIG. 2 is a partially cutaway side view showing the structure of the main part of the same embodiment, and FIG. 3 is a partially cutaway side view showing the structure of the main part of the same embodiment. FIG. 4 is a perspective view showing the configuration of the rotation device 2, and FIG. 4 shows the fire extinguishing robot main body, fire sensor 35,
5 is a block diagram showing the configuration of the control system of the same embodiment, and FIG. 6 is a flowchart showing the fire extinguishing operation of the same embodiment. 3... Turning room, 10... Fire extinguishing cylinder, 13... Solenoid valve (valve), 16... Elevation mechanism, 17... Wire, 18... Reel, 19... Electromagnetic brake (the above 17 to 19 are stop release mechanisms), 21... Human sensor , 22... Rod, 23... Supporting member, 24... Rod, 25... Spring, 2
6... Opening/closing member (23 to 26 above are stop/release mechanisms), 27... Nozzle, 30... Control unit, 31... Voicing circuit, 35, 36... Fire sensor.

Claims (1)

[Scope of Claims] 1. A fire extinguishing cylinder, a turning chamber connected to the fire extinguishing cylinder, a valve interposed between the fire extinguishing cylinder and the turning chamber, and a drive means for horizontally turning the turning chamber. a rod that is horizontally telescopically attached to a side wall of the whirl chamber and communicates with the whirl chamber; a stop/release mechanism that stops the extension of the rod and opens the tip of the rod when the rod is stopped;
a fire sensor for detecting a fire; an elevating mechanism for elevating the turning room; and a control section for controlling the driving means for the turning room, the valve, the stop/release mechanism, and the elevating mechanism based on the output of the fire sensor. and when the fire sensor detects a fire, the driving means directs the rotating chamber in the direction of the fire, the elevating mechanism causes the rotating chamber to be elevated, the valve is released, and the fire extinguisher is discharged from the fire extinguishing cylinder. A fire extinguishing agent is supplied to the rod through the turning chamber, the pressure generated by the fire extinguishing agent causes the rod to extend to a fire position, and at the fire position the stop and release mechanism is actuated and the extinguishing agent is released. A fire extinguishing robot characterized by extinguishing a fire by ejecting fire from the rod. 2. The fire extinguishing robot according to claim 1, characterized in that an audio generating circuit is connected to the control unit and issues an audio warning when a fire is detected or when a fire extinguishing operation is started. 3. A human sensor is connected to the control unit, and if a human sensor is also detected at the time of detection of a fire, fire extinguishing operations are started after a certain period of time has elapsed after issuing a warning. Fire extinguishing robot described in section.