JPH0118749B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a simple fire extinguishing robot that monitors fires only by horizontal rotational scanning of a fire detection sensor and emits extinguishing agent toward the detected fire source.

The inventor of this application has developed a fire extinguishing robot of this type,
A pyroelectric element that detects infrared rays from a fire source is used as a fire monitoring sensor, and the sensor monitors fire by horizontally and vertically rotating scanning, and when the sensor detects a fire source, it detects the detection direction. It is proposed that a water nozzle be set up to extinguish the fire by releasing extinguishing agent.

If the sensor is scanned horizontally and vertically separately, the direction of the fire source can be accurately detected, and the set of water nozzles can reliably extinguish the fire with a small amount of extinguishing agent. Also, the mechanism for rotating and scanning in the vertical direction is complicated, and there is a risk that the cost will be high.

The present invention has been made in view of these problems, and uses a fire detection sensor that has vertical directivity in a predetermined angular range from approximately horizontal to downward. The purpose of the present invention is to provide a fire extinguishing robot which has a simple structure and is inexpensive in cost, which is capable of detecting fire and extinguishing fire by setting water spray nozzles.

Hereinafter, the present invention will be explained based on the drawings.

FIG. 1 is a perspective view showing an embodiment of the present invention.

First, the configuration will be described. Reference numeral 1 denotes a base, and a fire extinguishing agent tank 4 equipped with a control circuit section 2 and a fire pump 3 is built inside the base 1. A pedestal 5 is installed on the base 1, a pulse motor 6 for horizontal rotation scanning is attached to the upper part of the pedestal 5, and a sensor rotary table 7 is attached to the rotation axis of the pulse motor 6. A semi-concave mirror 9 is supported on the sensor rotary table 7 by a horizontal shaft 8, and the semi-concave mirror 9 has a lid 10 on the opening side, and the lid 10 has a rectangular opening 11.
At a predetermined position on the central axis of the semi-concave mirror 9, there is a pyroelectric element 1 for detecting infrared rays from the fire source.
2 is installed. Further, a water discharge nozzle 13 is installed on one side of the sensor rotary table 7 pointing to the semi-concave mirror 9, and a hose 16 drawn out by the fire pump 3 is connected to this water discharge nozzle 13. Further, the fire extinguishing nozzle 13 is configured so that the direction of the water discharge nozzle 13 can be oscillated within a predetermined vertical angle range by a driving means (not shown).

FIG. 2 shows a semi-concave mirror 9 equipped with a pyroelectric element 12 as a fire detection sensor in the embodiment shown in FIG.
By placing the pyroelectric element 12 inside the focal point F, the directivity angle θ of the infrared rays incident on the semi-concave mirror 9 is set on the central axis 17, which is inside the focal point F. It is configured to obtain a vertical directivity characteristic that is at an angle θ downward with respect to the horizontal direction along 17. Further, it is desirable to provide a filter 18 at the opening of the semi-concave mirror 9 in order to block the incidence of weak infrared rays from heat sources other than fire.

FIG. 3 shows the control circuit section 2 in the embodiment shown in FIG.
FIG. 2 is a block diagram showing one embodiment of the invention. First, to explain the configuration, numeral 20 is a microcomputer, and this microcomputer 20 has a scanning program for horizontally rotating and scanning the semi-concave mirror 9 using the pulse motor 6, and a scanning program for horizontally rotating and scanning the semi-concave mirror 9. A fire extinguishing program for setting the water nozzle 13 in the detection direction and starting the fire pump 3 is stored in advance. In order to realize program control by this microcomputer 20, the output of the pyroelectric element 12 is connected to the input interface 2.
1, and the control output of the microcomputer 20 is connected to the output interface 22, 2.
3 to the horizontal scanning pulse motor 6 and the fire pump motor 24.

Next, the operation of the present invention will be explained with reference to FIG.

First, in the steady state monitoring state, the pulse motor 6
By repeating 360° reversible rotation of
is horizontally rotated and scanned, and at this time, the detection area of the semi-concave mirror 9 for the pyroelectric element 12 has a width corresponding to the opening 11 of the semi-concave mirror 9 in the horizontal direction, as shown by a dashed line, and a width corresponding to the opening 11 of the semi-concave mirror 9 in the vertical direction. A generally sector-shaped detection area having a vertical directivity angle θ is scanned in rotation around the installation position of the fire extinguishing robot.

If a fire source 30 due to a fire is detected during such monitoring scanning, the rotational scanning of the pulse motor 6 is stopped based on the detection output of the pyroelectric element 12,
Since the direction of the water discharge nozzle 13 with respect to the horizontal direction is set in the direction of detection by the semi-concave mirror 9, the fire pump 3 is started by energizing the fire pump motor 24 based on the detection output of the fire source 30, and the fire extinguishing agent tank is activated. 4 fire extinguishing agents are emitted from the water nozzle 13 toward the fire source 30. When the fire extinguishing agent is emitted from the water nozzle 13, the fire source 30 is within the detection area of the pyroelectric element 12.
By shaking the fire extinguishing agent up and down within the range of , the extinguishing agent is reliably radiated to the fire source 30 within the detection area to extinguish the fire. Further, the extinguishing agent is emitted by the water nozzle 13 for a predetermined period of time,
When the infrared rays from the fire source 30 are detected again by the pyroelectric element 12 after the emission of the extinguishing agent is stopped, the extinguishing agent is emitted again from the extinguishing nozzle 13 for a certain period of time until the infrared rays from the fire source 30 can no longer be detected. Repeat extinguishing and checking. Of course, when the infrared rays from the fire source 30 are no longer detected, it is confirmed that the fire has been extinguished, and the process returns to monitoring scanning by driving the pulse motor 6 again.

In addition, as a means for swinging the water nozzle 13 while discharging the extinguishing agent, a motor for swinging operation may be provided, or the water nozzle 13 may be oscillated by using the liquid pressure of the extinguishing agent discharged from the water nozzle 13. It may also be made to swing. Furthermore, although the fire extinguishing robot of the present invention in the above embodiments was taken as an example of a case where it was fixedly installed in a warning area, it is also possible to use a self-propelled fire extinguishing robot by using a traveling drive means. Of course.

As described above, according to the present invention, fire monitoring scanning is performed only by horizontal rotational scanning of a fire sensor having vertical directivity in a predetermined angular range from a substantially horizontal direction downward, and the sensor detects a fire. When a fire is detected, the water nozzle is directed in the detection direction to release extinguishing agent, so it is only necessary to provide a horizontal rotating scanning mechanism as a monitoring scanning mechanism for the fire detection sensor, eliminating the need for a vertical rotating scanning mechanism. The structure is simplified and the cost can be significantly reduced because the fire source does not fire. On the other hand, it detects only the horizontal direction of the fire source and ejects extinguishing agent from the water nozzle, ensuring fire extinguishment. During extinguishing, the water nozzle is oscillated up and down within the range of the vertical orientation angle of the fire detection sensor, making it possible to reliably emit extinguishing liquid to the fire source located within the detection area of the fire detection sensor. The effect is that the cost can be reduced by simplifying the structure without impairing the fire extinguishing performance.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a cross-sectional explanatory diagram showing the directivity of the sensor used in the present invention, and FIG. 3 is an embodiment of the control circuit section of the present invention. The block diagram shown in FIG. 4 is an explanatory diagram showing the operation of the present invention. DESCRIPTION OF SYMBOLS 1... Base, 2... Control circuit section, 3... Fire pump, 4... Fire extinguisher tank, 5... Frame, 6...
Pulse motor, 7...Sensor rotary table, 8...Axis,
9... Semi-concave mirror, 10... Lid, 11... Opening,
12...Pyroelectric element, 13...Water nozzle, 16...
... Hose, 17 ... Central axis line, 18 ... Filter, 20 ... Microcomputer, 21 ... Input interface, 22, 23 ... Output interface, 24 ... Fire pump motor, 30 ...
fire source.

Claims (1)

[Scope of Claims] 1. A fire detection sensor having vertical directivity in a predetermined angular range downward from a substantially horizontal direction; scanning means for rotationally scanning the fire detection sensor about a vertical axis; When the source is detected,
A fire extinguishing robot characterized by comprising a fire extinguishing means for directing a water discharge nozzle in a detection direction and discharging a fire extinguishing agent. 2. The extinguishing means has a nozzle actuating means that swings the water nozzle up and down within the range of the pointing angle of the fire detection sensor when discharging the extinguishing agent.
Fire extinguishing robot described in section.