JP2010029314A - Fire-extinguisher carrier - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fire-extinguisher carrier capable of swiftly carrying a fire extinguisher to a fire site when a fire is detected, so that fire extinguishing activity can be easily and safely carried out. <P>SOLUTION: The fire-extinguisher carrier 6 includes a moving part 60 for moving the fire extinguisher 5 which releases a fire-extinguishing agent; and a guiding part 64 for acquiring guiding information to move the fire extinguisher 5 to a location where the fire occurs by the moving part 60 and controlling the moving part 60 based on the acquired guiding information. The guiding part 64 includes a radiation sensor 66 for specifying the state of environment around the fire extinguisher moved by the moving part 60; a safety determining part 68b for determining whether the fire extinguishing activity can be safely carried out or not by a person at the present location of the fire extinguisher 5 based on the radiation heat flux specified by the radiation sensor 66; and a safety range retaining part 68c for controlling the moving part 60 so that the fire extinguisher 5 is located within a range for the person to safely carry out the fire extinguishing activity according to the result of determination by the safety determining part 68b. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a fire extinguisher transport apparatus for transporting a fire extinguishing apparatus.

  Conventionally, fire extinguishers and fire hydrants have been installed in buildings, tunnels, and the like as fire extinguishing equipment for initial fire fighting between the occurrence of a fire and the arrival of a fire brigade. These fire extinguishers and fire hydrants are installed such that the mutual installation interval is within a predetermined interval according to the installation location based on the provisions of the Fire Service Act. In addition, fire extinguishing sprinklers are installed in high-rise buildings, underground shopping centers, and tunnels where damage due to the occurrence of a fire is likely to increase.

  The fire hydrant includes a housing that houses a hose with a nozzle. When the fire is extinguished, the door provided on the housing is opened and the hose with nozzle is pulled out to discharge water. As such a fire hydrant, in order to facilitate the connection of the signal line and the pull-in connection of the pipe at the time of installation work, a frame main body having a box-type frame structure opened in the vertical and horizontal and front and rear, There has been proposed a fire hydrant device in which a casing is constituted by a front decorative frame disposed on the front surface (see, for example, Patent Document 1).

  In addition, there has been proposed a fire extinguishing robot that is installed in a monitoring area, specifies a fire source position in the event of a fire, expands or turns a fire extinguishing agent discharge nozzle, and discharges the fire extinguishing agent to the fire source (for example, Patent Document 2). reference).

JP 2008-055024 A (paragraphs 0008 to 0009) JP 09-206398 A (paragraphs 0008 to 0013)

  However, when a fire breaks out, it takes a considerable amount of time to find the location of the fire extinguisher and hydrant, transport the fire extinguisher and hose to the site of the fire, perform the specified operation, and start extinguishing the fire. In the meantime, the scale of the fire could increase. Also, if you are unfamiliar with the operation of fire extinguishers and fire hydrants, it may be difficult to perform the correct operation, and there is a possibility that effective fire extinguishing activities may not be possible using these fire extinguishing devices. In addition, since a certain amount of force is required to transport a large fire extinguisher and to pull out a hose of a fire hydrant, it may be difficult for women and elderly people to use and operate fire extinguishers. Therefore, there was a possibility that sufficient fire extinguishing activities could not be performed using these fire extinguishing devices in the early fire stage where fire extinguishing was easy.

  On the other hand, if a fire extinguisher etc. can be transported to the site of the fire, a person unaccustomed to fire extinguishing must perform the fire extinguishing work too close to the fire source without knowing the distance that can ensure safety. Therefore, there is a possibility that excessive radiant heat is received from a fire source, harmful gas is sucked in, and sudden fire expansion may not be avoided.

  In addition, although the fire extinguishing capacity and reliability of sprinkler equipment are extremely high, it is inevitable that a certain amount of water loss will occur with the operation of the sprinkler equipment. It was required to succeed in the initial fire fighting.

  The fire extinguishing robot described in Patent Document 2 has various obstacles to complete automation of fire fighting work. That is, it is difficult to accurately specify the fire source position to which the extinguishing agent should reach by using only the sensor provided in the fire extinguishing robot, and it is necessary for a human to adjust the discharge direction of the extinguishing agent. In addition, when fully automatic fire extinguishing is performed, there is a possibility that fire extinguishing work may be started regardless of the presence or absence of an injured person. Furthermore, in the fixed fire extinguishing robot as described in Patent Document 2, it is necessary to arrange a large number of fire extinguishing robots in order to cover the entire monitoring area, resulting in an increase in installation cost.

  The present invention has been made in view of the above, and provides a fire extinguisher transport apparatus capable of transporting a fire extinguisher to a fire occurrence site quickly and detecting fires easily and safely when a fire is detected. With the goal.

  In order to solve the above-described problems and achieve the object, a fire extinguisher transport device according to claim 1 is configured to move a fire extinguisher that discharges a fire extinguishing agent, and to move the fire extinguisher by the moving means. Guiding means for obtaining guidance information for moving to a generation position and controlling the moving means based on the obtained guidance information is provided.

  Further, the fire extinguisher transport apparatus according to claim 2 is the fire extinguisher transport apparatus according to claim 1, wherein the guide means is an environment for specifying an environmental condition around the fire extinguishers moved by the moving means. Safety determining means for determining whether or not a person can safely perform a fire fighting operation at the current position of the fire extinguishing equipment based on the environmental condition specified by the environmental specifying means and the environmental specifying means; and A safety range maintaining means for controlling the moving means so as to position the fire extinguishing apparatus within a range in which a person can safely perform a fire extinguishing activity according to a determination result of the safety determination means, To do.

  Further, the fire extinguisher transport device according to claim 3 is the fire extinguisher transport device according to claim 1 or 2, wherein the environmental state specifying means measures a radiant heat flux radiated to the fire extinguisher, The safety determining means determines whether or not a person can safely perform a fire extinguishing operation based on a comparison between the radiant heat flux measured by the environmental condition specifying means and a predetermined threshold value. It is characterized by.

  Moreover, the fire-extinguishing apparatus conveyance apparatus of Claim 4 is a fire-source distance which specifies the distance between the said fire-extinguishing apparatus and a fire source in the fire-extinguishing apparatus conveyance apparatus as described in any one of Claim 1 to 3. In the case where the specifying means and the moving means move the fire extinguisher away from the fire source, the fire extinguishing agent is caused to reach the fire source by the fire extinguisher based on the fire source distance specified by the fire source distance specifying means. Fire extinguishing control means for determining whether or not the moving means moves the fire extinguishing device from within the effective range that can be moved, and releasing the extinguishing agent by the fire extinguishing device when it is determined to move the fire extinguishing device. It is characterized by providing.

  Moreover, the fire extinguisher transport apparatus according to claim 5 is the fire extinguisher transport apparatus according to any one of claims 1 to 4, further comprising guide means for outputting guide information related to the fire extinguishing apparatus. To do.

  According to the first aspect of the present invention, since the fire extinguishing device is moved to the fire occurrence position by the moving means, the fire extinguishing device is quickly transported to the fire occurrence site when a fire is detected, and fire extinguishing activities are easily started. Can do.

  According to the second aspect of the present invention, the safe range maintaining means controls the moving means so that the fire extinguishing apparatus is positioned within a range in which a person can safely perform a fire extinguishing operation against the fire source. Therefore, it is possible to prevent the fire extinguishing worker from excessively approaching the fire source beyond the safe range.

  According to the third aspect of the present invention, a person can safely extinguish a fire safely based on a comparison between a radiant heat flux radiated from a fire source measured by the environmental condition specifying means and a predetermined threshold value. Since it is determined whether or not the activity can be performed, it is possible to prevent the worker who performs the fire fighting operation from receiving excessive radiant heat from the fire source.

  Further, according to the present invention, the fire extinguishing control means releases the fire extinguishing agent by the fire extinguishing device when the moving means determines that the fire extinguishing device is moved from the effective range to the outside of the effective range. Extinguishing media while the distance between the fire extinguisher and the fire source is within the effective range, even if a person cannot operate the fire extinguisher because the position of the equipment is out of the safe range for fire fighting. Can be released automatically to extinguish the fire.

  Further, according to the present invention, the guidance information is output by the guide means according to the determination result by the safety judgment means and the distance between the fire extinguisher and the fire source. The operation method can be guided to a new person, and fire extinguishing activities can be easily performed. In addition, in a situation where a person cannot safely perform a fire fighting operation, it is possible to guide the user to evacuate and to ensure safety.

  DESCRIPTION OF EMBODIMENTS Embodiments of a fire extinguisher transport device according to the present invention will be described below in detail with reference to the accompanying drawings. [I] First, the basic concept common to each embodiment was explained, then [II] specific contents of each embodiment were sequentially explained, and finally [III] a modification to each embodiment. explain. However, the present invention is not limited to each embodiment.

[I] Basic concept common to the embodiments First, the basic concept common to the embodiments will be described. The fire extinguisher transport device according to each embodiment is intended to transport the fire extinguisher to the fire occurrence site.

  The installation target of the fire extinguisher transport device according to each embodiment is arbitrary, and can be installed in a large building such as a tunnel, an underground mall, or a department store, for example. In this case, a plurality of fire extinguisher transport devices may be connected to each other so that they can communicate with the disaster prevention system, and the fire extinguishing device transport device may be operated according to the fire occurrence position by the disaster prevention system. The transfer device and the fire detector may be connected to each other in a one-to-one relationship, and when the fire detector detects a fire, the fire extinguishing device transfer device corresponding to the fire detector may be operated. In each of the following embodiments, a case where the fire extinguisher conveyance device is connected to the disaster prevention system will be described as an example.

  One of the features of the fire extinguisher transport device according to each embodiment is that the fire extinguisher is generally moved to the fire occurrence position, and a human can safely perform fire fighting activities against the fire source. The point is to put a fire extinguisher inside. Therefore, when a fire is detected, the fire extinguishing equipment can be quickly transported to the site of the fire and fire extinguishing activities can be easily started, and fire extinguishing workers can be prevented from excessively approaching the fire source beyond the safe range. .

[II] Specific Contents of Each Embodiment Next, specific contents of each embodiment according to the present invention will be described.

[Embodiment 1]
First, the first embodiment will be described. This form is a form in which a fire extinguisher having a fire extinguisher tank is moved to a fire occurrence position and located within a safe range.

(Configuration of disaster prevention system)
First, the configuration of the disaster prevention system will be described. FIG. 1 is a block diagram showing an electrical configuration of a disaster prevention system and a fire extinguishing appliance transport apparatus. As shown in FIG. 1, the disaster prevention system 1 includes a disaster prevention receiver 2, a fire detector 3, a storage box 4, a fire extinguishing device 5, and a fire extinguishing device transport apparatus 6.

  The disaster prevention receiver 2 is for controlling the operation of the entire disaster prevention system 1 such as processing of the alarm signal output from the fire detector 3 and starting of the fire extinguishing appliance transporting device 6.

  The fire detector 3 is connected to the disaster prevention system 1 so as to be communicable with each other, and is used to detect the occurrence of a fire in the monitoring target area of the disaster prevention system 1. For example, a smoke detector or a flame detector is known. The fire detector 3 can be used.

  The storage box 4 is storage means for storing the fire extinguisher transport device 6. The specific configuration of the storage box 4 is arbitrary, and for example, a conventionally used storage box for a fire hydrant can be used. FIG. 2 is a cross-sectional view showing a state in which the fire extinguisher transport device 6 is stored in the storage box 4, and FIG. 3 is a cross-sectional view showing a state in which the fire extinguisher transport device 6 is withdrawn from the storage box 4. As shown in FIGS. 1 and 2, the storage box 4 includes a housing 40 (not shown in FIG. 1), a slope door 41 (not shown in FIG. 1), and an installation table 42 (not shown in FIG. 1). And a communication unit 43 (not shown in FIG. 2) and an open / close control unit 44 (not shown in FIG. 2). The housing 40 is for storing the fire extinguishing appliance transporting device 6 therein, and is formed in a box shape and installed on a wall surface of a building. Of each surface constituting the housing 40, at least a part of the surface facing the exit destination of the fire extinguishing appliance transport apparatus 6 is provided with an opening, and the fire extinguishing instrument transport apparatus 6 is accommodated through the opening. It is possible to exit from the inside of the body 40 to the outside. The slope door 41 is a door for closing the opening so as to be openable and closable. When the door is closed, the opening is closed as shown in FIG. 2, and when the door is open, the housing 40 is closed as shown in FIG. It becomes a slope for the fire extinguisher conveyance device 6 to cross the step between the inside and the outside. The installation base 42 serves as a pedestal for installing the fire extinguisher transport device 6 when storing a plurality of fire extinguishing transport devices 6 inside the housing 40. For example, as shown in FIG. 2, two fire extinguisher conveyance devices 6 can be stacked and stored using the installation table 42. When the fire extinguisher transport device 6 is withdrawn from the storage box 4, as shown in FIG. 3, after the fire extinguisher transport device 6 stored in the lower stage is withdrawn, the installation table 42 is lowered and stored in the upper stage. The fire extinguisher conveyance device 6 that has been discharged can be withdrawn. The communication unit 43 is a communication unit for acquiring an activation signal for activating the fire extinguisher transport device 6 from the disaster prevention system 1. A specific communication method is arbitrary, and for example, wireless or wired communication can be used. The opening / closing control unit 44 controls the opening / closing operation of the slope door 41 and the lowering operation of the installation table 42 when the communication unit 43 receives an activation signal for activating the fire extinguishing appliance transporting device 6 from the disaster prevention receiver 2. It is a control means. The specific configuration of the opening / closing control unit 44 is arbitrary, for example, a control program such as an OS (Operating System), an embedded program that defines various processing procedures, an internal memory for storing required data, and In addition, a CPU (Central Processing Unit) that executes these programs is configured (the same applies to a control unit 68 described later).

  The fire extinguisher 5 is a fire extinguishing means that discharges a fire extinguishing agent and water in order to extinguish a fire, and is transported by the fire extinguisher transport device 6. The specific configuration of the fire extinguishing device 5 is arbitrary, and a general fire extinguisher may be used, or the fire extinguishing device 5 and the fire extinguishing device transporting device 6 may be configured integrally with each other. In this Embodiment 1, the case where the fire extinguisher 5 and the fire extinguisher transport apparatus 6 are integrated will be described as an example.

  FIG. 4 is a perspective view showing the external appearance of the fire extinguisher transport device 6 and the fire extinguisher 5, and FIG. 4 (a) is a diagram showing the right front of the fire extinguisher transport device 6 when housed or moved, FIG. ) Is a view showing the right rear side of the fire extinguishing appliance transporting device 6 when housed or moved, and FIG. 4C is a view showing a state where a discharge nozzle 52 described later is pulled out. As shown in FIGS. 1 and 4, the fire extinguisher 5 includes a fire extinguisher tank 50, a sealing valve 51 (not shown in FIG. 4), a discharge nozzle 52, an operation unit 53, and a discharge control unit 54 (FIG. 4). (Not shown). The fire extinguisher tank 50 is for storing a fire extinguisher and has a larger capacity than a fire extinguisher tank in a general fire extinguisher so that a large amount of fire extinguisher can be released for a long time. The sealing valve 51 is a sealing unit that is provided between the extinguishing agent tank 50 and the discharge nozzle 52 and seals the extinguishing agent inside the extinguishing agent tank 50. The discharge nozzle 52 is for discharging the fire extinguishing agent from the fire extinguishing agent tank 50, and can be pulled out from the fire extinguishing apparatus 5 during fire extinguishing work. The operation unit 53 is an operation unit for inputting a fire extinguishing agent discharge instruction from the fire extinguishing agent tank 50 through the discharge nozzle 52, and is configured as a push button, for example. The release control unit 54 opens the sealing valve 51 and releases from the fire extinguishing agent tank 50 when a release instruction input is received via the operation unit 53 or when a release instruction input is received from the fire extinguisher transport device 6. It is a discharge control means for discharging a fire extinguishing agent through the nozzle 52.

(Configuration of fire extinguisher transport device)
Next, the configuration of the fire extinguisher transport device 6 will be described. As shown in FIGS. 1 and 4, the fire extinguisher transport device 6 includes a moving unit 60, a camera 61, a guide output unit 62 (not shown in FIG. 4), a communication unit 63 (not shown in FIG. 4), guidance A unit 64 (not shown in FIG. 4) and a recording unit 65 (not shown in FIG. 4) are provided.

(Composition of fire extinguishing appliance transport device-moving part)
The moving unit 60 is a moving means for moving the fire extinguishing appliance transport apparatus 6 on which the fire extinguishing appliance 5 is mounted. The specific configuration of the moving means is arbitrary. For example, as shown in FIG. 4, a drive wheel for driving the fire extinguishing appliance transport device 6, a motor (not shown) for operating the drive wheel, It can comprise using the battery (not shown) etc. to supply. This moving part 60 is controlled by the guidance control part 68a of the control part 68 mentioned later.

  In addition, even when the motor does not operate, the driving wheel can be turned freely, and the fire extinguisher conveying device 6 can be moved manually. Thereby, the fire extinguisher conveyance apparatus 6 can be used also as a non-self-propelled fire extinguisher conveyance carriage.

(Configuration of fire extinguisher transport device-camera)
The camera 61 takes an image of the surroundings of the fire extinguisher transport device 6 and outputs the taken data to the control unit 68. In order for a fire source distance specifying unit 68d, which will be described later, to specify a distance from the fire source based on the shooting data, it is desirable to perform stereo shooting by arranging two cameras 61 in parallel. In addition, a flame sensor can be provided in the camera 61 in order to specify the presence of a flame.

(Configuration of fire extinguisher transport device-guidance output unit)
The guidance output unit 62 is guidance means for outputting guidance information regarding the fire extinguishing device 5 when the fire extinguishing device 5 is moved to the fire occurrence position. Specifically, a speaker for outputting guidance information as voice information, a monitor for outputting guidance information as image information, and the like can be provided as the guidance output unit 62.

(Configuration of fire extinguisher transport device-communication section)
The communication unit 63 acquires from the disaster prevention system 1 an activation signal for activating the fire extinguisher transport device 6 and guidance information for moving the fire extinguishers 5 mounted on the fire extinguisher transport device 6 to a fire occurrence position. Communication means. The specific communication method is arbitrary. For example, the activation signal and the guidance information can be received by wireless or wired communication.

(Configuration of fire extinguisher transport device-guide section)
The guide unit 64 is guide means for acquiring guide information for moving the fire extinguishing apparatus 5 to the fire occurrence position by the moving unit 60 and controlling the operation of the moving unit 60 based on the acquired guide information. A radiation sensor 66, a positioning unit 67 (not shown in FIG. 4), and a control unit 68 (not shown in FIG. 4) are provided.

  The radiation sensor 66 is an environmental state specifying unit that measures the heat flux around the fire extinguishing apparatus 5 of the radiant heat radiated from the fire source and outputs the measurement result to the control unit 68. As the radiation sensor 66, a known radiation sensor using a thermocouple or a thermopile can be used.

  The positioning unit 67 is positioning means for measuring the current position of the fire extinguishing appliance transporting device 6. Specifically, the positioning unit 67 includes an RFID (Radio Frequency Identification) tag reader 67a. RFID tags are provided at predetermined intervals along a path (for example, an inspection passage in a tunnel) for moving the fire extinguisher transport device 6 on the wall or floor surface of the monitoring area where the fire extinguisher transport device 6 is installed. Is embedded. When the fire extinguisher transport device 6 approaches the RFID tag, the RFID tag reader 67a reads identification information for uniquely identifying the RFID tag and outputs it to the control unit 68.

  The control unit 68 is a control means for controlling the operation of the fire extinguisher transport device 6, and includes a guidance control unit 68a, a safety determination unit 68b, a safe range maintaining unit 68c, a fire source distance specifying unit 68d, and a fire extinguishing control unit 68e. It has. The guidance control unit 68 a controls the operation of the moving unit 60 based on the guidance information acquired from the disaster prevention system 1 by the communication unit 63. The safety determination unit 68b is safety determination means for determining whether or not a person can safely perform a fire extinguishing activity based on the measurement result of the radiant heat flux input from the radiation sensor 66. The safe range maintaining unit 68c is a safe range maintaining unit that controls the moving unit 60 in accordance with the determination result of the safety determination unit 68b. The fire source distance specifying unit 68d is a fire source distance specifying unit that specifies the distance between the fire extinguishing apparatus 5 and the fire source based on the photographing data input from the camera 61. The fire extinguishing control unit 68e is a fire extinguishing control unit that controls the operation of the fire extinguishing appliance 5 and releases a fire extinguishing agent. Specific contents of processing executed by each element of the control unit 68 will be described later.

(Composition of fire extinguishing appliance transport device-recording unit)
The recording unit 65 controls data for various processes executed by the control unit 68, for example, a threshold value used as a reference when the safety determination unit 68 b performs determination, and the safety range maintenance unit 68 c controls the moving unit 60. It is a recording means for recording a control table or the like referred to in the case. FIG. 5 is a table illustrating a control table recorded by the recording unit 65. The specific contents of the control table will be described later together with the description of the processing executed by the control unit 68.

  The specific configuration of the recording unit 65 is arbitrary. For example, the recording unit 65 can be configured by using a rewritable storage unit such as a RAM (Random Access Memory).

(processing)
Next, the fire extinguisher conveyance process which the control part 68 of the fire extinguisher conveyance apparatus 6 performs is demonstrated. FIG. 6 is a flowchart showing the flow of the fire extinguishing appliance conveyance process, and FIG.

  In a state where no fire has occurred and the fire extinguisher transport device 6 has not received an activation signal for starting the fire extinguisher transport device 6 from the disaster prevention receiver 2 (step SA-1, No), the fire is extinguished. The instrument transport device 6 is accommodated in the storage box 4 as shown in FIG.

  When the fire detector 3 in the disaster prevention system 1 detects the occurrence of a fire and outputs an alarm signal to the disaster prevention receiver 2, the disaster prevention receiver 2 is optimal for transporting the fire extinguishing device 5 based on the position of the fire detector 3. The fire extinguisher transport device 6 installed at the position is selected, and an activation signal is transmitted to the storage box 4 storing the fire extinguisher transport device 6 and the fire extinguisher transport device 6. Here, as a selection criterion for the fire extinguishing appliance transporting device 6, for example, the distance between the fire detector 3 that has been notified and the installation position of the fire extinguishing appliance transporting device 6, the wind direction at the fire occurrence location, or the like can be used. The opening / closing control unit 44 of the storage box 4 that has received the activation signal via the communication unit 43 opens the slope door 41 and enables the fire extinguishing appliance transporting device 6 to leave the storage box 4.

  When the communication unit 63 of the fire extinguisher transport device 6 receives the activation signal from the disaster prevention system 1 (Yes at Step SA-1) and the fire extinguisher transport device 6 is activated, the guidance control unit 68a is connected via the communication unit 63. Guidance information is acquired from the disaster prevention system 1 (step SA-2). The guidance information includes identification information for specifying the RFID tag arranged along the path along which the fire extinguisher transport device 6 should move.

  When the guidance information is acquired, the guidance control unit 68a controls the moving unit 60 to withdraw the fire extinguisher transport device 6 from the storage box 4 and to change the fire extinguisher transport device 6 so as to pass through the RFID tag specified by the guide information. Move (step SA-3).

  The guidance control unit 68a determines whether or not a movement failure has occurred that makes it impossible to move to the fire occurrence position while the fire extinguisher transport device 6 is moved (step SA-4). Specifically, when the presence of an obstacle or a person in the moving direction of the fire extinguisher transport device 6 is specified based on the image data captured by the camera 61, the guidance control unit 68a is assumed to have caused the movement obstacle. Determine (step SA-4, Yes). In this case, the guidance control unit 68a stops the movement of the fire extinguisher transport device 6 and transmits a failure signal to the disaster prevention receiver 2 via the communication unit 63 (step SA-5). The disaster prevention receiver 2 that has received the failure signal replaces the fire extinguisher transport device 6 installed at the optimum position for transporting the fire extinguisher 5 based on the fire occurrence position among the fire extinguisher transport devices 6 that are not activated. Select and send activation signal.

  On the other hand, when the movement obstacle has not occurred (step SA-4, No), the guidance control unit 68a determines whether or not the fire source has been specified based on the imaging data input from the camera 61 (step SA). -6). Here, the specific method for specifying the fire source is arbitrary, for example, by performing image analysis on the captured data and extracting a pattern similar to the flame pattern recorded in the recording unit 65 in advance, The fire source can be specified. Or a fire source can also be specified using the flame sensor attached to the camera 61. FIG. The guidance control unit 68a controls the moving unit 60 to continue the movement of the fire extinguishing appliance transporting device 6 until the fire source is specified (step SA-6, No).

  As shown in FIG. 7, when it is determined that the vicinity of the fire occurrence position has been reached and the fire source has been identified (step SA-6, Yes), the safety determination unit 68b causes the radiation sensor 66 to measure the radiant heat flux ( Step SA-7), safety is determined according to the measurement result (step SA-8). Specifically, the safety determination unit 68b compares the measured value of the radiant heat flux with a threshold value recorded in advance in the recording unit 65. As this threshold value, for example, the value of the radiant heat flux can be set to such a degree that even if a fire extinguishing operation is performed for a certain period of time while being exposed to the radiant heat corresponding to the threshold value, no burn is caused. As a result of the comparison, if the measured value is equal to or greater than the threshold value, it is determined that there is a risk of burns if fire extinguishing activity is performed, and risk determination is performed. On the other hand, when it is less than the threshold value, it is determined that safety is ensured even if fire extinguishing is performed, and safety determination is performed.

  Further, the fire source distance specifying unit 68d specifies the distance to the fire source based on the shooting data input from the camera 61 (step SA-9). Then, the safety range maintaining unit 68c refers to the control table recorded in the recording unit 65 based on the determination result by the safety determining unit 68b and the fire source distance specified by the fire source distance specifying unit 68d, A control operation corresponding to the contents of the table is performed (step SA-10).

  Specifically, as shown in FIG. 5, when the determination result by the safety determination unit 68b is a safety determination and the fire source distance is within the effective range, the safety range maintaining unit 68c Is determined to be within a range in which a person can safely perform a fire fighting operation, and the guidance output unit 62 outputs guidance information for prompting a fire fighting operation, an operation method of the fire extinguishing appliance 5, and the like. Further, it is further determined that the fire source can be approached, and the fire extinguishing device 5 is caused to approach the fire source by the moving unit 60.

  When the determination result by the safety determination unit 68b is a safety determination and the fire source distance is out of the effective range, the safe range maintaining unit 68c further approaches the fire source to perform an effective fire fighting activity. It is determined that it is necessary, and the fire extinguishing device 5 is brought close to the fire source by the moving unit 60.

  When the determination result by the safety determination unit 68b is a danger determination and the fire source distance is within the effective range, the safety range maintaining unit 68c cannot perform a fire fighting operation safely at the current position of the fire extinguisher 5 The range is determined, and the fire extinguishing device 5 is moved away from the fire source by the moving unit 60. Furthermore, when the difference value between the distance to the fire source specified by the fire source distance specifying unit 68d and the effective range is equal to or less than a predetermined value, the fire extinguishing control unit 68e continues to move and the distance to the fire source is increased. It is determined that there is a high possibility that the effective range of the fire extinguisher 5 will be exceeded, the operation of the moving unit 60 and the fire extinguishing instrument 5 is controlled, and the fire extinguisher is automatically released toward the fire source.

  When the determination result by the safety determination unit 68b is a danger determination and the fire source distance is out of the effective range, the safety range maintaining unit 68c has exceeded the scale that can be extinguished by the fire extinguisher 5 The guidance output unit 62 outputs guidance information for prompting retreat from the vicinity of the fire occurrence position.

(Effect of Embodiment 1)
As described above, according to the first embodiment, the fire extinguisher 5 is moved to the fire occurrence position by the moving unit 60. Therefore, when the fire is detected, the fire extinguisher 5 is quickly transported to the fire occurrence site and fire extinguishing activities are easily started. Can be made.

  In addition, since the safety range maintaining unit 68c controls the moving unit 60 so that the fire extinguishing apparatus 5 is positioned within a range in which a person can safely perform a fire extinguishing operation with respect to a fire source, the fire extinguishing worker is in a safe range. It is possible to prevent the fire source from being approached excessively.

  Further, since it is determined whether or not a person can safely perform a fire extinguishing activity based on a comparison between a radiant heat flux radiated from a fire source measured by the radiation sensor 66 and a predetermined threshold value, It is possible to prevent the worker who performs the fire fighting operation from receiving excessive radiant heat from the fire source.

  Further, when the moving unit 60 determines that the fire extinguisher 5 is moved from the effective range to the outside of the effective range, the fire extinguishing control unit 68e releases the extinguishing agent by the fire extinguishing device 5, so that the position of the fire extinguishing device 5 is safely extinguished. Even if a person cannot operate the fire extinguisher 5 because it is out of the range where the activity can be performed, the fire extinguisher is automatically released while the distance between the fire extinguisher 5 and the fire source is within the effective range. Can be extinguished.

  Moreover, since guidance information is output by the guidance output part 62 according to the determination result by the safety determination part 68b and the distance between the fire extinguisher 5 and the fire source, an operation method for a person unfamiliar with the operation of the fire extinguisher 5 Can be guided and fire extinguishing activities can be easily performed. In addition, in a situation where a person cannot safely perform a fire fighting operation, it is possible to guide the user to evacuate and to ensure safety.

[Embodiment 2]
Next, a second embodiment will be described. This form is a form in which the water discharge nozzle of the fire hydrant is moved to the fire occurrence position and located within the safe range.

  The configuration of the second embodiment is substantially the same as the configuration of the first embodiment unless otherwise specified. The configuration substantially the same as the configuration of the first embodiment is the same as that used in the first embodiment. The same reference numerals and / or names are attached as necessary, and the description thereof is omitted.

(Construction of storage box and fire extinguisher)
FIG. 8 is an external view of the storage box 4 and the fire extinguisher transport device 6 according to the second embodiment. FIG. 8A is a front view of the storage box 4 when the fire extinguisher transport device 6 is stored. (B) is a figure which shows the fire extinguisher conveyance apparatus 6 at the time of movement. In FIG. 8, the slope door 41 is not shown to represent the inside of the housing 40.

  As shown in FIG. 8A, a hose 55 (to be described later) is wound and stored in the storage box 4 together with the fire extinguisher transport device 6.

  The fire extinguisher 5 according to the second embodiment includes a hose 55 instead of the fire extinguisher tank 50 of the fire extinguisher 5 according to the first embodiment. The hose 55 is for feeding water for fire extinguishing supplied to the storage box 4 through a water supply pipe (not shown) to the discharge nozzle 52, one end being connected to the water supply pipe and the other end being the discharge nozzle 52. It is connected to the. The sealing valve 51 is provided inside the discharge nozzle 52 and seals the fire-extinguishing water supplied via the hose 55 so as not to be discharged from the discharge nozzle 52. The discharge nozzle 52 discharges fire-fighting water supplied via the hose 55 when the sealing valve 51 is opened. In the second embodiment, each element of the fire extinguisher 5 except the hose 55 is configured integrally with the fire extinguisher transport device 6. When the fire extinguisher transport device 6 moves to the fire occurrence position, as shown in FIG. 8B, the fire extinguisher transport device 6 moves while pulling out the hose 55 wound and stored in the storage box 4.

(Effect of Embodiment 2)
As described above, according to the second embodiment, the fire hydrant discharge nozzle 52 is moved to the fire occurrence position by the moving unit 60. Therefore, even a woman or an elderly person who does not have the ability to pull out the hose 55 can easily perform fire fighting activities using the fire hydrant. It can be carried out.

[III] Modifications to Each Embodiment While each embodiment according to the present invention has been described above, the specific configuration and means of the present invention are the same as the technical idea of each invention described in the claims. Modifications and improvements can be arbitrarily made within the range. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above-described contents, and the present invention solves the problems not described above or has the effects not described above. There are also cases where only some of the described problems are solved or only some of the described effects are achieved.

(About the installation position of the storage box 4)
In each of the embodiments described above, the case where the storage box 4 is installed in the tunnel wall surface has been described as an example. However, the storage box 4 is installed in the inspection passage shown in FIG. You can also. In this case, the fire extinguisher transport device 6 may exit the storage box 4 to the roadway and move along the roadway.

(About operation during water discharge)
In each of the above embodiments, the fire extinguisher transport device 6 includes the radiation sensor 66 as the environmental condition specifying means, but may further include a heat sensor. When high ambient heat is detected by the heat sensor during the water discharge, the guidance output unit 62 can output guidance information to stop the fire extinguishing operation and to evacuate.

  In addition, the safety determination unit 68b performs safety determination based on the measured value of the heat sensor, and the safety range maintenance unit 68c controls the moving unit 60 according to the determination result, and discharges water away from the fire source during water discharge. It can also be done. In this case, the fire extinguisher transport device 6 moves to a range where a person can safely perform fire extinguishing activities based on a combination (AND or OR) of measured values of the radiation sensor 66 and the heat detector.

(About operation in the vicinity of the fire source of the fire extinguisher transport device 6 before water discharge)
The fire extinguisher transport device 6 can approach the fire site and stand by in the event of a fire, and the guide output unit 62 can output guidance information indicating that a person should perform a fire fighting operation.

  When the current position of the fire extinguisher transport device 6 becomes dangerous due to the expansion of the fire, the fire extinguisher transport device 6 waits while correcting the position so as to be away from the fire source according to the detection state of the radiation sensor 66, the heat sensor, and the like. However, fire extinguishing work will be slow just by moving, so if the number of times of position control or the elapsed time from the discovery of fire exceeds the predetermined threshold, it is possible to switch to automatic water discharge and extinguish fire on behalf of people. it can.

(About moving parts)
In each of the above-described embodiments, the configuration in which the fire extinguisher transport device 6 is freely moved by the driving wheel has been described as an example. However, as a configuration in which the fire extinguisher transport device 6 is moved on a rail laid in a region to be extinguished. Good. In this case, it may be moved on the rail by driving wheels, or may be moved using another driving method such as a linear motor.

(About radiation sensor)
In each of the above-described embodiments, the case where the radiation sensor 66 is used as the environmental state specifying means has been described as an example. However, a temperature sensor that measures the ambient temperature, a CO sensor that measures the CO concentration, or the like can be used. . Even in this case, the safety determination unit 68b can make the safety determination based on the comparison between the measurement values measured by these sensors and a predetermined threshold value.

(About the positioning unit)
In each of the above embodiments, the positioning unit 67 has been described as including the RFID tag reader 67a. However, the positioning unit 67 can also be configured using GPS (Global Positioning System). In this case, position information for specifying the fire occurrence position by latitude / longitude can be used as guidance information.

(About the Communication Department)
In each of the above-described embodiments, it has been described that the communication unit 63 receives the activation signal and the guidance information from the disaster prevention system 1. However, the imaging data captured by the camera 61, the data related to the radiant heat flux measured by the radiation sensor 66, and the like. May be transmitted to the disaster prevention system 1. Moreover, a microphone may be provided in the fire extinguisher transport device 6, and audio information acquired by the microphone may be transmitted to the disaster prevention system 1 by the communication unit 63. This enables mutual communication with the management center, etc. via the disaster prevention system 1, and allows the operator of the management center to properly grasp the situation of the fire site, Appropriate instructions regarding evacuation can be given.

(About the guidance part)
In each of the embodiments described above, the guidance control unit 68a has been described as stopping the movement of the fire extinguishing apparatus transport device 6 when it is determined that a movement failure has occurred. However, based on the imaging data captured by the camera 61, The moving unit 60 may be controlled so as to avoid obstacles and humans and continue to move to the fire occurrence position.

  The fire extinguisher transport device according to the present invention can be applied to a fire extinguisher transport device for transporting a fire extinguisher, and can quickly and safely carry out a fire extinguishing activity by transporting the fire extinguisher to a fire occurrence site when a fire is detected. Useful for instrument transport devices.

It is the block diagram which showed the electrical structure of the disaster prevention system and the fire extinguisher conveyance apparatus. It is sectional drawing which shows the state which stored the fire extinguisher conveyance apparatus in the storage box. It is sectional drawing which shows the state which the fire extinguisher conveyance apparatus withdrew from the storage box. It is a perspective view which shows the external appearance of a fire extinguisher conveyance apparatus and a fire extinguisher, FIG. 4 (a) is a figure which shows the right front of the fire extinguishing instrument conveyance apparatus at the time of accommodation or movement, FIG.4 (b) is at the time of accommodation or movement FIG. 4C is a diagram showing a state in which the discharge nozzle is pulled out. It is the table | surface which illustrated the control table which the recording part has recorded. It is the flowchart which showed the flow of the fire extinguisher conveyance process. It is the figure which showed the fire extinguisher conveyance apparatus which reached | attained the fire outbreak position vicinity. It is an external view of the storage box and fire extinguishing apparatus conveyance apparatus which concern on Embodiment 2, FIG. 8 (a) is a front view of the storage box at the time of storage of the fire extinguishing apparatus conveyance apparatus, FIG.8 (b) is a fire extinguishing apparatus at the time of movement. It is a figure which shows a conveying apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Disaster prevention system 2 Disaster prevention receiver 3 Fire detector 4 Storage box 5 Fire extinguishing appliance 6 Fire extinguishing appliance transport apparatus 40 Case 41 Slope door 42 Installation stand 43, 63 Communication part 44 Opening / closing control part 50 Fire extinguisher tank 51 Sealing valve 52 Release Nozzle 53 Operation unit 54 Release control unit 55 Hose 60 Moving unit 61 Camera 62 Guide output unit 64 Guide unit 65 Recording unit 66 Radiation sensor 67 Positioning unit 67a RFID tag reader 68 Control unit 68a Guide control unit 68b Safety judgment unit 68c Safety range maintenance unit 68d Fire source distance specifying unit 68e Fire extinguishing control unit

Claims (5)

Moving means for moving a fire extinguisher that discharges a fire extinguishing agent;
Guidance means for obtaining guidance information for moving the fire extinguisher to the fire occurrence position by the movement means, and controlling the movement means based on the obtained guidance information;
A fire extinguisher conveying device comprising: The guiding means includes
Environmental condition specifying means for specifying an environmental condition around the fire extinguishing apparatus moved by the moving means;
Safety judging means for judging whether or not a person can safely perform a fire fighting operation at the current position of the fire extinguishing appliance based on the environmental condition specified by the environmental condition specifying means;
According to the determination result of the safety determination means, a safe range maintaining means for controlling the moving means so as to position the fire extinguishing apparatus within a range where a human can safely perform a fire extinguishing activity;
The fire extinguisher transport device according to claim 1, comprising: The environmental state specifying means includes
Measure the radiant heat flux radiated to the fire extinguishers,
The safety determination means includes
Determining whether a human can safely perform a fire fighting operation based on a comparison between a radiant heat flux measured by the environmental state specifying means and a predetermined threshold;
The fire extinguisher conveying device according to claim 1 or 2. Fire source distance specifying means for specifying a distance between the fire extinguishing apparatus and a fire source;
When the moving means moves the fire extinguisher away from the fire source, the fire extinguisher can be made to reach the fire source by the fire extinguisher based on the fire source distance specified by the fire source distance specifying means. It is determined whether or not the moving means moves the fire extinguishing device outside the effective range from within the effective range, and when it is determined to move, the fire extinguishing control means that releases the fire extinguishing agent by the fire extinguishing device,
The fire extinguisher conveying device according to any one of claims 1 to 3, further comprising: Comprising guidance means for outputting guidance information about the fire extinguishing apparatus,
The fire extinguisher conveying device according to any one of claims 1 to 4, characterized by:

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