JP2021171256A - Robot post position calculation device and program - Google Patents

Abstract

To make it possible to appropriately calculate a post position of a water cannon robot in real time.SOLUTION: An activity target reception unit 20 displays a data input screen on a display unit and receives a fire disaster location, an activity target, or an activity content designated by an input unit to acquire data for numerical calculation of a fire disaster phenomenon at the fire disaster location. A post position candidate calculation unit 24 performs numerical calculation of the fire disaster phenomenon at the fire disaster location on the basis of the acquired data and an electronic map representing an on-premise road to calculate as a post position candidate for a water cannon robot a place that is on the windward side of the fire disaster location's position, is on the windward side of the activity target's position, is in the on-premise road, is a place implementing a value equal to or lower than a radiant heat-resistant performance value of the water cannon robot, and is within an effective shooting range of water discharge.SELECTED DRAWING: Figure 3

Description

The present invention relates to a robot department position calculation device and a program.

Conventionally, as for the control of the landing point of water discharged from a water cannon, a control method in a closed space in which a coordinate system is determined in advance has been proposed. For example, for a fixedly installed water cannon, a method of controlling the depression / elevation angle and the turning angle of the water cannon for dropping fire extinguishing water to the position of the fire source is known (Patent Documents 1 and 2).

In addition, in order to plan the location of fire extinguishing equipment and disaster prevention equipment for oil tank fires, a simulation program that numerically analyzes and visually displays fire and fire extinguishing phenomena while considering various factors for the occurrence of fire phenomena. Is known (Patent Document 3).

Japanese Unexamined Patent Publication No. 2000-042128 Japanese Unexamined Patent Publication No. 08-141103 Japanese Unexamined Patent Publication No. 2006-317814

In the conventional technology, a method of determining the department position of disaster prevention materials and equipment (large-capacity foam water cannon, etc.) based on the simulation result of the water discharge trajectory has been proposed, but it takes a long time to calculate the calculation result. It was not possible to use it at a site where suitability is required, such as a fire site, and the environment (wind direction, wind speed, and fire conditions) changes from moment to moment.

Further, in the prior art, the depression / elevation angle and the turning angle of the water cannon according to the wind direction and the wind speed are set on the condition that the water cannon, which is a fire extinguishing facility, is fixed and the coordinates of the protection (water discharge) section are determined. It was possible to assemble the correction formula in advance and drop the fire extinguishing water to the position of the fire source without being affected by the wind. However, in the fire extinguishing robot, if the installation position of the water cannon and the protection (water discharge) area are not determined in advance, or if the protection (water discharge) section is not determined, it is difficult to assemble the correction formula in advance. The prior art could not be applied.

The present invention has been made to solve the above problems, and in a water cannon robot that moves with a water cannon, the optimum department position for fire extinguishing activity, cooling activity, etc. of a fire that has occurred at an arbitrary location can be determined. It is an object of the present invention to provide a robot department position calculation device and a program capable of calculating at high speed and with high accuracy.

In order to achieve the above object, the robot department position calculation device according to the first aspect is a robot department position calculation device that calculates a department position candidate of a water cannon robot, and displays a data input screen on a display unit. At the same time, a data acquisition unit that acquires data for numerically calculating a fire phenomenon at the fire location by accepting a fire location, an activity target, or an activity content specified by the input unit, and data acquired by the data acquisition unit. And, based on the electronic map showing the premises road, the fire phenomenon at the fire location is numerically calculated, and it is on the wind side with respect to the position of the fire location and on the wind side with respect to the position of the activity target. A situation analysis unit that calculates a location within the premises road, below the radiant heat resistance performance value of the water cannon robot, and within the effective range of water discharge as a department position candidate for the water cannon robot. And are configured to include.

The robot department position calculation program according to the second aspect is a robot department position calculation program for calculating a department position candidate of a water cannon robot, and displays a data input screen on a display unit and inputs a computer. The data acquisition unit that acquires data for numerically calculating the fire phenomenon at the fire location by accepting the fire location, activity target, or activity content specified by the department, the data acquired by the data acquisition unit, and the premises. Based on an electronic map representing the road, the fire phenomenon at the fire location is numerically calculated, and the fire phenomenon is on the wind side with respect to the position of the fire location and on the wind side with respect to the position of the activity target, and the premises. A place that is on the road and is equal to or less than the radiant heat resistance performance value of the water cannon robot and is within the effective range of water discharge is made to function as a situation analysis unit that calculates as a department position candidate of the water cannon robot. It is a program for.

According to the first aspect and the second aspect, the fire phenomenon at the fire location is numerically calculated, and the fire phenomenon is on the wind side with respect to the position of the fire location and on the wind side with respect to the position of the activity target. By calculating the location on the premises road that is below the radiation heat resistance performance value of the water cannon robot and within the effective range of the water cannon as a department position candidate for the water cannon robot, the water cannon cannon in real time. The department position of the robot can be calculated appropriately.

In addition, the situation analysis unit includes data acquired by the data acquisition unit, wind direction and speed measured by the sensor, an electronic map showing the premises road, and water discharge predetermined for each water discharge angle of the water cannon robot. Based on the data of the approximate curve of the locus, the optimum water discharge angle for the activity target is calculated, the degree of influence of the wind direction and speed on the water discharge locus, the degree of influence of the type of radiant fire extinguishing agent on the water discharge locus, and the water discharge. By multiplying the degree of influence of the water discharge pressure on the locus as a dimensionless coefficient on the approximate curve of the water discharge locus according to the water discharge angle, a plurality of wind directions and speeds on the water discharge locus can be obtained. It is possible to generate the data of the approximate curve of the corresponding water discharge trajectory and calculate the department position candidate of the water cannon robot by using the data of the approximate curve of the water discharge trajectory generated. As a result, it is possible to assemble an approximate curve of the water discharge locus according to various activity conditions at high speed and calculate the department position candidate at high speed.

Further, when a plurality of department position candidates are calculated, the situation analysis unit calculates a department position margin for each of the plurality of department position candidates, and obtains each of the plurality of department position candidates as the department position. It can be displayed on the display unit together with the margin. This can help the operator to determine the department position.

According to the robot department position calculation device and the program, which is one aspect of the present invention, the fire phenomenon at the fire location is numerically calculated, and the fire phenomenon is on the wind side with respect to the position of the fire location and on the wind side with respect to the position of the activity target. By calculating as a department position candidate for the water cannon robot, a place that is on the premises road, is less than or equal to the radiation heat resistance performance value of the water cannon robot, and is within the effective range of water discharge. The effect is that the department position of the water cannon robot can be calculated appropriately in real time.

It is a block diagram which shows the structure of the fire extinguishing system which concerns on embodiment of this invention. It is a schematic block diagram of an example of a computer functioning as a firefighting robot control device according to the embodiment of the present invention. It is a block diagram which shows the structure of the fire-fighting robot control device which concerns on embodiment of this invention. It is a flowchart which shows the fire-fighting robot control processing routine in the fire-fighting robot control apparatus which concerns on embodiment of this invention. It is a flowchart which shows the processing routine which shows the flow of the process of recalculating the discharge angle in the fire-fighting robot control device which concerns on embodiment of this invention. It is an image diagram of a correction angle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<Outline of Embodiment of the present invention>
In the embodiment of the present invention, a fire fighting system that autonomously performs fire extinguishing activities, cooling sprinkling activities, and the like in the event of a large-scale or special disaster such as an oil refinery will be described.

In the program implemented in the firefighting system, the operator can use the electronic map displayed on the GUI to see the fire location (oil tank, oil barrier, other optional location, etc.) and activity target (oil tank, oil barrier, other optional facility, etc.). Etc.) and fire extinguishing activities (foam fire extinguishing, fire extinguishing, cooling sprinkling, etc.) Automatically calculate multiple department location candidates.

As for the electronic map, the control device automatically acquires an electronic map of the vicinity where the fire fighting robot is active based on the position information obtained by the GPS sensor mounted on the fire fighting robot control device. If the fire position is known in advance, the position can be set on the electronic map.

When the operator specifies the fire location, activity target, and activity content based on the acquired electronic map, water is discharged according to the water discharge target position set for each of the above options, the scale of the fire location, the wind direction and wind speed of the site environment, etc. Multiple department position candidates for the gun robot are automatically calculated. The location of the fire, the target of the activity, and the content of the activity can be determined by the operator, which can reflect the reconnaissance result by the reconnaissance robot performed in advance.

In addition, considering the case where multiple department position candidates are calculated, the margin for various parameters (range that can respond to changes in wind direction and wind speed, distance from the department position to the water source, etc.) in each department position candidate is calculated and displayed. By doing so, it helps the operator to determine the department position.

Further, after the water cannon robot is assigned to one of the above department position candidates, the optimum depression / elevation angle and turning angle of the water cannon for discharging water or bubbles to the above water discharge target position are calculated again, and the water cannon is discharged. Output to the robot. Even after the water is discharged, the target position of the water discharge and the activity content can be arbitrarily changed on the electronic map.

After the water cannon robot is assigned to one of the departments, the department position coordinates are acquired by the GPS mounted on the robot and the department position wind direction and wind speed are acquired by the wind direction and wind speed meter mounted on the robot. The optimum depression / elevation angle and turning angle of the water cannon for discharging water or emitting bubbles are calculated based on the positional relationship with the position coordinates. At this time, if the angle is calculated, the value is output to the water cannon robot, and if it is not calculated, the above department position candidate is calculated again and automatically moved to the nearest calculated position from the current department position. (The case where it is not calculated is, for example, the case where the wind direction changes significantly by the time it arrives at the department position and the water does not reach the target position. When the department position and the actual department position deviate from each other and the water does not reach the target position, etc.).

As described above, in the program implemented in the embodiment of the present invention, in the event of a large-scale or special disaster such as an oil refinery, the department of the water cannon robot according to the fire extinguishing activity content and the fire extinguishing activity target specified by the operator. Calculate the position. Based on this calculation result, the water cannon robot autonomously moves to the position of the department where water can be discharged, and performs water discharge and fire extinguishing activities according to the specified contents. In addition, the operator (operator) can instruct and monitor fire extinguishing activities in a safe place away from the fire source.

Further, in the embodiment of the present invention, in a system in which the protective space is wide (the protective space is not limited in advance), the department position of the water cannon robot is determined from various numerical calculation values based on the designated fire source information. It is characterized by doing.

In addition, the system operator (such as a member who performs fire extinguishing activities) ranks the department position candidates so that the optimum department position can be intuitively selected from a plurality of department candidate positions. .. In addition, the criteria for ranking are the degree of freedom in the position of the department, the distance to the water source position of the transport vehicle (pump vehicle), the margin for the wind direction, the degree of danger (distance from the fire source), and the like.

Further, it is characterized in that the optimum depression / elevation angle and turning angle of the water cannon are calculated according to the coordinates of the water cannon robot, the department environment, and the fire source information.

In addition, it is characterized in that the department position is calculated at high speed by simplifying the discharge trajectory curve (approximation by a higher-order formula, tabulation of coefficients).

<System configuration>
Hereinafter, the fire extinguishing system according to the embodiment of the present invention will be described.

As shown in FIG. 1, the fire extinguishing system 100 according to the embodiment of the present invention includes a fire fighting robot control device 10, a flying reconnaissance robot 60, a traveling reconnaissance robot 70, and a water cannon robot 80. There is. Each of the flight-type reconnaissance robot 60 and the traveling-type reconnaissance robot 70 is connected to the fire-fighting robot control device 10 by wireless communication. The water cannon robot 80 is connected to the fire fighting robot control device 10 by wire or wireless communication.

The flight-type reconnaissance robot 60 flies in response to a command from the fire-fighting robot control device 10, and transmits an image taken by the mounted camera and the position information of its own device measured by GPS or the like to the fire-fighting robot control device 10. do.

The traveling type reconnaissance robot 70 travels on the ground in response to a command from the firefighting robot control device 10, and obtains an image taken by a mounted camera and position information of its own device measured by GPS or the like in the firefighting robot control device 10. Send to.

The water cannon robot 80 includes a water cannon 80A that radiates water or foam fire extinguishing agent sent from a pump truck. The water cannon robot 80 controls water discharge by the water cannon 80A in accordance with a command from the fire fighting robot control device 10. Specifically, according to a command from the fire-fighting robot control device 10, the depression / elevation angle and the turning angle of the water cannon 80A are controlled, and the amount of water discharged from the water cannon 80A is controlled. Further, the water cannon robot 80 transmits the sensor information detected by the mounted wind sensor and the position information of the own device measured by GPS or the like to the fire fighting robot control device 10.

<Configuration of firefighting robot control device>
As shown in FIG. 2, the fire robot control device 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a storage 14, an input unit 15, a display unit 16, and communication. It has an interface (I / F) 17. The configurations are connected to each other via a bus 19 so as to be communicable with each other.

The CPU 11 is a central arithmetic processing unit that executes various programs and controls each part. That is, the CPU 11 reads the program from the ROM 12 or the storage 14, and executes the program using the RAM 13 as a work area. The CPU 11 controls each of the above configurations and performs various arithmetic processes according to the program stored in the ROM 12 or the storage 14. In the present embodiment, the ROM 12 or the storage 14 stores a fire-fighting robot control program for controlling the water cannon robot. The fire-fighting robot control program may be one program, or may be a program group composed of a plurality of programs or modules.

The ROM 12 stores various programs and various data. The RAM 13 temporarily stores a program or data as a work area. The storage 14 is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data.

The input unit 15 includes a pointing device such as a mouse and a keyboard, and is used for performing various inputs.

The display unit 16 is, for example, a liquid crystal display and displays various types of information. The display unit 16 may adopt a touch panel method and function as an input unit 15.

The communication interface 17 is an interface for communicating with other devices, and for example, standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark) are used.

Next, the functional configuration of the fire-fighting robot control device 10 will be described. FIG. 3 is a block diagram showing an example of the functional configuration of the fire-fighting robot control device 10.

Functionally, as shown in FIG. 3, the fire-fighting robot control device 10 has a fire location reception unit 21, an activity target reception unit 20, a water discharge target calculation unit 22, a department position candidate calculation unit 24, and a department position selection reception unit 26. , A robot control unit 28, a measurement data acquisition unit 30, and a water discharge angle recalculation unit 32. The fire location reception unit 21 and the activity target reception unit 20 are examples of the data acquisition unit, and the water discharge target calculation unit 22 and the department position candidate calculation unit 24 are examples of the situation analysis unit.

The fire location reception unit 21 displays a data input screen on the display unit 16 and acquires data for numerically calculating a fire phenomenon at the fire location by receiving the fire location designated by the input unit 15. The activity target reception unit 20 displays the data input screen on the display unit 16 and receives the activity target and the activity content specified by the input unit 15 to numerically calculate the fire phenomenon at the fire location. get.

Specifically, the target area and plant name are selected as the activity target, and the map of the place (plant or area) where the fire-fighting robot exists is displayed on the Internet based on the GPS sensor mounted on the fire-fighting robot control device 10. Get it automatically via.

In addition, from the facilities included in the selected plant name, the fire position (oil tank number, oil barrier number, other arbitrary locations, etc.) can be set and the activity target (oil tank number, oil barrier number, building, etc.) can be set. Make a choice. Here, for example, in an oil tank, the shape of the tank (radius of the tank, height of the tank), the type of oil stored, the amount of storage, etc. are linked in advance to the tank number, and the selection contents include. The parameters of the fire phenomenon are read accordingly. You may enter these manually.

In addition, as the activity content, one of foam fire extinguishing activity, fire extinguishing activity, and cooling sprinkling activity is selected. Here, the foam fire extinguishing radiation is an activity of putting an aqueous solution of a foam fire extinguishing agent constantly diluted with water and the fire extinguishing foam generated by stirring and mixing the foam fire extinguishing agent with air. The main targets for foam fire extinguishing activities are oil tanks and oil barriers. If there is, a target is set in the oil barrier beyond the oil barrier. However, these goals can be set arbitrarily on the electronic map.

In addition, the cooling sprinkling activity is an activity of sprinkling water on the side plate of a burning tank, an adjacent tank or facility, or an arbitrary facility to cool it. In addition, depending on the type of fuel, fire extinguishing activities that radiate water inside the tank can be selected. Therefore, the water discharge draws a parabola, and a target is set on the side wall (vertical surface) of the tank. The initial setting value of the position in the height direction is, for example, 2/3 of the tank height and can be changed. Fire extinguishing activity is an activity to discharge water to a position designated by the operator. The target position is set by selecting the position on the map and entering the height. At the same time, the operator also specifies whether the target is a horizontal plane or a vertical plane.

The water discharge target calculation unit 22 calculates the optimum water discharge target position for implementing the content according to the content specified by the activity target reception unit 20. For example, when "oil tank" is selected as the activity target and "foam fire extinguishing activity" is selected as the activity content, the water discharge draws a parabola, and the water discharge target position is set on the oil surface or the roof (horizontal plane) beyond the tank side wall. NS. In addition, when "oil barrier" is selected as the activity target and "foam fire extinguishing activity" is selected as the activity content, the water discharge draws a parabola, and the water discharge target position is set in the oil barrier beyond the oil barrier. Further, the initial setting value of the water discharge target position in the horizontal direction is, for example, the center of the tank, and the water discharge target position can be modified to an arbitrary position (the water discharge target position can be arbitrarily set on the electronic map). ). In the vertical direction, for example, in the case of an oil tank fire, the oil level is obtained from the tank shape and the amount of fuel stored in the tank, and the center of the tank and the position of the oil level are calculated as the water discharge target position.

When "oil tank" is selected as the activity target and "cooling sprinkling activity" is selected as the activity content, the water discharge draws a parabola and the water discharge target position is set on the tank side wall (vertical surface). The target water discharge position in the height direction is 2/3 of the tank height. In addition, by selecting a position on the map and inputting the height, any location and height can be set as the water discharge target position. At the same time, the operator can specify whether the target is a horizontal plane or a vertical plane.

As described above, in the present embodiment, the water discharge target position is automatically determined by designating the content of the activity and the facility to be the target of the activity. Alternatively, by designating an arbitrary point on the map, the designated point is set as the water discharge target position.

The department position candidate calculation unit 24 numerically calculates the fire phenomenon at the fire location based on the data acquired by the fire location reception unit 21 and the activity target reception unit 20, the water discharge target position, and the electronic map showing the premises road, and performs the activity. A place that is on the wind side with respect to the target position, on the wind side with respect to the fire location, on the premises road, and below the radiant heat resistance performance value of the water cannon robot 80, and is effective in discharging water. The location within the range is calculated as a department position candidate of the water cannon robot 80.

Specifically, the department position candidate calculation unit 24 is stored in the shape of the fire location (tank, oil barrier, etc.) and the fire location included in the data acquired by the fire location reception unit 21 and the activity target reception unit 20. The amount of radiation heat received by the water cannon robot 80 is calculated based on the type of fuel used, the positional relationship between the fire location and the water cannon robot 80, and the electronic map, and the department position of the water cannon robot 80 is restricted to the premises road. The calculated amount of radiant heat received and a plurality of wind direction and wind speed values measured by a wind direction and wind speed meter (not shown) mounted on the water cannon robot 80 after giving a limit on the electronic map. Use to calculate the department position candidates that are less than or equal to the radiant heat resistance performance value of the water cannon robot 80, are on the wind side with respect to the position of the fire location, and are on the wind side with respect to the position of the activity target. do.

Regarding the department position candidate, when extinguishing an oil tank as an example, determine the range of depression / elevation angle that can discharge water or foam fire extinguishing beyond the height of the target oil tank and do not raise the water discharge too high, and set it within that range. Based on the water discharge trajectory formula corresponding to each stepped angle and the wind direction and speed, the department position within the effective range of water discharge is calculated.

Further, as an example, when cooling an arbitrary facility, a range of depression / elevation angles that can discharge water to a position of 2/3 of the height of the target arbitrary facility and do not raise the water discharge too high is determined, and each angle stepped on the range is determined. Based on the water discharge trajectory formula corresponding to and the wind direction and speed, the position of the department within the effective range of water discharge is calculated.

Then, the department position candidate calculation unit 24 determines the water discharge angle based on the water discharge locus, the shape of the activity target, and the stored amount of fuel stored in the activity target, and measures the water discharge angle and the wind sensor. Based on the wind speed and direction, and the water discharge trajectory, the position of the department within the effective range of the water discharge is calculated. Then, the department position candidate calculation unit 24 is on the windward side with respect to the fire location, is on the windward side with respect to the position of the activity target, is on the premises road, and is equal to or less than the radiant heat resistance performance value of the water cannon robot. The department position candidate is calculated as a place that is within the effective range of water discharge.

For example, a location that satisfies all of the following conditions 1 to 5 is calculated as a department position candidate of the water cannon robot 80 and displayed on the display unit 16.

Condition 1: The location is less than or equal to the radiant heat resistance performance value (for example, 20 kW / m ^{2) of the water cannon robot 80.} However, radiant heat is also calculated using the radiant heat calculation formula described in the "Petroleum Complex Disaster Prevention Assessment Guideline (March 2013, Fire and Disaster Management Agency Special Disaster Office)" based on the oil type and the shape of the storage tank.

Condition 2: Being a department on the road in the electronic map.

Condition 3: The department must be within the effective range according to the water cannon nozzle mounted on the water cannon robot 80.

Condition 4: In the case of cooling water sprinkling, the department should be located in a place where water can be discharged to the target water discharge position. In the case of foam fire extinguishing radiation to an oil tank fire, the department should be located in a place where water can be discharged to a height where bubbles can effectively enter the inside beyond the side plate of the oil tank.

Condition 5: To be on the windward side of the activity target and the fire location.

When a plurality of department position candidates are calculated, the department position candidate calculation unit 24 calculates the department position margin for each of the plurality of department position candidates, and sets each of the plurality of department position candidates together with the department position margin. It is displayed on the display unit 16.

Specifically, the department position candidate calculation unit 24 sets four types of department position margins for each of the plurality of department position candidates, which are areas where the water cannon robot 80 can be located, according to the size of the area. Calculate the degree of freedom of department position, the margin according to the distance to the water source position of the water discharge, the wind direction margin according to the relationship between the wind direction and the water discharge direction, and the margin according to the risk considering the amount of radiant heat received.

Here, the degree of freedom of the department position becomes higher as the area of the area of the department position candidate becomes larger. As for the margin according to the distance to the water source position, the smaller the distance from the department position candidate to the transport vehicle which is the water source, the higher the margin. As for the wind direction margin, the smaller the difference between the angle from the water discharge position to the water discharge target and the wind direction, the higher the margin. The margin according to the degree of danger increases as the amount of radiant heat received is lower (the department position is farther from the fire source).

Further, in the present embodiment, when calculating the department position candidate, the data of the approximate curve of the water discharge trajectory predetermined for each water discharge angle of the water cannon robot 80 is acquired based on the measured wind speed, and the water is discharged. As the locus, the department position candidate is calculated using the data of the approximate curve of the water discharge locus.

Specifically, when finding a place within the effective range of water discharge, water discharge to the water discharge target position calculated using an approximate curve of the water discharge trajectory determined based on the depression / elevation angle and wind speed of the water cannon. Seeking a place where

At this time, for the water discharge locus, the equation of motion is solved in advance for the water droplets (and the water column) radiated at each water cannon depression / elevation angle, and the water discharge curve calculated after correction with the measured value of the water discharge locus is of higher order for each angle. Approximately express in advance with an equation. By this method, it becomes possible to easily and quickly express the water discharge curve at an arbitrary angle by referring to the coefficient related to each order.

In addition, by multiplying the above coefficient by a coefficient that makes the influence of the wind direction relative to the water discharge trajectory, the wind speed, the radiating object (water / foam fire extinguishing agent), and the water discharge pressure on the water discharge curve dimensionless, respectively. Under various conditions such as windy conditions, it is possible to accurately express an approximate curve of the water discharge trajectory. The department position candidate is calculated using the approximate curve of this discharge trajectory.

Here, a specific example of the approximate curve of the water discharge locus will be described. The water discharge trajectory when water was radiated with a standard radiation amount (for example, 4000 L / min) and in a windless environment was created for each depression and elevation angle based on the equation of motion, and approximate expressions were created for each of them using a quartic function. Furthermore, by dimensionlessly integrating the effects of the wind direction, wind speed, and water discharge material on the coefficients of each approximate function, the approximate curve is mathematically expanded and contracted, and the water discharge trajectories under various conditions can be easily expressed.

For example, the water discharge locus equation is approximately expressed by the quartic function shown in the following equation.

（１）

(1)

W in the above formula (1) is a dimensionless parameter related to the radiation pressure, and when the standard radiation pressure is less than 1.0 MPa based on the standard radiation amount (4000 L @ 1 MPa), W <1.0 and 1.0 MPa. If it exceeds, W> 1.0. Since the standard radiation pressure is basically used, W = 1.
Furthermore, in the same formula, the constants are summarized.

（２）

(2)

Finally, the water discharge trajectory formula is expressed by the following formula.

（３）

(3)

Here, for the same equation, x is the horizontal coordinate connecting the water cannon robot 80 and the water discharge target position, and y is the height coordinate. Further, a, b, c, d, and e are coefficients that are eigenvalues for each depression and elevation angle of the water cannon, and h is the relative height of the ground surface of the department position of the water cannon robot 80 with respect to the ground surface on which the water cannon target is located. That's right. Further, N is a safety factor, M is a coefficient for increasing / decreasing the water landing point in the x direction due to wind, K is a coefficient for reducing bubble radiation, and α is a relative angle between the straight line connecting the water cannon robot 80 and the water discharge target position and the wind direction. Here, the safety factor N can be arbitrarily changed as a variable in the program (100 <N <200), but the initial value is set to 120 [%]. Furthermore, the bubble emission reduction coefficient K can be arbitrarily changed as a variable in the program (0.0 <K <1.0), but the fixed value is 1.0 when water is emitted and the initial value is when bubble is emitted. It is set to 0.85. The angle α is set to 0 [°] with respect to the straight line connecting the water cannon robot 80 and the water cannon target position, and the left side is positive and the right side is negative with respect to the water cannon robot 80. That is, when α is −90 ° (+ 270 °) to 0 ° to + 90 °, water is discharged by a tail wind, and when α is + 90 ° to + 180 ° to + 270 °, water is discharged by a head wind. For h, when calculating the first department position term, if the height information is included in the electronic map data, the value is used, but if it is not included, the water discharge target and the water cannon robot department It is assumed that there is no difference in the ground surface of each position, and h = 0. Further, when the water cannon robot is actually assigned to the department position, if the height information can be acquired based on the GPS information, it may be used.

Here, a table in which a, b, c, d, and e for each water cannon depression / elevation angle are predetermined and a table in which the x-direction increase / decrease coefficient M for each water cannon depression / elevation angle and wind speed are predetermined are stored in the storage 14. I will do it. Then, in the calculation of the department position candidate of the water cannon robot 80, the water discharge locus formula at an arbitrary water discharge angle and wind speed is obtained with reference to the table.

The department position selection reception unit 26 accepts the selection of one of the department position candidates displayed on the display unit 16, and is the shortest path based on the electronic map to the location selected from the start position of the water cannon robot 80. To generate.

When the operator selects a department position candidate, the actual department position is selected with reference to the margin display for each department position candidate. Further, among the plurality of department position candidates displayed on the screen by the display unit 16, the operator selects one department position, and the shortest route candidate to the department position is displayed on the map by an arrow line. .. When a plurality of shortest routes are calculated as route candidates, the operator selects one of the shortest routes based on the reconnaissance results of the flight-type reconnaissance robot 60 or the traveling-type reconnaissance robot 70.

The robot control unit 28 outputs a command to move the water cannon robot 80 according to the shortest route to the department position selected by the department position selection reception unit 26. As a result, the water cannon robot 80 moves to the selected department position.

After the water cannon robot 80 moves to the selected department position, the measurement data acquisition unit 30 determines the department position of the water cannon robot 80 after the movement based on the reconnaissance result by the flying reconnaissance robot 60 or the traveling reconnaissance robot 70. Then, the wind direction and the wind speed measured by the wind sensor mounted on the water cannon robot 80 are acquired.

The water discharge angle recalculation unit 32 determines the water discharge angle of the water cannon robot 80 based on the shape of the fire extinguishing activity target, the position of the water cannon robot obtained by the measurement data acquisition unit 30, and the measured wind direction and speed. To calculate.

Specifically, after the water cannon robot 80 is assigned to one of the departments, the department position coordinates are acquired by the GPS sensor mounted on the water cannon robot 80 at that position, and the positional relationship with the coordinates of the water discharge target position is obtained. The optimum depression / elevation angle and turning angle of the water cannon 80A for discharging water or emitting bubbles are calculated based on the above. At this time, if the angle is calculated, the value is output to the water cannon robot 80, and if the angle is not calculated, the above-mentioned department position candidate is calculated again, and among the calculated positions, the current department position is used. Automatically move to the nearest position. The case where the angle is not calculated is, for example, a case where the wind direction changes significantly by the time the water arrives at the department position and the water does not reach the target position. Further, the case where the angle is not calculated is a case where the output robot department position and the actual department position deviate from each other due to the problem of accuracy of automatic operation, and the water does not reach the target position. After the autonomous movement, the department position coordinates are acquired again by the GPS sensor, and the optimum depression / elevation angle and turning angle of the water cannon for discharging water or emitting bubbles are calculated based on the positional relationship with the coordinates of the water discharge target position.

<Operation of fire extinguishing system>
Next, the operation of the fire extinguishing system 100 according to the embodiment of the present invention will be described. First, when a fire breaks out, the fire-fighting robot control device 10 executes the fire-fighting robot control processing routine shown in FIG.

In step S100, the fire location reception unit 21 and the activity target reception unit 20 display an electronic map around the site on the interface screen of the display unit 16, and also display a plurality of environmental information (wind direction, wind speed, flight-type reconnaissance robot 60, or The site photograph taken by the traveling reconnaissance robot 70, the fire location, and the burning fuel type) are displayed. Based on the above multiple environmental information, the operator can specify the fire location, fire extinguishing activity target (oil tank, oil barrier, facility) and activity content (foam fire extinguishing activity, fire extinguishing activity, cooling activity, etc.) on the interface screen. Do it.

In step S102, the water discharge target calculation unit 22 calculates the optimum water discharge target position for implementing the content according to the designated content.

In step S106, the department position candidate calculation unit 24 is on the windward side with respect to the position of the activity target, is on the windward side with respect to the position of the fire location, is on the premises road, and is resistant to the water cannon robot 80. A place that is less than or equal to the radiant heat performance value and is within the effective range of water discharge is calculated as a department position candidate.

Then, in step S108, the department position selection reception unit 26 displays the calculated department position candidate on the interface screen. In step S110, the operator selects one position where the water cannon robot 80 actually belongs from the plurality of department position candidates displayed on the interface screen with reference to the environmental information. As a result, the department position selection reception unit 26 receives the selected department position.

In step S112, the robot control unit 28 transmits a command to the water cannon robot 80 according to the selection result of step S110. As a result, the water cannon robot 80 moves to the selected department position.

In step S114, the water cannon robot 80 actually measures the position where the water cannon robot 80 is in the department and the wind direction and speed at the department position, and transmits the measurement data acquisition unit 30 to the fire fighting robot control device 10. The measurement data including the positional relationship between the position where the water cannon robot 80 is assigned and the target position for water discharge, and the wind direction and speed at the department position is acquired. In step S116, the water discharge angle recalculation unit 32 recalculates the water discharge angle based on the measured positional relationship with the water discharge target position and the wind direction and speed.

The step S116 is realized by the processing routine shown in FIG.

In step S120, the horizontal distance x = L connecting the department position of the water cannon robot 80 and the water discharge target position and the oil level height y = hf are calculated.

In step S122, f (L) obtained by substituting x = L (L> 0) for the above equation (3) is calculated every 1 ° from the depression / elevation angle θ = 20 ° to 80 °. The f (L) obtained here is the height of the water discharge locus in the y direction at a place (water discharge target position) separated by L in the x direction from the water cannon robot 80. Therefore, the depression / elevation angle corresponding to f (L), which indicates the closest numerical value to the oil level height y = h _{f, is the optimum depression / elevation angle.} If the optimum depression / elevation angle is calculated in two or more ways, the lowest depression / elevation angle is adopted. However, in the calculated depression / elevation angle, there is a possibility that the water discharge hits the tank wall surface and the water does not reach the water discharge target position. Therefore, in the calculation, the solution f (LD / 2) obtained by substituting x = LD / 2 for the above equation (3) is calculated at the same time, and only the depression / elevation angle range satisfying the following equation is calculated. set to target. Incidentally H in the equation is water discharge target height, h _m is a margin width. Further, h _m can be arbitrarily changed as a variable in the program, but the initial value is set to 1 [m].

（４）

(4)

In step S124, the relative angle β of the water cannon robot 80 in the department direction is calculated with reference to the straight line connecting the water cannon target position and the department position of the water cannon robot 80. Note that β is calculated by defining the straight line connecting the water cannon object and the water cannon robot 80 as plus on the left side and minus on the right side when viewed from the water cannon robot 80. However, β cannot be calculated if the direction of the water cannon robot 80 is not output. In this case, it is assumed that the water cannon robot 80 faces the water discharge target position (β = 0), and the subsequent calculations are performed. Assumed to be performed.

In step S126, the correction angle γ for correcting the deviation of the water discharge locus due to the wind is calculated. _{In the calculation, the minimum solution x L} out of the solutions (10 <x) at which y = 0 is calculated in the water discharge locus equation y = f (x) corresponding to the depression / elevation angle and the wind speed obtained in step S122.

The solution x _L obtained here is the horizontal distance from the water cannon robot to the landing point under the conditions. Therefore, γ is calculated from the following formula using _{x L.}

（５）

(5)

In the above equation, K is the coefficient of increase / decrease in the water landing point in the z direction depending on the wind speed, and α is the relative angle between the straight line connecting the water cannon robot 80 and the water discharge target position and the wind direction. Here, the z-direction increase / decrease coefficient K depending on the wind speed is predetermined for each combination of the depression / elevation angle and the wind speed.

Here, γ is calculated in the range of −90 ° to + 90 °, but the straight line connecting the water cannon robot 80 and the water discharge target position is used as a reference (0 °), and the left side is plus the water cannon robot 80 and the right side is the right side. Let it be negative. For reference, an image of the correction angle β and the correction angle γ is shown in FIG.

In step S128, the turning angle ζ of the water cannon 80A is calculated as the sum of the correction angle β with respect to the department direction and the correction angle γ considering the wind direction. As in the same formula, when the department direction of the water cannon robot 80 is not output (β = 0), the calculated γ is output as it is as the turning angle ζ.

（６）

(6)

In step S130, a command including the depression / elevation angle calculated in step S122 and the turning angle calculated in step S128 is transmitted to the water cannon robot 80, and the processing routine is terminated.

As described above, according to the fire extinguishing system according to the embodiment of the present invention, the fire phenomenon at the fire location is numerically calculated, and the fire phenomenon is on the wind side with respect to the position of the fire location and with respect to the position of the activity target. Calculate the location on the wind side, on the premises road, below the radiation heat resistance performance value of the water cannon robot, and within the effective range of the water cannon as a department position candidate for the water cannon robot. Therefore, the department position of the water cannon robot can be appropriately calculated in real time.

In addition, firefighters will be able to carry out fire extinguishing activities from a distant and safe place, improving the safety of fire extinguishing activities against large-scale and special disasters. In addition, the fire-fighting robot control device according to the present embodiment can quickly simulate various fire situations, and can realize a more accurate disaster prevention plan.

<Modification example>
The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

For example, in the above embodiment, a fire extinguishing system for large-scale and special disasters such as an oil complex has been described as an example, but the present invention is not limited to this, and cooling water loss in general fires and nuclear facilities, etc. It is also possible to respond to an emergency.

It is also useful for arranging disaster prevention materials and equipment such as ordinary foam water cannons or large-capacity foam water cannons, and for various disaster prevention plans.

In addition, the electronic map covers the whole of Japan, and the present invention may be applied to fire-fighting vehicles and the like owned by each local government fire department. As a result, effective fire extinguishing activities such as where to carry out fire extinguishing activities against a fire become possible.

10 Fire-fighting robot control device 15 Input unit 16 Display unit 20 Activity target reception unit 21 Fire location reception unit 22 Water discharge target calculation unit 24 Department position candidate calculation unit 26 Department position selection reception unit 28 Robot control unit 30 Measurement data acquisition unit 30 Measurement data Acquisition unit 32 Water discharge angle recalculation unit 60 Flying reconnaissance robot 70 Traveling reconnaissance robot 80 Water cannon robot 80A Water cannon 100 Fire extinguishing system

Claims (7)

It is a robot department position calculation device that calculates the department position candidates of the water cannon robot.
Data acquisition unit that acquires data for numerically calculating the fire phenomenon at the fire location by displaying the data input screen on the display unit and accepting the fire location or activity target or activity content specified by the input unit. When,
Based on the data acquired by the data acquisition unit and the electronic map showing the road on the premises, the fire phenomenon at the fire location is numerically calculated, and the position of the activity target is on the wind side with respect to the position of the fire location. The department of the water cannon robot is a place that is on the wind side with respect to the wind, is in the road on the premises, is equal to or less than the radiation heat resistance performance value of the water cannon robot, and is within the effective range of water discharge. Situation analysis unit that calculates as a position candidate,
Robot department position calculator including. The situation analysis unit includes data acquired by the data acquisition unit, wind direction and speed measured by a sensor, an electronic map showing a road on the premises, and a predetermined water discharge trajectory for each water discharge angle of the water cannon robot. Based on the data of the approximate curve, the optimum water discharge angle for the activity target is calculated, and the degree of influence of the wind direction and speed on the water discharge locus, the degree of influence of the type of radiation fire extinguishing agent on the water discharge locus, and the water discharge locus. By multiplying the degree of influence of the water discharge pressure as a dimensionless coefficient on the approximate curve of the water discharge locus according to the water discharge angle, it corresponds to a plurality of wind directions and the wind speed with respect to the water discharge locus. The robot department position calculation device according to claim 1, wherein the data of the approximate curve of the water discharge locus is generated, and the department position candidate of the water cannon robot is calculated by using the generated data of the approximate curve of the water discharge locus. The situation analysis unit
Based on the shape of the fire location, the type of fuel stored in the fire location, the positional relationship between the fire location and the water cannon robot, and the electronic map included in the data acquired by the data acquisition unit. , Calculate the amount of radiant heat received by the water cannon robot,
Based on the calculated amount of radiant heat received and the measured wind direction, the electronic map is restricted so that the department position of the water cannon robot is restricted to the inside of the premises road. It is a department position candidate that is equal to or less than the radiant heat resistance performance value of the water cannon robot, and the department position candidate on the wind side with respect to the position of the fire location is calculated.
The water discharge angle is determined based on the water discharge trajectory, the shape of the fire location, and the amount of fuel stored in the fire location.
Based on the water discharge angle, the measured wind speed, the wind direction, and the water discharge locus, the position of the department within the effective range of the water discharge is calculated.
At a location that is windward with respect to the position of the fire location, is windward with respect to the position of the activity target, is within the premises road, and is equal to or less than the radiant heat resistance performance value of the water cannon robot. The robot department position calculation device according to claim 1 or 2, wherein the robot department position candidate is calculated as a place that exists and is within the effective range of the water discharge. When a plurality of department position candidates are calculated, the situation analysis unit calculates the department position margin for each of the plurality of department position candidates.
The robot department position calculation device according to any one of claims 1 to 3, wherein each of the plurality of department position candidates is displayed on the display unit together with the department position margin. The department position candidate is an area where the department of the water cannon robot is possible.
The situation analysis unit responded to each of the plurality of department position candidates according to the size of the area, the distance to the water source position of the water discharge, the relationship between the wind direction and the water discharge direction, or the amount of radiant heat received by the water cannon robot. The robot department position calculation device according to claim 4, wherein the department position margin is calculated as the department position margin. A department position selection receiving unit that displays each of the calculated department position candidates on the display unit and accepts the department position candidate selected by the input unit.
A robot control unit that outputs a command to move the water cannon robot to the selected department position candidate, and
After the water cannon robot moves to the selected department position candidate, between the water cannon target position calculated from the shape of the fire location and the fuel storage amount of the fire location and the position of the water cannon robot. A water discharge angle calculation unit that calculates the water discharge angle of the water cannon robot based on the positional relationship of the water cannon robot and the measured wind direction and speed.
The robot department position calculation device according to any one of claims 1 to 5, further comprising. A robot department position calculation program for calculating department position candidates for water cannon robots.
Computer,
Data acquisition unit that acquires data for numerically calculating the fire phenomenon in the activity target by displaying the data input screen on the display unit and accepting the fire location or activity target or activity content specified by the input unit. , And based on the data acquired by the data acquisition unit and the electronic map representing the premises road, the fire phenomenon in the activity target is numerically calculated, and the fire phenomenon is on the wind side with respect to the position of the fire location and the activity target. A place that is on the wind side with respect to the position of, is in the premises road, is less than or equal to the radiant heat resistance performance value of the water cannon robot, and is within the effective range of water discharge, is the water cannon robot. Robot department position calculation program to function as a situation analysis department that calculates as a department position candidate.

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