关 键 词：

全自动 仓库 灭火 机器人 设计

资源描述：

全自动仓库灭火机器人设计,全自动,仓库,灭火,机器人,设计

内容简介：

Advanced Robotics, Vol. 16, No. 6, pp. 553556 (2002)VSP and Robotics Society of Japan 2002.Also available online - Technical noteFire robots developed by the Tokyo Fire DepartmentKAZUYOSHI MIYAZAWATokyo Fire Department, Otemach 1-3-5 Chiyoda-ku, Tokyo 100-8119, JapanKeywords: Fire ? ghting robotics; disaster response robotics; rescue robotics; ? eld robotics; deployedrobotics.1. INTRODUCTION FIRE ROBOTS FOR THE SAFETY OF CITIZENSRemarkable changes in city structures and the social environment continue todiversify disasters in the 21st century. Todays disasters are highly formidable for? re ? ghters to handle and ? re robots are in wider use than in the past.Fire robots take the place of ? re ? ghters for ef? cient ? re ground operationsin circumstances where ? re ? ghters ? nd dif? culty in their activities because ofexplosions, toxic leakage, heat/thick smoke hazards, etc.As an overall support for emergency response, the Tokyo Fire Departmentdevelops the latest high-technology robots that cope with major urban disasters.2. OVERVIEW2.1. Unmanned monitor nozzle vehicle (Rainbow 5) (Fig. 1)This robot deals with petrochemical complex ? res, aircraft crash ? res, oil/fat ? rescaused by overturned tank tracks, serious ? res with intense radiant heat, explosionhazard ? res, etc.Table 1.Models of ? re robotsModelPiecesUsageUnmanned monitor nozzle4Fire ? ghtinglarge-scale ? resvehicle (Rainbow 5)major oil ? resRemote-control1tunnel ? res?re? ghting vehicle(Jet Fighter)Fire? ghting robot1? re-resistive(prototype)building ? resRescue robot1Rescuehazardous material/(Robocue)toxic gas disastersUnderwater robot6search and rescue(Water Search)in waterReconnaissance robot1Fact ? ndingthick smoke/toxic gas disasters(Fire Search)554K. MiyazawaThe robot is equipped with an obstacle remover to get rid of fallen objects,hazardous materials drums, etc. A two-nozzle system is applied to the robot. Waterand foam are discharged at 5000 and 3000 l/min, respectively.2.2. Remote-control ?re?ghting vehicle (Jet Fighter) (Fig. 2)This robot handles urban disasters like tunnel ? res (e.g. telephone cable tunnel ? res)and underground shopping ? res.The robot is propelled by the force of high-pressure water discharge and a motor.2.3. Fire?ghting robot (prototype) (Fig. 3)This remote-control ? re? ghting robot ? ghts ? res in ? re-resistant buildings orunderground malls which are inaccessible to ? re? ghters due to ? ames, thick smokeor heat. The robot is comprised of a body, a pressurizer, a generator for a pressurizerand a control board.The robot discharges water at 200 l/min. A head-mount display presents three-dimensional images for the effective operation of the robot.2.4. Rescue robot (Robocue) (Fig. 4)This rescues and retrieves a victim with a pair of hi-tech manipulators. It moves onengine-driven rubber crawlers.A sense of gripping force is signaled back to an operator for better operability.Figure 1. Unmanned monitor nozzlevehicle (Rainbow 5).Figure 2. Remote-control ? re? ghting ve-hicle (Jet Fighter).Figure 3. Fire? ghting robot (prototype).Figure 4. Rescue robot (Robocue).Fire robots developed by the Tokyo Fire Department555Figure 5.Underwater robot (WaterSearch).Figure 6.Reconnaissance robot (FireSearch).2.5. Underwater robot (Water Search) (Fig. 5)This remote-control robot is used for the ef? cient search and rescue of victims inwater when ? re ? ghters diving is dif? cult because of weather conditions or thedepth of the water. Using three propellers for horizontal and vertical movements, itcan dive to a depth of 110 m.Its ultrasonic detector (sonar) ? nds obstacles in polluted water.2.6. Reconnaissance robot (Fire Search) (Fig. 6)In case of dif? culty of ? re? ghters entry to a disaster scene with thick smoke ortoxic gases, this remote-control robot responds for fact ? nding.It enters disaster-hit spots for gas density measurement, photography in thicksmoke, situation assessment with a monitor camera, etc.3. CHALLENGES FOR FIRE ROBOTSAlthough the latest technology is employed in our ? re robots, their functions arenever on satisfactory levels. Some of the problems are as detailed below.3.1. Heat resistanceFire robots need to have heat resistance for their control system, which must beprotected from heat damage.Although a water-cooling system is apparently the most practical, it is lesseffective in practice. It is indispensable to develop an epochal cooling system.3.2. MobilityIt is required that ? re robots move up and down stairs. There are several means toadopt for the greater mobility of robots, like the employment of crawlers or specialwheels. Many of our robots are equipped with crawlers.However, this driving mechanism has many limitations on speed and load. It isnecessary, therefore, to develop more advanced driving systems.556K. Miyazawa3.3. Power sourcesAspower sources for ? re robots, several means such as internal combustion engines,batteries, external power supplies are possible.Although there is no perfect means, the battery system is a promising powersource. Water pressure is a power source that cannot be ignored.3.4. Signal transmission systemThere are two signal transmission systems radio and wire. Currently wire ismore reliable than radio. However, technical developments of robots indicate radiosystems as the issue to be considered in the future.3.5. AutonomyOur ? nal target is the development of autonomous ? re robots that can decide bythemselves what actions to take by assessing surrounding situations.To give ? re robots the capability of autonomy, we have to introduce mechanicalbrains into our robots.4. CONCLUSIONSThe Tokyo Fire Department has 14