Aerial Hose Type Robot by Water Jet for Fire Fighting

Ando, Hideyuki; Ambe, Yuichi; Ishii, Akihiro; Konyo, Masashi; Tadakuma, Kenjiro; Maruyama, Shigenao; Tadokoro, Satoshı

doi:10.1109/lra.2018.2792701

Cited by 83 publications

(61 citation statements)

References 14 publications

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“…Similarly, robotic arms have different designs and are demanded to achieve different missions. Inspired by the wristwatch designs and thrust actuated arm designs [5,6,11,12], we imagine there could be a watch-like thrust generating module that also come with different sizes, actuation abilities, and adjustable and replaceable watch bands so that such modules can be attached to different robotic arms with mission-dependent attachment styles and cooperate with arm actuators to enhance arm strength. We call this concept flying watch.…”

Section: Flying Watch Conceptmentioning

confidence: 99%

“…A long-reach robotic arm is usually designed for applications such as nuclear power plant decommissioning, [1,2] inspection, [3][4][5], and firefighting [6]. Some arms, such as [2][3][4], are redundant since long arms for those applications usually need to operate in environments filled with obstacles and the redundant Degree of Freedom (DOF) can negotiate the obstacles.…”

Section: Introductionmentioning

confidence: 99%

“…Regarding active force compensating arms, in [1,2,10], specialized coupled tendon-driven arms that can compensate gravity were proposed. In [5,6], arms that apply water jets to counteract gravity were proposed. In [11,12], arms with passive joints driven by thrusts to counteract external reaction forces were proposed.…”

Section: Introductionmentioning

confidence: 99%

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Flying watch: an attachable strength enhancement device for long-reach robotic arms

Pan

Endo

2019

Robomech J

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A long-reach robotic arm is useful for applications such as nuclear plant decommissioning, inspection, and firefighting. However, for such arms, a small external reaction force can result in large loads on proximal arm actuators because of long moment arms. This problem was previously solved by specialized arm designs that compensate external reaction forces. However, these arm designs are hard to be applied to other arms or customized to different missions. To overcome these difficulties, in this paper, we propose a modular thrust generating concept inspired by wristwatch designs, called flying watch, which can be attached to a robotic arm with mission-dependent attachment styles (attachment positions and orientations) and cooperate with actuators to enhance arm strength. We first introduce flying watch concept, design, and dynamics. Then we propose two levels of watch-actuator cooperation in quasistatic situations by introducing a problem called Watch Actuator Cooperation for Arm Enhancement (WACAE) and providing an example solution. The first level of cooperation is only watches adapt their thrusts to minimize actuator loads, which is generally applicable to varieties of arms. The second level cooperation is that not only do the watches adapt their thrusts but also the actuators cooperatively position the watches to optimal positions and orientations to counteract external reaction forces, which is suitable for redundant arms and can counteract external reaction forces more effectively. Finally, we present simulations to verify that flying watches can significantly reduce actuator loads using both levels of watch-actuator cooperation (the first level by 36.9% and the second level by 43.7%).

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Section: Flying Watch Conceptmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Flying watch: an attachable strength enhancement device for long-reach robotic arms

Pan

Endo

2019

Robomech J

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“…In addition, it provides voice communication between firefighters and victims at remote sites. Recently, UAVs have been recognized as a promising option because they can replace firefighters' activities in some situations and can be applied for the detection of spreading fires and fire suppression [24]. Huy et al [25] proposed a distributed control framework designed for a group of UAVs that can monitor a wildfire in a large space from the remote and safe distance.…”

Section: Firefighting Robot Technologymentioning

confidence: 99%

Smart Disaster Response in Vehicular Tunnels: Technologies for Search and Rescue Applications

et al. 2018

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Recently, the number of tunnels is increasing due to urbanization, and fire accidents in tunnels are likewise increasing. In particular, in a long tunnel of more than 1 km it is very difficult to track the exact location of a fire, accident vehicles, and the fire brigade, as well as whether a fire occurred. In this paper, we analyze various types of accidents that may occur in tunnel fires and propose detection, search, and rescue techniques to cope with them. For early detection of accidents, we propose various sensors using Internet of Things (IoT) technology and sensor networks to connect them. These sensors can detect not only a fire but also the position of the vehicle in which the fire is occurring in real time. We also propose a robotic system and operation technique that can be controlled by a fire fighter for more precise search operation. For rescue procedures, localization and tracking technology for fire fighters and robots is proposed. Finally, the efficiency of the proposed system was verified through actual performance tests, including simulations of actual placement and operation in tunnels. Through the construction of the equipment in an actual tunnel 1.9 km long, we show that the proposed system is good enough to cope with fire accidents, in terms of the delivery ratio of the collected data, fire recognition ratio, localization accuracy, and response delay.

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“…[10]; image processing is used to detect Fire [11] has emerged in recent years; documents 12-14 propose the use of multi-sensors to solve the problem of fire source detection and positioning [12]- [14]; proposes how to optimize the design of fire-fighting robots [15]- [17]. In addition, the air hose type robot [18] for fire water jets mentioned in the fire extinguishing measures document 18 is used for fire extinguishing; the use of a fan blown flame source [19] is proposed in the literature 19. When the smoke sensor detects the suspected smoke area, the robot will actively move to this area to confirm the further fire source point.…”

Section: Introductionmentioning

confidence: 99%

Research on Fire Fighting Scheme of Indoor Fire Fighting Robot Based on Multi-sensor

Junwei¹,

Ruimin²,

Li³

et al. 2019

Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturin

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How to find the fire source point is the key technical point of the indoor fire-fighting robot in the operation process. The proposed low-cost comprehensive detection fire source solution using multi-sensor and surveillance camera photo recognition can successfully solve the problem that the fire-fighting robot can accurately search for the fire point indoors. The problem is that the fire-fighting device equipped by the robot can perform fire-fighting operation and issue an alarm after the fire source is discovered, and the loss of personnel property is minimized.

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Aerial Hose Type Robot by Water Jet for Fire Fighting

Cited by 83 publications

References 14 publications

Flying watch: an attachable strength enhancement device for long-reach robotic arms

Flying watch: an attachable strength enhancement device for long-reach robotic arms

Smart Disaster Response in Vehicular Tunnels: Technologies for Search and Rescue Applications

Research on Fire Fighting Scheme of Indoor Fire Fighting Robot Based on Multi-sensor

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