2020年6月
Fire extinguishment using a 4 m long flying-hose-type robot with multiple water-jet nozzles
ADVANCED ROBOTICS
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- 巻
- 34
- 号
- 11
- 開始ページ
- 700
- 終了ページ
- 714
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1080/01691864.2020.1769723
- 出版者・発行元
- TAYLOR & FRANCIS LTD
Several ground-based robots have been developed to support dangerous fire extinguishing activities; however, in such cases, it is difficult to access the fire sources directly. The concept of a hose-type robot called 'dragon firefighter' (DFF) is proposed herein; it emits high-pressure water from a fire hose and floats it for direct transmission to the fire point. A stable levitation with 2 m length was realized; however, for practical use, we must extend the floating length of the robot. This study was aimed at extending the floating length of a hose-like body. Two primary issues need to be addressed for achieving this aim: lack of a sufficient reaction force for flying and torsion along the longitudinal direction of the body. Therefore, our robot was first extended using a middle nozzle. A flow channel model was constructed, and an injection hole was designed to achieve a cross-sectional area that could generate a sufficient reaction force. An adjustable jet direction nozzle was designed with four degrees of freedom to control the net force and torsion torque. Finally, a simple proportional-derivative control was incorporated to adjust the twist angle, float the DFF (3.6 m length), surmount a wall, and subsequently, extinguish the fire.
- リンク情報
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- DOI
- https://doi.org/10.1080/01691864.2020.1769723
- DBLP
- https://dblp.uni-trier.de/rec/journals/ar/AndoAYYKTMT20
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000563086800002&DestApp=WOS_CPL
- URL
- https://dblp.uni-trier.de/db/journals/ar/ar34.html#AndoAYYKTMT20
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85086627209&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85086627209&origin=inward
- ID情報
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- DOI : 10.1080/01691864.2020.1769723
- ISSN : 0169-1864
- eISSN : 1568-5535
- DBLP ID : journals/ar/AndoAYYKTMT20
- SCOPUS ID : 85086627209
- Web of Science ID : WOS:000563086800002