煤矿井下灭火机器人消防水炮射流轨迹分析

Analysis of Jet Trajectory of Water Fire Monitor for Underground Coal Mine Fire Fighting Robot

通过对消防水炮射出水流特性和水流运动特性以及影响水流轨迹的因素的分析,基于牛顿第二定律建立了关于水流轨迹的方程,采用MATLAB模拟计算消防水炮的工作压力、水炮的高度、空气阻力以及水炮的俯仰角等对射流轨迹的影响,通过水流的射程和落地速度来反映射流的轨迹特征,并得到了其变化趋势及规律,可为灭火机器人的实际灭火工作提供理论依据。

Through the analysis of the water flow characteristics and water flow movement characteristics of the fire water monitor and the factors affecting the water flow trajectory,the equation about the water flow trajectory was established based on Newton’s second law,and the effects of the working pressure of the fire water monitor,the height of the water monitor,the air resistance and the pitch angle of the water monitor on the jet trajectory were simulated and calculated by MATLAB.The trajectory characteristics of the jet were reflected by the range and landing speed of the water flow,and its change trend and law were obtained,which can provide a theoretical basis for the actual fire extinguishing work of the fire fighting robot.