Actual problems of positioning of the robotic monitors to fire area in robotic fire suppression systems.Part 3. RFM operating programs for fire extinguishing with scanning streams considering RFMs positioning to fire area

The third part describes the features of RFM positioning in scanning mode; definitions of the main parameters of extinguishing by scanning streams in angular coordinates and linear dimensions are formulated; design calcula¬tions are proposed to determine the RFM scanning area relative to fire area. To develop line streams' extinguishing procedure, the scanning rasters by area and graphs of RFM angular movements in horizontal and vertical planes during scanning were considered, which together with the movement rates are the basis for extinguishing program. Options for protected area coverage with high-angled or frontal scanning streams were considered. Coverage diagrams of flat surfaces by scanning streams at different angles of attack were presented. The initial requirements to RFM hydraulic and fire tests were presented.