Fire Protection Robot, System Comprising the Fire Protection Robot, and Method for Using the Same

Abstract

The invention relates to a fire protection robot (1, 2) for performing a fire protection action. According to the invention, the fire protection robot comprises a communication unit (11) for receiving an instruction signal that represents a target site, and a control unit (10), which is configured to navigate the fire protection robot (1, 2), preferably autonomously, based on the instruction signal, along a navigation path to the target site, wherein the control unit (10) is further configured to detect at least one door (3) along the navigation path and to autonomously open the at least one door (3) in response to the detection.

Claims

1. A fire protection robot for performing a fire protection action, comprising: a communication unit for receiving an instruction signal that represents a target site; and a control unit configured to navigate the fire protection robot, based on the instruction signal, along a navigation path to the target site; wherein the control unit is further configured to detect at least one door along the navigation path and in response to the detecting, to autonomously open the at least one door.

2. The fire protection robot according to claim 1, further comprising: a navigation sensor unit that is configured to detect at least one environmental parameter of an environment of the fire protection robot along the navigation path and transmit it to the control unit; wherein the control unit is configured to detect the at least one door along the navigation path based on the environmental parameter.

3. The fire protection robot according to claim 2, whereby the control unit is configured to generate a door opening signal for opening the at least one door.

4. The fire protection robot according to claim 3, wherein the instruction signal further represents one or more door opening data, and wherein the control unit is configured to generate the door opening signal based on the one or more door opening data.

5. The fire protection robot according to claim 3, wherein the control unit is configured to transmit the door opening signal to a control device, along the navigation path.

6. The fire protection robot according to claim 4, further comprising: a key unit that is configured to provide a key signal that represents a key code for opening the at least one door.

7. The fire protection robot according to claim 6, further comprising: a movable arm unit, on an end of which the key unit is arranged, wherein the control unit is configured to move the arm unit from a standby position into at least one door opening position, and wherein the key unit is configured to open the at least one door in the door opening position.

8. The fire protection robot according to claim 6, wherein the key unit is configured to generate the key signal based on the instruction signal and/or the door opening signal.

9. The fire protection robot according to claim 6, wherein the key unit is configured as an RFID transceiver, which, upon being activated, provides a radio key signal; and/or wherein the key unit is configured as an optical signal output unit, which, upon being activated, provides an optical key signal.

10. The fire protection robot according to claim 7, wherein the movable arm unit comprises at least one key holder for detachably arranging at least one key thereon.

11. The fire protection robot according to claim 1, further comprising: a movable gripper unit, wherein the control unit is configured to move the movable gripper unit from a non-actuating position into an actuating position; and wherein the movable gripper unit is configured, in the actuating position, to actuate a door opening element of the at least one door.

12. The fire protection robot according to claim 1, wherein the fire protection robot is configured to initiate the fire protection action upon reaching the target site.

13. The fire protection robot according to claim 12, further comprising: a fire sensor unit that is configured to detect at least one fire indicator at the target site and to initiate the fire protection action in response to the detection of the at least one fire indicator.

14. The fire protection robot according to claim 12, further comprising: an extinguishing device that is configured to initiate a fire extinguishing action as part of the fire protection action.

15. The fire protection robot according to claim 1, wherein the fire protection robot is configured as at least one of: a land vehicle, a robot vehicle, an airborne vehicle, or a drone.

16. A fire protection system, comprising a fire protection robot according to claim 1 and a central device; wherein the communication unit of the fire protection robot receives the instruction signal from a central communication unit of the central device.

17. The fire protection system according to claim 16, further comprising: a plurality of fire alarms, wherein each of the plurality of fire alarms is configured to transmit a fire alarm signal to the central device and/or to the fire protection robot.

18. The fire protection system according to claim 17, wherein the instruction signal is generated based on the fire alarm signal.

19. A method for operating a fire protection robot, comprising the following steps: a) receiving an instruction signal that represents a target site by a communication unit of the fire protection robot; b) autonomously navigating the fire protection robot by a control unit along a navigation path to the target site; c) detecting at least one door along the navigation path, and d) autonomously opening the at least one door in response to the detecting the at least one door.

20. The method according to claim 19, wherein step d) further comprises: providing a door opening signal and/or a key signal for autonomous opening of the at least one door.

21. The method according to claim 19, further comprising the following step: e) initiating at least one fire protection action at the target site.

22. The method according to claim 21, wherein the at least one fire protection action is initiated at the target site in response to detection of at least one fire indicator at the target site.

23. The method according to claim 21, wherein the initiating of the at least one fire protection action comprises an initiating of a fire extinguishing action.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The invention is described in more detail below in reference to the attached figures, based on preferred embodiments. The figures show:

[0084] FIG. 1 is a schematic depiction of a fire protection robot for performing a fire protection action according to a first preferred embodiment,

[0085] FIG. 2 is a schematic depiction of a fire protection robot for performing a fire protection action according to a second preferred embodiment,

[0086] FIG. 3 is a schematic depiction of a fire protection robot for performing a fire protection action according to a third preferred embodiment,

[0087] FIG. 4A is a schematic depiction of a fire protection robot for performing a fire protection action that comprises a rescue action,

[0088] FIG. 4B is a schematic depiction of a fire protection robot for performing a fire protection action that comprises a fire extinguishing action,

[0089] FIG. 5 is a schematic depiction of a fire protection system comprising a fire protection robot and a plurality of fire alarms in a first preferred embodiment,

[0090] FIG. 6 is a schematic depiction of a fire protection system comprising a fire protection robot and a plurality of fire alarms in a second preferred embodiment, and

[0091] FIG. 7 is a schematic depiction of a fire protection robot for performing a fire protection action according to another preferred embodiment.

MODE(S) FOR CARRYING OUT THE INVENTION

[0092] FIG. 1 shows a fire protection robot 1 according to the invention for performing a fire protection action in a first preferred embodiment.

[0093] In this embodiment, the fire protection robot 1 is implemented as a land vehicle. In particular, the fire protection robot 1 comprises a drive unit that is implemented as a running gear 90. The fire protection robot 1 further comprises a control unit 10, a communication unit 11, a transmitter 12, a navigation sensor unit 30 and a fire sensor unit 60.

[0094] After receiving, via the communication unit 11, an instruction signal that specifies a target site, the fire protection robot 1 is moved by means of the running gear 90 along the navigation path to the target site 200. During the navigation along the navigation path, the fire protection robot 1 uses the navigation sensor unit 30 in order to detect at least one environmental parameter of the environment along the navigation path.

[0095] In the example of FIG. 1, the navigation sensor unit 30 detects in particular at least one environmental parameter that indicates an obstacle in the form of the door 3. These environmental parameters may further specify the height and width of the door 3. The environmental parameters are transmitted from the navigation sensor unit 30 to the control unit 10. The control unit 10 detects the door 3 based on the environmental parameters and causes the fire protection robot 1 to autonomously open the door 3.

[0096] To this end, the control unit 10 is further configured to generate a door opening signal based on the instruction signal. The instruction signal represents one or more door opening data, in particular one or more door opening codes, that the control unit 10 uses to generate a corresponding door opening signal.

[0097] The door 3 comprises a corresponding door opening element 301 that is implemented as a radio signal receiver for receiving the door opening signal. To open the door, the transmitter 12 of the fire protection robot 1 transmits the door opening signal to the door opening element 301. If the door opening signal represents a door opening code that makes it possible to open the door 3, the door 3 is opened by the door opening element 301 in response to receiving the door opening signal, and the fire protection robot 1 may reach the target site 200 through the opened door 3.

[0098] At the target site 200, the fire protection robot 1 may then use the fire sensor unit 60 to detect at least one fire indicator and, in response to the detection, initiate a corresponding fire protection action, such as an extinguishing action.

[0099] FIG. 2 shows a fire protection robot 1 for performing a fire protection action in a second preferred embodiment of the invention.

[0100] The fire protection robot 1 according to FIG. 2 is also implemented as a land vehicle and comprises accordingly a drive unit that is implemented as a running gear 90. Further analogous to the fire protection robot 1 from FIG. 1, the fire protection robot according to FIG. 2 also comprises a control unit 10, a communication unit 11, a transmitter 12, a navigation sensor unit 30 and a fire sensor unit 60. The functioning of these elements of the fire protection robot 1 from FIG. 2 is the same as for the corresponding elements of the fire protection robot 1 from FIG. 1 and is therefore not explained below in more detail.

[0101] The fire protection robot 1 additionally comprises a movable arm unit 20, on the end of which facing away from the body of the fire protection robot 1, a key unit 40 is arranged, which further comprises a key holder 21.

[0102] As described in connection with FIG. 1, the navigation sensor unit 30 detects at least one environmental parameter that indicates the door 3. This at least one environmental parameter is then transmitted by the navigation sensor unit 30 to the control unit 10, which detects the door 3 based on the at least one environmental parameter, and in response to the detection, initiates an autonomous door opening action. For this door opening action, the control unit 10 generates a door opening signal based on the instruction signal and transmits the door opening signal to the key unit 40.

[0103] In the example of FIG. 2, the door opening signal comprises one or more key codes. The key unit 40 is configured to read these key codes from the door opening signal and to generate a key signal based on the door opening signal. The key signal represents the key code for opening the door 3. In the embodiment from FIG. 2, the key unit 40 comprises a screen for displaying a barcode. Here the key signal thus represents the barcode as the key code.

[0104] The door 3 comprises a corresponding door opening element 302, which is implemented as a barcode reader device. Once the door 3 is detected and a door opening action is initiated, the control unit 10 causes the movable arm unit 20 to move from a standby position, in which the movable arm unit 20 is arranged close to the body of the fire protection robot 1, into a door opening position. In FIG. 2, the movable arm unit 20 is in the door opening position. This door opening position is, in particular, a position that orients the key unit such that the door opening element 302 may read the barcode displayed on the screen of the key unit 40.

[0105] If the key code transmitted by the key signal matches the key code expected by the door opening element 302, the reading of the code effects an unlocking and opening of the door 3. The fire protection robot 1 may reach the target site 200 through the opened door and there initiate a fire protection action.

[0106] FIG. 3 shows a fire protection robot 1 in a third preferred embodiment of the invention.

[0107] The fire protection robot 1 in FIG. 3 is largely analogous to the fire protection robot 1 from FIG. 1 and the fire protection robot 1 from FIG. 2, and it therefore also works in the above-described manner. In contrast to the embodiment from FIGS. 1 and 2, the fire protection robot 1 further comprises a movable gripper unit 50 on which a gripper element 51 is arranged at the end of the gripper unit 50 facing away from the body of the fire protection robot 1. Aside from a door opening element 301 that is implemented as a radio receiver, the door 3 in FIG. 3 also comprises a door opening element 303 in the form of a doorknob 303 that has to be mechanically actuated. In the example of FIG. 3, the door opening action therefore comprises a mechanical opening of the door 3 by means of the doorknob.

[0108] In response to the detection of the door 3 by means of the navigation sensor unit 30, as described in connection with FIG. 1, the gripper unit 50 moves from a non-actuating position, in which the gripper unit 50 is arranged close to the body of the fire protection robot 1, into an actuating position. The actuating position is, in particular, a position in which the gripper element 51 of the gripper unit 50 is positioned such that the gripper element 51 may grip the doorknob 303 and then actuate it, by means of a rotational motion, for example. The door is opened by this mechanical actuation of the doorknob 303 and the fire protection robot 1 may reach the target site 200 in order to perform a fire protection action there.

[0109] In some embodiments, in addition to the gripper unit 50, the fire protection robot 1 may comprise a key unit 40 that is arranged on a movable arm unit 20 and/or a transmitter 12 for transmitting a door opening signal and/or a key signal. The movable arm unit 20 and the gripper unit 50 may be implemented separately. Alternatively, the gripper unit 50 may also be integrated into the movable arm unit 20. In this case, the gripper element 51 may especially be arranged on an end of the movable arm unit facing away from the body of the fire protection robot 1. For example, in this embodiment, the door 3 may be unlocked by a transmission of a key signal that represents a key code and may then be mechanically opened by means of the gripper element 51. This increases the safety of the closing procedure.

[0110] FIGS. 4A and 4B each show in a schematic manner a fire protection robot 1 performing a fire protection action. In FIG. 4A this fire protection action especially comprises a rescue action of a person, which rescue action comprises a transport removing this person from the hazard zone of the fire. To perform this rescue action, the fire protection robot 1 comprises a transport device 70 upon which the person may place themselves for transport away.

[0111] In the example of FIG. 4A, upon arrival at the target site 200, the fire protection robot 1 verifies the fire event by means of the fire sensor unit 60 by determining one or more fire indicators. Further the fire protection robot 1 uses the navigation sensor unit 30 to detect the environment of the fire. Here the environmental parameters detected by the navigation sensor unit 30 may indicate that at least one person is in the environment of the fire and must be rescued from there.

[0112] In response to detecting the at least one person, the fire protection robot 1 preferably initiates a fire protection action that comprises a rescue action. The rescue action may be initiated directly. Alternatively, the fire protection robot 1 may interrupt a previously initiated fire extinguishing action in order to first rescue present persons.

[0113] As such, the fire protection robot 1 moves in the direction of the at least one person and arranges for that person to put on an oxygen mask. The fire protection robot 1 then preferably positions itself such that the person may step onto the transport device 70. While doing so, the fire protection robot 1 may use the environmental parameters to orient itself relative to the person to be rescued such that the person may directly step onto the transport device 70. Preferably, the person indicates, by pressing a button, for example, that they are now on the transport device 70. In some embodiments, the transport device comprises detection means, such as weight sensors, that verify the presence of a person on the transport device 70. In response to the verification that the person is on the transport device 70, the fire protection robot searches for a possible exit and transports the person through it out of the hazard zone of the fire. In doing so, the fire protection robot may determine a safest possible path based on the fire indicators detected by the fire sensor unit and the environmental parameters detected by the navigation sensor unit.

[0114] In the example of FIG. 4B, the fire protection action that is initiated at the target site 200 is a fire extinguishing action. To this end, the fire protection robot 1 especially comprises a fire fighting apparatus 80, which in the present case is implemented as an extinguishing device. The fire fighting apparatus 80 comprises an extinguishing agent tank 81, an extinguishing agent line 82 and an extinguishing agent outlet 83 in the form of a nozzle for applying the extinguishing agent to the fire. This means that in the embodiment of FIG. 4B, the extinguishing device 80 is completely arranged on the fire protection robot 1. In other embodiments, however, the extinguishing agent tank may be separately provided.

[0115] For navigation to the target site 200, the fire fighting apparatus 80, especially the extinguishing agent outlet 83 located on the front of the fire protection robot 1, may be arranged close to the body of the fire protection robot. In the embodiment of FIG. 4B, during navigation to the target site 200, the extinguishing agent outlet may be arranged on the body in an analogous manner to the movable arm unit 20. This keeps the fire protection robot 1 very compact, which makes navigation easier.

[0116] Upon reaching the target site 200, the fire protection robot 1 initiates a fire extinguishing action. To do so, preferably the fire protection robot 1 first detects the fire indicators by means of the fire sensor unit and thereby verifies the fire. After the fire is verified and its position determined, the fire protection robot 1 initiates the fire extinguishing action. The extinguishing agent outlet 83 of the fire fighting apparatus 80 is therefore oriented away from the body of the fire protection robot 1 in the direction of the fire, such that extinguishing agent may reach the fire. In particular, the fire extinguishing action may be controlled by the control unit 10 of the fire protection robot 1.

[0117] In some embodiments, the fire protection robot 1 may be configured for both a rescue action as well as a fire extinguishing action, and therefore may represent a combination of what is shown in FIGS. 4A and 4B. In this case, the fire protection robot 1 may first cause the person being rescued to move onto the transport device 70 and put on an oxygen mask, and then use the fire fighting apparatus 80 to detect and fight smaller fires around the fire protection robot 1. This increases the chance of rescuing the person uninjured.

[0118] FIG. 5 schematically shows a fire protection system 1000 comprising one or more fire protection robots 1 as described in connection with FIGS. 1 to 3 and a plurality of fire alarms 401, 402, 403, 404. Although only 4 fire alarms 401, 402, 403, 404 are shown in the schematic depiction in FIG. 5, the fire protection system 1000 may comprise more than four, in particular more than 10, in particular more than 50 fire alarms 401, 402, 403, 404. The number of the fire alarms 401, 402, 403, 404 may vary depending on the size of the building and/or the number of rooms in which the fire alarms 401, 402, 403, 404 are installed. There are fire protection systems with several hundred fire alarms 401, 402, 403, 404. The fire protection system may further comprise multiple fire protection robots 1, although only one fire protection robot 1 is shown in FIG. 5.

[0119] In the embodiment of FIG. 5, the fire alarms 401, 402, 403, 404 communicate directly with the communication unit 11 of the fire protection robot 1. Here it is preferable for each of the fire alarms 401, 402, 403, 404 to be equipped with a corresponding transmitter for transmitting a fire alarm signal to the communication unit 11 of the fire protection robot 1.

[0120] In FIG. 5, the fire protection robot 1 receives, for example, a fire alarm signal from the fire alarm 401 of the plurality of fire alarms. The communication unit 11 of the fire protection robot 1 receives the fire alarm signal and generates an instruction signal based on the fire alarm signal. Here it is preferred that the fire alarm signal comprises an indication for identifying the reporting fire alarm. Alternatively, the identification may also occur by means of a separate signal transmitted by the fire alarm 401 to the communication unit 11. The identification of the fire alarm 401 enables a determination of its (geographical) position within the fire protection system. This determination may be used to determine the target site, i.e. the site of the (potential) fire event. This target site is inserted into the instruction signal during the generation of the instruction signal.

[0121] After generating the instruction signal that represents the target site, the former is transmitted to the control unit 10. The control unit 10 uses the target site specification in the instruction signal in order to determine a navigation path to the target site 200. After a navigation path to the target site 200 has been determined, the control unit 10 navigates the fire protection robot 1 along the predetermined navigation path from the start site to the target site 200. If there are obstacles on the path, the fire protection robot 1 may respond to them autonomously. For instance, the fire protection robot 1 may open the doors 3 located along the navigation path or drive around obstacles. If a door 3 cannot be opened or an obstacle cannot be driven around, the control unit 10 is preferably configured to determine a new or updated navigation path that avoids the obstacles that cannot be surmounted. This enables autonomous navigation of the fire protection robot 1 to the target site 200 and simultaneously an equally autonomous initiation of a necessary fire protection action.

[0122] FIG. 6 shows a schematic depiction of a fire protection system 1000 corresponding to a second embodiment of the invention. In this embodiment as well, the fire protection system 1000 comprises one or more fire protection robots 1 and a plurality of fire alarms 401, 402, 403, 404. The fire protection system further comprises a central device 4, which is implemented as a fire alarm center in the embodiment in FIG. 6.

[0123] The functioning of the fire alarms 401, 402, 403, 404 from FIG. 6 largely corresponds to the functioning from FIG. 5. However, the fire alarms 401, 402, 403, 404 do not communicate directly with the fire protection robot 1, but rather with the central device 4, which in turn is then in communicative connection with the at least one fire protection robot 1.

[0124] In the example of FIG. 6, therefore, the fire alarm 401 transmits a fire alarm signal to the central device 4. In particular, the fire alarm signal contains an indication for identifying the reporting fire alarm 401. Alternatively, the fire alarm 401 may also be identified by a separate signal.

[0125] The central device 4 receives the fire alarm signal and generates an instruction signal based on the fire alarm signal. The central device determines the target site 200 by identifying the reporting fire alarm 401 based on its position. The central device 4 inserts a target site identification into the instruction signal and then transmits the instruction signal to the communication unit 11 of the at least one fire protection robot 1. In response to the instruction signal, the control unit 10 of the fire protection robot 1 determines a navigation path to the target site 200 and navigates the fire protection robot 1 accordingly in the direction of the target site 200, wherein it opens doors located on the navigation path as described above. At the target site, the fire protection robot may then initiate a fire protection action.

[0126] FIG. 7 shows a schematic depiction of a fire protection robot 2 according to another preferred embodiment. In this embodiment, the fire protection robot 2 is implemented as an airborne vehicle. To this end, the fire protection robot 2 comprises a drive unit that is implemented as a propeller 100. The drive unit enables a movement along the horizontal as well as the vertical plane. FIG. 7 only shows the drive unit schematically, whereby not all propellers of the drive unit are illustrated.

[0127] The fire protection robot 2 from FIG. 7 works analogously to the fire protection robot 1 from FIGS. 1 to 6. This means the fire protection robot 2 also comprises a control unit 10 and a communication unit 11 for receiving an instruction signal (from the fire alarms 401, 402, 403, 404 and/or the central device 4 and/or from a user input). Based on the instruction signal, the control unit 10 determines a navigation path to the target site 200. Since the fire protection robot 2 is implemented as an airborne vehicle, the navigation path may look different than a navigation path for a land vehicle. This means that in determining the navigation path, the control unit 10 takes into account whether the fire protection robot 2 is a land or airborne vehicle or a combined vehicle.

[0128] The control unit 10 is further configured to navigate the fire protection robot 2 along the determined navigation path. If doors to be opened are along the navigation path, they may be detected by the control unit 10. In response to the detection, the control unit 10 then initiates a door opening action. Here the door may be opened in particular by means of the movable arm unit 20, into which a gripper unit 50 is integrated and/or on which a key unit 40 is arranged, as described in connection with FIGS. 2 and 3. The fire protection robot 2 also further comprises at least one transmitter 12 for transmitting a door opening signal and/or a key signal to a corresponding receiver, such as a door 3 and/or a building control apparatus.

LIST OF UTILIZED REFERENCE NUMBERS

[0129] Fire protection robot 1, 2 [0130] Door 3 [0131] Door opening element 301, 302, 303 [0132] Control unit 10 [0133] Communication unit 11 [0134] Transmitter 12 [0135] Movable arm unit 20 [0136] Key holder 21 [0137] Navigation sensor unit 30 [0138] Key unit 40 [0139] Movable gripper unit 50 [0140] Gripper element 51 [0141] Fire sensor unit 60 [0142] Transport device 70 [0143] Fire fighting apparatus 80 [0144] Extinguishing agent tank 81 [0145] Extinguishing agent line 82 [0146] Extinguishing agent outlet 83 [0147] Running gear 90 [0148] Propeller 100 [0149] Central device 4 [0150] Fire alarm 401, 402, 403, 404 [0151] Target site 200