Extinguishing Robot

Abstract

The invention pertains to an unmanned vehicle for initiating a fire extinguishing action, with the vehicle having a navigation control unit, which is designed to navigate the vehicle along a fire deployment route and/or monitoring route inside and/or outside of a building or facility, and with the vehicle being equipped with one or more of monitoring sensors in order to capture physical and/or chemical parameters or data or images in the vehicle environment by means of the monitoring sensors during a monitoring trip, wherein at least one or more of the parameters listed below can be captured: temperature volume, acoustic signals light and/or optical signals and/or images air composition vibrations electromagnetic field/interferences electromagnetic radiation, preferably infrared radiation.

Claims

1. An unmanned vehicle for initiating a fire extinguishing action, wherein the vehicle comprises a navigation control unit, which is designed for navigating the vehicle along a fire deployment route and/or monitoring route inside and/or outside of a building or facility, wherein the vehicle is equipped with one or more monitoring sensors in order to detect physical and/or chemical parameters or data or images in the vehicle environment by the monitoring sensors during a monitoring trip, and wherein at least one or more of the following parameters can be detected: temperature, volume, acoustic signals, light and/or optical signals and/or images, air composition, vibrations, electromagnetic field/interferences, electromagnetic radiation and infrared radiation.

2. The unmanned vehicle for initiating a fire extinguishing action according to claim 1, wherein one of the monitoring sensors is realized in the form of a camera system, by which the vehicle makes video/image recordings around the vehicle, along the monitoring route during a monitoring trip over the area to be protected, wherein the video/image recordings made by the camera system can be stored in a memory and/or transmitted to a monitoring center or receiving unit including a smartphone or tablet.

3. The unmanned vehicle according to claim 2, wherein the vehicle detects obstacles along the monitoring route during a monitoring trip and can circumnavigate these obstacles, wherein the alternative route during an obstacle avoidance maneuver is also stored in a data/route memory and the stored alternative route is used for calculating an updated monitoring route and/or an updated fire deployment route, and wherein the updated monitoring route is used for the navigation during the next monitoring trip and the updated fire deployment route is used for the navigation during the next fire deployment trip of the vehicle.

4. The unmanned vehicle according to claim 1, wherein the vehicle makes during a monitoring trip recordings at predefined locations by the monitoring sensors, and wherein these recordings are transmitted to a monitoring center or receiving unit including a smartphone or tablet.

5. The unmanned vehicle according to claim 1, wherein the vehicle activates a monitoring thread at predefined times including: at night, on weekends and holidays or when the operation of the facility, in which the unmanned vehicle is used, is shut down or when no or only a few persons are present at the facility.

6. The unmanned vehicle according to claim 1, wherein the vehicle comprises acoustic reproduction means including at least one of loudspeakers, beepers, or alarm sirens by which the unmanned vehicle can autonomously draw attention to itself acoustically during a monitoring trip or generate acoustic signals by monitoring personnel via remote control.

7. The unmanned vehicle according to claim 1, comprising: a vehicle sensor unit that is designed for detecting a fire parameter of a vehicle monitoring region, a signal receiving unit for receiving an instruction signal, which represents a reference fire status for a fire detector monitoring region of a stationary fire detector and a target location, and a navigation control unit, wherein the vehicle monitoring region sufficiently overlaps with the fire detector monitoring region when the vehicle is at the target location, wherein the navigation control unit is designed for navigating the vehicle to the target location, preferably in an autonomous manner, based on the received instruction signal such that the vehicle monitoring region and the fire detector monitoring region sufficiently overlap, wherein the vehicle is configured for detecting the fire parameter in the form of a verification fire parameter of the fire detector monitoring region by the vehicle sensor unit at the target location, wherein the vehicle is configured for determining the verification fire status by evaluating the verification fire parameter, wherein the vehicle is configured for determining the reference fire status in the form of a verified reference fire status if the reference fire status and the verification fire status at least sufficiently match, and wherein the vehicle is designed and/or configured for initiating a fire extinguishing action if the reference fire status was determined in the form of a verified reference fire status.

8. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0185] Other characteristics, advantages and potential applications of the present invention can be gathered from the following description of exemplary embodiments and the figures. In this case, all described and/or graphically illustrated characteristics form the object of the invention individually and in any combination. Identical or similar objects are furthermore identified by the same reference symbols in the figures.

[0186] FIG. 1 shows a first embodiment of the vehicle and the system in the form of a schematic representation.

[0187] FIG. 2 shows a time sequence of the reference fire parameter in the form of a schematic representation.

[0188] FIG. 3 shows a time sequence of the reference fire status in the form of a schematic representation.

[0189] FIG. 4 shows a schematic representation of an image.

[0190] FIG. 5 shows a second embodiment of the vehicle and the system in the form of a schematic representation.

[0191] FIG. 6 shows a third embodiment of the vehicle and the system in the form of a schematic representation.

[0192] FIG. 7 shows a time sequence of the verification fire parameter in the form of a schematic representation.

[0193] FIG. 8 shows a time sequence of the verification fire status in the form of a schematic representation.

[0194] FIG. 9 shows a fourth embodiment of the vehicle and the system in the form of a schematic representation.

[0195] FIG. 10 shows a fifth embodiment of the vehicle and the system in the form of a schematic representation.

[0196] FIG. 11 shows a sixth embodiment of the vehicle and the system in the form of a schematic representation.

[0197] FIG. 12 shows a seventh embodiment of the vehicle and the system in the form of a schematic representation.

[0198] FIG. 13 shows an eighth embodiment of the vehicle and the system in the form of a schematic representation.

[0199] FIG. 14 shows a ninth embodiment of the vehicle and the system in the form of a schematic representation.

[0200] FIG. 15 shows a tenth embodiment of the vehicle and the system in the form of a schematic representation.

[0201] FIG. 16 shows an eleventh embodiment of the vehicle and the system in the form of a schematic representation.

[0202] FIG. 17 shows a twelfth embodiment of the vehicle and the system in the form of a schematic representation.

[0203] FIG. 18 shows a thirteenth embodiment of the vehicle and the system in the form of a schematic representation.

[0204] FIG. 19 shows a flow chart of steps of an embodiment of the method in the form of a schematic representation.

[0205] FIG. 20 shows a flow chart of steps of another embodiment of the method in the form of a schematic representation.

[0206] FIG. 21 shows the third embodiment of the vehicle and the system with modified signal link in the form of a schematic representation.

MODE(S) FOR CARRYING OUT THE INVENTION

[0207] FIG. 1 schematically shows an unmanned vehicle 2. The unmanned vehicle 2 is also simply referred to as vehicle 2. In this exemplary embodiment, the unmanned vehicle 2 respectively serves for extinguishing fires or for initiating a fire extinguishing action. FIG. 1 furthermore shows a system 20 that likewise serves for extinguishing fires. The system 20 comprises a stationary fire detector 14, a central unit 22 and the unmanned vehicle 2.

[0208] In order to avoid repetitions, the unmanned vehicle 2 is described below in connection with the system 20. Although correlations between the unmanned vehicle and other parts of the system 20 are described, it should be noted that corresponding embodiments, advantageous characteristics, effects and/or advantages of the unmanned vehicle 2 also apply analogously and separately to the unmanned vehicle 2. Consequently, it should at this point already be noted that the advantageous embodiments, preferred characteristics, effects and/or advantages described below apply analogously to the unmanned vehicle 2, namely even if this vehicle does not form part of the system 20.

[0209] FIG. 1 schematically shows a stationary fire detector 14 that may be installed, for example, in a building 30. The stationary fire detector 14 is also simply referred as fire detector 14. For example, the fire detector 14 may be arranged on a ceiling 32 of a room 34 of the building 30.

[0210] The fire detector 14 may be realized, for example, in the form of a fire gas detector, a smoke detector or a flame detector. Other embodiments of the fire detector 14 are known from the prior art and also form potential embodiments of the fire detector 14. Since the fire detector 14 is permanently installed on the ceiling 32 of the building 30, the fire detector 14 is immovable and therefore realized in the form of a stationary fire detector 14.

[0211] The fire detector 14 monitors part of the room 34, namely the fire detector monitoring region 12. The fire detector monitoring region 12 may therefore be assigned to the fire detector 14. The fire detector 14 serves for detecting a fire, a preliminary fire stage and/or a smoldering fire. This is achieved in that the fire detector 14 comprises a sensor unit that is referred to as fire detector sensor unit 28. The fire detector sensor unit 28 is designed for detecting a reference fire parameter KR of the fire detector monitoring region 12. If the fire detector 14 is realized in the form of a fire gas detector, for example, the corresponding fire detector sensor unit 28 may be designed for detecting a smoke concentration and/or for detecting a concentration of at least one predefined gas. The predefined gas may be a gas that is produced during a combustion, particularly CO2 and/or CO. In this case, the smoke concentration or the concentration of the predefined gas forms the reference parameter KR that can be detected by the fire detector sensor unit 28. The term detection may basically refer to a direct or indirect detection.

[0212] In addition, the fire detector 14 is designed for determining a reference fire status ZR by evaluating the reference fire parameter KR. To this end, the fire detector 14 may comprise an evaluation unit. The evaluation unit is preferably designed for evaluating the reference fire parameter KR. In addition, the evaluation unit is preferably designed for determining the reference fire status ZR based on the result of the evaluation. For example, a reference fire status ZR represents a fire, a preliminary fire stage and/or a smoldering fire. A fire, a preliminary fire stage and/or a smoldering fire frequently produces characteristic gases such as CO, which can be measured, for example, by the fire detector sensor unit 28.

[0213] FIG. 2 schematically shows an exemplary value pattern of the reference fire parameter KR as a function of the time t. At least one threshold value WS1, preferably a plurality of threshold values WS1, WS2, WS3, may be stored in the fire detector 14, preferably in the corresponding evaluation unit. These threshold values WS1, WS2, WS3 may be threshold values for the reference fire parameter KR, preferably for a gas concentration measured by the fire detector sensor unit 28. If a reference fire parameter KR detected by means of the fire detector sensor unit 28, particularly a corresponding smoke concentration, exceeds a first threshold value WS1, this may be characteristic, for example, for a smoldering fire. FIG. 3 shows an exemplary status development of the reference fire status ZR as a function of the time t and corresponds to the value pattern of the reference fire parameter KR, which is schematically illustrated in FIG. 2. If the detected reference fire parameter KR reaches and/or exceeds the threshold value WS1, a reference fire status ZR1 corresponding, for example, to a smoldering fire can be determined based thereon. If a higher reference fire parameter KR, particularly a higher smoke concentration, is detected, for example, the reference fire parameter KR or the smoke concentration may respectively reach and/or exceed another threshold value WS2, which is characteristic for a preliminary fire stage, such that a corresponding reference fire status ZR2 can be determined. If the detected reference fire parameter KR reaches and/or exceeds the next threshold value WS3, a reference fire status ZR3 corresponding, for example, to a fire 4 can be determined based thereon. Consequently, the evaluation unit of the fire detector 14 is preferably designed for determining a reference fire status ZR based on the detected reference fire parameter KR and preferably based on at least one threshold value WS1, WS2, WS3.

[0214] The system 20 also comprises a central unit 22. The central unit 22 preferably forms part of a (not-shown) fire alarm system, which may also be referred to as fire alarm facility. The central unit 22 may alternatively or additionally be realized in the form of a central fire alarm system or at least form part of a central fire alarm system. Furthermore, the central unit 22 may be or form at least part of a (not-shown) control center unit. As a mere example, it is in the following description assumed that the central unit 22 is a central fire alarm system without thereby limiting the general inventive concept to this example. For the sake of completeness, it should also be noted that the central unit 22 in the form of a central fire alarm system may be at least partially realized together with a central extinguishing control system 64. For example, a central fire alarm system and a central extinguishing control system 64 may be at least partially realized in the form of a common unit.

[0215] The stationary fire detector 14 is connected to the central unit 22 by means of a signal line 36. Consequently, a signal link is established between the stationary fire detector 14 and the central unit 22. The stationary fire detector 14 comprises a signal transmitting unit 38 in order to transmit a signal from the stationary fire detector 14 to the central unit 22. The signal transmitting unit 38 of the fire detector 14 is connected to the signal line 36. The central unit 22 comprises a signal receiving unit 40. The signal receiving unit 40 of the central unit 22 is likewise connected to the signal line 36. The signal line 36 may therefore extend from the signal transmitting unit 38 of the fire detector 14 to the signal receiving unit 40 of the central unit 22. In this way, a fire detector signal SB can be transmitted from the fire detector 14 to the central unit 22. The fire detector 14 is therefore designed for transmitting the fire detector signal SB, which represents the reference fire status ZR, to the central unit 22. The reference fire status ZR or information thereon can be respectively made available to the central unit 22 by transmitting the fire detector signal SB from the fire detector 14 to the central unit 22.

[0216] If a reference fire status ZR corresponding to a fire was determined by means of the fire detector 14 and a fire detector signal SB, which represents the corresponding reference fire status ZR, was transmitted to the central unit 22 by means of the fire detector 14, it was in the prior art frequently not completely clear whether a fire 4 or, if applicable, a preliminary fire stage and/or a smoldering fire actually exists in the fire detector monitoring region 12. In fact, deceptive variables and/or unforeseen circumstances may cause the fire detector 14 to determine a reference fire status ZR that corresponds to a fire 4 although no actual fire 4 exists in the fire detector monitoring region 12. The more frequently such deceptive variables and/or unforeseen circumstances occur and lead to the aforementioned result, the greater the risk of a reference fire status ZR, which corresponds to an actual fire 4, not being perceived and/or interpreted with the required seriousness by emergency personnel for extinguishing a fire 4. However, this entails serious endangerment because property damages and/or personal injuries, which increase exponentially over time, can only be effectively prevented in the fire detector monitoring region 12 of the room 34 by means of an immediate and prompt fire extinguishing action. It is therefore very important to confirm and/or verify the reference fire status ZR as promptly and as early as possible. When a fire detector signal SB representing the reference fire status ZR is transmitted from the fire detector 14 to the central unit 22, a person is frequently dispatched to the fire detector 14 or the fire detector monitoring region 12 in practical applications in order to confirm whether a fire 4 or preliminary fire stage and/or smoldering fire corresponding to the reference fire status ZR actually exists. The fire can develop further in the time between the transmission of the fire detector signal SB from the fire detector 14 to the central unit 22 and the arrival of the person in the room 34 or at the fire detector monitoring region 12, respectively. For example, a smoldering fire may already have developed into an actual fire 4 with light phenomenon. The risk of property damages and/or personal injuries therefore increases accordingly. Once the person has arrived in order to inspect the fire detector monitoring region 12 for a potential fire or a preliminary fire stage and/or a smoldering fire, the person can provide corresponding feedback such that the reference fire status ZR can be confirmed or not confirmed. In light of the aforementioned circumstances, the invention proposes a system 20 that can prevent or at least reduce a potential risk of property damages and/or personal injuries to the greatest extent possible.

[0217] The inventive unmanned vehicle 2 and/or the inventive system 20 should therefore make it possible to automatically verify the reference fire status ZR in order to thereby determine, if applicable, a verified reference fire status ZVR. In addition, the vehicle 2 should be capable of initiating a fire extinguishing action if the reference fire status ZR was determined in the form of a verified reference fire status ZVR.

[0218] The central unit is therefore configured and/or designed for transmitting an instruction signal SI to the vehicle 2. However, the instruction signal SI is only transmitted if the fire detector signal SB transmitted by the fire detector 14 represents a reference fire status ZR that requires verification. In principle, all reference fire statuses ZR may require verification. In this case, the instruction signal SI is transmitted to the vehicle 2 once the central unit 22 receives the fire detector signal SB from different detector 14. However, it can occur that not all reference fire statuses ZR require verification. A corresponding reference fire status ZR may not require verification if the reference fire status ZR corresponds, for example, to a preliminary fire stage.

[0219] The central unit 22 and the vehicle 2 are connected to one another by means of a signal link 42. The signal link 42 is preferably realized in the form of a wireless signal link. In this case, the central unit 22 comprises a signal transmitting unit 44, which is preferably realized in the form of a wireless signal transmitting unit. In this way, the instruction signal SI can be transmitted to the vehicle 2 by means of the signal transmitting unit 44. The vehicle 2 comprises a signal receiving unit 10, which is preferably realized in the form of a wireless signal receiving unit, in order to receive the instruction signal SI. In this case, it is not necessary to directly transmit the instruction signal SI from the signal transmitting unit 44 of the central unit 22 to the signal receiving unit 10 of the vehicle 2. For example, at least one (not-shown) transmitter may be provided, wherein said transmitter is designed for signal transduction and serves for transmitting the instruction signal SI from the central unit 22 or the corresponding signal transmitting unit 44 onward to the signal receiving unit 10 of the vehicle 2.

[0220] The vehicle 2 comprises a sensor unit that is referred to as vehicle sensor unit 6. The vehicle sensor unit 6 is designed for detecting a fire parameter KF of a vehicle monitoring region 8. With respect to the fire parameter KF, we refer analogously to the preceding explanations of the reference fire parameter KR. However, the vehicle sensor unit 6 serves for detecting the fire parameter KF of the vehicle monitoring region 8. The vehicle monitoring region 8 may therefore be assigned to the vehicle sensor unit 6. In other words, the vehicle monitoring region 8 may be assigned to the vehicle sensor unit 6 in a fixed manner. When the vehicle 2 and/or the vehicle sensor unit 6 are in motion, a corresponding motion of the vehicle monitoring unit 8 therefore also takes place. In this way, the vehicle sensor unit 6 can detect whether a fire 4, a preliminary fire stage and/or a smoldering fire exists in the vehicle monitoring region 8.

[0221] It proved advantageous if the vehicle sensor unit 6 comprises and/or is realized in the form of a camera, particularly a thermal imaging camera. In this case, the camera may be designed for acquiring an image 82 of the vehicle monitoring region 8, an example of which is schematically illustrated in FIG. 4. If the camera is realized in the form of a thermal imaging camera, the thermal imaging camera may be designed for acquiring a thermal image of the vehicle monitoring region 8. In addition, the vehicle sensor unit 6 may be designed for respectively evaluating the corresponding image or thermal image and for detecting the fire parameter KF of the vehicle monitoring region 8 based on this evaluation.

[0222] If the vehicle sensor unit 6 is realized, for example, in the form of a thermal imaging camera, the vehicle sensor unit 6 may be designed for detecting a temperature, particularly for detecting a mean temperature and/or a maximum temperature. In this case, the temperature, particularly the mean and/or maximum temperature, forms the fire parameter KF that can be detected by the vehicle sensor unit 6. Additionally or alternatively to the camera, the vehicle sensor unit 6 may, in principle, also comprise a smoke detector, a temperature detector, a flame detector and/or a fire gas detector.

[0223] The vehicle 2 should initially verify whether a fire 4 or a preliminary fire stage and/or a smoldering fire actually exist in the fire detector monitoring region 12. The instruction signal SI transmitted from the central unit 22 to the vehicle 2 therefore represents at least one target location 16 for the vehicle 2. Consequently, the target location 16 can be transmitted to the vehicle 2 by means of the instruction signal SI. In this case, the vehicle 2 may be configured and/or designed for respectively navigating to the corresponding target location 16 based on the instruction signal SI or the target location 16 represented by the instruction signal SI. In this context, navigating preferably refers to driving, flying and/or moving. It proved advantageous to design the vehicle 2 for autonomously navigating to the target location 16 based on the instruction signal SI. To this end, the vehicle 2 comprises a navigation control unit 18 that is designed for evaluating the instruction signal SI, as well as for controlling the vehicle 2 based on the instruction signal SI, in order to thereby navigate the vehicle 2 to the target location 16 in a controlled manner.

[0224] In the schematic representation of the system 20 and the vehicle 2 in FIG. 5, the vehicle 2 has driven to the target location 16. According to a synopsis of FIGS. 1 and 2, the vehicle 2 is preferably realized in the form of a land craft. For example, the land craft may comprise tires 46. However, the land craft may also be equipped with different propulsion means such as a chain drive. For example, the land craft may be realized in the form of a robotic vehicle.

[0225] In an advantageous embodiment, a target location 16 for the fire detector 14 and/or for the fire detector monitoring region 12 is stored in the central unit 22. When the central unit 22 receives the fire detector signal SB from the fire detector 14, the central unit 22 can transmit an instruction signal SI, which represents the target location 16 corresponding to the fire detector 14, to the vehicle 2. If the system 20 comprises multiple fire detectors 14 as schematically indicated in FIG. 6, a corresponding target location 16 for each of the fire detectors 14 and/or for each of the corresponding fire detector monitoring regions 12 may be stored in the central unit 22. If a fire detector signal SB is transmitted to the central unit 22 by one of the multiple fire detectors 14, the instruction signal SI transmitted from the central unit 22 to the vehicle 2 may represent the target location 16, which corresponds to the respective fire detector 14 or fire detector monitoring region 12.

[0226] The target location 16 is characterized in that the vehicle monitoring region 8 at least sufficiently overlaps with the fire detector monitoring region 12 when the vehicle 2 is at the target location 16. In other words, the target location 16 is chosen such that an overlap, preferably the sufficient overlap, between the vehicle monitoring region 8 and the fire detector monitoring region 12 is achieved when the vehicle 2 is at the target location 16. It is preferred that the vehicle monitoring region 8 and the fire detector monitoring region 12 sufficiently overlap when at least 20%, at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80% or at least 90% of the fire detector monitoring region 12 overlap with the vehicle monitoring region 8. In this case, the overlap preferably refers to the intersection 48 between the vehicle monitoring region 8 and the fire detector monitoring region 12 (for example, see FIG. 5). In this way, the desired sufficient overlap of the vehicle monitoring region 8 with the fire detector monitoring region 12 is achieved when the vehicle 2 is at the target location 16.

[0227] According to FIG. 6, a separate signal line 36 may be provided for each fire detector 14. Each signal line 36 extends from a corresponding fire detector 14 to the central unit 22. An alternative signal link between the fire detectors 14 and the central unit 22 is illustrated in FIG. 21. In this case, the central unit 22 and the fire detectors 14 are preferably connected in series by means of a single signal line 36, preferably a cable-bound signal line. The signal line 36 may be realized ring line as indicated with the section of the signal line 36 drawn with broken lines. Alternativelyand in this case without the section drawn with broken linesthe signal line 36 may extend from the central unit 22 to the fire detectors 14 in the form of a branch line. If a cable-bound signal link 36 is used for transmitting the fire detector signal SB, the fire detector signal SB may be represented and/or modeled by a current signal and/or a voltage signal. For example, the current intensity and/or the voltage potential may be adapted by the fire detector 14 in order to transmit the fire detector signal SB. If the cable-bound signal link 36 extends from the central unit 22 to the plurality of fire detectors 14 and the fire detectors 14 are connected in series by means of the cable-bound signaling 36, it is frequently impossible to positively identify the fire detector 14, from which the fire detector signal SB or the corresponding change of the current or the voltage originates. In an advantageous alternative, the cable-bound signal link 36 is therefore realized in the form of a bus line. In this case, the central unit 22 and each of the fire detectors 14 respectively form a bus subscriber. Each bus subscriber may have its own bus address, which is also referred to as identification. All in all, a bus system for transmitting information may therefore be formed by the bus subscribers and the bus line. The bus system is preferably realized in the form of a ring bus system. For example, the transmitted information is the fire detector signal or represents the fire detector signal. In this way, a fire detector 14 can transmit the fire detector signal SB to the central unit 22 by means of the bus line 36 or the bus system, respectively. The address of the respective fire detector 14 may also be transmitted in this case. The transmission may be realized, for example, in bit-serial form or in a half-duplex process. In this case, the fire detector 14 respectively modulates the fire detector signal SB or the corresponding data information on a bus supply voltage made available by the central unit 22. The central unit 22 demodulates the corresponding signals such that the fire detector signal SB is available to the central unit 22. In addition, the central unit 22 receives information on which of the fire detectors 14 has transmitted the fire detector signal SB to the central unit 22.

[0228] According to the advantageous exemplary embodiment of the vehicle 2 illustrated in FIG. 6, the fire extinguishing unit 100 comprises an extinguishing medium production device 134 for producing extinguishing medium. For example, the extinguishing medium production device 134 may comprise a solid and be designed for igniting the solid such that a gas and/or a solid aerosol is produced due to a corresponding combustion of the solid, wherein the gas and/or the aerosol being produced serves as extinguishing medium. The extinguishing medium production device 134 may be connected to the nozzle 102 of the fire extinguishing unit 100 by means of a fluidic line connection 136.

[0229] As explained above, the vehicle sensor unit 6 of the vehicle 2 is designed for detecting a fire parameter KF of the vehicle monitoring region 8. Since the vehicle monitoring region 8 now sufficiently overlaps with the fire detector monitoring region 12 because the vehicle 2 is at the target location 16, a fire parameter KF of the fire detector monitoring region 12 can be respectively detected by means of the vehicle 2 or by means of the vehicle sensor unit 6 of the vehicle 2, wherein this detected fire parameter KF forms the verification fire parameter KV. In other words, the vehicle 2 is configured for detecting the fire parameter KF at the target location 16 in the form of a verification fire parameter KV of the fire detector monitoring region 12 by means of the vehicle sensor unit 6.

[0230] After the verification fire parameter KV of the fire detector monitoring region 12 has been detected, two independently detected fire parameters, namely the reference fire parameter KR and the verification fire parameter KV, are available for the fire detector monitoring region. As explained above, however, it is preferred that the fire detector 14 is realized in the form of a fire gas detector whereas the vehicle sensor unit 6 of the vehicle 2 preferably comprises or is formed by a camera. Consequently, it is difficult to compare these independently detected fire parameters KR, KF. It is therefore proposed that the vehicle 2 is designed for determining another fire status, which is referred to as verification fire status ZV, namely by evaluating the verification fire parameter KV.

[0231] To this end, the vehicle 2 may comprise an evaluation unit. The evaluation unit is preferably designed for evaluating the verification fire parameter KV. In addition, the evaluation unit is preferably designed for determining the verification fire status Zv based on the results of the evaluation. A verification fire status Zv represents, for example, a fire 4, a preliminary fire stage and/or a smoldering fire. A fire 4, a preliminary fire stage and/or a smoldering fire frequently generates characteristic temperatures that can be detected, for example, by the vehicle sensor unit 6. In this context, it should be noted that the detection may also include an indirect detection. If an infrared spectrum is detected by means of the thermal imaging camera, for example, it is possible to determine a temperature, particularly a maximum and/or average temperature, based thereon.

[0232] FIG. 7 schematically shows an exemplary value pattern of the verification fire parameter KV as a function of the time t. At least one threshold value WS4, preferably a plurality of threshold values WS4, WS5, WS6, may be stored in the vehicle 2, particularly the corresponding evaluation unit. These threshold values WS4, WS5, WS6 may be threshold values for the verification fire parameter KV, preferably for a temperature detected by the vehicle sensor unit 6. If the verification fire parameter KV detected by means of the vehicle sensor unit 6 exceeds the first threshold value WS4, this may be characteristic, for example, for a smoldering fire. FIG. 8 schematically shows an exemplary status development of the verification fire status ZV as a function of the time t, which corresponds to the value pattern of the verification fire parameter KV in FIG. 7. If the detected verification fire parameter KV reaches and/or exceeds the threshold value WS4, a reference fire status ZR4, which corresponds, for example, to a smoldering fire, can be determined based thereon. If a higher verification fire parameter KV, i.e. a higher temperature, is detected, for example, the verification fire parameter KV can reach and/or exceed the next threshold value WS5, which is characteristic for a preliminary fire stage, and a corresponding reference fire status ZV5 can be determined. If the detected verification fire parameter KV reaches and/or exceeds the next threshold value WS6, a verification fire status ZV6, which corresponds, for example, to a fire 4, can be determined based thereon. Consequently, the evaluation unit of the vehicle 2 is preferably designed for determining the verification fire status ZV based on the detected verification fire parameter KV and preferably based on at least one threshold value WS4, WS5, WS6.

[0233] The thusly determinable verification fire status ZV therefore preferably corresponds to a fire 4, a preliminary fire stage and/or a smoldering fire, namely in dependence on the verification fire parameter KV. The verification fire status ZV can therefore be compared with the reference fire status ZR, which likewise corresponds to a fire 4, a preliminary fire stage and/or a smoldering fire. Consequently, it is possible to verify the reference fire status ZR and, if applicable, to determine this reference fire status in the form of a confirmed or verified reference fire status ZVR.

[0234] As explained above, the instruction signal SI represents at least the target location 16. Since the information on the reference fire status ZR is also available to the central unit 22 due to the transmission of the fire detector signal SB, it is proposed that the central unit 22 also makes available the information on the reference fire status ZR to the vehicle 2. The instruction signal SI is therefore realized in such a way that the instruction signal SI represents the reference fire status ZR and the target location 16. In this way, the target location 16 and the reference fire status ZR are made available to the vehicle 2 by transmitting the instruction signal SI from the central unit 22 to the vehicle 2. In addition, the vehicle 2 is configured for determining the reference fire status ZR in the form of a verified reference fire status ZVR if the reference fire status ZR and the verification fire status ZV at least sufficiently match. A sufficient match preferably exists if the verification fire status ZV corresponds to a fire 4 and the reference fire status ZR corresponds to a fire 4, a preliminary fire stage or a smoldering fire. A sufficient match may furthermore exist if the verification fire status ZV and the reference fire status ZR respectively correspond to a preliminary fire stage or to a smoldering fire.

[0235] The aforementioned determination of the verified reference fire status ZVR therefore only takes place if the verification fire status ZV and the reference fire status ZR match or if the verification fire status ZV corresponds to a fire that has developed further. The verified reference fire status ZVR can therefore also be referred to and/or interpreted as a confirmed and/or reliable reference fire status. Consequently, the verified reference fire status ZVR serves as a reliable basis for initiating and/or carrying out follow-up actions.

[0236] The vehicle 2 is therefore designed for initiating a fire extinguishing action if the reference fire status ZR was determined in the form of a verified reference fire status ZVR. For example, the vehicle 2 may be designed for transmitting a signal, which represents a request for a fire extinguishing action, in order to initiate the fire extinguishing action. However, it is preferred that the vehicle 2 comprises a fire extinguishing unit 100 that serves and/or is designed for at least indirectly extinguishing a fire 4. Since the vehicle is provided with the fire extinguishing unit 100, the vehicle 2 may therefore be designed for carrying out the fire extinguishing action with the aid of the fire extinguishing unit 100. The fire extinguishing unit 100 may be designed for directly and/or indirectly extinguishing a fire 4.

[0237] FIG. 5 schematically shows an example of a fire extinguishing unit 100 that is designed for directly extinguishing a fire. 4. In this case, the fire extinguishing unit 100 comprises a nozzle 102. The nozzle 102 is designed for discharging, particularly spraying and/or ejecting, an extinguishing medium. The extinguishing medium discharged by the nozzle 102 then serves for extinguishing a fire 4. In this case, the fire extinguishing unit 100 may be designed for conveying and/or transporting extinguishing medium to the nozzle 102 under pressure such that the extinguishing medium can be discharged, particularly sprayed and/or ejected, by means of the nozzle 102. If the extinguishing medium consists of water or an aqueous solution, for example, the corresponding extinguishing medium can be sprayed by means of the nozzle 102. However, if the extinguishing medium consists, for example, of an extinguishing medium powder, this extinguishing medium powder can be ejected by means of the nozzle 102.

[0238] In order to make available the extinguishing medium, the fire extinguishing unit 100 may comprise, in particular, a detachable extinguishing medium container 104, in which the extinguishing medium is stored. In this case, the extinguishing medium may be stored in the extinguishing medium container 104 under pressure. This provides the advantage that the extinguishing medium can flow out of the extinguishing medium container 104 without additional effort. Consequently, no additional electrical and/or mechanical power is required for transporting the extinguishing medium from the extinguishing medium container 104 to the nozzle 102. In fact, the pressurized extinguishing medium can be discharged and preferably flow out of the nozzle. The predefined pressure preferably refers to a pressure that is higher than the atmospheric pressure. For example, the predefined pressure may be at least 5 bar or at least 10 bar higher than the atmospheric pressure. Once the vehicle 2 receives the instruction signal SI, the vehicle 2 can navigate to the target location 16 without delay. After the arrival at the target location 16 and, if applicable, a subsequent determination of the verified reference fire status ZVR, the vehicle 2 therefore does not have to navigate to a different location in order to pick up extinguishing medium and/or to initiate the actual extinguishing of the fire 4. In fact, the vehicle 2 can immediately begin with the actual fire extinguishing action at the target location 16 or in the immediate vicinity thereof. This makes it possible to extinguish the fire 4 without unnecessary delay such that a fire is prevented from developing further. In practical applications, for example, a smoldering fire without light phenomenon can thereby be prevented from developing into a fire 4 with light phenomenon. In this case, the vehicle 2 may serve for already extinguishing a smoldering fire, which can frequently be achieved with a reduced consumption of extinguishing medium. This results in reduced personal injuries and/or property damages.

[0239] FIG. 9 schematically shows another embodiment of the vehicle 2 and the system 20. In this case, the vehicle 2 comprises a controllable triggering unit 106. The controllable triggering unit 106 is also simply referred to as triggering unit. The triggering unit 106 may form part of the fire extinguishing unit 100. The triggering unit 106 is preferably realized in the form of a controllable valve. Consequently, the triggering unit 106 may be designed for controlling an extinguishing medium flow to the nozzle 102. In this case, the triggering unit 106 is preferably coupled into a fluidic line connection 108 between the extinguishing medium container 104 and the nozzle 102 such that an extinguishing medium flow from the extinguishing medium container 104 to the nozzle 102 can be controlled by means of the triggering unit 106. The triggering unit 106 may be designed for releasing, blocking and/or restricting the extinguishing medium flow to the nozzle 102. The point in time, the time period and/or the quantity of the extinguishing medium to be discharged can therefore be controlled by means of the controllable triggering unit 106. If the verified reference fire status ZVR was determined by the vehicle 2, the vehicle 2 may be designed and/or configured for controlling the triggering unit 106 based on the verified reference fire status ZVR. In this case, the triggering unit 106 may be controlled in such a way that it releases an extinguishing medium flow from the extinguishing medium container 104 to the nozzle 102 when the reference fire status ZVR represents a fire. 4. In this way, a fire can be extinguished immediately after the verified reference fire status ZVR has been determined. This provides the advantage that personal injuries and/or property damages can be reduced to a minimum.

[0240] FIG. 10 schematically shows another advantageous embodiment of the vehicle 2 and the system 20. In this case, the vehicle 2 comprises an extinguishing medium pump 110. The extinguishing medium pump 110 may form part of the extinguishing unit 100. The extinguishing medium pump 110 is preferably designed for transporting extinguishing medium. In this case, the extinguishing medium pump 110 may be coupled into the fluidic collection 108 between the extinguishing medium container 104 and the nozzle 102, preferably between the extinguishing medium container 104 and the triggering unit 106. The extinguishing medium pump 110 may serve for transporting extinguishing medium from the extinguishing medium container 104 to the nozzle 102. This is particularly advantageous if the extinguishing medium is not stored in the extinguishing medium container 104 under pressure. The extinguishing medium pump 110 may furthermore be advantageous for increasing the range of the extinguishing medium to be discharged. The extinguishing medium pump 110 makes it possible to increase the pressure, with which the extinguishing medium is conveyed and/or transported to the nozzle 102. Furthermore, the vehicle 2 and/or the fire extinguishing unit 100 may be respectively designed for controlling the triggering unit 106 and/or at the extinguishing medium pump 110. In this case, the control may be based on the verified reference fire status ZVR.

[0241] In FIGS. 1, 5, 6, 9 and 10, the vehicle 2 is schematically illustrated in the form of a land craft. However, the vehicle 2 may basically be realized in the form of any type of vehicle 2. FIG. 11 shows another advantageous embodiment of the vehicle 2. According to this figure, the vehicle 2 may be realized in the form of an aircraft, particularly a drone. The aircraft preferably comprises at least one rotor 78. The rotor 78 may be coupled to multiple rotary wings 80 in order to ensure the corresponding lift and/or propulsion. The aircraft is preferably realized, in particular, in the form of a helicopter and/or a multicopter, for example a quadrocopter and/or an octocopter. If the vehicle 2 is realized in the form of an aircraft, it is advantageous that the vehicle also can respectively navigate or fly to regions, which are difficult to access, in order to respectively detect a fire parameter KF or a verification fire parameter KV by means of the vehicle sensor unit 6. In addition, the aircraft provides the advantage that corresponding regions, which are difficult to access, can be extinguished by means of the fire extinguishing unit 100. In other respects, we refer analogously to the preceding explanations, preferred characteristics, effects and/or advantages.

[0242] The following explanations preferably refer to FIGS. 4, 10 and 12.

[0243] An advantageous embodiment of the vehicle 2 is characterized in that the vehicle 2 is designed for determining the location 84 of a fire at the target location by means of the vehicle sensor unit 6. This is particularly advantageous if the vehicle sensor unit 6 is realized with or in the form of a camera.

[0244] In this context, the location 84 of the fire respectively refers to the location of the fire 4, the preliminary fire stage and/or the smoldering fire. When the vehicle 2 is at the target location 16, an image 82 of the fire detector monitoring region 12 can be acquired by means of the camera of the vehicle sensor unit 6. The location 84 of the fire can then be determined by evaluating the image 82, preferably by means of an evaluation unit of the vehicle 2. The information on the target location 16 is made available to the vehicle 2. The respective position of the vehicle sensor unit 6 or the camera can be determined from this information. Furthermore, the location 84 of the fire can be determined by the vehicle 2 by means of triangulation, namely with consideration of the target location 16 and the image 82. In this case, a single image 82 may be acquired by means of the camera of the vehicle sensor unit 6. However, the camera of the vehicle sensor unit 6 may also acquire a plurality of images, which respectively correspond to different rotating and/or pivoting positions of the camera, the vehicle sensor unit 6 and/or the vehicle 2, wherein the vehicle 2 is at least essentially at the target location 16 in this case. For example, the plurality of images may be acquired in such a way that the corresponding images are acquired during a rotation of the vehicle 2 at the target location 16 and/or during a respective rotation of the camera or the vehicle sensor unit 6. The common image 82 may then be formed of the plurality of images. This image 82 can then serve as basis for determining the location 84 of the fire. In the schematic representation in FIG. 4, the fire 4 and therefore the source of the fire are located centrally in the lower third of the image 82. The fire 4 is therefore located obliquely underneath the vehicle sensor unit 6 as illustrated, for example, in FIG. 10.

[0245] In order to detect the most informative fire parameter KF possible by means of the vehicle sensor unit 6, it is preferred that the vehicle 2 is designed for orienting the vehicle sensor unit 6 in the direction of the location 84 of the fire, particularly when the vehicle 2 is at the target location 16. A corresponding orientation of the vehicle sensor unit 6 in the direction of the location 84 of the fire is schematically illustrated in FIG. 12. In order to allow the orientation of the vehicle sensor unit 6, the vehicle 2 may comprise a rotatable, pivotable and/or length-adjustable orientation device 86, wherein at least part of the vehicle sensor unit 6, particularly the corresponding camera, is mounted on said orientation device, and wherein the vehicle 2 is designed for controlling the orientation device 86 in such a way that the vehicle sensor unit 6 or the corresponding camera is respectively oriented, in particular, in the direction of the location 84 of the fire. The orientation device 86 is also referred to as second orientation device 68. Exemplary embodiments of the vehicle 2 with an orientation device 86 are schematically illustrated in FIGS. 13 to 14.

[0246] The orientation device 86 may comprise a joint unit 112 or a telescopic, length-adjustable device 114, which can be controlled by an actuator, such that a rotation, a pivoting motion and/or a height adjustment of the vehicle sensor unit 6 or the corresponding camera can be respectively realized by controlling the actuator accordingly. In addition, the instruction signal SI may contain at least one parameter for the control of the orientation device 86 such that the vehicle sensor unit 6 or the corresponding camera can be respectively oriented by activating the orientation device 86 based on the aforementioned parameter in order to at least sufficiently overlap the vehicle monitoring region 8 with the fire detector monitoring region 12 when the vehicle 2 is at the target location.

[0247] The orientation of the vehicle sensor unit 6 in the direction of the location 84 of the fire may alternatively or additionally be realized by means of a controlled navigation of the vehicle 2 itself. For example, the vehicle 2 may carry out a rotation about the vertical axis at the target location 16 based on the instruction signal SI such that the vehicle sensor unit 6 is oriented in the direction of the vehicle monitoring region 12 and/or the location 84 of the fire. In this way, it can be ensured that the desired overlap between the vehicle monitoring region 8 and the fire detector monitoring agent 12 is achieved at least to a sufficient degree.

[0248] It furthermore proved advantageous if the vehicle 2 is configured for only detecting the verification fire parameter KV of the fire detector monitoring region 12 when the vehicle sensor unit 6 is oriented in the direction of the location 84 of the fire. Consequently, the vehicle 2 may initially drive to the target location 16 based on the instruction signal SI and subsequently orient the vehicle sensor unit 6 in the direction of the location 84 of the fire in order to subsequently detect the fire parameter KF in the form of the verification fire parameter KV of the fire detector monitoring region 12 at the target location 16 by means of the vehicle sensor unit 6. This ensures a reliable determination of the verification fire parameter KV of the fire detector monitoring region 12 such that two independently detected fire parameters, namely the reference fire parameter KR and the verification fire parameter KV, are subsequently available for the fire detector monitoring region 12.

[0249] In addition, the vehicle 2 may be designed for orienting the nozzle 102 as illustrated, for example, in FIG. 14. In this case, the nozzle 102 is oriented in such a way that the extinguishing medium to be discharged, particularly sprayed and/or ejected, by the nozzle 102 flows in the direction of the location 84 of the fire in order to respectively extinguish the fire 4 or a preliminary fire stage and/or a smoldering fire. For example, the orientation of the nozzle 102 may refer to a height position, a vertical pivoting angle and/or a horizontal pivoting angle of the nozzle 102 relative to the vehicle 2. The vehicle 2 may be designed for vertically displacing, vertically rotating and/or pivoting and/or horizontally rotating and/or pivoting the nozzle 102. In this case, the orientation of the nozzle 102 may take place in such a way that the nozzle 102 is directly oriented at the location 84 of the fire. However, the vehicle 2 may also be designed and/or configured for taking into account a trajectory of the extinguishing medium to be discharged, particularly sprayed and/or ejected. The trajectory of the extinguishing medium is frequently parabolic. Due to the described orientation of the nozzle 102, a fire 4 or a preliminary fire stage and/or a smoldering fire in the fire detector monitoring region 12 can be extinguished in a particularly effective, fast and/or reliable manner.

[0250] The vehicle 2 and/or the fire extinguishing unit 100 may comprise an additional orientation device 116 for orienting the nozzle 102. This orientation device is referred to as first orientation device 116. In this case, the first orientation device 116 is realized in the form of a rotatable, pivotable and/or length-adjustable orientation device. The nozzle 102 is mounted and/or arranged on the first orientation device 116, preferably on an end section 118 of the first orientation device 116 that lies opposite of the vehicle 2. In this case, the first orientation device 116 may be realized in the form of an arm device. The first orientation device 116 may comprise a controllable actuator, by means of which a rotation, pivoting motion and/or height adjustment of the first orientation device 116 can be realized. In this case, the vehicle 2 and/or the fire extinguishing unit 100 may be designed and/or configured for controlling the actuator of the first orientation device 116 in such a way that a correspondingly controlled rotation, pivoting motion and/or height adjustment is achieved. For example, the first orientation device 116 or the corresponding arm device may respectively comprise a joint unit 120 and/or a telescopic, length-adjustable device 122. The joint unit 120 and/or the telescopic, length-adjustable device 122 may be controlled by the actuator such that a controlled rotation and/or pivoting motion can be realized by means of the joint unit 120 and a height adjustment can be realized by means of the length-adjustable device 122. The first orientation device 116 provides the advantage that the nozzle 102 can be positioned above a potential obstacle located between the vehicle 2 and the source of the fire at the location 84 of the fire. In addition, the first orientation device 116 can be used for pivoting and/or rotating the nozzle 102 while the extinguishing medium is discharged in order to thereby extinguish a potentially extensive fire 4.

[0251] With respect to larger buildings 30, in particular, it may be sensible if the system 20 comprises multiple stationary fire detectors 14. A corresponding example is schematically illustrated in FIG. 6. In this case, the multiple stationary fire detectors 14 may be mounted on the ceiling 32 at a certain distance from one another. A fire detector monitoring region 12 is assigned to each of the fire detectors 14. In this case, the fire detectors 14 may be arranged relative to one another in such a way that fire detector monitoring regions 12 of adjacent fire detectors 14 intersect and/or overlap. This ensures that the room 34 of the building 30 can be monitored for a potential fire 4, a potential preliminary fire stage and/or a potential smoldering fire in a particularly reliable manner. In this case, each of the fire detectors 14 is preferably realized and/or designed analogous to the individual fire detector 14 described above in connection with the preceding figures. In addition, each of the fire detectors 14 is connected to the central unit 22 by means of a signal line 36. Alternatively, the signal line 36 may be realized in the form of a signal bus of the type schematically illustrated, for example, in FIG. 21, wherein the fire detectors 14 and the central unit 22 are coupled to said signal bus such that a fire detector signal SB can be transmitted from a fire detector 14 to the central unit 22, wherein the fire detector signal SB may in this case also represent the address of the respective fire detector 14.

[0252] If a fire 4 occurs in the fire detector monitoring region 12 of one of the fire detectors 14, a reference fire parameter KR corresponding to the fire 4 is detected and a reference fire status ZR is determined based on the detected reference fire parameter by the corresponding fire detector 14. Subsequently, the corresponding fire detector 14 transmits a fire detector signal SB to the central unit 22, wherein said fire detector signal SB represents the corresponding reference fire status ZR. If the fire detectors 14 are individually connected to the central unit 22 by means of a respective signal connection 36, the central unit 22 can already determine the fire detector 14, which has transmitted the fire detector signal SB to the central unit 22, based on the parallel connection of the fire detectors 14 to the central unit 22. The fire detector signal SB may furthermore represent an identification that serves for identifying the fire detector 14 and/or the location of the respective fire detector 14. The identification is also referred to as address. Consequently, the central unit 22 can determine the location of the fire detector 14 based on the identification. If this information is available, the central unit 22 may be designed for determining a target location 16 for the vehicle 2 based on the fire detector location or the identification, respectively. The central unit 22 is therefore preferably configured for generating the instruction signal SI in such a way that the instruction signal SI represents at least a target location 16 for the vehicle 2, at which the vehicle monitoring region 8 sufficiently overlaps with the fire detector monitoring region 12, the reference fire parameter KR of which was detected by the fire detector sensor unit 28 of the fire detector 14 that has transmitted the fire detector signal SB to the central unit 22, when the vehicle 2 is at the target location 16. Once the instruction signal SI has been transmitted to the vehicle 2, the vehicle 2 navigates to the corresponding target location 16. A corresponding example is schematically illustrated in FIG. 15.

[0253] FIG. 16 schematically shows another advantageous embodiment of the vehicle 2 and/or the system 20. In this case, the fire extinguishing unit 100 of the vehicle 2 comprises a coupling device 124. The coupling device 124 is designed for detachably coupling an extinguishing medium container 104 thereto. Consequently, the coupling device 124 serves for coupling and/or decoupling a detachable extinguishing medium container 104. When the vehicle 2 is not used for extinguishing a fire, for example, an extinguishing medium container 104, particularly a new extinguishing medium container, can be respectively coupled to the fire extinguishing unit 100 or to the vehicle 2 by means of the coupling device 124 such that it is once again ready for extinguishing a fire.

[0254] The coupling of the extinguishing medium container 104 may be realized in that the vehicle 2 initially navigates to an extinguishing medium container depot 126, in which an extinguishing medium container 104 is held available. This can be gathered from a synopsis of FIGS. 16 and 17. Once the vehicle 2 has arrived at the extinguishing medium container depot 126, the extinguishing medium container 104 can be coupled thereto by means of the coupling device 124. Extinguishing medium is stored in the extinguishing medium container 104. In this case, a fluidic connection 108 to the triggering unit 106 of the fire extinguishing unit 100 is preferably produced simultaneously with the coupling of the extinguishing medium container 104. Consequently, the extinguishing medium in the extinguishing medium container 104 may serve for extinguishing a potential fire 4.

[0255] As initially mentioned, a fire extinguishing action may also be initiated in that the vehicle 2 indirectly extinguishes a fire. A suitable embodiment of the vehicle 2 in this respect is schematically illustrated in FIG. 18. With respect to the vehicle 2, the fire extinguishing unit 100 preferably comprises an externally accessible output connector 128 for making available extinguishing medium, wherein said output connector can be fluidically connected to a mating connector 130 of a stationary extinguishing device 132 in order to make available extinguishing medium to the stationary extinguishing device 132. The stationary extinguishing device 132 may also be simply referred to as extinguishing device 132 or as extinguishing facility. The extinguishing device 132 preferably forms part of the system 20. Consequently, the system 20 may comprise the stationary extinguishing device 132 with the mating connector 130, which is designed and/or serves for being coupled to the mating connector 128 of the vehicle 2. The extinguishing device 132 may comprise at least one extinguishing nozzle 70, preferably multiple extinguishing nozzles, for discharging extinguishing medium. Instead of the extinguishing nozzle 70 or the extinguishing nozzles 70, it would also be possible to provide other means that are suitable and/or designed for discharging extinguishing medium. The term extinguishing nozzle 70 may therefore also refer to another means for discharging extinguishing medium. Each extinguishing nozzle 70 is fluidically connected to the mating connector 130 by means of a pipe 74 such that extinguishing medium can be transported from the mating connector 130 to the respective extinguishing nozzle 70. It would furthermore be possible, in principle, to provide a fluidic line connection, by means of which the multiple extinguishing nozzles 70 are fluidically connected to the mating connector 130, wherein a controllable valve may be provided for each extinguishing nozzle 70 in order release or block a fluid flow to the respective extinguishing nozzle. According to the example illustrated in FIG. 18, multiple extinguishing nozzles 70 may be mounted on the ceiling 32. In a particularly preferred embodiment, the extinguishing nozzles 70 are arranged in the vicinity of an object to be protected in such a way that an optimized extinguishing result can be achieved, preferably with minimal consumption of extinguishing medium. In this case, the extinguishing nozzles 70 are preferably spaced apart from one another in such a way that a fire 4 can be extinguished in any region or a predefined region of the room 34 or the object.

[0256] Once the verified reference fire status ZVR was determined by means of the vehicle 2, the vehicle 2 may navigate to the mating connector 130 in order to subsequently couple the output connector 128 to the mating connector 130. Due to this coupling, extinguishing medium can be made available to the stationary extinguishing device 132 by the vehicle 2, particularly by the corresponding extinguishing unit 100 and/or the extinguishing medium container 104. Making available the extinguishing medium may therefore preferably refer to pumping, conveying and/or transporting. When extinguishing medium is transported from the output connector 128 to the mating connector 130, a pipe network comprising the pipes 74 conveys the extinguishing medium to the nozzles 70, which subsequently discharge the extinguishing medium, for example, in order to extinguish a fire 4 in the fire detector monitoring region 12.

[0257] According to another aspect of the invention, a method for initiating a fire extinguishing action is proposed, wherein the steps of the method are schematically illustrated in FIG. 19.

[0258] According to step a) of the method, an instruction signal SI is received by means of a signal receiving unit 10 of an unmanned vehicle 2, wherein a vehicle sensor unit 6 of the vehicle 2 is designed for detecting a fire parameter KF of a vehicle monitoring region 8, wherein the instruction signal SI represents a reference fire status ZR for a fire detector monitoring region 12 of a stationary fire detector 14 and a target location 16, and wherein the vehicle monitoring region 8 sufficiently overlaps with the fire detector monitoring region 12 when the vehicle 2 is at the target location 16.

[0259] According to step b) of the method, the vehicle 2 navigates to the target location 16, preferably in an autonomous manner, based on the instruction signal SI received by the vehicle 2 such that the vehicle monitoring region 8 and the fire detector monitoring region 12 sufficiently overlap.

[0260] According to step c) of the method, the vehicle sensor unit 6 detects the fire parameter KF in the form of a verification fire parameter KV of the fire detector monitoring region 12.

[0261] According to step d) of the method, a verification fire status ZV is determined by evaluating the verification fire parameter KV by means of the vehicle 2.

[0262] According to step e) of the method, the vehicle 2 determines the reference fire status ZR in the form of a verified reference fire status ZVR if the reference fire status ZR and the verification fire status ZV at least sufficiently match.

[0263] According to step f) of the method, a fire extinguishing action is initiated by means of the vehicle 2 if the reference fire status ZR was determined in the form of a verified reference fire status ZVR.

[0264] With respect to steps a) through f), we refer analogously, if applicable, to the preceding explanations, preferred characteristics, effects and/or advantages, which were described above in connection with the system 20 and/or the vehicle 2.

[0265] According to an advantageous embodiment of the method, it is proposed that the fire extinguishing action in step f) of the method is carried out by means of a fire extinguishing unit 100 of the vehicle 2. In this respect, we also refer analogously to the preceding explanations, preferred characteristics, effects and/or advantages, which were described above with reference to the system 20 and/or the vehicle 2.

[0266] Another advantageous embodiment of the method is illustrated in FIG. 20. In this case, the method is characterized by the additional steps g) and h). According to step g) of the method, a location of the fire is determined by means of the vehicle sensor unit 6 of the vehicle 2, preferably when the vehicle 2 is at the target location 16. According to step h), the extinguishing medium is discharged in the direction of the location 84 of the fire in order to extinguish a fire 4, a preliminary fire stage and/or a smoldering fire. With respect to steps g) and h), we refer analogously, if applicable, to the preceding explanations, preferred characteristics, effects and/or advantages, which were described above in connection with the system 20 and/or the vehicle 2.

[0267] Preferred enhancements of the unmanned vehicle:

[0268] A vehicle, which is characterized in that the vehicle is realized in the form of a land craft, particularly a robotic vehicle, or in the form of an aircraft, particularly a drone.

[0269] Further preferred design:

[0270] A vehicle as described above, characterized in that the vehicle comprises a fire extinguishing unit for extinguishing a fire, wherein the vehicle is designed for carrying out the fire extinguishing action with the aid of the fire extinguishing unit (100).

[0271] A vehicle as described above, characterized in that the fire extinguishing unit comprises a nozzle, which is designed for discharging, particularly spraying, an extinguishing medium for extinguishing a fire.

[0272] A vehicle as described above, characterized in that the fire extinguishing unit comprises an externally accessible output connector for making available extinguishing medium, wherein said output connector can be coupled to a mating connector of a stationary extinguishing device in order to make available extinguishing medium to the stationary extinguishing device.

[0273] A vehicle as described above, characterized in that the vehicle sensor unit comprises a camera.

[0274] A vehicle as described above, characterized in that the vehicle is designed for determining the location of a fire by means of the vehicle sensor unit at the target location.

[0275] A vehicle as described above, characterized in that the vehicle is configured for determining the location of a fire based on a fire parameter KF detected at the target location.

[0276] A vehicle as described above, characterized in that the vehicle is designed for orienting the vehicle sensor unit in the direction of the location of a fire.

[0277] A vehicle as described above, characterized in that the vehicle is configured for detecting the verification fire parameter KV when the vehicle sensor unit is oriented in the direction of the location of a fire.

[0278] A vehicle as described above, characterized in that the vehicle is designed for orienting the nozzle in such a way that the extinguishing medium to be sprayed by the nozzle flows in the direction of the location of a fire in order to extinguish the fire.

[0279] A vehicle as described above, characterized in that the vehicle is designed for autonomously navigating, in particular, to an optimal location for discharging extinguishing medium based on the location of the fire.

[0280] A vehicle as described above, characterized in that the vehicle is designed for initiating the fire extinguishing action when the vehicle is at the location for discharging extinguishing medium.

[0281] A vehicle as described above, characterized in that the fire extinguishing unit comprises, in particular, a detachable extinguishing medium container, in which extinguishing medium is stored.

[0282] A vehicle as described above, characterized in that the extinguishing medium is stored in the extinguishing medium container under a predefined pressure.

[0283] A vehicle as described above, characterized in that the fire extinguishing unit comprises a coupling device for detachably coupling an extinguishing medium container.

[0284] A vehicle as described above, characterized in that the fire extinguishing unit comprises an extinguishing medium production device for producing the extinguishing medium.

[0285] A vehicle as described above, characterized in that the fire extinguishing unit comprises an externally accessible input connector, which can be coupled to a mating connector of a stationary extinguishing medium source, such that extinguishing medium can be conveyed from the extinguishing medium source to the vehicle, particularly to the corresponding fire extinguishing unit.

[0286] A vehicle as described above, characterized in that the vehicle, particularly the corresponding fire extinguishing unit, comprises a controllable triggering unit, particularly a controllable valve, which is designed for controlling an extinguishing medium flow to the nozzle and/or the output connector.

[0287] A vehicle as described above, characterized in that the fire extinguishing unit comprises an extinguishing medium pump for conveying extinguishing medium.

[0288] A vehicle as described above, characterized in that the vehicle, particularly the corresponding fire extinguishing unit, is designed for at least additionally using the extinguishing medium pump for controlling an extinguishing medium flow to the nozzle and/or the output connector.

[0289] A vehicle as described above, characterized in that the triggering unit and/or the extinguishing medium pump is at least indirectly coupled, in particular fluidically, between at least one component of a first group, which comprises the extinguishing medium container, the input connector and the extinguishing medium production device, and at least one component of a second group, which comprises the nozzle and the output connector.

[0290] A vehicle as described above, characterized in that the fire extinguishing unit comprises a first rotatable, pivotable and/or length-adjustable orientation device, on which the nozzle is mounted, wherein the vehicle is designed and/or configured for controlling the first orientation device in order to orient the nozzle.

[0291] A vehicle as described above, characterized in that the first orientation device is realized in the form of a first arm device, wherein the nozzle is arranged on an end section of the first arm device, which lies opposite of the vehicle.

[0292] A vehicle as described above, characterized in that the vehicle comprises a second rotatable, pivotable and/or length-adjustable orientation device, on which the vehicle sensor unit is mounted, wherein the vehicle is designed for controlling the second orientation device in order to orient the vehicle sensor unit.

[0293] A vehicle as described above, characterized in that the second orientation device is realized in the form of a second arm device, wherein the vehicle sensor unit is arranged on an end section of the second arm device, which lies opposite of the vehicle.

[0294] A vehicle as described above, characterized in that navigation data, which represents a map with potential paths, is stored in the vehicle, particularly the navigation control unit, wherein the navigation control unit is designed for navigating the vehicle based on the navigation data.

[0295] A vehicle as described above, characterized in that the navigation control unit is designed for navigating the vehicle to the target location and/or to the location for discharging extinguishing medium based on the navigation data.

[0296] A vehicle as described above, characterized in that the navigation control unit is designed for navigating the vehicle to the mating connector of the stationary extinguishing device based on the navigation data such that the output connector of the vehicle is coupled to the mating connector of the stationary extinguishing device.

[0297] A vehicle as described above, characterized in that the navigation control unit is designed for navigating the vehicle to the mating connector of the stationary extinguishing medium source based on the navigation data such that the input connector of the vehicle is coupled to the mating connector of the extinguishing medium source.

[0298] A vehicle as described above, characterized in that the navigation control unit is designed for navigating the vehicle in a controlled manner to an extinguishing medium container depot, in which at least one extinguishing medium container that can be coupled to the coupling device is held available, based on the navigation data.

[0299] A vehicle as described above, characterized in that the signal receiving unit is designed for receiving a signal, particularly the instruction signal SI, from a central unit.

[0300] A vehicle as described above, characterized in that the vehicle is designed for generating a triggering signal for the triggering unit and for controlling the triggering unit by means of the triggering signal such that the triggering unit releases an extinguishing medium flow to the nozzle and/or the output connector when the triggering unit is activated by means of the triggering signal.

[0301] A vehicle as described above, characterized in that the vehicle is designed for transmitting a signal, which represents a triggering point, at which the triggering unit releases the extinguishing medium flow, and/or a triggering period of the released extinguishing medium flow, to a central unit.

[0302] A vehicle as described above, characterized in that the vehicle is designed for releasing the extinguishing medium for a predefined extinguishing period.

[0303] A vehicle as described above, characterized in that the vehicle is designed for re-detecting a fire parameter KF by means of the vehicle sensor unit after the triggering point, during the release of the extinguishing medium flow and/or after expiration of the extinguishing period, and in that the vehicle is designed for determining an extinguished status based on the re-detected fire parameter KF if the re-detected fire parameter KF represents an extinguished fire.

[0304] A vehicle as described above, characterized in that the vehicle is designed for re-generating the triggering signal such that the triggering unit once again releases an extinguishing medium flow to the nozzle and/or the output connector if the re-detected fire parameter KF represents a fire, a preliminary fire stage and/or a smoldering fire.

[0305] A vehicle as described above, characterized in that the re-generated triggering signal is generated by the vehicle in such a way that the triggering unit releases an extinguishing medium, which differs from the previously released extinguishing medium, to the nozzle and/or the output connector.

[0306] A vehicle as described above, characterized in that the vehicle is configured for determining an alarm signal SA based on the verified reference fire status ZVR.

[0307] A vehicle as described above, characterized in that the vehicle is configured for generating a false alarm signal SF, which represents a false determination of the reference fire status ZR and/or an unverified reference fire status ZVR, if the reference fire status ZR was not determined in the form of a verified reference fire status ZVR.

[0308] A vehicle as described above, characterized in that the vehicle is configured for generating an all-clear signal based on the extinguished status.

[0309] A vehicle as described above, characterized in that the vehicle is designed for transmitting the alarm signal SA, the false alarm signal SF and/or at the all-clear signal to a central unit, particularly a central fire alarm system and/or a control center.

[0310] A system as described above, characterized in that the central unit is formed by a central fire alarm system.

[0311] A system as described above, characterized in that the central unit is designed for transmitting navigation control signals from the central unit to the vehicle, in that the vehicle is designed and/or configured for navigating based on the transmitted navigation control signals, and in that the central unit is designed for navigating the vehicle in a remote-controlled manner by transmitting navigation control signals to the vehicle.

[0312] A system as described above, characterized by a stationary extinguishing device with a mating connector, which is designed for being coupled to the output connector of the vehicle.

[0313] A system as described above, characterized in that the central unit is designed for navigating the vehicle to the target location, the location for discharging extinguishing medium, the stationary extinguishing device and/or the extinguishing medium source in a remote-controlled manner.

[0314] A system as described above, characterized in that the stationary extinguishing device comprises the mating connector, at least one nozzle and a pipe network, which extends between the mating connector of the stationary extinguishing device and the at least one nozzle of the stationary extinguishing device.

[0315] A system as described above, characterized in that the stationary extinguishing device is designed for extinguishing a fire in the fire detector monitoring region in that extinguishing medium can be conveyed from the output connector of the vehicle to the mating connector of the stationary extinguishing device and to the at least one nozzle of the stationary extinguishing device via the pipe network.

[0316] A system as described above, characterized in that by a stationary fire detector, wherein the fire detector comprises a fire detector sensor unit that is designed for detecting a reference fire parameter KR of a predefined fire detector monitoring region, wherein the fire detector is designed for determining a reference fire status ZR by evaluating the reference fire parameter KR, wherein the fire detector is designed for transmitting a fire detector signal SB, which represents the reference fire status ZR, to the central unit, wherein the central unit is configured for transmitting an instruction signal SI to the vehicle if the fire detector signal SB transmitted by the fire detector represents a reference fire status ZR that requires verification, wherein the instruction signal SI represents at least a target location for the vehicle, and wherein the vehicle monitoring region sufficiently overlaps with the fire detector monitoring region when the vehicle is at the target location.

[0317] A system as described above, characterized in that a measuring principle of the fire detector sensor unit and a measuring principle of the vehicle sensor unit differ.

[0318] A system as described above, characterized in that the system comprises multiple stationary fire detectors.

[0319] A system as described above, characterized in that the central unit is designed for determining a fire detector location of the fire detector, which has transmitted the fire detector signal SB, based on the fire detector signal SB transmitted by one of the fire detectors, and in that the central unit is designed for determining the target location based on the fire detector location.

[0320] A system as described above, characterized in that the central unit is configured for determining the instruction signal SI in such a way that the instruction signal SI represents at least one target location for the vehicle, at which the vehicle monitoring region sufficiently overlaps with the fire detector monitoring region, the reference fire parameter KR of which was detected by the fire detector sensor unit of the fire detector that has transmitted the fire detector signal to the central unit, when the vehicle is at the target location.

[0321] A method as described above, characterized by the following additional step, which is carried out prior to the reception of the instruction signal SI: transmitting the corresponding instruction signal SI to the signal receiving unit of the vehicle by means of a signal transmitting unit of a central unit.

[0322] A method as described above, characterized by the following additional steps, which are carried out prior to the transmission of the instruction signal SI: detecting a reference fire parameter KR of the fire detector monitoring region by means of a fire detector sensor unit of a fire detector; determining the reference fire status ZR by evaluating the reference fire parameter KR by means of the fire detector; transmitting a fire detector signal SB representing the reference fire status ZR from the fire detector to a central unit; and transmitting the instruction signal SI to the vehicle if the fire detector signal SB transmitted by the fire detector represents a reference fire status ZR that requires verification.

[0323] A method as described above, characterized in that the fire extinguishing action is carried out by means of a fire extinguishing unit of the vehicle.

[0324] A method as described above, characterized by the following additional step: determining a location of the fire by means of the vehicle sensor unit of the vehicle when the vehicle is at the target location.

[0325] A method as described above, characterized by the following additional step: orienting the vehicle sensor unit in the direction of the location of the fire.

[0326] A method as described above, characterized in that the verification fire parameter KV is detected when the vehicle sensor unit is oriented in the direction of the location of the fire.

[0327] A method as described above, characterized in that the extinguishing medium is discharged in the direction of the location of a fire in order to extinguish the fire.

[0328] A method as described above, characterized by the following additional step: navigating the vehicle, in particular, to an optimal location for discharging extinguishing medium based on the location of the fire.

[0329] A method as described above, characterized in that the fire extinguishing action is initiated when the vehicle is at the location for discharging extinguishing medium.

[0330] A method as described above, characterized by the following additional step: discharging extinguishing medium for extinguishing a fire by means of the fire extinguishing unit, particularly by means of a nozzle of the fire extinguishing unit.

[0331] A method as described above, characterized by the following additional steps: coupling an externally accessible output connector of the fire extinguishing unit to a mating connector of a stationary extinguishing device; and transferring extinguishing medium from the vehicle to the stationary extinguishing device in order to extinguish a fire.

[0332] A method as described above, wherein the fire extinguishing unit comprises a first rotatable, pivotable and/or length-adjustable orientation device, on which the nozzle is mounted, and wherein the method is furthermore characterized by the following step: orienting the nozzle by means of the first orientation device based on the location of the fire, preferably such that extinguishing medium discharged by the nozzle flows to the location of the fire.

[0333] A method as described above, wherein the fire extinguishing unit comprises a second rotatable, pivotable and/or length-adjustable orientation device, on which the vehicle sensor unit is mounted, and wherein the method is furthermore characterized by the following step: orienting the vehicle sensor unit, preferably in the direction of the location of the fire, by means of the second orientation device.

[0334] A method as described above, wherein navigation data, which represents a map with potential paths, is stored in the vehicle, particularly in the navigation control unit, and wherein the method is furthermore characterized in that the navigation of the vehicle takes place based on the navigation data.

[0335] A method as described above, characterized in that extinguishing medium is respectively discharged or transferred for a predefined extinguishing period.

[0336] A method as described above, characterized by the following additional steps: re-detecting a fire parameter KF by means of the vehicle sensor unit during or after the discharge or transfer of the extinguishing medium; and determining an extinguished status if the re-detected fire parameter KF represents an extinguished fire, wherein the extinguished status is determined based on the re-detected fire parameter KF.

LIST OF REFERENCE SYMBOLS AND NUMBERS

Symbol Meaning

[0337] K.sub.F Fire parameter [0338] K.sub.R Reference fire parameter [0339] K.sub.V Verification fire parameter [0340] S.sub.A Alarm signal [0341] S.sub.B Fire detector signal [0342] S.sub.F False alarm signal [0343] S.sub.1 Instruction signal [0344] S.sub.V Verification signal [0345] t Time [0346] W.sub.S1 First threshold value [0347] W.sub.S2 Second threshold value [0348] W.sub.S3 Third threshold value [0349] W.sub.S4 Fourth threshold value [0350] W.sub.S5 Fifth threshold value [0351] W.sub.S6 Sixth threshold value [0352] Z.sub.R Reference fire status [0353] Z.sub.V Verification fire status [0354] Z.sub.R1 Reference fire status corresponding to smoldering fire [0355] Z.sub.R2 Reference fire status corresponding to preliminary fire stage [0356] Z.sub.R3 Reference fire status corresponding to fire [0357] Z.sub.VR Verified reference fire status [0358] 2 Vehicle [0359] 4 Fire [0360] 6 Vehicle sensor unit [0361] 8 Vehicle monitoring region [0362] 10 Signal receiving unit [0363] 12 Fire detector monitoring region [0364] 14 Fire detector [0365] 16 Target location [0366] 18 Navigation control unit [0367] 20 System [0368] 22 Central unit [0369] 28 Fire detector sensor unit [0370] 30 Building [0371] 32 Ceiling [0372] 34 Room [0373] 36 Signal line, signal link [0374] 38 Signal transmitting unit (of fire detector) [0375] 40 Signal receiving unit (of central unit) [0376] 42 Signal link [0377] 44 Signal transmitting unit (of central unit) [0378] 46 Wheel, tire [0379] 48 Intersection [0380] 50 Output unit [0381] 52 Control center [0382] 54 Signal link [0383] 56 Signal transmitting unit (of central unit) [0384] 58 Signal receiving unit (of control center) [0385] 60 Output unit [0386] 62 Output unit [0387] 64 Central extinguishing control system [0388] 66 Signal link [0389] 68 Extinguishing facility [0390] 70 Extinguishing nozzle [0391] 72 Extinguishing medium source [0392] 74 Pipe [0393] 76 Signal control line [0394] 78 Rotor [0395] 80 Rotary wing [0396] 82 Image [0397] 84 Location of fire [0398] 86 Second orientation device [0399] 100 Fire extinguishing unit [0400] 102 Nozzle [0401] 104 Extinguishing medium container [0402] 106 Triggering unit [0403] 108 Fluidic line connection, fluidic connection [0404] 110 Extinguishing medium pump [0405] 112 Joint unit [0406] 114 Device [0407] 116 First orientation device [0408] 118 End section [0409] 120 Joint unit [0410] 122 Device [0411] 124 Coupling device [0412] 126 Extinguishing medium container depot [0413] 128 Output connector [0414] 130 Mating connector [0415] 132 Stationary extinguishing device [0416] 134 Extinguishing medium production device [0417] 136 Fluidic line connection