Fire Protection Robot for Controlling Fire Fighting Devices, Corresponding Fire Protection System and Method for Its Operation

Abstract

The invention relates to a fire-protection robot with a control unit which is configured to move the fire-protection robot along a specified navigation path, and to detect a fire-sensor unit which is configured to detect one or a plurality of fire characteristics along the specified navigation path. The fire-protection robot further comprises a communication unit which is configured to transmit an activation signal to at least one fire-fighting device in response to the detection of one or a plurality of fire characteristics, a fire-protection system comprising at least one fire-protection robot and at least one fire-fighting device as well as a corresponding method.

Claims

1. Fire-protection robot, comprising: a control unit configured to move the fire-protection robot along a specified navigation path; and a fire-sensor unit configured to detect at least one fire characteristic along the specified navigation path; and a communication unit configured to transmit an activation signal to at least one fire-fighting device that is separate from the fire protection robot in response to the detection of at least one fire characteristic.

2. The fire-protection robot according to claim 1, wherein the control unit determines the specified navigation path based on navigation data which comprises a navigation grid with a plurality of grid coordinates, wherein the navigation grid defines a fire-protection area.

3. The fire-protection robot according to claim 1, wherein the control unit is also configured to adjust the specified navigation path in response to the detection of at least one fire characteristic.

4. The fire-protection robot according to claim 1, further comprising: a processor unit that is configured to determine a target site of a fire event based on at least one fire characteristic and navigation data.

5. The fire-protection robot according to claim 3, further comprising: an environmental sensor unit configured to determine at least one ambient parameter along the navigation path; wherein the control unit is configured to adjust the navigation path in response to the detection of at least one fire characteristic based on at least one ambient parameter.

6. The fire-protection robot (1) according to claim 4, further comprising: at least one camera that is configured to generate at least one image of the location of the fire protection event in response to the detection of at least one fire characteristic.

7. The fire-protection robot according to claim 1, wherein the control unit is further configured to receive an external navigation signal and adjust the navigation path based on the external navigation signal; and/or wherein the communication unit is further configured to transmit an alarm signal to a receiver unit of an external fire-protection unit in response to the detection of at least one fire characteristic, in particular, wherein the alarm signal comprises the target site indication.

8. The fire-protection robot according to claim 1, further comprising a fire-fighting unit.

9. A fire-protection system, comprising: at least one fire-protection robot according to claim 1; and at least one fire-fighting device which is configured to be separate from the fire-protection robot, the fire-fighting device comprising a receiver unit for receiving the activation signal from the fire-protection robot, wherein the fire-fighting device is configured to initiate a fire-protection action in response to the activation signal.

10. The fire-protection system according to claim 9, furthermore comprising a central device comprising a central communication unit which is configured to receive the activation signal from which at least one fire-protection robot and, in response to the reception, to transmit at least one fire-fighting device, wherein the central device comprises a display unit and a user interface, wherein the display unit is configured to use navigation data, which comprise a navigation grid with a plurality of grid coordinates, to generate a first graphical representation of the navigation grid, wherein the navigation grid defines the fire-protection area, and further, to generate a second graphical representation of a location of at least one fire-protection robot and/or a location of the at least one fire-fighting device, and to display the first and the second graphical representation to a user together; and wherein the user interface is configured to receive input from the user and to generate a user control signal based on the inputs.

11. The fire-protection system according to claim 10, wherein the user-control signal comprises an external navigation signal for at least one fire-protection robot; and the central communication unit is configured to transmit the external navigation signal to at least one fire-protection robot.

12. The fire-protection system according to claim 9, furthermore comprising: at least one fire-fighting device which is configured as a stationary fire-fighting device, wherein: the receiver device is configured to receive a target-site indication for the target site of the fire event, and wherein the fire-fighting device comprises at least one alignment unit which is configured to align an extinguishing-fluid outlet of the fire-fighting device based on the target-site indication in the direction of the target site.

13. The fire-protection system according to claim 9, furthermore comprising; at least one fire-fighting device which is implemented as a mobile fire-fighting device comprising at least one drive unit.

14. Method for operating a fire-protection system, comprising the following steps: (a) moving at least one fire-protection robot along a specified navigation path (b) detecting at least one fire characteristic along the specified navigation path (c) transmitting, in response to the detection of at least one fire characteristic, an activation signal to at least one fire-fighting device, wherein the fire-fighting device is provided separately from the fire-protection robot.

15. The method according to claim 14, furthermore comprising: (d) activating the least one fire-fighting device in response to the activation signal.

16. The method according to claim 14, wherein step (c) further comprises a transmission of a target-site indication for a target site of a fire event, and the method further comprising: (e) automatically navigating at least one fire-fighting device based on the target-site indication to the target site of the fire event.

17. The fire-protection system according to claim 13, wherein the receiver unit is also configured to receive a target-site indication for the target site of the fire event, and wherein the at least one drive unit is configured to automatically navigate the at least one fire-fighting device to the target site of the fire event based on the target-site indication and to align an extinguishing-fluid outlet of the fire-fighting device to the target site of the fire event upon reaching the target site.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0101] The invention will be explained in further detail in the following taking the enclosed figures into account based on preferred exemplary embodiments. The figures show:

[0102] FIG. 1 a schematic representation of a fire-protection system in accordance with a first embodiment.

[0103] FIG. 2 a schematic representation of a fire-protection robot in accordance with the first embodiment.

[0104] FIG. 3 a schematic representation of a fire-protection system in accordance with a second embodiment.

[0105] FIG. 4 a schematic representation of a fire-protection system according to the invention in accordance with a third embodiment.

[0106] FIG. 5 a schematic representation of a display device comprising a graphical representation of the fire-protection area and the fire-protection robots contained therein.

MODE(S) FOR CARRYING OUT THE INVENTION

[0107] FIG. 1 schematically shows a fire-protection system 100. The fire-protection system 100 comprises the fire-protection robots 1, which are designed as fire-protection drones in the embodiment of the fire-protection system 1, and the stationary fire-fighting devices 2.

[0108] The fire-protection robots 1 each comprise a control unit 10, a fire-sensor unit 11, a communication unit 12, a processor unit 13, an environmental sensor unit 14 and a camera 15 and are located at protective positions 71 and 71. The stationary fire-fighting devices 2 each comprise a receiver unit 20, an alignment unit 21 and an extinguishing-fluid outlet 22 and are located at the extinguishing positions 72 and 72. Even if, for the simplification of the presentation, only two fire-protection robots 1 and two stationary fire-fighting devices 2 are shown in FIG. 1, the fire-protection system 100 comprises a plurality of fire-protection robots 1 and stationary fire-fighting devices 2.

[0109] In the specific example of FIG. 1, a fire-protection robot 1 is configured to monitor a fire-protection area assigned to it. For this purpose, the fire-protection robot 1 is navigated through the fire-protection area by means of the control unit 10 along a specified navigation path. In the specific embodiment of FIG. 1, in which the fire-protection robots 1 are designed as fire-protection drones, this means that the fire-protection robot 1 drives through the fire-protection area according to the navigation path.

[0110] In the specific embodiment of FIG. 1, the control unit 10 determines the navigation path based on navigation data that comprise a navigation grid with a plurality of grid coordinates. The navigation grid is configured to completely define the fire-protection area to be covered by the fire-protection robot 1. On the basis of the navigation data, it is possible to the control unit 10 of the fire-protection robot 1, the position, in the case of the embodiment of FIG. 1 to determine the safety position 71 of the fire-protection robot 1 along the navigation path.

[0111] While navigating along the navigation path through the fire-protection area, at least one fire characteristic is recorded by means of the fire-sensor unit 11. For this purpose, the fire-sensor unit 11 comprises one or a plurality of sensors, each of which serves to determine a specific fire characteristic.

[0112] Furthermore, while navigating, the environmental sensor unit 14 of the fire-protection robot 1 is used to determine ambient parameters of the environment of the fire-protection area along the navigation path. In the specific embodiment of FIG. 1, the environmental sensor unit 14 determines, in particular, the weather conditions within the fire-protection area, as well as possible obstacles on the navigation path. If obstacles are detected or if it is determined that a navigating should not be continued as specified due to the weather, this information of the environmental sensor unit 14 can be passed on to the control unit 10. The control unit 10 can then adjust the navigation path accordingly.

[0113] If the fire-sensor unit 11 along the navigation path detects at least one fire characteristic that is indicative of a fire event, the fire characteristic can be specified together with the navigation data to the processor unit 13. The processor unit 13 then determines, on the basis of the fire characteristics and the navigation data, the target site 70 of the fire event and thus the target site where the fire-fighting should take place. The processor unit 13 then generates a target-site indication indicating where the target site 70 is located.

[0114] In the specific embodiment of FIG. 1, the detection of at least one fire characteristic furthermore causes an activation of the camera 15 of the fire-protection robot 1, which is designed as a thermal camera in the embodiment of FIG. 1. The camera 15 receives the target-site indication from the processor unit 13. In response to the target-site indication, the camera aligns its memory chip in the direction of the target site 70 and thus takes at least a thermal image of the target site 70.

[0115] The camera 15 then transmits the thermal image to the processor unit 13. The processor unit 13 evaluates the thermal image and is configured to confirm that a fire event has occurred based on the thermal image for example, as well as to determine the specifications of the fire event, such as propagation, temperature, and the like. In some embodiments, the target-site indication can also be specified more precisely on the basis of the thermal image.

[0116] In the embodiment of FIG. 1, the processor unit 13 evaluates the thermal image to determine whether a fire event actually exists. If a fire event is confirmed, the processor unit 13 transmits a corresponding indication and the target-site indication to the communication unit 12.

[0117] Thereby, the communication unit 12 is caused to transmit an activation signal comprising the target-site indication to the receiver unit 20 of at least one stationary fire-fighting device 2. In the specific embodiment of FIG. 1, the communication unit 12 is particularly configured to determine which stationary fire-fighting devices 2 are located near the target site 70 on the basis of the target-site indication and transmit the activation signal comprising the target-site indication to exactly the stationary fire-fighting devices 2 whose location is near the target site 70.

[0118] The stationary fire-fighting devices 2 receive, via the receiver unit 20, the activation signal and are configured to determine the target site 70 of the fire event based on the target-site indication. In response to the determination of the target site 70, the alignment unit 21 is caused to align the respective fire-fighting device 2 in the direction of the target site 70, thus moving into the extinguishing position 72, 72. In the case of a fixed fire-fighting device 2, the extinguishing position 72, 72 is therefore a position in which the fire-fighting device 2, located at a specified location, has aligned in the direction of the target site 70 of the fire event.

[0119] In the specific embodiment of FIG. 1, for this purpose, the extinguishing-fluid outlet 22 of the fire-fighting device 20 is aligned in the direction of the target site 70. Following alignment, the activation signal causes the fire-fighting device 2, to initiate a fire-protection action that is carried out in the embodiment of FIG. 1 comprising an extinguishing action, i.e. outputting extinguishing fluid onto the fire.

[0120] FIG. 2 shows a schematic representation of a fire-protection robot 1 according to the invention in a second embodiment. In the embodiment of FIG. 2, the fire-protection robot 1 is again designed as a fire-protection drone and comprises a control unit 10, a fire-sensor unit 11, a communication unit 12, a processor unit 13, an environmental sensor unit 14, a camera 15 and a fire-fighting unit 16.

[0121] The functionality of the fire-protection robot 1 in accordance with FIG. 2 corresponds to the functionality as is described in connection with FIG. 1. Unlike in FIG. 1 however, the fire-protection robot 1 in the embodiment of FIG. 2 also comprises the fire-fighting unit 16 for carrying out an initial action. In the embodiment of FIG. 2, the fire-fighting unit 16 is designed as a fire-fighting unit for carrying out an initial extinguishing action.

[0122] In this embodiment, the detection of the at least one fire characteristic by the fire-sensor unit 11 of the fire-protection robot 1 and the confirmation of the fire event by means of the thermal image of the camera 15 lead to an activation of the fire-fighting unit 16.

[0123] For this purpose, the control unit 10 and the fire-fighting unit 16 obtain the target-site indication from the processor unit 13. In response to the target-site indication, the control unit 10 causes the fire-protection robot 1 to position itself in the safety position 71, in which the fire-protection robot 1 is arranged so that, on the one hand, it is not damaged by the fire event, but, on the other hand, can perform an initial extinguishing action. Furthermore, the target-site indication causes the fire-fighting unit 16 of the fire-protection robot 1 to orientate itself towards the target site 70 so that the fire-fighting unit 16 can initiate the initial combat action. In the specific embodiment of FIG. 2, in which the fire-fighting unit 16 is a fire-fighting unit, the fire-fighting unit 16 thus aligns the extinguishing-fluid outlet in the direction of the target site 70 and then initiates the first extinguishing action. Preferably, the fire-protection robot 1 continues the detection of the fire characteristic by the fire-sensor unit 11 during the first extinguishing action in order to collect information about the effectiveness of the first extinguishing action.

[0124] FIG. 3 schematically shows a fire-protection system 100 in accordance with another embodiment. The fire-protection system 100 comprises at least one fire-protection robot 1 and at least one mobile fire-fighting device 3. The mobile fire-fighting devices 3 comprise a drive unit 31 for navigating the mobile fire-fighting devices 3 from an initial position into an extinguishing position 72. Even if only a mobile fire-fighting device 3 and only two fire-protection robots 1 are shown in FIG. 3, the fire-protection system 100 can also comprise other mobile fire-fighting devices 3 and/or other stationary fire-fighting devices 2 and/or other fire-protection robots.

[0125] The functionality of the fire-protection robots 1 of the fire-protection system 100 corresponds to the functionality of the fire-protection robots 1 of the fire-protection system 100, as is described in connection with FIG. 1. However, the fire-protection system 100 differs in accordance with FIG. 3 of the fire-protection system 100 of FIG. 1 in that the fire-protection system 100 also comprises mobile fire-fighting devices 3.

[0126] The mobile fire-fighting device 3 comprises a receiver unit 30 for receiving the activation signal comprising the target-site indication of the communication unit 12 of the fire-protection robot 1. The fire-fighting device 3 uses the target-site indication to determine the target site 70 of the fire event. The mobile fire-fighting device 3 then determines a movement path from its starting position, i.e. its current location, to the extinguishing position 72 at some distance from the target site 70. In determining the movement path, additional information, in particular about the environment of the fire event, the weather conditions and the like, are preferably included in order to be able to carry out the most efficient fire-protection action.

[0127] In the specific embodiment of FIG. 3, the mobile fire-fighting device 3 navigates in response to the activation signal thus automatically along the movement path from the starting position in the direction of the target site 70. At the target site 70, the fire-fighting device 3 then positions itself at a place that is distanced from away from the target site in such a way that the fire-fighting device 3 is not damaged but can carry out the fire-protection action effectively. At this point, distanced from the target site, the fire-fighting device 3 then preferably aligns an extinguishing-fluid outlet in the direction of the target site 70 so that it can fight the fire and thus enters into the extinguishing position 72. In the extinguishing position 72 the fire-fighting device then initiates a fire-protection action.

[0128] In FIG. 3, this fire-protection action is an extinguishing action. For this purpose, the mobile fire-fighting device 3 is positioned in relation to the target site 70 so that the extinguishing fluid output from the extinguishing-fluid outlet 32 can extinguish the fire so that it is ensured that the extinguishing fluid output from the extinguishing-fluid outlet 32 can reach the fire event at the target site 70 in the specified weather conditions and the corresponding range of the fire-fighting device 3.

[0129] A fire-protection system 100 in accordance with another embodiment is schematically shown in FIG. 4. The fire-protection system 100 comprises at least one fire-protection robot 1, at least one stationary fire-fighting device 2 and at least one mobile fire-fighting device 3. The functionalities of the fire-protection robot 1, the stationary fire-fighting device 2 and the mobile fire-fighting device 3 corresponding to the functionalities to the furthest extent possible, as is described in connection with FIGS. 1 to 3.

[0130] Furthermore, the fire-protection system 100 comprises a central device 4. The central device 4 comprises a central communication unit 40, a display unit 41 and the user interfaces 42 and 43. Unlike in the embodiments of FIGS. 1 to 3, the fire-protection robot 1, the stationary fire-fighting device 2 and the mobile fire-fighting device 3 in the embodiment of FIG. 4 are configured, in addition to self-navigation and activation, to also be manually controlled by a user.

[0131] For this purpose, the signal communication between the fire-protection robot 1 and the fire-fighting devices 2, 3 run via the central communication unit 40 of the central device 4. The central device 4 also has all information about the fire-protection area, such as its size, which sections are to be monitored by which fire-protection robot(s) 1, at which locations within the fire-protection area stationary fire-fighting devices 2 are arranged and the like.

[0132] The central device 4 receives all signals that are exchanged between the fire-protection robots 1 and the stationary and mobile fire-fighting devices via the central communication unit. Thus, the central device is also informed at all times about the (current) locations (e.g. at the safety position 71) of the fire-protection robot 1 and the (current) locations (e.g. at the extinguishing positions 72, 72) of the mobile fire-fighting devices 3. The central device 4 therefore has an overview of the locations of all system elements within the fire-protection area at all times.

[0133] The central device 4 is configured to output a graphical representation for the user by means of the display unit 41. This graphical representation comprises a first graphical representation 50 of the navigation grid, which defines the fire-protection area and a second graphical representation of at least one location at least one fire-protection robot 1 and/or at least a fire-fighting device 2, 3. Based on the graphical representation comprising the first and the second graphical representation, the user can then manually control the fire-protection robots 1 and/or the fire-fighting devices 2, 3 via the user interfaces 42, 43.

[0134] In the specific embodiment of FIG. 4, this means, in particular, that the user can manually navigate the fire-protection robots 1 and the mobile fire-fighting devices 3, for example, from their respective location to the target site 70. For this purpose, the fire-protection robots 1 and/or the fire-fighting devices 3 can also each comprise a camera, which is activated during manual control and transmits images to the central communication unit 40 of the central device 4. These images can then be displayed to the user on the display unit, for example, in a second window, in order to support navigation.

[0135] Furthermore, the user can also manually control the orientation of the mobile and/or stationary fire-fighting devices 2, 3 in the direction of the target site. Preferably, the second graphical representation for this comprises an orientation identification, thus indicating in which direction, for example, the extinguishing-fluid outlets of the individual fire-fighting devices are directed. Here, the user can additionally be shown the image of a camera.

[0136] In order to perform the manual control, the user preferably selects a fire-protection robot 1 and/or a mobile or stationary fire-fighting device 2.3 and performs the control for the selected fire-protection robot 1 or the selected fire-fighting device 2.3. Preferably, the other system elements continue to act automatically during this time. In other embodiments, manual control can also decommission the automatic operation of the system elements.

[0137] FIG. 5 schematically shows a graphical representation on the display unit 41 of the central device 4 for the purpose of manual control. Furthermore, FIG. 5 schematically shows a user interface 43, which is designed as a joystick in the embodiment of FIG. 5. The user interface is used for the manual control of the system elements.

[0138] The display unit 41 shows the user a graphical representation, in which the first graphical representation 50 of the navigation grid and the second graphical representation of the location of the fire-protection robot 1, which, in the present case, corresponds to the safety position 71, of the location of the stationary fire-fighting device 2, which, in the present case, is in the safety position 72, and of the location of the mobile fire-fighting device 3, which, in the present case, is located in the safety position 72, are displayed in a superimposed manner. Furthermore, the graphical representation comprises a third graphical representation of the target site 70 at which a fire event has been detected, as well as a graphical representation of the information about the environment, such as information regarding the current weather conditions for example, and a plurality of selection tools 61, with which the user can select the fire-protection robots 1 and/or fire-fighting devices 2, 3 to be controlled.

[0139] In the specific embodiment of FIG. 5, the user has selected the fire-protection robot 1 in safety position 71 via the selection means 61 in order to control it manually. The user can then use the user interface 43 to control the fire-protection robot 1, for example, away from the safety position 71 from the target site 70 of the fire event, for example, in the parking position when the fire-protection robot is no longer required and/or indicates that it must be charged. In the embodiment of FIG. 5, this control is purely based on the grid coordinates. The user is shown the movement of the fire-protection robot 1 in real time, and that occurring by continuously adjusting the graphical representation of the location of the fire-protection robot 1 away from the protection position 71. This means that the graphical representation of the location is continuously adapted to the movement of the fire-protection robot 1.

[0140] After the user has stopped controlling the fire-protection robot 1, he/she can then select via the selection means 61 the stationary fire-fighting device 2 in the extinguishing position 72 or the mobile fire-fighting device 3 in the extinguishing position 72 and control it accordingly manually, as is described in connection with FIG. 4. Thus, a fire-protection system 100 can be provided, in which an automatic as well as manual control of the individual system elements is possible.

[0141] Even if a manual control of the at least one fire-protection robot 1 and/or the at least one stationary and/or mobile fire-fighting device 2, 3 has been explained in connection with FIG. 5, the graphical representation, as is schematically shown in FIG. 5, can also only serve to show the user the automatic navigation of the individual system elements through the fire-protection area so that the user can get an idea of the situation without actively intervening in the process.

LIST OF UTILIZED REFERENCE NUMBERS

[0142] Fire-protection robot 1 [0143] Control unit 10 [0144] Fire-sensor unit 11 [0145] Communication unit 12 [0146] Processor unit 13 [0147] Environmental sensor unit 14 [0148] Camera 15 [0149] Fire-fighting unit 16 [0150] Stationary fire-fighting device 2 [0151] Mobile fire-fighting device 3 [0152] Receiver unit 20, 30 [0153] Alignment unit 21 [0154] Extinguishing-fluid outlet 22, 32 [0155] Drive unit 31 [0156] Central device 4 [0157] Central communication unit 40 [0158] Display unit 41 [0159] User interface 42, 43 [0160] First graphical representation 50 [0161] Selection medium 61 [0162] Target site of the fire event 70 [0163] Safety position 71, 71 [0164] Extinguishing position 72, 72, 72 [0165] Fire-protection system 100, 100, 100