Autonomous robot for fire protection

Abstract

A robot (100) for fire protection comprises: - a motor (16) and at least one wheel (20) for moving the robot (100) on the ground, - a means (14) for confirming a fire-outbreak zone, - a main tank (11) for receiving water and a water cannon (12) connected to the tank by means of a distribution pump (13), and - an autonomous control device (15) connected to the motor (16), to the confirmation means (14) and to the water cannon (12) so as to autonomously control the movement of the robot (100) and the distribution of water to the fire-outbreak zone.

Description

Autonomous robot for fire protection

[0001] The present invention relates to a robot for fire protection. In particular, it relates to a robot that can extinguish the start of a fire or contain it for as long as possible in complete autonomy before the intervention of the fire brigade.

[0002] A fixed fire extinguishing system of the "sprinkler" type is already known from the state of the art, installed in a building such as an underground car park or a warehouse. Such a system comprises a network of nozzles permanently connected to a water network, such as external tanks or pipes. Such nozzles are generally equipped with glass capsules filled with mercury which burst under the effect of heat. When bursting, the passage for the water is therefore opened and the pressurized water in the network can escape. The calibration of a nozzle is generally around 70°C, so the triggering is relatively late. The sprinkler network can be doubled with a network of smoke sensors to trigger a fire alarm, which the mercury capsule is not able to do.

[0003] One difficulty is that when such a fixed fire extinguishing system is activated, the nozzles burst and can unnecessarily spray non-dangerous areas in the event of a false alarm or if the danger zone is not precisely located. In addition, this installation system must be kept under pressure at all times and requires extensive work to integrate the nozzle network into the building.

[0004] Documents CN110755783, CN112619003, CN109985342 and CN108704232 also disclose robots capable of detecting the start of a fire.

[0005] The proposed invention aims in particular to optimize water distribution while effectively controlling the start of a fire.

[0006] To this end, the invention aims at a robot for fire protection, comprising:

[0007] - a motor and at least one wheel for moving the robot on the ground,

[0008] - a means of confirming a fire start zone,

[0009] - a main tank for receiving water and a water cannon connected to the tank by means of a distribution pump, and

[0010] - an autonomous control device connected to the motor, the confirmation means and the water cannon so as to autonomously control the movement of the robot and the distribution of water to the area where the fire started.

[0011] Thus, we propose a particularly efficient robot in that it is capable of autonomously carrying out three distinct actions, namely confirming a fire start zone, moving towards this fire start zone, and directing the water distribution towards this precise zone so as to allow an initial delivery of water as quickly as possible after detecting the start of the fire.

[0012] Such a robot is therefore suitable for extinguishing the start of a fire, also called a "hot spot", without the intervention of firefighters, or for containing this start of fire for as long as possible before the arrival of firefighters. In other words, the robot is capable of distributing what is called a "surgical strike" on an area where a fire is starting. It is understandable that it is much more advantageous to be able to distribute water only to a hot spot, rather than spraying a large area of ​​water, as can be the case with a fixed sprinkler mounted in an installation ("sprinkler"). Not only can water be saved, but installation costs are also greatly reduced because there is no need to install a network of water "sprinklers". In addition, unnecessary flooding of the environment outside the hot spot is avoided.

[0013] The term "autonomous control device" means that the control device can operate autonomously, without human intervention. In this case, the robot is adapted to move without a driver and without remote control, to confirm the start of a fire and / or distribute water without being controlled by a person. Of course, it may be possible to add to these autonomous functions the possibility of controlling these functions by a person, in particular by remote control, however the robot is capable, in addition to this possibility, of operating autonomously. This is particularly advantageous because autonomous confirmation, movement and distribution offers very high speed of action and avoids putting people in danger. In particular, unlike "sprinklers", the robot's intervention can take place before the capsules can detect the 70°C at the ceiling.

[0014] In general, the capsules are designed to burst as the temperature (around 70°C) is detected, so there is no precise location of the start of the fire and its progress. In addition, such a "sprinkler" system is not configured to launch a fire alarm; it can be backed up by smoke sensors that detect the area of ​​the start of the fire more quickly to launch an alert. Thus, the "sprinkler" system is passive, but late, allowing neither to launch an alert nor to confirm precisely the exact location of the start of the fire.

[0015] The main tank preferably receives only water, but can also possibly receive a fluid comprising water mixed with an emulsifying agent to reduce water consumption, suitable for better containing the fire. The main tank generally has a fluid volume capacity of between 800L and 2500L, preferably between 1500L and 2000L, preferably still close to 1800L. Thus, it is possible to have a distribution autonomy of more than 15 minutes or even much longer if a low-consumption water cannon is used whose flow rate can be between 30 and 100 L / min (liters per minute). The interval between 1500 and 2000L is particularly interesting because it allows the robot to have a distribution autonomy of more than 20 minutes. Advantageously, such a volume allows the robot to control the start of a fire long enough before the arrival of the firefighters.On the other hand, this volume constitutes a good compromise between the total mass of the robot and its size.

[0016] The distribution pump is preferably configured to send water at high pressure and low flow rate from the main tank to the water cannon. Thus, the pump is particularly suitable for containing the fire for as long as possible before the firefighters intervene. Preferably, the pump is configured to send water at a pressure between 150 and 250 bars, for example close to 200 bars, for a flow rate of 50 to 250 L / min (liters per minute), which can allow the robot to have a distribution autonomy of more than 20 minutes.

[0017] The robot may further include one or more of the following optional features, alone or in combination.

[0018] – The means for confirming a fire start zone comprises a camera, preferably a thermal camera and / or a stereo camera, and the control device is configured to confirm a fire start zone from the information transmitted by the camera. The camera thus allows verification and confirmation of the fire start zone to determine the precise location and extent of the fire before ordering a “surgical” strike, i.e. a distribution of water adapted as closely as possible to the needs to contain or fight the start of the fire without wasting water.

[0019] Preferably, the camera is configured to identify and confirm a false positive, i.e. a detection of a hot spot or one resembling the start of a fire that does not in fact correspond to the start of a fire. For example, the camera is capable of searching for hot spots in its field of view and comparing them by means of an internal algorithm with an artificial intelligence model in order to determine whether the hot spot is the start of a fire (e.g. a battery fire, etc.) or a non-hazardous hot spot (e.g. a radiator, etc.). Thus, not only can the robot detect signs of the start of a fire, such as flames and / or a certain temperature, but it also comprises means for verifying whether these elements actually correspond to a hazardous hot spot.

[0020] The camera can be a thermal camera, configured to identify and confirm a hot spot.

[0021] Alternatively or in combination, the camera can be a stereo camera, which is a dual-lens camera, providing in-depth vision allowing the control device to determine the distance to position itself from the fire outbreak area before water distribution. For example, in the case of battery fires, the robot must be kept at a minimum distance as a safety measure. Or, thanks to the stereo camera, the distance to a fire source can be estimated to advantageously adapt the inclination of the water cannon and therefore the water jet. The stereo camera is therefore particularly relevant for defining a safety distance from the robot before water distribution.

[0022] – The robot comprises a chassis and a turret mounted so as to pivot relative to the chassis, the turret carrying the confirmation means. The pivoting turret makes it possible to optimize the functions of the confirmation means, in particular the camera, by allowing it to be rotated preferably through 180° or even 360°. Thus, the confirmation means is capable of detecting the progression of the fire in space in real time.

[0023] Advantageously, the rotation axis of the turret is perpendicular to the plane of the chassis. This allows the confirmation means to have a field of vision that pivots parallel to the plane on which the robot is moving. Furthermore, optionally the confirmation means, in particular the camera, can itself be pivotally mounted on the turret to allow it to be tilted up and down, to increase its field of vision.

[0024] The turret preferably carries a thermal imaging camera. It can also carry a stereo camera. Alternatively, the turret can carry only a thermal imaging camera and a stereo camera is attached to a front or rear part of the platform.

[0025] – The robot comprises an outer casing, which encloses in particular the main tank and the control device, this casing preferably comprising a bumper element in its lower part. Such an enclosure makes it possible to protect the important parts of the robot, in particular the main tank and the control device.

[0026] Advantageously, the casing is provided with a tank filling orifice. Preferably, this orifice is provided with a means of connecting a fire hose, which allows the tank to be filled by firefighters, in particular during a firefighter intervention after an initial intervention by the robot in autonomy. Such a connection is preferably a standard connection, such as the DN40 type connections called "Guillemin" defined by standard NF E29-572 or by standard NF EN 14420-8.

[0027] Furthermore, the bumper elements are preferably positioned at the height of a motor vehicle bumper. Advantageously, the bumper elements are equipped with ultrasonic sensors, thus making it possible to detect obstacles in the path of the robot.

[0028] – The robot includes both:

[0029] * a drive wheel, driven by the engine, and

[0030] * a non-driven wheel, called an idler wheel, to facilitate the guidance of the robot.

[0031] It is understood that the idler wheel is generally a wheel provided with a free rotation axis, offset relative to an axis of attachment of the wheel on the robot, so as to follow the movement of the robot imposed by the drive wheel. Thus, an idler wheel follows the movement and is not a motor in the movement, its function is only to guide and support a load, generally the chassis. Preferably, the robot comprises two drive wheels and two idler wheels.

[0032] Advantageously, the idler wheels improve the robot's maneuverability in tight spaces.

[0033] – The control device comprises means for receiving a signal from a building's fire safety system, preferably means for receiving a WIFI signal.

[0034] For example, the means for receiving a signal comprise an antenna which is advantageously fixed to the outer casing of the robot.

[0035] Such reception means make it possible to receive a signal from one or more detectors permanently installed in a building, this signal giving an idea of ​​the location of the fire zone. It is understood that generally, any building is equipped with a fire safety system, external to the robot, by a mesh of pre-installed sensors, such as smoke detectors, and connected to a central security server, which can therefore communicate with the robot. We therefore generally understand by "fire safety system" the system comprising the mesh of fire detectors and the central security server called PC security (Anglicism "Personal Computer").

[0036] Thus, the pre-installed sensors are configured to send an alert signal to the robot via the central security server, these sensors can also be associated with sprinkler-type water dispensers.

[0037] Preferably, the signal received by the robot's antenna is transmitted to the robot's control device, which calculates the approximate location of the start of the fire. Once on site, the robot uses its confirmation means, in particular the camera, to identify where to direct the water cannon.

[0038] – The control device incorporates geolocation means configured to guide the robot during its movement towards the area where the fire started, and possibly to create or update in real time a map of the robot's environment. Such geolocation means allow the control device to autonomously direct the robot's movement towards the approximate location of the fire start, and to avoid obstacles.

[0039] Advantageously, the geolocation means allow the control device to update, or even create, a map of the environment (for example, the building, the basement, the parking lot) around it. Once the signal of the start of a fire is received, the robot, knowing its environment, can move to the location in question by taking the most suitable and fastest route.

[0040] Advantageously, the control device includes an internal memory in which it stores the predefined or updated mapping.

[0041] In general, the robot is configured beforehand during an installation in the building in which it will operate. During this installation, the robot can go around its environment to carry out the first mapping according to the so-called "SLAM" (for "Simultaneous Localization And Mapping") methods, which allow an autonomous robot to position itself in space and reconstruct its environment in real time in order to carry out its mission. It can then make regular updates to move better, learn about new obstacles, and identify the fastest paths.

[0042] For example, geolocation means include an inertial unit, configured to integrate the robot's movements, estimate its orientation, linear speed and position.

[0043] Advantageously, the geolocation means are configured to communicate with the reception means, in particular the antenna, to transmit the precise location of the fire to the central security server, and optionally images collected by the confirmation means, in particular the camera, in order to facilitate a possible intervention by the firefighters.

[0044] – The control device includes a calculation module capable of processing the information provided by one or more of the elements of the group including the identification means, geolocation means, an obstacle sensor, so as to be able to produce a real-time map of the robot's environment during its movement.

[0045] Preferably, the calculation module is configured to process each of the information provided by the identification means, geolocation means and an obstacle sensor.

[0046] – The robot includes two water distribution pumps, connecting the water cannon to the tank. This allows for efficient distribution at satisfactory pressure, while using a relatively low voltage battery.

[0047] Preferably, the pump or both pumps are carried by the frame.

[0048] – The robot includes at least one secondary tank suitable for containing a low-water consumption means, to be combined with the distributed water, for example compressed foam, a gas, a dysphasic system or even a retardant. Such a means advantageously allows water consumption to be reduced.

[0049] The compressed foam can be a "CAFS" (compressed air foam system) type system. The secondary tank can be a cylinder, possibly removably attached to the robot's casing. It may be possible to envisage the secondary tank being adapted to be operated by someone present on the ground. Depending on requirements, the retardant can be expelled by the water cannon before or after water distribution, or mixed with the water during its distribution.

[0050] – The robot is present in a parallelepiped with the following external dimensions:

[0051] * a length between 1800 and 2200 mm (millimeters),

[0052] * a width between 900 and 1200 mm, and

[0053] * a height between 1600 and 1900 mm.

[0054] The invention also relates to a method of operating a robot as presented above.

[0055] Such a process advantageously comprises the following steps:

[0056] - receipt of an alert signal from a fire safety system of an installation,

[0057] - calculation of the approximate location of the start of a fire,

[0058] - autonomous movement of the robot to the approximate location,

[0059] - autonomous confirmation of a fire outbreak zone,

[0060] - autonomous movement of the robot towards the fire outbreak area, and

[0061] - autonomous water distribution to the fire outbreak area. Brief description of the figures

[0062] The invention will be better understood on reading the following description, given solely by way of example and with reference to the appended drawings in which:

[0063] is a schematic side view and in partial transparency of a robot for fire protection according to the invention.

[0064] is a front side perspective view of a robot similar to the robot shown in the.

[0065] is a rear side perspective view of the robot.

[0066] is a partial front side perspective view of the robot.

[0067] is a perspective view of the robot, parked in a parking space in a building basement. Detailed description

[0068] A robot 100 according to one embodiment of the invention is shown. Such a robot 100 is intended to be installed in a building, in particular in a basement or a parking lot of a building (), or in a warehouse.

[0069] The robot 100 comprises a chassis 10 carrying a main tank 11 containing water, a water cannon 12 connected to the tank by means of a distribution pump 13, a means 14 for confirming a fire start zone, a control device 15, a motor 16 and wheels 20.

[0070] The main tank 11 is a tank capable of containing, in this example, between 1500 and 2000L of water. The main tank 11 is connected to the water cannon 12 via two juxtaposed pumps 13, which makes it possible to distribute the water with sufficient power while having a battery of relatively low voltage. The main tank 11 is arranged on a rear part of the chassis 10 and the water cannon 12 is arranged on a front part of said chassis. The control device 15 is connected to the water cannon 12 to autonomously control the distribution of water.

[0071] Concerning the wheels 20, the robot preferably comprises at least three wheels together forming three support points for the stable maintenance of the chassis 10 on the ground. More precisely, the robot 100 comprises both: at least one driving wheel 21, driven by the motor 16, and at least one non-driving wheel 22, called an idler wheel, to facilitate the guidance of the robot 100. In the particular case of the, the chassis 10 rests on two driving wheels 21, arranged face to face under the central part of the chassis 10, and four idler wheels 22, arranged substantially at the four corners of the lower surface of the chassis 10, being distributed two by two on front and rear parts of the chassis. The driving wheel 21 is driven in movement by the motor 16, supported by the chassis 10 and connected to the driving wheel 21 by transmission means (not shown) to allow the robot 100 to move on the ground.The control device 15 is connected to the motor 16 to control the driving of the drive wheel 21 and therefore the movement of the robot 100. The motor 16 is powered by a battery 26 carried by the chassis 10. The idler wheels 22 are configured to guide the movement of the robot 100 by supporting the load of the chassis 10, under the effect of the movement imposed by the drive wheels 21.

[0072] According to another embodiment shown in Figures 2 to 4, the chassis comprises two driving wheels 21 arranged on the front part of the chassis and two non-driving wheels 22 arranged on its rear part. The two non-driving wheels 22 could be replaced by a single wheel 22.

[0073] The chassis 10 mainly supports the main tank 11, the pumps 13, the motor 16, the battery 26, the control means 15, the water cannon 12 and the connections between these different elements. The chassis 10 also serves as a support for an outer casing 17, which forms what is called a body and envelops all of the above elements supported by the chassis, except for the water cannon 12 which projects from the outer casing 17.

[0074] The robot 100, therefore the outer casing 17, is inscribed in a parallelepiped having the following external dimensions (see):

[0075] * a length L between 1800 and 2200 mm (millimeters),

[0076] * a width l between 900 and 1200 mm, and

[0077] * a height H between 1600 and 1900 mm.

[0078] The outer casing 17 is further equipped with a plurality of external functional elements, in particular:

[0079] – A bumper element 19 arranged on a lower area of ​​the casing 17, at a height similar to the conventional height of a motor vehicle bumper. Preferably and as visible in the figures, the casing 17 is equipped with two bumper elements 19 arranged respectively on the front and rear parts of the casing 17. The bumper elements 19 are preferably equipped with obstacle sensors 25, generally ultrasonic, allowing the robot 100 to detect obstacles during its movement. It is entirely possible to envisage the bumper element 19 extending over the entire periphery of the casing 17, not only at the front and rear but also on the sides. In the case, illustrated in the figures, where it extends only at the front and rear, the outer casing 17 is also provided with ultrasonic sensors on the sides (see).

[0080] – A 24-light flashing light to enable recognition and to inform people in the building to be vigilant. This flashing light also improves the brightness for better operation of the identification means 14.

[0081] – An orifice 28 for filling the main tank 11 (), this orifice is advantageously provided with a standard means of connecting a fire hose.

[0082] – A means 23 for receiving a signal (), in particular an antenna 23, configured to capture a signal coming from an external fire safety system of a building in which the robot 100 is installed. The signal is preferably a WIFI signal. The external system preferably comprises a mesh of pre-installed sensors connected to a central security server, with which the robot 100 can communicate. The antenna 23 is connected to the control device 15 in order to communicate to it the approximate location of a detected fire start zone (for example from smoke detectors), the control device 15 then being able to control the movement of the robot 100 by the motor 16 to go to the zone and, thanks to the confirmation means 14, checks, confirms and specifies the fire zone before controlling the distribution of water by the water cannon 12.

[0083] – The confirmation means 14, associated with the water cannon 12. The confirmation means 14 here comprises a camera 14 which is preferably a thermal camera and / or a stereo camera. The control device 15 is configured to confirm a fire start zone among the information transmitted by the confirmation means 14. Furthermore, the confirmation means 14 is connected to the control device 15 to communicate to it false positives and the type of fire in the fire zone so that it can control the distribution of water.

[0084] As can be seen in the, the chassis 100 also carries a turret 18 for supporting the water cannon 12 and the confirmation means 14. The turret 18 is pivotally mounted relative to the chassis 10 along an axis of rotation perpendicular to the plane of the chassis 10. Advantageously, the confirmation means 14 is pivotally mounted on the turret to allow it to tilt in an up-and-down movement, improving its field of vision.

[0085] The control device 15 also integrates geolocation means configured to guide the robot 100 during its movement in the building towards the fire outbreak zone. These geolocation means are advantageously configured to map the environment of the robot 100, in particular according to the so-called “SLAM” (for “Simultaneous Localization And Mapping”) methods, which allow the robot 100 to position itself autonomously in space and to reconstruct its environment in real time in order to carry out its mission. It can then or alternatively make updates to move better, know the new obstacles, and identify the fastest paths.

[0086] Thus, it is understood that the control device 15 comprises a calculation module capable of processing the information provided by the confirmation means 14, the geolocation means and the ultrasonic sensors 25 to carry out its mapping in real time.

[0087] Advantageously, the geolocation means are configured to communicate with the reception means 23 in order to transmit the precise location of the fire to a central security server and optionally images collected by the confirmation means 14 in order to facilitate a possible intervention by the firefighters.

[0088] The robot 100 is shown parked in a building, more specifically in a building parking lot. The robot 100 is shaped to have a compact volume in space while providing optimal capacity in terms of water volume and intelligence for fighting fire.

[0089] The operating method of the robot 100 includes in particular the following steps:

[0090] - reception by the reception means 23 of an alert signal from a fire safety system of an installation,

[0091] - calculation of the approximate location of the start of a fire, using the geolocation means and the calculation means of the control device 15,

[0092] - autonomous movement of the robot towards the approximate location, thanks to the control device 15 which controls the activation of the motor 16 for driving the drive wheel 21 and receives information from the confirmation means 14 and the obstacle sensors,

[0093] - autonomous verification and confirmation, using confirmation means 14, of a fire start zone,

[0094] - autonomous movement of the robot towards the fire outbreak area, and

[0095] - autonomous distribution of water to the fire outbreak area, thanks to the control device 15 which controls the activation of the water cannon 12 and the rotation of the turret 18.

[0096] The invention is not limited to the embodiments presented and other embodiments will become clear to those skilled in the art. It is possible to vary the volume of water present in the main tank 11. The arrangement of the different components of the robot 100 can be modified.

[0097] It is advantageous to provide a secondary tank suitable for containing a low water consumption means, to be combined with the distributed water, for example compressed foam, a gas, a dysphasic system or even a retardant. Such a means advantageously allows water consumption to be reduced. List of references

[0098] 100: robot

[0099] 10: chassis

[0100] 11: main tank

[0101] 12: water cannon

[0102] 13: distribution pump

[0103] 14: Fire zone confirmation means (camera)

[0104] 15: control device

[0105] 16: engine

[0106] 17: outer envelope

[0107] 18: turret

[0108] 19: bumper elements

[0109] 20: wheel

[0110] 21: drive wheel

[0111] 22: non-driven wheel

[0112] 23: means of receiving a signal (antenna)

[0113] 24: flashing light

[0114] 25: obstacle sensor

[0115] 26: battery

[0116] 28: filling hole

Claims

Robot (100) for fire protection, characterized in that it comprises:- a motor (16) and at least one wheel (20) for moving the robot (100) on the ground,- a means (14) for confirming a fire start zone,- a main tank (11) for receiving water and a water cannon (12) connected to the tank by means of a distribution pump (13), and- an autonomous control device (15) connected to the motor (16), to the confirmation means (14) and to the water cannon (12) so as to autonomously control the movement of the robot (100) and the distribution of water to the fire start zone,robot in which the means (14) for confirming a fire start zone comprises a camera (14), the camera being configured to identify and confirm a false positive, ie.a detection of a hot spot or one resembling the start of a fire which does not in fact correspond to the start of a fire, and the control device (15) is configured to identify a fire start zone among the information transmitted by the camera (14). Robot according to the preceding claim, wherein the camera is a stereo camera. Robot according to any one of the preceding claims, comprising a chassis (10) and a turret (18) pivotally mounted relative to the chassis (10), the turret carrying the confirmation means (14). Robot (100) according to any one of the preceding claims, comprising an outer casing (17), which in particular envelops the main tank (11) and the control device (15), this casing (17) preferably comprising a bumper element (19) in its lower part. Robot according to the preceding claim, in which the outer casing (17) is provided with a tank filling orifice, provided with a means for connecting a fire hose. Robot (100) according to any one of the preceding claims, comprising both:- a drive wheel (21), driven by the motor (16), and- a non-drive wheel (22), called an idler wheel, to facilitate the guidance of the robot (100). Robot (100) according to any one of the preceding claims, wherein the control device (15) comprises means for receiving (23) a signal from a fire safety system of a building, preferably means for receiving a WIFI signal. Robot (100) according to any one of the preceding claims, in which the control device (15) integrates geolocation means configured to guide the robot (100) during its movement towards the fire start zone, and possibly to create or update in real time a map of the environment of the robot (100). Robot (100) according to any one of the preceding claims, in which the control device (15) comprises a calculation module capable of processing the information provided by one or more of the elements of the group comprising the confirmation means, geolocation means, an obstacle sensor, so as to be able to carry out a real-time mapping of the environment of the robot during its movement. Preferably, the calculation module is configured to process each of the information provided by the identification means, geolocation means and an ultrasonic sensor. Robot (100) according to any one of the preceding claims, comprising two water distribution pumps (13), connecting the water cannon (12) to the tank (11). Robot (100) according to any one of the preceding claims, comprising at least one secondary reservoir adapted to contain a low water consumption means to be combined with the distributed water, for example compressed foam, a gas, a dysphasic system or even a retardant. Robot according to any one of the preceding claims, in which the main tank (11) has a fluid volume capacity of between 800L and 2500L, preferably between 1500L and 2000L, more preferably close to 1800L.

Images