Autonomous robot for fire protection

Abstract

The fire protection robot (100) 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 origin 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), the confirmation means (14), and the water cannon (12) so as to autonomously control the movement of the robot (100) and the distribution of water to the fire origin zone. Figure for the abbreviation: Figure 1

Description

Title of the invention: 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 a small fire or contain it for as long as possible autonomously before the fire department arrives.

[0002] A fixed sprinkler system is already known in the prior art, installed in a building such as an underground parking garage or warehouse. Such a system comprises a network of nozzles permanently connected to a water supply, such as external tanks or pipes. These nozzles are generally equipped with glass capsules filled with mercury that burst under the effect of heat. When they burst, the passage for the water is opened, and pressurized water in the system can be released. The nozzle's operating temperature is generally around 70°C, so the activation is relatively delayed. The sprinkler system can be supplemented by a network of smoke detectors to trigger a fire alarm, something the mercury capsule cannot do.

[0003] One difficulty lies in the fact that, when such a fixed fire suppression system is triggered, the nozzles burst and can unnecessarily spray areas that are not at risk in the event of a false alarm or if the location of the danger zone is insufficiently precise. Furthermore, this installation system must be kept under constant pressure and requires significant work to integrate the nozzle network into the building.

[0004] The proposed invention aims in particular to optimize water distribution while effectively controlling a fire in its early stages.

[0005] To this end, the invention relates to a robot for fire protection, comprising:

[0006] - a motor and at least one wheel for moving the robot on the ground,

[0007] - a means of confirming a fire start zone,

[0008] - a main reservoir for receiving water and a water cannon connected to the reservoir by means of a dispensing pump, and

[0009] - an autonomous control device connected to the motor, by means of confirmation and to 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.

[0010] Thus, a particularly efficient robot is proposed in that it is capable of autonomously performing three distinct actions, namely confirming a fire start zone, moving towards this fire start zone, and pointing the water distribution to this precise area so as to allow an initial shipment of water as quickly as possible after the detection of the start of the fire.

[0011] Such a robot is therefore suitable for extinguishing a small fire, also known as a "hot spot," without the intervention of firefighters, or for containing this small fire for as long as possible before the firefighters arrive. In other words, the robot is capable of delivering what is called a "surgical strike" to a fire in its initial stage. It is clear that it is much more advantageous to be able to distribute water only to a hot spot, rather than spraying a large area with water, as can be the case with a fixed sprinkler system. Not only is water saved, but installation costs are also greatly reduced because it is not necessary to install a network of water "sprinklers." Furthermore, unnecessary flooding of the surrounding area outside the hot spot is avoided.

[0012] The term "autonomous control device" refers to a device that can operate independently, without human intervention. In this case, the robot is designed to move without a driver or remote control, to confirm the start of a fire and / or distribute water without being directed by a person. While it may be possible to add the capability for human control, particularly via remote guidance, the robot is capable of operating autonomously in addition to this capability. This is particularly advantageous because autonomous confirmation, movement, and distribution offer very rapid response times and prevent putting people at risk. In particular, unlike sprinklers, the robot can intervene before the sprinkler heads can detect the 70°C ceiling temperature.

[0013] Generally, the capsules are designed to burst as the temperature (around 70°C) is detected, so there is no precise localization of the fire's origin or its progression. Furthermore, such a "sprinkler" system is not configured to trigger a fire alarm; it can be supplemented by smoke detectors that detect the fire's origin more quickly to trigger an alarm. Thus, the "sprinkler" system is passive but delayed, failing to trigger an alarm or accurately confirm the exact location of the fire's origin.

[0014] The main reservoir preferably receives only water, but may also optionally receive a fluid comprising water mixed with an emulsifying agent to reduce water consumption, adapted for better fire suppression. The main reservoir generally has a fluid volume capacity of between 800 L and 2500 L, preferably between 1500 L and 2000 L, and preferably close to 1800 L. This allows for autonomous distribution. The watering time can exceed 15 minutes, or even much longer if a low-consumption water cannon with a flow rate of 30 to 100 L / min (liters per minute) is used. The 1500 to 2000 L range is particularly advantageous as it allows the robot to operate for over 20 minutes. Furthermore, this volume represents a good compromise between the robot's overall weight and size.

[0015] 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 well-suited to containing the fire for as long as possible before the fire department intervenes. Preferably, the pump is configured to deliver water at a pressure between 150 and 250 bar, for example close to 200 bar, at a flow rate of 50 to 250 L / min (liters per minute), which can allow the robot to operate autonomously for more than 20 minutes.

[0016] The robot may also include one or more of the following optional features, taken alone or in combination.

[0017] - The means for confirming a fire start zone includes a A camera, preferably a thermal imaging and / or stereo camera, is used, and the control system is configured to confirm the fire's point of origin based on the information transmitted by the camera. The camera thus allows for verification and confirmation of the fire's point of origin to determine the precise location and extent of the fire before ordering a "surgical" strike—that is, a water distribution tailored as closely as possible to the needs to contain or fight the incipient fire without wasting water.

[0018] Preferably, the camera is configured to identify and confirm a false positive, i.e., the detection of a hot spot or something resembling a fire that is not actually a fire. For example, the camera is capable of searching for hot spots in its field of view and comparing them, using an internal algorithm, with an artificial intelligence model to determine whether the hot spot is a fire (e.g., a battery fire, etc.) or a non-hazardous hot spot (e.g., a radiator, etc.).

[0019] The camera may be a thermal camera, configured to identify and confirm a hot spot.

[0020] Alternatively or in combination, the camera can be a stereo camera, which is a dual-lens camera providing depth vision that allows the control device to determine the distance at which to position itself relative to the fire's origin before water is distributed. For example, in the case of battery fires, the robot must be kept at a minimum distance as a safety precaution. Alternatively, the stereo camera can be used to estimate the distance to a fire in order to optimally adjust the angle of the water cannon and thus the water jet.

[0021] - The robot comprises a chassis and a turret mounted pivoting relative to the The chassis houses the turret carrying the confirmation device. The rotating turret optimizes the functions of the confirmation device, particularly the camera, by allowing it to rotate 180° or even 360°. This enables the confirmation device to detect the fire's progression in real time.

[0022] Advantageously, the turret's axis of rotation is perpendicular to the chassis plane. This allows the confirmation means to have a field of view that pivots parallel to the plane on which the robot moves. Alternatively, the confirmation means, in particular the camera, can itself be pivotally mounted on the turret to allow it to tilt up and down, thereby increasing its field of view.

[0023] The turret preferably carries a thermal camera. It may also carry a stereo camera. Alternatively, the turret may carry only a thermal camera and a stereo camera may be mounted on a front or even rear part of the platform.

[0024] - The robot includes an outer casing, which notably encloses the The main tank and the control device are housed within this enclosure, which preferably includes a bumper element at its base. Such an enclosure protects critical robot components, including the main tank and the control device.

[0025] Advantageously, the casing is provided with a tank filling port. Preferably, this port is equipped with a means for connecting a fire hose, allowing the tank to be filled by firefighters, particularly during a fire department intervention following an initial autonomous intervention by the robot. Such a connection is preferably a standard connection, such as the DN40 type fittings known as "Guillemin" fittings defined by standard NF E29-572 or by standard NF EN 14420-8.

[0026] Furthermore, the bumper elements are preferably positioned at the same height as a motor vehicle bumper. Advantageously, the bumper elements are equipped with ultrasonic sensors, thus enabling them to detect obstacles in the robot's path.

[0027] - The robot comprises both:

[0028] * a drive wheel, driven by the motor, and

[0029] * a non-driving wheel, called a free-running wheel, to facilitate the guidance of the robot.

[0030] It is understood that the idler wheel is generally a wheel equipped with a free-rotating axis, offset from a wheel mounting axis on the robot, so as to follow the robot's movement imposed by the drive wheel. Thus, an idler wheel follows the movement and is not a driving force in the movement, its only function is to guide and support a load, usually the chassis.

[0031] Preferably, the robot comprises two drive wheels and two idler wheels.

[0032] - The control device includes means for receiving a signal from a fire safety system of a building, preferably means of receiving a WIFI signal.

[0033] For example, the means for receiving a signal include an antenna which is advantageously fixed on the outer casing of the robot.

[0034] Such receiving means make it possible to receive a signal from one or more detectors permanently installed in a building, this signal providing an indication of the location of the fire zone. It is understood that generally, every building is equipped with a fire safety system, external to the robot, consisting of a network of pre-installed sensors, such as smoke detectors, connected to a central security server, which can therefore communicate with the robot. The term "fire safety system" is thus generally understood to mean the system comprising the network of fire detectors and the central security server, also called a security PC (from the English "Personal Computer").

[0035] Thus, the pre-installed sensors are configured to send an alert signal to the robot via the central security server, these sensors being able to be further associated with sprinkler-type water distributors.

[0036] Preferably, the signal captured by the robot's antenna is transmitted to the robot's control device, which calculates the approximate location of the fire's origin. Once on site, the robot uses its confirmation means, in particular the camera, to identify where to direct the water cannon.

[0037] - The control device incorporates geolocation means configured for to guide the robot during its movement towards the fire's origin, and potentially to create or update a real-time map of the robot's environment. Such geolocation methods allow the control system to autonomously direct the robot's movement towards the approximate location of the fire's origin and to avoid obstacles.

[0038] 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 itself. Once the fire start signal is received, the robot, knowing its environment, can move to the location in question by taking the most suitable and fastest route.

[0039] Advantageously, the control device includes an internal memory in which it stores the predefined or updated mapping.

[0040] Generally, the robot is pre-configured during installation in the building where it will operate. During this installation, the robot can explore its environment to create an initial map using SLAM (Simultaneous Localization and Mapping) methods, which allow an autonomous robot to position itself in space and reconstruct its environment in real time to perform its mission. It can then make regular updates to improve its navigation, identify new obstacles, and determine the fastest routes.

[0041] For example, the geolocation means include an inertial measurement unit, configured to integrate the movements of the robot, estimate its orientation, linear speed and position.

[0042] Advantageously, the geolocation means are configured to communicate with the receiving 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.

[0043] - The control device includes a computing module capable of processing the information provided by one or more of the elements of the group including means of identification, means of geolocation, an obstacle sensor, so as to be able to carry out a real-time mapping of the robot's environment during its movement.

[0044] Preferably, the calculation module is configured to process each of the pieces of information provided by the identification means, geolocation means and an obstacle sensor.

[0045] - The robot includes two water distribution pumps, connecting the water cannon to the reservoir. Thus, one can have efficient distribution, at satisfactory pressure, while having a battery with relatively limited voltage.

[0046] Preferably, the pump or both pumps are mounted on the chassis.

[0047] - The robot includes at least one secondary reservoir adapted to contain a A low-water-consumption method, to be combined with the distributed water, such as compressed foam, a gas, a dysphasic system, or a retardant. Such a method advantageously reduces water consumption.

[0048] The compressed foam can be a CAFS (Compressed Air Foam System) type system. The secondary reservoir can be a cylinder, possibly removably attached to the robot's body. It may be envisaged that the secondary reservoir could be adapted to be operated by someone on-site. Depending on the requirements, the retardant can be expelled by the water cannon before or after water distribution, or mixed with the water during distribution.

[0049] - The robot is inscribed in a parallelepiped having the dimensions following external factors:

[0050] * a length between 1800 and 2200 mm (millimeters),

[0051] * a width between 900 and 1200 mm, and

[0052] * a height between 1600 and 1900 mm.

[0053] The invention also relates to a method of operating a robot as described above.

[0054] Such a process advantageously comprises the following steps:

[0055] - reception of an alarm signal from a fire safety system of a facility,

[0056] - calculation of the approximate location of a fire starting,

[0057] - autonomous movement of the robot towards the approximate location,

[0058] - autonomous confirmation of a fire start zone,

[0059] - autonomous movement of the robot towards the area where the fire started, and

[0060] - autonomous water distribution to the fire start area. Brief description of the figures

[0061] The invention will be better understood upon reading the following description, given solely by way of example and made with reference to the accompanying drawings in which:

[0062] [Fig-1] is a schematic side view and partial transparency of a fire protection robot according to the invention.

[0063] [Fig.2] is a front side perspective view of a robot similar to the robot represented in [Fig.1].

[0064] [Fig.3] is a rear side perspective view of the robot from [Fig.2].

[0065] [Fig.4] is a partial front side perspective view of the robot from [Fig.2].

[0066] [Fig.5] is a perspective view of the robot from [Fig.1], parked in a space of parking in a building's basement. Detailed description

[0067] Figure 1 shows a robot 100 according to one embodiment of the invention. Such a robot 100 is intended to be installed in a building, in particular in a basement or a parking lot of a building (Fig. 4), or even in a warehouse.

[0068] 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 of confirming a fire start zone 14, a control device 15, a motor 16 and wheels 20.

[0069] The main reservoir 11 is a tank capable of holding, in this example, between 1500 and 2000 L of water. The main reservoir 11 is connected to the water cannon 12 via two juxtaposed pumps 13, which allows the water to be distributed with sufficient power while having a relatively low voltage battery. The main tank 11 is located on the rear of the chassis 10, and the water cannon 12 is located on the front of the chassis. The control device 15 is connected to the water cannon 12 to independently control the water distribution.

[0070] Regarding the wheels 20, the robot preferably comprises at least three wheels forming three points of support for the stable maintenance of the chassis 10 on the ground. More specifically, the robot 100 comprises both: at least one drive wheel 21, driven by the motor 16, and at least one non-drive wheel 22, called a free-running wheel, to facilitate the guidance of the robot 100. In the particular case of [Fig. 1], the chassis 10 rests on two drive wheels 21, arranged face to face under the central part of the chassis 10, and four free-running wheels 22, arranged approximately at the four corners of the lower surface of the chassis 10, being distributed in pairs on the front and rear parts of the chassis. The drive wheel 21 is driven in motion by the motor 16, supported by the chassis 10 and connected to the drive wheel 21 by transmission means (not shown) to allow the movement of the robot 100 on the ground.The control device 15 is connected to the motor 16 to control the drive of the drive wheel 21 and thus 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.

[0071] According to another embodiment shown in Figures 2 to 4, the chassis comprises two drive wheels 21 arranged on the front part of the chassis and two non-drive wheels 22 arranged on its rear part. The two non-drive wheels 22 could be replaced by a single wheel 22.

[0072] The chassis 10 primarily 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 various elements. The chassis 10 also serves as a support for an outer casing 17, which forms what is called a body and encloses all the above-mentioned elements supported by the chassis, except for the water cannon 12, which protrudes from the outer casing 17.

[0073] The robot 100, therefore the outer envelope 17, is inscribed in a parallelepiped having the following external dimensions (see [Fig.2]):

[0074] * a length L between 1800 and 2200 mm (millimeters),

[0075] * a width 1 between 900 and 1200 mm, and

[0076] * a height H between 1600 and 1900 mm.

[0077] The outer casing 17 is further equipped with a plurality of external functional elements, in particular:

[0078] - A bumper element 19 disposed on a lower area of ​​the casing 17, at a height similar to the conventional height of a motor vehicle bumper. Preferably, and as shown in the figures, the casing 17 is equipped with two bumper elements 19 arranged respectively on the front and rear of the casing 17. The bumper elements 19 are preferably equipped with obstacle sensors 25, generally ultrasonic, enabling the robot 100 to detect obstacles during its movement. It is entirely conceivable that the bumper element 19 extends around 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 equipped with ultrasonic sensors on the sides (see [Fig. 2]).

[0079] - A 24V rotating beacon allowing the vehicle to be recognized and to inform those present in the building to exercise vigilance. This rotating beacon also improves brightness for better functioning of identification devices 14.

[0080] - A filling port 28 for the main reservoir 11 ([Fig.3]), this port is advantageously equipped with a standard means of connecting a fire hose.

[0081] - A means 23 for receiving a signal ([Fig. 1]), in particular an antenna 23, configured to receive a signal from an external fire safety system of a building in which the robot 100 is installed. The signal is preferably a Wi-Fi 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 to provide it with the approximate location of a detected fire (for example, from smoke detectors). The control device 15 can then command the robot 100 to move to the area via the motor 16 and, using the confirmation means 14, verify, confirm, and pinpoint the fire zone before activating the water distribution via the water cannon 12.

[0082] - The confirmation means 14, associated with the water cannon 12. The means of Confirmation device 14 here includes a camera 14, which is preferably a thermal imaging camera and / or a stereo camera. The control device 15 is configured to confirm a fire start zone based on the information transmitted by the confirmation device 14. Furthermore, the confirmation device 14 is connected to the control device 15 to communicate false positives and the type of fire in the fire zone so that it can control the water distribution.

[0083] As can be seen in [Fig. 4], the chassis 100 also carries a turret 18 for supporting the water cannon 12 and the confirmation means 14. The turret 18 is mounted to pivot relative to the chassis 10 along an axis of rotation perpendicular to the chassis plan 10. Advantageously, the confirmation means 14 is pivotally mounted on the turret to allow its tilting in an up-and-down motion, improving its field of vision.

[0084] The control device 15 also incorporates geolocation means configured to guide the robot 100 during its movement within the building towards the fire's initial location. These geolocation means are advantageously configured to map the robot 100's environment, particularly using the so-called "SLAM" (for "Simultaneous Localization And Mapping") methods, which allow the robot 100 to autonomously position itself in space and reconstruct its environment in real time to carry out its mission. It can then, or alternatively, perform updates to improve its movement, identify new obstacles, and determine the fastest routes.

[0085] Thus, it is understood that the control device 15 includes a computing 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.

[0086] Advantageously, the geolocation means are configured to communicate with the receiving 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.

[0087] Figure 5 shows the robot 100 parked in a building, more specifically in a parking lot of the building. The robot 100 is designed to have a compact volume in space while offering optimal capacity in terms of water volume and intelligence for fighting fires.

[0088] The operating method of robot 100 includes, in particular, the following steps:

[0089] - reception by the receiving means 23 of an alert signal from a system of fire safety of a facility,

[0090] - calculation of the approximate location of a fire starting, using the means of geolocation and the calculation methods of the control device 15,

[0091] - autonomous movement of the robot towards the approximate location, thanks to the control device 15 which commands the activation of the motor 16 for driving the drive wheel 21 and receives information from the confirmation means 14 and the obstacle sensors,

[0092] - autonomous verification and confirmation, by means of confirmation means 14, of a fire outbreak zone,

[0093] - autonomous movement of the robot towards the area where the fire started, and

[0094] - autonomous water distribution to the fire's initial zone, thanks to the control device 15 which controls the activation of the water cannon 12 and the rotation of the turret 18.

[0095] The invention is not limited to the embodiments presented, and other embodiments will be readily apparent to those skilled in the art. It is possible to vary the volume of water in the main tank 11. The arrangement of the various components of the robot 100 can be modified.

[0096] Advantageously, a secondary tank adapted to contain a low-water-consumption means, to be combined with the distributed water, can be provided, for example, compressed foam, a gas, a dysphasic system, or a fire retardant. Such a means advantageously reduces water consumption.Reference List

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[0110] [YES]

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[0115] 100: robot 10: chassis 11: main tank 12: water cannon 13: dispensing pump 14: fire zone confirmation means (camera) 15: control device 16: engine 17: outer casing 18: turret 19: bumper elements 20: wheel 21: drive wheel 22: non-drive wheel 23: signal receiving means (antenna) 24: rotating beacon 25: sensor obstacle 26: battery 28: filling port.

Claims

Demands

1. A fire protection robot (100), 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), the confirmation means (14) and 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, wherein the confirmation means (14) for a fire start zone comprises a camera (14), preferably a thermal camera and / or a stereo camera, the camera being configured to identify and confirm a false positive, i.e.a detection of a hot spot or something resembling a fire starting that is not actually a fire starting, and the control device (15) is configured to identify a fire starting area from the information transmitted by the camera (14).

2. Robot according to the preceding claim, comprising a chassis (10) and a turret (18) mounted pivotally relative to the chassis (10), the turret carrying the confirmation means (14).

3. Robot (100) according to any one of the preceding claims, comprising an outer casing (17), which encloses in particular the main tank (11) and the control device (15), this casing (17) preferably comprising a bumper element (19) in its lower part.

4. 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 a free-running wheel, to facilitate the guidance of the robot (100).

5. A 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 of receiving a WIFI signal.

6. Robot (100) according to any one of the preceding claims, wherein the control device (15) incorporates geolocation means configured to guide the robot (100) during its movement towards the fire start zone, and optionally to perform a real-time realization or update of a map of the robot's (100) environment.

7. A robot (100) according to any one of the preceding claims, wherein the control device (15) comprises a computing module capable of processing information provided by one or more of the elements of the group comprising confirmation means, geolocation means, and an obstacle sensor, so as to be able to perform real-time mapping of the robot's environment during its movement. Preferably, the computing module is configured to process each of the pieces of information provided by the identification means, geolocation means, and an ultrasonic sensor.

8. Robot (100) according to any one of the preceding claims, comprising two water distribution pumps (13), connecting the water cannon (12) to the reservoir (11).

9. 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 dispensed water, for example compressed foam, a gas, a dysphasic system or a retardant.

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