Self-propelled transport device, fire extinguishing system, and fire detection system

Abstract

To obtain a self-propelled transport device, a fire extinguishing system, and a fire detection system that can effectively perform either or both fire detection and fire extinguishing in a self-propelled transport device. [Solution] The self-propelled transport device 10 comprises a base portion 11 on which the load is placed, a transport device travel portion 13 that moves the base portion 11, a fire detection unit 16 provided on the base portion 11 that detects a fire in the load P, and a transport device control unit 15. The transport device control unit 15 controls the transport device travel portion 13 in a first operating mode, which moves from a designated point to another point when no fire is detected by the fire detection unit 16, and in a second operating mode, which moves from the current point to an evacuation point when a fire is detected by the fire detection unit 16.

Description

Technical Field

[0001] The present invention relates to a self-propelled transport apparatus provided with a fire detection unit, a fire extinguishing system provided with the self-propelled transport apparatus, and a fire detection system provided with the self-propelled transport apparatus.

Background Art

[0002] There are self-propelled transport robots that transport loaded objects in factories, warehouses and the like (see, for example, Patent Document 1). Examples of self-propelled transport robots include AGVs (Automated Guided Vehicles) that travel based on guides set in advance on floors or shelves, and AMRs (Autonomous Mobile Robots) that travel by autonomously recognizing the environment based on information acquired from mounted sensors.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] The loads mounted on the self-propelled transport robot as disclosed in Patent Document 1 may include objects that cause ignition such as storage batteries and flammable objects. Factories, warehouses and the like are equipped with fire extinguishing equipment such as automatic fire alarm systems and sprinklers, and when a fire is detected, alarming and fire extinguishing are performed. However, since the load on which a fire has occurred is moved by the transport robot, the load may go behind a shelf or the load of another transport robot, and fire detection by a fire sensor installed on a wall or a ceiling may be difficult. In addition, when a fire is detected and the sprinkler is activated, it leads to extinguishing the fire of the load on which the fire has occurred, but at the same time, water damage may occur to many articles, facilities and the like inside the factory, warehouse and the like.

[0005] The present invention addresses the above-mentioned problems and provides a self-propelled transport device, a fire extinguishing system, and a fire detection system that can effectively perform either or both fire detection and fire extinguishing in a self-propelled transport device. [Means for solving the problem]

[0006] The self-propelled transport device according to the present invention comprises a base on which a load is placed, a transport device travel unit for moving the base, a fire detection unit provided on the base for detecting a fire in the load, and a transport device control unit that controls the transport device travel unit in a first operating mode, which moves from a designated point to another point when no fire is detected by the fire detection unit, and in a second operating mode, which moves from the current point to an evacuation point when a fire is detected by the fire detection unit. The fire extinguishing system according to the present invention is a fire extinguishing system comprising a self-propelled transport device and a fire extinguishing booth, wherein the self-propelled transport device comprises a base on which a load is placed, a transport device travel unit for moving the base, a fire detection unit provided on the base for detecting a fire in the load, a transport device control unit for controlling the transport device travel unit in a first operating mode in which it moves from a designated point to another point when no fire is detected by the fire detection unit, and a transport device communication unit for controlling the transport device travel unit in a second operating mode in which it moves from the current point to the fire extinguishing booth when a fire is detected by the fire detection unit, and a transport device communication unit, wherein the fire extinguishing booth comprises a booth communication unit for communicating with the transport device communication unit, a booth fire extinguishing device, and a booth control unit for controlling the booth fire extinguishing device, wherein when the self-propelled transport device arrives at the fire extinguishing booth in the second operating mode, the transport device communication unit transmits an arrival signal indicating arrival, and when the booth communication unit receives the arrival signal, the booth control unit causes the booth fire extinguishing device to start fire extinguishing operations. The fire extinguishing system according to the present invention is a fire extinguishing system used in a logistics warehouse, and comprises a self-propelled transport device having a fire detection unit for transporting loaded goods, and a self-propelled fire extinguishing device that extinguishes a fire when a fire is detected on the self-propelled transport device. The fire extinguishing system according to the present invention is a fire extinguishing system comprising a self-propelled transport device and a self-propelled fire extinguishing device, wherein the self-propelled transport device comprises a base on which a load is placed, a transport device travel section for moving the base, a fire detection unit provided on the base for detecting a fire in the load, and a first operating mode in which the transport device moves from a predetermined point to another point when no fire is detected by the fire detection unit, and a second operating mode in which the transport device moves from its current location towards the self-propelled fire extinguishing device when a fire is detected by the fire detection unit. The self-propelled fire extinguishing device comprises a transport device control unit that controls a stationary transport unit, a transport device communication unit that transmits a fire detection signal when a fire is detected by the fire detection unit, a fire extinguishing device communication unit that communicates with the transport device communication unit, a fire extinguishing device, a fire extinguishing device transport unit that moves the fire extinguishing device, and a fire extinguishing device control unit that controls the fire extinguishing device transport unit and the fire extinguishing device, wherein when the fire extinguishing device communication unit receives the fire detection signal and the distance to the self-propelled transport device falls below a threshold, the fire extinguishing device control unit causes the fire extinguishing device to start fire extinguishing operations. The fire detection system according to the present invention is a fire detection system equipped with a plurality of self-propelled transport devices, each of the plurality of self-propelled transport devices comprising: a base on which a load is placed; a transport device travel unit that moves the base; a flame detection unit that detects flames in a detection area around itself; a communication unit that outputs a fire detection signal when the flame detection unit detects a flame and receives the fire detection signal transmitted from another device; and a transport device control unit that controls the transport device travel unit in a first operating mode that moves from a designated point to another point when it has not received the fire detection signal, and in a second operating mode that moves from the current point to an evacuation point when it has received the fire detection signal and is within a threshold range from the location of the detected flame. [Effects of the Invention]

[0007] According to the present invention, it is possible to support either or both effective fire detection and fire extinguishing in a self-propelled transport device. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example configuration of the self-propelled transport device 10 according to Embodiment 1. [Figure 2] This figure shows an example of the configuration of the fire detection unit 16 according to Embodiment 1. [Figure 3] This flowchart shows an example of the operation of the self-propelled transport device 10 according to Embodiment 1. [Figure 4] This figure shows an example configuration of the fire extinguishing system 100 according to Embodiment 2. [Figure 5] This flowchart shows an example of the operation of the fire extinguishing system 100 according to Embodiment 2. [Figure 6] This figure shows an example configuration of the fire extinguishing system 200 according to Embodiment 3. [Figure 7] This flowchart shows an example of the operation of the fire extinguishing system 200 according to Embodiment 3. [Figure 8] This figure shows an example configuration of the fire extinguishing system 300 according to Embodiment 4. [Figure 9] This flowchart shows an example of the operation of the fire extinguishing system 300 according to Embodiment 4. [Figure 10] This figure shows an example of the operation of the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 according to Embodiment 4. [Figure 11] This figure shows an example configuration of the fire detection system 400 according to Embodiment 5. [Figure 12] This figure shows an example configuration of the self-propelled transport device 10B according to Embodiment 5. [Figure 13] This flowchart shows an example of the operation of the fire detection system 400 according to Embodiment 5. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, and various modifications can be made without departing from the gist of the present invention. Further, the present invention includes all combinations of configurable configurations among the configurations shown in the following respective embodiments. In addition, the apparatus shown in the drawings shows an example of the apparatus of the present invention, and the apparatus of the present invention is not limited by the apparatus shown in the drawings. Further, in each drawing, components denoted by the same reference numerals are the same or equivalent thereto, and this is common throughout the entire specification.

[0010] Embodiment 1. In the first embodiment, a self-propelled transport device 10 that detects a fire in a load P transported by the device itself will be described. FIG. 1 is a diagram showing a configuration example of the self-propelled transport device 10 according to the first embodiment. In FIG. 1, the load P transported by the self-propelled transport device 10 is also illustrated. In the example of FIG. 1, the load P is a multi-tier rack and containers placed on each tier of the rack to store articles. The articles stored in the containers are, for example, various products in a distribution warehouse, and parts, raw materials, tools, packing materials and the like in a factory. Note that the load P shown here is an example, and for example, the rack may be omitted, or articles may be placed on the rack without containers.

[0011] The self-propelled transport device 10 includes a pedestal portion 11, a housing 12, a transport device traveling unit 13, a traveling sensor 14, a transport device control unit 15, and a fire detection unit 16.

[0012] The pedestal portion 11 is a member provided on the upper part of the self-propelled transport device 10, on which the load P is placed. The pedestal portion 11 may have any shape as long as it can support the load P from below. Further, the pedestal portion 11 may be configured to be movable up and down. In this case, the self-propelled transport device 10 with the pedestal portion 11 moved downward enters under the legged load P, and by moving the pedestal portion 11 upward, the legs of the load P are lifted to raise the load P, and the load P can be transported by the self-propelled transport device 10.

[0013] The housing 12 is provided under the pedestal portion 11, to which the transport device traveling unit 13 is attached, and which accommodates the traveling sensor 14 and the transport device control unit 15.

[0014] The transport device traveling unit 13 is a mechanism for the self-propelled transport device 10 to travel on the floor surface, and includes, for example, wheels, a motor that rotates the wheels, and a battery that supplies power to the motor. The operation of the transport device traveling unit 13 is controlled by the transport device control unit 15, causing the self-propelled transport device 10 to move straight or turn. The self-propelled transport device 10 moves from the departure point to the destination by a combination of straight movement and turning movement that changes direction.

[0015] The traveling sensor 14 has one or more sensors that detect environmental information around the self-propelled transport device 10 and the state of the self-propelled transport device 10, and outputs the detection result to the transport device control unit 15. When the self-propelled transport device 10 is an AMR, the traveling sensor 14 may include, for example, a LiDAR (Light Detection and Ranging) device that irradiates laser light and measures the distance to surrounding objects, the shape of the objects, and the like based on information of the reflected light. The traveling sensor 14 may also be one that measures the distance to surrounding objects, the shape of the objects, and the like by a combination of a millimeter-wave radar and a stereo camera. Further, the traveling sensor 14 may include a vibration sensor that detects vibration of the self-propelled transport device 10, an acceleration sensor, a magnetic sensor, and the like. When the self-propelled transport device 10 is an AGV, it may include a sensor having a magnetic head that reads a magnetic tape installed on a floor, a shelf, or the like, a camera that reads a QR Code (registered trademark), or a reader and antenna that read an RFID (Radio Frequency Identification) tag, and the like.

[0016] The transport device control unit 15 controls the transport device travel unit 13 based on information from the travel sensor 14 to move the self-propelled transport device 10. In this embodiment, the transport device control unit 15 switches between a first operating mode and a second operating mode to move the self-propelled transport device 10. The first operating mode is executed when no fire is detected by the fire detection unit 16, and is the normal mode for moving from a designated point (origin) to another point (destination). For example, in a logistics warehouse, the product storage location is the origin, and the product packaging location is the destination. The origin and destination may be stored in advance in the storage device of the transport device control unit 15, or a QR code or the like indicating the next destination may be installed on the floor or shelves of the destination, and the travel sensor 14 may read this to obtain a new destination. Alternatively, the self-propelled transport device 10 may be equipped with an operation unit (not shown), and an operator may input a new destination into the operation unit. Furthermore, the self-propelled transport device 10 may acquire a new destination based on communication signals from a management device (not shown) that manages one or more self-propelled transport devices 10.

[0017] The second operating mode is a mode that is switched to and executed from the first operating mode when a fire is detected by the fire detection unit 16, and is a mode in which the vehicle moves from the current location to an evacuation location. The evacuation location is a place to prevent the spread of fire or to extinguish a fire that has occurred in the loaded goods P, and is, for example, a specific location in a warehouse or factory where a fire extinguisher is installed. Alternatively, the evacuation location may be a fire extinguishing booth 20, fire extinguishing booth 20A, or self-propelled fire extinguishing device 40, which will be described later. The transport device control unit 15 stores information on the location to be designated as the evacuation location in advance in a memory (not shown), and when a fire is detected by the fire detection unit 16, it starts moving from the current location to the evacuation location. Note that the evacuation location is a location that is not the destination in the first operating mode.

[0018] The transport device control unit 15 has a function to simultaneously estimate the self-position of the self-propelled transport device 10 and create an environmental map using SLAM (Simultaneous Localization and Mapping), and may execute a first operating mode and a second operating mode using this function. In this case, the transport device control unit 15 performs self-position estimation and environmental map creation based on information detected by the travel sensor 14. Alternatively, the transport device control unit 15 may be equipped with a GPS (Global Positioning System) receiver and perform self-position estimation based on received satellite signals.

[0019] The transport device control unit 15 is composed of dedicated hardware, a processor that executes a program stored in memory, or a combination thereof. The dedicated hardware may be, for example, an ASIC (application specific integrated circuit), an FPGA (field-programmable gate array), or a CPLD (complex programmable logic device). The transport device control unit 15 also includes a storage unit consisting of non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, and stores map information, travel route information, and other information necessary for operation in the storage unit.

[0020] The fire detection unit 16 is installed on the base unit 11 and detects fire in the loaded material P. When the fire detection unit 16 detects a fire, it outputs a signal to the transport device control unit 15 indicating that a fire has been detected. The fire detection unit 16 may also detect changes in physical phenomena that occur in conjunction with a fire and output the detected information to the transport device control unit 15, which may then determine whether or not there is a fire.

[0021] Figure 2 shows an example of the configuration of a fire detection unit 16 according to Embodiment 1. Figure 2 shows a fire detection unit 16 that detects smoke. The fire detection unit 16 comprises a suction pipe 161, a smoke detection unit 162, a discharge pipe 163, and a fan 164.

[0022] The suction pipe 161 is a pipe in which one end opens to the upper surface of the base portion 11 and the other end is connected to the smoke detection unit 162. The suction pipe 161 sucks in the air above the base portion 11, that is, the air in the area where the load P is located.

[0023] The smoke detection unit 162 detects a fire by detecting smoke particles contained in the air drawn in by the suction pipe 161. The smoke detection unit 162 detects smoke using a photoelectric sensor or an ion sensor. The smoke detection unit 162 is connected to the transport device control unit 15 by a signal line (not shown), and when the amount of detected smoke exceeds a threshold indicating a fire, it outputs a signal to the transport device control unit 15 indicating that a fire has been detected. Alternatively, the smoke detection unit 162 may periodically output a signal to the transport device control unit 15 indicating the amount of smoke it has detected, and the transport device control unit 15 may determine the presence or absence of a fire based on a comparison of the acquired signal with the threshold.

[0024] The exhaust pipe 163 is a pipe with one end connected to the smoke detection unit 162 and the other end connected to a hole in the base unit 11 that communicates with the outside. The exhaust pipe 163 is a pipe for discharging the air inside the smoke detection unit 162 to the outside.

[0025] The fan 164 is a device that generates suction force at one end of the suction pipe 161 to draw air from above the base 11 into the suction pipe 161. In this embodiment, the fan 164 is shown installed on the discharge pipe 163, but the fan 164 may also be installed on the suction pipe 161 or the smoke detection unit 162.

[0026] A series of airflow paths are formed by the suction pipe 161, the smoke detection unit 162, and the discharge pipe 163. When the fan 164 operates, air is guided to the smoke detection unit 162 via the suction pipe 161. Smoke in the air is detected by the smoke detection unit 162, and the air is discharged to the outside via the discharge pipe 163.

[0027] If a fire breaks out in the cargo P, smoke will normally rise, but as in this embodiment, the fire detection unit 16 can draw in air from above the base unit 11, allowing for earlier detection of the fire. Furthermore, as illustrated in Figure 1, if the cargo P consists of multiple racks and containers, these can act as partitions separating the fire detection unit 16 from the fire source. However, by drawing in air with the fire detection unit 16, the fire can be detected earlier despite the presence of these partitions.

[0028] Note that the specific configuration of the fire detection unit 16 is not limited to the example in Figure 2. For example, the fire detection unit 16 may be equipped with a heat sensor that detects heat caused by a fire, with the upper part of the base 11 as the detection area. Alternatively, the fire detection unit 16 may be equipped with a gas sensor that detects gases produced by a fire, in which case the gas may be detected by drawing in air from above the base 11, similar to the example in Figure 2. Furthermore, the fire detection unit 16 may be a camera and processing circuit that photographs the load P on the base 11 and detects a fire by image recognition of the captured image.

[0029] Figure 3 is a flowchart illustrating an example of the operation of the self-propelled transport device 10 according to Embodiment 1. The process shown in Figure 3 is executed by the transport device control unit 15. First, the transport device control unit 15 controls the transport device travel unit 13 in the first operating mode (step S1). In the first operating mode, the self-propelled transport device 10 moves from the starting point to the destination, and upon reaching the target value, it moves to a new destination, using that location as the starting point, and repeats this process. In parallel, the fire detection unit 16 determines whether or not a fire has been detected, and if no fire has been detected (step S2: NO), the first operating mode is continued (step S1).

[0030] When a fire is detected (Step S2: YES), the transport device control unit 15 stops the first operating mode and controls the transport device travel unit 13 in the second operating mode (Step S3). As a result, the self-propelled transport device 10 moves from its current location towards the evacuation point. Based on the information detected by the travel sensor 14, the transport device control unit 15 determines whether or not the transport device has arrived at the evacuation point (Step S4). If it has not arrived (Step S4: NO), it continues in the second operating mode. When the transport device arrives at the evacuation point (Step S4: YES), the transport device control unit 15 stops the movement of the transport device travel unit 13 (Step S5).

[0031] Upon arrival at the evacuation point, the self-propelled transport device 10 is inspected by warehouse or factory managers or workers to confirm that the cargo P is on fire, and firefighting measures are taken. By setting the evacuation point away from other items and equipment within the warehouse or factory, it is possible to minimize the impact of water, fire extinguishing agents, etc., used at the evacuation point on other items and equipment.

[0032] As described above, the self-propelled transport device 10 of this embodiment comprises a base portion 11 on which the load P is placed, a transport device travel portion 13 that moves the base portion 11, a fire detection unit 16 provided on the base portion 11 for detecting a fire in the load P, and a transport device control unit 15. When no fire is detected, the transport device control unit 15 controls the transport device travel portion 13 in a first operating mode that moves from a designated point to another point, and when a fire is detected, it controls the transport device travel portion 13 in a second operating mode that moves from the current point to an evacuation point.

[0033] According to this embodiment, the self-propelled transport device 10 detects a fire occurring in its own cargo P. Therefore, even if fire detectors installed on walls, ceilings, etc., cannot detect the fire in the cargo P due to obstructions, the fire can be detected more quickly. Furthermore, when a fire is detected, the normal transport operation in the first operating mode is stopped, and the device switches to the second operating mode and moves to an evacuation point. This suppresses the spread of the fire and allows for concentrated firefighting measures to be taken against the self-propelled transport device 10 where the fire has occurred.

[0034] Embodiment 2. This embodiment describes a fire extinguishing system 100 equipped with a self-propelled transport device 10A and a fire extinguishing booth 20. The self-propelled transport device 10A in this embodiment is an enhanced version of the self-propelled transport device 10 of Embodiment 1, and this embodiment will focus on explaining the differences from Embodiment 1.

[0035] Figure 4 shows an example configuration of the fire extinguishing system 100 according to Embodiment 2. The fire extinguishing system 100 comprises one or more self-propelled transport devices 10A and one or more fire extinguishing booths 20, which communicate with each other to extinguish fires in the loaded goods P. The fire extinguishing booths 20 are installed in warehouses, factories, etc., where the self-propelled transport devices 10A are in operation, and are for extinguishing fires that occur in the loaded goods P of the self-propelled transport devices 10A.

[0036] The self-propelled transport device 10A has the same configuration as the self-propelled transport device 10 shown in Embodiment 1, plus a transport device communication unit 17A. The transport device communication unit 17A is a communication circuit that communicates wirelessly with the booth communication unit 24 of the fire extinguishing booth 20. Communication by the transport device communication unit 17A is controlled by the transport device control unit 15. The communication address of the booth communication unit 24 is stored in advance in the memory unit of the transport device control unit 15.

[0037] The fire extinguishing booth 20 comprises a booth body 21, a booth fire extinguishing device 22, a booth fire detection unit 23, a booth communication unit 24, and a booth control unit 25. The booth body 21 consists of walls and a ceiling that partition the interior from other areas, and the interior is a space large enough to accommodate the self-propelled transport device 10 and the cargo P. The booth body 21 is made of, for example, metal, flame-retardant wood, flame-retardant plastic, gypsum board, etc. Figure 4 illustrates a booth body 21 with one side of the wall open, but a door or curtain made of non-combustible or flame-retardant material may be provided on the open side.

[0038] The booth fire extinguishing device 22 is a device for extinguishing a fire inside the booth body 21. The booth fire extinguishing device 22 is installed on the wall or ceiling of the booth body 21 and extinguishes the fire by releasing water or a fire extinguishing agent. Multiple booth fire extinguishing devices 22 may be installed in the booth body 21. Alternatively, the fire extinguishing booth 20 may extinguish the fire by sealing the booth body 21 to block the inflow of oxygen, in which case the door sealing the booth body 21 functions as the booth fire extinguishing device 22. The operation of the booth fire extinguishing device 22 is controlled by the booth control unit 25. The booth fire extinguishing device 22 may also consist of a water tank and a robotic arm that places the cargo P into the water tank. Submerging lithium-ion batteries is an effective means of extinguishing fires, so this allows for early extinguishing of fires when the cargo P contains lithium-ion batteries.

[0039] The booth fire detection unit 23 uses the inside of the booth body 21 as its detection area and detects fires within that area. The booth fire detection unit 23 can consist of a smoke sensor, a heat sensor, an infrared or ultraviolet sensor for detecting flames, a gas sensor for detecting gases from a fire, a camera and processing circuit for detecting fires by image recognition of captured images, or a combination thereof. When the booth fire detection unit 23 detects a fire, it outputs a signal to the booth control unit 25 indicating that a fire has been detected.

[0040] The booth communication unit 24 is a communication circuit that communicates with the transport device communication unit 17A. When the booth communication unit 24 receives a signal from the transport device communication unit 17A, it inputs the received signal to the booth control unit 25.

[0041] The booth control unit 25 controls the operation of the booth fire extinguishing system 22 based on information from the booth fire detection unit 23 and the booth communication unit 24. The booth control unit 25, the booth fire extinguishing system 22, and the booth fire detection unit 23 are connected to each other so as to be able to send and receive signals. The booth control unit 25 consists of dedicated hardware, a processor that executes a program stored in memory, or a combination of these.

[0042] Figure 5 is a flowchart illustrating an example of the operation of the fire extinguishing system 100 according to Embodiment 2. When the self-propelled transport device 10A is operating in the first operating mode, if the fire detection unit 16 detects a fire (step S10), it starts operating in the second operating mode and moves from the current location to the evacuation location (step S11). In this embodiment, the evacuation location is assumed to be the fire extinguishing booth 20.

[0043] The transport control unit 15 of the self-propelled transport device 10A continues to move in the second operating mode before arriving at the fire extinguishing booth 20 (step S12: NO). Upon arriving inside the fire extinguishing booth 20 (step S12: YES), it stops moving and transmits an arrival signal via the transport device communication unit 17 (step S13).

[0044] When the booth communication unit 24 of the fire extinguishing booth 20 receives an arrival signal transmitted from the self-propelled transport device 10A, it inputs the received signal to the booth control unit 25 (step S14). The booth control unit 25 determines whether or not a fire has been detected by the booth fire detection unit 23 (step S15). If no fire has been detected (step S15: NO), it terminates the process. If a fire has been detected (step S15: YES), it activates the booth fire extinguishing device 22 to extinguish the fire in the loaded item P (step S16). In other words, when the fire extinguishing booth 20 receives an arrival signal from the self-propelled transport device 10A and the booth fire detection unit 23 detects a fire, the booth fire extinguishing device 22 starts the fire extinguishing operation.

[0045] As described above, the fire extinguishing booth 20 of this embodiment is equipped with a booth fire detection unit 23 that detects a fire inside the booth body 21, and initiates fire extinguishing operations on the booth fire extinguishing device 22 based on the detection result of the booth fire detection unit 23. Therefore, if the fire detection unit 16 of the self-propelled transport device 10A incorrectly detects a fire, or if a correctly detected fire is extinguished during transport, it is possible to avoid operating the booth fire extinguishing device 22. This makes it possible to suppress contamination or damage to the loaded goods P by water or fire extinguishing agent from the booth fire extinguishing device 22.

[0046] Furthermore, the fire extinguishing booth 20 may activate the booth fire extinguishing system 22 only upon receiving an arrival signal from the self-propelled transport device 10A. This allows for earlier extinguishing of any fires in the loaded goods P. In this case, the fire extinguishing booth 20 does not need to be equipped with a booth fire detection unit 23.

[0047] Furthermore, the self-propelled transport device 10A may decide whether or not to use the detection result of the booth fire detection unit 23 as an operating condition for the booth fire extinguishing device 22, depending on the level of fire detected by the fire detection unit 16 (for example, the level of smoke density, the temperature level, etc.). For example, the self-propelled transport device 10A determines the magnitude of the fire level detected by the fire detection unit 16 and transmits the determined fire level information and arrival signal to the fire extinguishing booth 20. If the received fire level is high, the fire extinguishing booth 20 operates the booth fire extinguishing device 22 without needing the detection result from the booth fire detection unit 23. If the received fire level is low, the fire extinguishing booth 20 decides whether or not to operate the booth fire extinguishing device 22 based on the detection result from the booth fire detection unit 23. In this way, rapid fire extinguishing and avoidance of contamination or damage to the loaded goods P by water or fire extinguishing agents when fire extinguishing is not necessary can be achieved.

[0048] It is desirable that the booth fire detection unit 23 has higher accuracy in fire detection than the fire detection unit 16. By detecting fires with high accuracy in the fire extinguishing booth 20 and suppressing false fire detections, unnecessary operation of the booth fire extinguishing device 22 can be suppressed, thereby preventing contamination or damage to the loaded goods P by water or fire extinguishing agents.

[0049] (Variation 1) In this embodiment, the self-propelled transport device 10A is described as transmitting an arrival signal to the fire extinguishing booth 20 as a wireless signal, but the arrival signal is not limited to a wireless signal. For example, the fire extinguishing booth 20 may have one end of a pair of connectors, and the self-propelled transport device 10A may have the other end. When the self-propelled transport device 10A arrives at the fire extinguishing booth 20, it stops at a position where its own connector is connected to the connector of the fire extinguishing booth 20. When the connector of the self-propelled transport device 10A is connected to the connector of the fire extinguishing booth 20, an electrical signal is sent through the electrical wiring connecting the connector and the booth control unit 25, and this electrical signal is used as the arrival signal. The fire extinguishing booth 20 may also have a mechanical switch and a signal line that transmits the state change of the switch to the booth control unit 25. When the self-propelled transport device 10A arrives at the fire extinguishing booth 20, it stops at a position that presses the switch. The booth control unit 25 then acquires the signal that flows through the transmission line as a result of the switch being pressed as the arrival signal. Even with such a configuration, the same effects and advantages as in Embodiment 2 can be obtained.

[0050] Embodiment 3. This embodiment describes a fire extinguishing system 200 that includes a self-propelled transport device 10A, a fire extinguishing booth 20A, and a management device 30. The self-propelled transport device 10A in this embodiment has the same configuration as in Embodiment 2, while the fire extinguishing booth 20A has some functions that differ from the fire extinguishing booth 20 in Embodiment 2. This embodiment will mainly describe the differences from Embodiment 2.

[0051] Figure 6 shows an example of the configuration of a fire extinguishing system 200 according to Embodiment 3. The fire extinguishing system 200 comprises one or more self-propelled transport devices 10A, one or more fire extinguishing booths 20A, and one or more control devices 30.

[0052] The booth communication unit 24A of the fire extinguishing booth 20A includes a communication circuit for communicating with the self-propelled transport device 10A described in Embodiment 2, as well as a communication circuit for wired or wireless communication with the management device 30. Communication by the booth communication unit 24A is controlled by the booth control unit 25A. The booth control unit 25A exchanges information with the management device 30 through communication using the booth communication unit 24A and controls the booth fire extinguishing device 22 based on instructions from the management device 30.

[0053] The control device 30 is connected to the fire extinguishing booth 20A via communication and, based on input from an administrator or the like, instructs the fire extinguishing booth 20A to operate the booth fire extinguishing system 22. The control device 30 is a dedicated terminal such as a fire alarm receiver or a central control panel installed in a control room or the like, or a general-purpose terminal such as a personal computer, smartphone, or tablet. Figure 6 shows a configuration in which two different types of control devices 30 are connected to the fire extinguishing booth 20A, but there only needs to be one or more control devices 30, and the multiple control devices 30 may be the same type or different types. In addition, multiple control devices 30 and the fire extinguishing booth 20A may be connected via a communication server (not shown).

[0054] The management device 30 comprises an input unit 31, a display unit 32, and a management device communication unit 33. The input unit 31 is an input device such as a touch panel, keyboard, mouse, or microphone for voice input. The input unit 31 receives instructions from the manager or other personnel regarding the fire extinguishing booth 20A. The display unit 32 is a device that displays information to the manager or other personnel, and is a display device such as a liquid crystal display, an organic EL display, or electronic paper. The management device communication unit 33 is a communication circuit that communicates with the booth communication unit 24A. The management device 30 includes a control unit such as a processor (not shown), and this control unit controls the operation of the input unit 31, the display unit 32, and the management device communication unit 33.

[0055] Figure 7 is a flowchart illustrating an example of the operation of the fire extinguishing system 200 according to Embodiment 3. Steps S10 to S13 of the self-propelled transport device 10A are the same as those described in Figure 5 of Embodiment 2. When an arrival signal is transmitted from the self-propelled transport device 10A in step S13, the booth communication unit 24A of the fire extinguishing booth 20A receives the arrival signal and forwards it to the management device 30 (step S20). The management device communication unit 33 of the management device 30 receives the arrival signal (step S21) and displays an arrival indicator on the display unit 32 indicating that the self-propelled transport device 10 has arrived at the fire extinguishing booth 20A (step S22). This arrival indicator may be text or an image, or the management device 30 may announce the arrival by voice in addition to the display. By displaying the arrival indicator, the administrator using the management device 30 can be made aware that the self-propelled transport device 10A has arrived at the fire extinguishing booth 20A.

[0056] Next, the control device 30 sends a request to the fire extinguishing booth 20A to transmit detection data (step S23). The detection data is information indicating the physical quantity of smoke, heat, flames, or gas detected by the booth fire detection unit 23 of the fire extinguishing booth 20A. If the booth fire detection unit 23 is equipped with a camera that takes pictures inside the booth body 21, the detection data may also include images taken by the camera. The fire extinguishing booth 20A transmits the detection data to the control device 30 in response to the request from the control device 30 (step S24). The booth fire detection unit 23 may perform fire detection processing when it arrives from the self-propelled transport device 10A, or it may perform fire detection processing when it receives a transmission request in step S23.

[0057] The control device 30 receives detection data from the fire extinguishing booth 20A and displays it on the display unit 32 (step S25). The administrator or other person checks the displayed detection data and determines whether or not fire extinguishing is necessary using the booth fire extinguishing device 22. When the administrator or other person who has determined that fire extinguishing is necessary inputs a fire extinguishing instruction via the input unit 31 (step S26), the control device 30 transmits an operation signal indicating the fire extinguishing instruction to the fire extinguishing booth 20A (step S27). The fire extinguishing booth 20A operates the booth fire extinguishing device 22 based on the operation signal from the control device 30 (step S28).

[0058] As described above, in this embodiment, the control device 30 receives an instruction input to determine whether or not to operate the booth fire extinguishing device 22, and the booth fire extinguishing device 22 starts fire extinguishing operations based on the instruction input. Since the administrator can decide whether or not to operate the booth fire extinguishing device 22, flexible fire extinguishing responses can be made according to the fire situation in the cargo P of the self-propelled transport device 10A.

[0059] (Variation 1) Figure 7 illustrates how the fire extinguishing booth 20A forwards the arrival signal from the self-propelled transport device 10A to the control device 30. However, the self-propelled transport device 10A may also directly transmit the arrival signal to the control device 30. In this case, the self-propelled transport device 10A stores the communication address of the control device 30 in its memory unit beforehand and transmits the arrival signal to that address.

[0060] (Modification 2) In step S25 of Figure 7, the artificial intelligence may determine one or more of the following: the presence or absence of a fire, the state of the fire, and the appropriate action to take in response to the fire, and the management device 30 may display the determination result. Specifically, detection data is input to the artificial intelligence having a trained model, and one or more of the following are output: the presence or absence of a fire, the state of the fire, and the appropriate action to take in response to the fire. The processing by the artificial intelligence may be performed by the management device 30, or by another computer device (not shown) connected to the management device 30 via communication. Administrators and others using the management device 30 can refer to the determination result by the artificial intelligence to decide whether or not to issue an order to extinguish the fire. When using artificial intelligence, instead of the management device 30 receiving an input for an extinguishing order in step S26, the management device 30 may output an extinguishing order based on the determination result of the artificial intelligence.

[0061] (Variation 3) The self-propelled transport device 10A may start a second operating mode based on instructions from the control device 30. Specifically, in step S10 of Figure 7, the self-propelled transport device 10A, having detected a fire, transmits information about the fire detection and the detection data to the control device 30. The control device 30 displays the received information and accepts an instruction input regarding whether or not to start the second operating mode. An administrator using the control device 30 can determine whether or not to switch to the second operating mode based on the detection data from the self-propelled transport device 10A. For example, if the fire detection unit 16 includes a camera that photographs the loaded object P, the captured image is transmitted as detection data, allowing the administrator to visually confirm the presence and condition of a fire. Upon receiving an instruction input to start the second operating mode, the control device 30 transmits a signal to the self-propelled transport device 10A to instruct it to start the second operating mode. The self-propelled transport device 10A starts the second operating mode based on the instructions from the control device 30. Furthermore, if, for example, the administrator determines that the second operating mode is unnecessary due to a false fire detection, the management device 30 receives an instruction to continue the first operating mode and transmits a signal corresponding to that instruction to the self-propelled transport device 10A. The self-propelled transport device 10A restarts the first operating mode based on the instruction from the management device 30. In this case, it is preferable for the self-propelled transport device 10A and the management device 30 to store each other's communication addresses in the storage unit in advance. In this way, the management device 30 receives an instruction input for switching the operating mode of the self-propelled transport device 10A and switches to the second operating mode based on that instruction input, so that the self-propelled transport device 10A can continue the first operating mode if the fire detection unit 16 falsely detects a fire.

[0062] Embodiment 4. This embodiment describes a fire extinguishing system 300 equipped with a self-propelled transport device 10A and a self-propelled fire extinguishing device 40. The self-propelled transport device 10A in this embodiment has a configuration that is generally the same as that of Embodiment 2, but differs in that it communicates with the self-propelled fire extinguishing device 40. This embodiment will mainly describe the differences from Embodiment 2.

[0063] Figure 8 shows an example configuration of the fire extinguishing system 300 according to Embodiment 4. The fire extinguishing system 300 comprises one or more self-propelled transport devices 10A and one or more self-propelled fire extinguishing devices 40, which communicate with each other to extinguish fires in the loaded goods P. In normal times when no fire is detected, the self-propelled fire extinguishing devices 40 remain on standby at a designated location such as a warehouse or factory where the self-propelled transport devices 10A are operating, and activate when a fire is detected.

[0064] The transport device communication unit 17A of the self-propelled transport device 10A communicates wirelessly with the fire extinguishing device communication unit 48 of the self-propelled fire extinguishing device 40. The address indicating the destination of the communication is stored in advance in the memory unit of the self-propelled transport device 10A.

[0065] The self-propelled fire extinguishing system 40 comprises a fire extinguishing device 41, a base 42, a housing 43, a fire extinguishing device travel unit 44, a fire extinguishing device travel sensor 45, a fire extinguishing device control unit 46, a fire extinguishing device fire detection unit 47, and a fire extinguishing device communication unit 48. The base 42 is a member that supports the fire extinguishing device 41 from below. The housing 43 is provided below the base 42, and the housing 43 houses the fire extinguishing device travel sensor 45, the fire extinguishing device control unit 46, and the fire extinguishing device communication unit 48. The fire extinguishing device travel unit 44 and the fire extinguishing device travel sensor 45 have the same functions and configurations as the transport device travel unit 13 and the travel sensor 14, respectively, and a detailed explanation is omitted here.

[0066] The fire extinguishing device 41 is mounted on a base 42 and includes a tank 411 for containing water or fire extinguishing agent, and a nozzle 412 for spraying water or fire extinguishing agent from the tank 411. The nozzle 412 is equipped with an electrically operated on-off valve (not shown) and a direction switching mechanism for switching the direction of the nozzle 412. The electrically operated on-off valve and the direction switching mechanism are controlled by the fire extinguishing device control unit 46. The direction switching mechanism is equipped with, for example, an electric motor, or a piston or cylinder that utilizes pneumatic or hydraulic pressure. When the electrically operated on-off valve opens, water or fire extinguishing agent is sprayed from the nozzle 412 in the direction adjusted by the direction switching mechanism.

[0067] The fire extinguishing system control unit 46 controls the operation of the fire extinguishing system travel unit 44 and the fire extinguishing system 41 based on information from the fire extinguishing system travel sensor 45, the fire extinguishing system fire detection unit 47, and the fire extinguishing system communication unit 48. The fire extinguishing system control unit 46, the fire extinguishing system travel sensor 45, the fire extinguishing system fire detection unit 47, and the fire extinguishing system communication unit 48 are connected to each other so as to be able to send and receive signals. The control of the movement of the self-propelled fire extinguishing system 40 by the fire extinguishing system control unit 46 is the same as the control of movement by the transport system control unit 15 described in Embodiment 1. The fire extinguishing system control unit 46 is composed of dedicated hardware, a processor that executes a program stored in memory, or a combination thereof.

[0068] The fire detection unit 47 of the fire extinguishing system has a detection area around the self-propelled fire extinguishing system 40 and detects fires within that detection area. The fire detection unit 47 of the fire extinguishing system can consist of a smoke sensor, a heat sensor, an infrared or ultraviolet sensor for detecting flames, a gas sensor for detecting gases from a fire, a camera and processing circuit for detecting fires by image recognition of captured images, or a combination thereof. When the fire detection unit 47 of the fire extinguishing system detects a fire, it outputs a signal to the fire extinguishing system control unit 46 indicating that a fire has been detected.

[0069] Figure 9 is a flowchart illustrating an example of the operation of the fire extinguishing system 300 according to Embodiment 4. When the self-propelled transport device 10A is operating in the same first operating mode as in Embodiments 1 to 3, and the fire detection unit 16 detects a fire (step S30), it transmits a fire detection signal to the self-propelled fire extinguishing device 40 (step S31). Upon receiving the fire detection signal, the self-propelled fire extinguishing device 40 begins to move towards the self-propelled transport device 10A and periodically transmits a position signal indicating its own position (step S32). The self-propelled transport device 10A also begins operating in the second operating mode and periodically transmits a position signal indicating its own position (step S33). Note that the order of steps S31 and S33 may be reversed.

[0070] In this embodiment, the second operating mode of the self-propelled transport device 10A is an operating mode in which the device moves from its current location towards the self-propelled fire extinguishing device 40. When moving, the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 periodically transmit position signals indicating their own positions and receive position signals from the other. In the second operating mode, the self-propelled transport device 10A moves towards the self-propelled fire extinguishing device 40 based on the information detected by the travel sensor 14 and the position signals transmitted from the self-propelled fire extinguishing device 40. The self-propelled fire extinguishing device 40 also moves towards the self-propelled transport device 10A based on the information detected by the fire extinguishing device travel sensor 45 and the position signals transmitted from the self-propelled transport device 10A.

[0071] After the self-propelled fire extinguishing device 40 starts moving in step S32, it determines whether the distance to the self-propelled transport device 10A is below a predetermined threshold (step S34). If it is not below the threshold (step S34: NO), it continues to move. When the distance to the self-propelled transport device 10A becomes below the threshold (step S34: YES), the self-propelled fire extinguishing device 40 stops moving (step S35). The technique for determining the distance is not particularly limited, but the self-propelled transport device 10A may be equipped with a radio tag that emits radio waves, and the self-propelled fire extinguishing device 40 may determine the distance based on the radio wave strength from the radio tag. The self-propelled fire extinguishing device 40 transmits a signal to the self-propelled transport device 10A to stop moving (step S36). Upon receiving the signal to stop moving, the self-propelled transport device 10A stops moving (step S37). Here, the threshold in step S34 is the distance within the range of the fire extinguishing device 41.

[0072] Next, the self-propelled fire extinguishing device 40 activates the fire extinguishing device 41 to extinguish the fire on the self-propelled transport device 10A (step S38). The self-propelled fire extinguishing device 40 may also spray water or fire extinguishing agent onto the stationary self-propelled transport device 10A while moving in a circular motion around it. This allows the fire to be extinguished over the entire outer surface of the load P. Alternatively, the tip of the nozzle 412 may be moved up and down while spraying water or fire extinguishing agent. This allows the fire to be extinguished over the entire vertical direction of the tall load P. When an operation unit (not shown) provided on the self-propelled fire extinguishing device 40 is operated by an administrator or the like, the fire extinguishing device control unit 46 stops the fire extinguishing device 41.

[0073] Figure 10 shows an example of the operation of the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 according to Embodiment 4. In Figure 10, the self-propelled transport device 10A that has caught fire is identified by a flame icon. Also in Figure 10, the area where the self-propelled transport device 10A operates is shown as the operating area 1000, and the area where the self-propelled fire extinguishing device 40 is normally on standby is shown as the standby area 1001.

[0074] Figure 10(a) shows the state in steps S32 and S33 of Figure 9, where the self-propelled fire extinguishing device 40 and the self-propelled transport device 10A have started moving toward each other (in the direction indicated by the arrows). Figure 10(b) shows the state in steps S35 and S37 of Figure 9, where the self-propelled fire extinguishing device 40 and the self-propelled transport device 10A have stopped. When the self-propelled fire extinguishing device 40 has approached the self-propelled transport device 10A to a distance within a threshold, it activates the fire extinguishing device 41 in place to extinguish the fire.

[0075] Figures 9 and 10(b) show an example in which the self-propelled fire extinguishing device 40 and the self-propelled transport device 10A continuously move toward each other. The point where the two approach within a threshold distance becomes the fire extinguishing location, but in some cases, the water or fire extinguishing agent may affect other self-propelled transport devices 10A, devices, or items within the operating area 1000. For this reason, as shown in Figure 10(c), a fire extinguishing location 1002 may be designated within the operating area 1000, and the self-propelled fire extinguishing device 40 and the self-propelled transport device 10A may move to a position within the fire extinguishing location 1002 where their distance from each other is within a threshold. For example, a mark indicating the fire extinguishing location 1002 may be installed on the floor or wall, or an RFID tag or beacon tag may be embedded, and the self-propelled fire extinguishing device 40 and the self-propelled transport device 10A can determine that they have arrived at the fire extinguishing location 1002 by detecting the mark, radio waves, beacon, etc. The person who arrives at the firefighting location 1002 first stops at that location, and both stop moving when the other person arrives at the firefighting location 1002 and the distance between them is within a threshold. In this way, it is possible to suppress the impact of water, firefighting agents, etc. used for firefighting on other items or equipment.

[0076] As described above, the fire extinguishing system 300 of this embodiment can extinguish a fire that has occurred in the self-propelled transport device 10A using the self-propelled fire extinguishing device 40. By having both the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 move closer to each other, the timing of fire extinguishing by the self-propelled fire extinguishing device 40 can be accelerated, thereby suppressing the spread of the fire.

[0077] (Variation 1) Figure 9 illustrates that in step S34, the self-propelled fire extinguishing device 40 measures the distance to the self-propelled transport device 10A. However, the distance measurement may be performed by the self-propelled transport device 10A. In this case, when the distance to the self-propelled fire extinguishing device 40 falls below a threshold, the self-propelled transport device 10A sends a stop command to the self-propelled fire extinguishing device 40. Alternatively, both the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 may measure the distance, and when the distance to the other falls below a threshold, they stop moving. Furthermore, the distance measurement may be performed by a computer device (not shown) that is communicated with both the self-propelled transport device 10A and the self-propelled fire extinguishing device 40. In this case, the self-propelled transport device 10A and the self-propelled fire extinguishing device 40 periodically transmit their positions to the computer device, which calculates the distance from the received positions and sends a stop command to both devices when the distance falls below a threshold.

[0078] Embodiment 5. This embodiment describes a fire detection system 400 equipped with multiple self-propelled transport devices 10B. The self-propelled transport devices 10B in this embodiment differ in some functions from the self-propelled transport devices 10A in embodiments 2 to 4, and this embodiment will focus on explaining the differences from the self-propelled transport devices 10A. Furthermore, this embodiment can be combined with the systems of embodiments 2 to 4.

[0079] Figure 11 shows an example configuration of the fire detection system 400 according to Embodiment 5. The fire detection system 400 is a system that includes a plurality of self-propelled transport devices 10B that detect fires in the detection area R, and in which the self-propelled transport devices 10B detect fires occurring in the load P of other self-propelled transport devices 10B. The plurality of self-propelled transport devices 10B operating within the operating area 1000 move in the first operating mode to transport the load P and monitor fires in other self-propelled transport devices 10B.

[0080] Figure 12 shows an example of the configuration of a self-propelled transport device 10B according to Embodiment 5. In addition to the functions of the transport device control unit 15 shown in Embodiments 1 to 4, the transport device control unit 15B of the self-propelled transport device 10B has the function of simultaneously estimating the self-position of the self-propelled transport device 10B and creating an environmental map, as well as estimating the location of a detected fire. The transport device control unit 15B performs position estimation and environmental map creation based on the information detected by the driving sensor 14.

[0081] The flame detection unit 16B detects ultraviolet rays, infrared rays, or both emitted from gases generated during a fire, thereby detecting flames. The flame detection unit 16B detects flames in the detection area R. The detection area R is set to overlap vertically with the height range of the load P of the other transport device control unit 15B. The horizontal range of the detection area R is set to overlap horizontally with the width and depth ranges of the load P of the other transport device control unit 15B (see Figure 11). To realize such a detection area R, Figure 12 shows the flame detection unit 16B installed on the rack of the load P, but the installation location of the flame detection unit 16B is not limited to this. For example, a support column extending upward from the base 11 or housing 12 may be provided, and the flame detection unit 16B may be installed on this support column. Also, the direction of travel of the self-propelled transport device 10B and the direction of the detection area R are predetermined to correspond, and for example, the flame detection unit 16B may be installed so that the direction of travel and the direction of the detection area R coincide. The flame detection unit 16B is connected to the transport device control unit 15B by wired or wireless communication and outputs the detection result to the transport device control unit 15B.

[0082] The transport device communication unit 17B is a communication circuit that performs wireless communication with the transport device communication unit 17B of other self-propelled transport devices 10B. Communication by the transport device communication unit 17B is controlled by the transport device control unit 15B.

[0083] Figure 13 is a flowchart illustrating an example of the operation of the fire detection system 400 according to Embodiment 5. In Figure 13, the self-propelled transport device 10B that detects the fire is indicated by reference numeral 10B_1, and the other self-propelled transport device 10B is indicated by reference numeral 10B_2. Both self-propelled transport devices 10B_1 and 10B_2 are operating in the first operating mode (steps S40, S41). At this time, it is assumed that a fire has broken out in the cargo P of the self-propelled transport device 10B_2.

[0084] The self-propelled transport device 10B_1 detects flames generated by the fire in the detection area R of the flame detection unit 16B using the self-propelled transport device 10B_2 (step S42). The detection result from the flame detection unit 16B is output to the transport device control unit 15B. The flame detection unit 16B may also output to the transport device control unit 15B information regarding the area where flames were detected from among multiple regions obtained by dividing the detection area R.

[0085] The transport device control unit 15B, having acquired information from the flame detection unit 16B, estimates the location of the fire based on the information acquired from the flame detection unit 16B and the detection information from the travel sensor 14 (step S43). Specifically, the transport device control unit 15B performs self-position estimation and environmental map creation using SLAM. Furthermore, the transport device control unit 15 determines the direction of the detection area R of the flame detection unit 16B based on the direction of travel of the transport device, and estimates the location of the flame in the created environmental map, i.e., the location of the fire, from the direction and size of the detection area R. If the flame detection unit 16B outputs information that identifies the area where the fire was detected among multiple areas in the detection area R, that information is also included in the estimation of the flame's location.

[0086] The self-propelled transport device 10B_1 transmits a signal containing a fire detection signal and flame location information via the transport device communication unit 17B (step S44). The transport device communication unit 17B does not specify the self-propelled transport device 10B, but transmits a signal that can be received by all self-propelled transport devices 10B capable of receiving radio waves. For example, it transmits a signal addressed to all self-propelled transport devices 10B.

[0087] When the self-propelled transport device 10B_2 receives a signal from the self-propelled transport device 10B_1, the transport device control unit 15B estimates the position of the self-propelled transport device 10B_2 (step S45). The transport device control unit 15B then determines whether the position of the self-propelled transport device is within a threshold range from the position of the flame (step S46). The threshold is stored in advance in the memory of the transport device control unit 15B. If the position of the self-propelled transport device is not within the threshold range from the position of the flame (step S46: NO), that is, if a fire has occurred on the self-propelled transport device 10B_2, the self-propelled transport device 10B_2 returns to step S41 and continues in the first operating mode. If the position of the self-propelled transport device is within the threshold range from the position of the flame (step S46: YES), that is, if a fire has occurred on the self-propelled transport device 10B_2, the self-propelled transport device 10B_2 starts operation in the second operating mode (step S47).

[0088] Here, the second operating mode of the self-propelled transport device 10B in this embodiment is an operating mode in which the device moves from the current location to the evacuation location. Similar to Embodiment 1, the evacuation location is a place for preventing the spread of fire or extinguishing a fire that has occurred in the loaded goods P, and is, for example, a specific location in a warehouse or factory where a fire extinguisher is installed. Furthermore, when combining Embodiments 2 to 4 with this embodiment, the evacuation location may be a fire extinguishing booth 20, a fire extinguishing booth 20A, or a self-propelled fire extinguishing device 40.

[0089] The transport device control unit 15B of the self-propelled transport device 10B_2 determines whether or not it has arrived at the evacuation point based on the information detected by the travel sensor 14 (step S48). If it has not arrived (step S48: NO), it continues in the second operating mode. When it arrives at the evacuation point (step S48: YES), the transport device control unit 15B stops the movement of the transport device travel unit 13 (step S49). Upon arrival at the evacuation point, the self-propelled transport device 10B_2 is checked for fire in the loaded material P by a manager or worker, and measures such as firefighting are taken. Alternatively, the fire is extinguished by the fire extinguishing booth 20, fire extinguishing booth 20A, or self-propelled fire extinguishing device 40.

[0090] As described above, the fire detection system 400 of this embodiment monitors for fires in the loaded goods P among the self-propelled transport devices 10B, and a self-propelled transport device 10B that detects a fire notifies the other self-propelled transport device 10B that it has detected a fire. Since the self-propelled transport devices 10B operating within the same operating area 1000 monitor for fires among themselves, it is possible to increase the likelihood of detecting a fire even when, for example, a fire cannot be detected by fire detectors installed on walls or ceilings due to being hidden by shelves or other obstacles.

[0091] (Variation 1) In step S44 of Figure 13, it was explained that the self-propelled transport device 10B that detected the fire transmits a signal that can be received by all self-propelled transport devices 10B capable of receiving radio waves. However, it is also possible to identify the self-propelled transport device 10B where the fire is occurring and transmit a signal to that specific device. For example, each self-propelled transport device 10B is equipped with a display unit on the outer surface of itself or its cargo P that displays a code indicating an address for receiving signals, or an RFID tag that outputs a signal indicating an address. It is preferable to provide multiple such display units or RFID tags so that they can be recognized from any direction around the self-propelled transport device 10B. The self-propelled transport device 10B that detected the fire reads the address of the self-propelled transport device 10B where the fire is occurring using a camera or RFID reader (not shown), and transmits a signal to that address in step S44. In this way, the processing in steps S45 to S46 is not required for self-propelled transport devices 10B where the fire is not occurring, thereby reducing the processing load.

[0092] (Modification 2) Step S46 in Figure 13 explains that if no fire has occurred on the machine itself (Step S46: NO), the self-propelled transport device 10B_2 will continue to operate in the first operating mode. However, instead of immediately continuing to operate in the first operating mode after the determination in Step S46, the operation in the first operating mode may be resumed only after predetermined conditions have been met. One example of predetermined conditions is elapsed time; the self-propelled transport device 10B_2 will stop operating until a specified time has elapsed, during which time managers and workers can check the situation and perform manual operations on the self-propelled transport device 10B_2. Another example of predetermined conditions is the receipt of an operation restart signal from the management device 30, etc. In this case, the management device 30, etc. transmits an operation restart signal based on the operation performed by the manager, etc., after checking the situation, and when the self-propelled transport device 10B_2 receives the operation restart signal, it starts operating in the first operating mode. This helps to prevent the self-propelled transport device 10B_2 from being damaged itself by moving on its own if the fire has spread to goods or equipment.

[0093] (Variation 3) In step S46 of Figure 13, if the self-propelled transport device 10B_2 determines that no fire has occurred on its own, it may change its route in the first operating mode depending on the location of the fire. Specifically, before restarting the first operating mode, the self-propelled transport device 10_B compares the estimated location of the flames with the route to the destination in the first operating mode and determines whether there are flames on the route or within a predetermined range from the route. If there are flames on the route or within a predetermined range from the route, it calculates a route to avoid the flames and moves to the destination along the calculated route. Alternatively, in step S46 of Figure 13, if the self-propelled transport device 10B_2 determines that no fire has occurred on its own, it may change its route in the first operating mode depending on the route taken by the self-propelled transport device 10_A, which was found to be burning, to the evacuation point. Specifically, when a fire is detected in the self-propelled transport device 10_A, it periodically outputs a signal indicating its position while moving towards the evacuation point, and the self-propelled transport device 10_B receives this signal and recognizes the movement path of the self-propelled transport device 10_A. Then, before restarting the first operating mode, the self-propelled transport device 10_B compares the movement path of the self-propelled transport device 10_A with the path to the destination in its first operating mode and determines whether there is any overlap. If there is an overlap between the two paths, it calculates a path that avoids the movement path of the self-propelled transport device 10_A and moves to the destination along the calculated path. Normally, the most efficient path to the destination is set in the first operating mode, but if a fire occurs in another device, a path that can bypass the fire is set and the device moves to the destination. In this way, it is possible to suppress the fire in the self-propelled transport device 10_A or the fire that spreads from the self-propelled transport device 10_A to equipment, etc., from spreading to the other self-propelled transport device 10_B.

[0094] (Modification 4) The self-propelled transport device 10B may be equipped with a fire detection unit 16 as in Embodiment 1, in addition to the flame detection unit 16B. In this case, the self-propelled transport device 10B monitors for fires in its own load P using the fire detection unit 16 provided on the base 11, and also monitors for fires in the load P of other self-propelled transport devices 10B using the flame detection unit 16B. In this way, since fires are monitored in both the self-propelled transport device 10B and other devices, the probability and speed of fire detection can be improved in the event of a fire.

[0095] (Variation 5) In this embodiment, the self-propelled transport device 10B is described as estimating the location of a fire. However, the fire location estimation process may also be performed by a server (not shown) that is communicated with the self-propelled transport device 10B. For example, multiple self-propelled transport devices 10B periodically transmit their own positions to the server, and the server maintains the positions of each self-propelled transport device 10B. A self-propelled transport device 10B that detects a fire transmits its own position and information indicating the detection area R of the flame detection unit 16B to the server. The server estimates which self-propelled transport device 10B is experiencing a fire based on the received information and the positional relationship of each self-propelled transport device 10B it maintains, and transmits a fire detection signal to that self-propelled transport device 10B. Upon receiving the fire detection signal, the self-propelled transport device 10B starts operation in the second operating mode and moves to the evacuation point. In this way, by performing the fire location estimation process on a device provided separately from the self-propelled transport device 10B, the processing load on the self-propelled transport device 10B can be reduced. [Explanation of symbols]

[0096] 10 Self-propelled transport device, 10A Self-propelled transport device, 10B Self-propelled transport device, 10B_1 Self-propelled transport device, 10B_2 Self-propelled transport device, 11 Base unit, 12 Housing, 13 Transport device travel unit, 14 Travel sensor, 15 Transport device control unit, 15B Transport device control unit, 16 Fire detection unit, 16B Flame detection unit, 17 Transport device communication unit, 17A Transport device communication unit, 17B Transport device communication unit, 20 Fire extinguishing booth, 20A Fire extinguishing booth, 21 Booth body, 22 Booth fire extinguishing device, 23 Booth fire detection unit, 24 Booth communication unit, 24A Booth communication unit, 25 Booth control unit, 25A Booth control unit, 30 Management device, 31 Input unit, 32 Display unit, 33 Management device communication unit, 40 Self-propelled fire extinguishing device, 41 Fire extinguishing device, 42 43 Base unit, 44 Housing, 44 Fire extinguishing device travel unit, 45 Sensor for fire extinguishing device travel, 46 Fire extinguishing device control unit, 47 Fire extinguishing device fire detection unit, 48 Fire extinguishing device communication unit, 100 Fire extinguishing system, 161 Suction pipe, 162 Smoke detection unit, 163 Discharge pipe, 164 Fan, 200 Fire extinguishing system, 300 Fire extinguishing system, 400 Fire detection system, 411 Tank, 412 Nozzle, 1000 Operating area, 1001 Standby area, 1002 Fire extinguishing area, P Loaded items, R Detection area.

Claims

1. The base on which the load is placed, A transport device travel section that moves the base portion, A fire detection unit is provided on the base portion for detecting a fire in the loaded material, When no fire is detected by the fire detection unit, the transport device control unit controls the transport device's travel section in a first operating mode, which moves the device from a designated location to another location; and when a fire is detected by the fire detection unit, the device controls the transport device's travel section in a second operating mode, which moves the device from its current location to an evacuation location. Equipped with Self-propelled transport device.

2. The aforementioned fire detection unit is A suction tube for drawing air from the upper part of the base, It includes a smoke detection unit that detects smoke contained in the air drawn in through the suction tube. The self-propelled transport device according to claim 1.

3. A fire extinguishing system comprising a self-propelled transport device and a fire extinguishing booth, The aforementioned self-propelled transport device, The base on which the load is placed, A transport device travel section that moves the base portion, A fire detection unit is provided on the base portion for detecting a fire in the loaded material, A transport device control unit controls the transport device's travel section in a first operating mode, which moves from a designated point to another point when no fire is detected by the fire detection unit, and in a second operating mode, which moves from the current point to the fire extinguishing booth when a fire is detected by the fire detection unit. The transport device is equipped with a communication unit, The aforementioned fire extinguishing booth is A booth communication unit that communicates with the aforementioned transport device communication unit, Booth fire extinguishing system, The system includes a booth control unit that controls the aforementioned booth fire extinguishing device, The aforementioned self-propelled transport device, In the second operating mode, when the transport device arrives at the fire extinguishing booth, the transport device communication unit transmits an arrival signal indicating arrival. The aforementioned fire extinguishing booth is When the booth communication unit receives the arrival signal, the booth control unit causes the booth fire extinguishing system to start the fire extinguishing operation. Firefighting system.

4. The aforementioned fire extinguishing booth is Equipped with a booth fire detection unit to detect fires, When the booth communication unit receives the arrival signal and the booth fire detection unit detects a fire, the booth control unit activates the booth fire extinguishing system. The fire extinguishing system according to claim 3.

5. An input unit that receives instruction input to operate the aforementioned booth fire extinguishing device, A management device communication unit that transmits an operation signal to the booth communication unit based on the instruction input, Equipped with a management device that includes, The aforementioned fire extinguishing booth is When the booth communication unit receives the arrival signal and the operation signal, the booth control unit activates the booth fire extinguishing device. The fire extinguishing system according to claim 3.

6. A fire extinguishing system used in a logistics warehouse, A self-propelled transport device that has a fire detection unit and transports cargo, The system is equipped with a self-propelled fire extinguishing device that extinguishes a fire if a fire is detected on the self-propelled transport device. Firefighting system.

7. A fire extinguishing system comprising a self-propelled transport device and a self-propelled fire extinguishing device, The aforementioned self-propelled transport device, The base on which the load is placed, A transport device travel section that moves the base portion, A fire detection unit is provided on the base portion for detecting a fire in the loaded material, A transport device control unit controls the transport device's travel section in a first operating mode, which moves from a predetermined point to another point when no fire is detected by the fire detection unit, and in a second operating mode, which moves from the current point towards the self-propelled fire extinguishing device when a fire is detected by the fire detection unit. The transport device communication unit includes a fire detection unit that transmits a fire detection signal when a fire is detected by the fire detection unit, The aforementioned self-propelled fire extinguishing system is A fire extinguishing device communication unit that communicates with the aforementioned transport device communication unit, Fire extinguishing equipment, A fire extinguishing device travel unit for moving the aforementioned fire extinguishing device, The system comprises a fire extinguishing device travel unit and a fire extinguishing device control unit that controls the fire extinguishing device, When the fire extinguishing system communication unit receives the fire detection signal and the distance to the self-propelled transport device falls below a threshold, the fire extinguishing system control unit instructs the fire extinguishing system to start the fire extinguishing operation. Firefighting system.

8. The aforementioned self-propelled fire extinguishing system is Equipped with a fire detection unit for fire extinguishing systems, When the fire extinguishing system communication unit receives the fire detection signal, the distance to the self-propelled transport device falls below a threshold, and the fire extinguishing system fire detection unit detects a fire, the fire extinguishing system control unit activates the fire extinguishing system. The fire extinguishing system according to claim 7.

9. A fire detection system equipped with multiple self-propelled transport devices, Each of the aforementioned multiple self-propelled transport devices is The base on which the load is placed, A transport device travel section that moves the base portion, A flame detection unit that detects flames in the detection area surrounding the aircraft, The flame detection unit outputs a fire detection signal when it detects a flame, and the communication unit receives the fire detection signal transmitted from another device. A transport device control unit controls the transport device's travel section in a first operating mode, which moves from a designated point to another point when the aforementioned fire detection signal is not received, and in a second operating mode, which moves from the current point to an evacuation point when the aforementioned fire detection signal is received and the machine is within a threshold range from the location of the detected flame. Equipped with Fire detection system.

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