EP2599525B1 - An automated fire-fighting complex integrating a television system - Google Patents
An automated fire-fighting complex integrating a television system Download PDFInfo
- Publication number
- EP2599525B1 EP2599525B1 EP11815812.0A EP11815812A EP2599525B1 EP 2599525 B1 EP2599525 B1 EP 2599525B1 EP 11815812 A EP11815812 A EP 11815812A EP 2599525 B1 EP2599525 B1 EP 2599525B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- fire
- coordinates
- fighting
- identifying
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000007921 spray Substances 0.000 claims description 7
- 238000012806 monitoring device Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C35/00—Permanently-installed equipment
- A62C35/58—Pipe-line systems
- A62C35/68—Details, e.g. of pipes or valve systems
Definitions
- the invention relates to fire-fighting equipment, in particular, to robotized fire-fighting units.
- a prior art robotized fire-fighting unit is disclosed, for example, in Russian Patent RU No. 2122874 published on December 10, 1998 .
- the prior art device is deficient because it has a relatively low jet aiming accuracy as it only uses data for calculating ballistic jet aiming parameters without feedback on the real jet movement direction, for which reason the application of the device is restricted significantly, for example, to outdoor fire-fighting units, their jets being affected by variable wind flows; besides, the jet ballistics depends on other factors left out of calculation, for example, the surface roughness of the nozzle producing jet changes in use.
- Efforts to achieve the object of the invention produce a technical result that includes improved performance characteristics of the robotized fire-fighting complex, enhanced reliability, and possibility of actual jet direction being monitored automatically such that the efficiency of fire fighting is improved.
- a robotized fire-fighting complex having a television system and comprising two or more fire-fighting robots, each including a carriage-mounted barrel having vertical and horizontal aiming drives; a nozzle having a drive to vary the jet spray angle; a disk gate with a drive; a pressure sensor; and a local control panel, all connected to a switching unit; an ignition detection and a remote observation device connected to a device to identify the ignition source and determine the coordinates thereof, said identification device being connected to an information monitoring and display device that generates control instructions to aim the fire-fighting robots and extinguish fire, said monitoring and display device being connected to the switching unit and, through a reception monitoring device, to address fire alarms, said fire-fighting complex being provided with a television system comprising two-channel television cameras, each having a video channel and an IR television channel and both mounted on the fire-fighting robots, and further connected to the input of a device serving to identify the ignition source identification and determine the coordinates thereof, using
- the robotized fire-fighting complex (hereinafter the "complex”) comprises fire-fighting robots (hereinafter “robots”) 1 mounted on a fire pipeline 2.
- a robot 1 comprises a carriage-mounted barrel 3 having vertical and horizontal aiming drives 4 and 5, respectively; a nozzle 6 having a drive to vary the jet spray angle; a portable local control panel 7; disk gate 8 mounted at the input thereof and provided with a drive, and a pressure sensor 9, all connected to a switching unit 10.
- Robot 1 carries two-channel IR and video television cameras 11 connected by a television line through IR channel 12 to the input of a device 13 serving to identify an ignition source and determine the coordinates thereof using a digital IR television signal processing program and through a video channel 14 to the input of a device 15 serving to recognize the jet and determine the coordinates thereof using a digital video signal processing program.
- Devices 11, 13, and 15 are combined to form a television system.
- Devices 13 and 15 are connected at the outputs thereof to a fire-righting robot aiming control device 16 having a video monitor 17.
- Control device 16 is connected to switching units 10 by a communication channel 18, for example, RS-485, through a network controller 19.
- Robots 1 and control device 16 connected by communication channels through network controller 19 are components of the robotized fire-fighting complex.
- Control device 16 is connected through a reception monitoring device 20 to address fire alarms 21.
- the robotized fire-fighting complex operates as follows:
- the claimed robotized fire-fighting complex using a television system is an efficient automatic, remotely controlled fire-fighting apparatus that sends a heavy flow of fire-fighting material directly at the ignition source detected at an early stage, and to keep humans out of life-threatening emergency areas.
- the claimed robotized fire-fighting complex provided with a television system helps monitor automatically the actual jet direction and, therefore, improve significantly the accuracy of jet aiming at the ignition source.
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Fire Alarms (AREA)
Description
- The invention relates to fire-fighting equipment, in particular, to robotized fire-fighting units.
- A prior art robotized fire-fighting unit is disclosed, for example, in Russian Patent
RU No. 2122874 published on December 10, 1998 - A deficiency of prior art units is that they cannot determine fire coordinates in a three-dimensional coordinate system.
- One prior art unit close to the claimed invention in technical idea is the robotized fire-fighting complex disclosed in Russian Patent
RU No. 2319530 published on March 20, 2008 - The prior art device is deficient because it has a relatively low jet aiming accuracy as it only uses data for calculating ballistic jet aiming parameters without feedback on the real jet movement direction, for which reason the application of the device is restricted significantly, for example, to outdoor fire-fighting units, their jets being affected by variable wind flows; besides, the jet ballistics depends on other factors left out of calculation, for example, the surface roughness of the nozzle producing jet changes in use.
- Another close prior art is disclosed in
WO 2007/107988 , which also does not disclose the feedback measurement of actual water jet projection. - It is an object of the claimed invention to develop a robotized fire-fighting complex having a television system to improve the accuracy of jet aiming at a fire source with feedback on the real jet movement path.
- Efforts to achieve the object of the invention produce a technical result that includes improved performance characteristics of the robotized fire-fighting complex, enhanced reliability, and possibility of actual jet direction being monitored automatically such that the efficiency of fire fighting is improved.
- The aforesaid technical result is achieved in a robotized fire-fighting complex having a television system and comprising two or more fire-fighting robots, each including a carriage-mounted barrel having vertical and horizontal aiming drives; a nozzle having a drive to vary the jet spray angle; a disk gate with a drive; a pressure sensor; and a local control panel, all connected to a switching unit; an ignition detection and a remote observation device connected to a device to identify the ignition source and determine the coordinates thereof, said identification device being connected to an information monitoring and display device that generates control instructions to aim the fire-fighting robots and extinguish fire, said monitoring and display device being connected to the switching unit and, through a reception monitoring device, to address fire alarms, said fire-fighting complex being provided with a television system comprising two-channel television cameras, each having a video channel and an IR television channel and both mounted on the fire-fighting robots, and further connected to the input of a device serving to identify the ignition source identification and determine the coordinates thereof, using a digital IR television signal processing program, and to the input of a device to distinguish a jet and determine the coordinates thereof using a digital video signal processing program, said robots being connected at the outputs thereof to the control device and a video monitor.
- The idea of the invention will be clear from the following drawings, wherein:
-
FIG. 1 shows a functional diagram of a robotized fire-fighting complex provided with a television system; and -
FIG. 2 shows a layout diagram of a robotized fire-fighting complex provided with a television system. - The robotized fire-fighting complex (hereinafter the "complex") comprises fire-fighting robots (hereinafter "robots") 1 mounted on a fire pipeline 2. A robot 1 comprises a carriage-mounted
barrel 3 having vertical and horizontal aiming drives 4 and 5, respectively; a nozzle 6 having a drive to vary the jet spray angle; a portablelocal control panel 7; disk gate 8 mounted at the input thereof and provided with a drive, and a pressure sensor 9, all connected to aswitching unit 10. Robot 1 carries two-channel IR andvideo television cameras 11 connected by a television line throughIR channel 12 to the input of adevice 13 serving to identify an ignition source and determine the coordinates thereof using a digital IR television signal processing program and through avideo channel 14 to the input of adevice 15 serving to recognize the jet and determine the coordinates thereof using a digital video signal processing program.Devices Devices control device 16 having avideo monitor 17.Control device 16 is connected to switchingunits 10 by acommunication channel 18, for example, RS-485, through anetwork controller 19. Robots 1 andcontrol device 16 connected by communication channels throughnetwork controller 19 are components of the robotized fire-fighting complex.Control device 16 is connected through areception monitoring device 20 to addressfire alarms 21. - The robotized fire-fighting complex operates as follows:
- In a standby mode, the property protected is monitored around the clock by
address fire alarms 21. Fire originating in any of the areas monitoredcauses address alarms 21 to go off andreception monitoring device 20 to send an "Alarm" address signal to controldevice 16 that activates fire-fighting robots 1 in the "Alarm" area.Television cameras 11 mounted on robots 1 send IR information throughchannel 12 todevice 13 that executes a digital program to process IR television signals at different angles and to identify the ignition source and determine the coordinates of its energy center and area thereof in a three-dimensional system of coordinates. Upon reception of information about the ignition source,control device 16 sends control signals bycommunication channel 18, throughnetwork controller 19, to respective switchingunits 10 of robots 1 covering the area in danger. Vertical and horizontal aiming drives 4 and 5, respectively,point barrels 3 at the ignition source at an elevation angle calculated by the program installed incontrol device 16, with consideration for the jet ballistics and preset spray angle, depending on the distance and pressure indicated by pressure sensor 9.Control device 16 generates instruction to open the preset spray angle and deliver water, in which case the nozzle drive is turned on, disk gates 8 open, and robots 1 direct water jets at a preset spray angle at the ignition source area.Television cameras 11 mounted onrobots 11 send video information throughchannel 14 todevice 15 that uses the video signals processed digitally by its preset program at various angles to identify jets directed at the ignition source and determine the coordinates thereof in a three-dimensional system of coordinates. Upon reception of information about the position of the compact part of the jet relative to the ignition source at coordinates that are stored in the memory ofcontrol device 16 as "Undershot" or "Overshot" and displayed onmonitor 17, control signals are sent bycommunication channel 18, throughnetwork controller 19, torespective switching units 10 of fire-fighting robots 1 covering the area in question. Vertical and horizontal drives 4 and 5, respectively, use the adjusted elevation angle topoint barrels 3 at the ignition source according to the data on the actual position of the jet. After the jets have been adjusted relative to the energy center of the ignition source, the control device generates a fire-fighting program in the ignition source area, for example, with stitch jets, their stitches advancing step by step and repeating their advance cycle over again, to put out the fire according to the preset program. - The claimed robotized fire-fighting complex using a television system is an efficient automatic, remotely controlled fire-fighting apparatus that sends a heavy flow of fire-fighting material directly at the ignition source detected at an early stage, and to keep humans out of life-threatening emergency areas.
- In contrast to existing equipment, the claimed robotized fire-fighting complex provided with a television system helps monitor automatically the actual jet direction and, therefore, improve significantly the accuracy of jet aiming at the ignition source.
- These distinctions of the claimed apparatus permit it to be used in heavy and life-threatening conditions without involving humans, improve significantly the efficiency of fire-fighting, decrease the quantity of fire-extinguishing materials, and reduce damage from fire.
Claims (1)
- A robotized fire-fighting complex provided with a television system, comprising
two or more fire-fighting robots (1), each including
a carriage-mounted barrel (3) having vertical and horizontal aiming drives (4, 5), respectively,
a nozzle (6) having a drive to vary the jet spray angle,
a disk gate (8) having a drive,
a pressure sensor (9), and
a local control panel (7),
wherein the barrel (3), the drives (4, 5), the nozzle (6), the disk gate (8), the pressure sensor (9) and the local control panel (7) are connected to a switching unit (10);
a device (11) for detecting ignition, and a remote observation device (11),
wherein the device (11) for detecting ignition and the remote observation device (11) are connected to a device (13) for identifying an ignition source and determining the coordinates thereof,
said device (13) for identifying an ignition source and determining the coordinates thereof being connected to a control and information display device (16, 17), in which control instructions are generated to point the fire-fighting robots (1) and to extinguish the fire,
said control and information display device (16, 17) being connected to a switching unit (10) and, through a reception monitoring device (20), to address fire alarms (21),
the fire-fighting complex further comprising a television system (11, 13, 15) including two-channel video channel and IR television channel cameras (11) mounted on the fire-fighting robots (1) and connected to the input of the device (13) for identifying the ignition source and determining the coordinates thereof, and provided with a program to digitally process the IR television signal, and to the input of a device (15) for identifying the jet and determining the coordinates thereof,
said device (15) for identifying the jet and determining the coordinates thereof running on a program to digitally process the video signal,
wherein the device (13) for identifying the ignition source and determining coordinates thereof and the device (15) for identifying the jet and determining the coordinates thereof are connected at the output thereof to the control device (16) and the video monitor (17).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/RU2011/000517 WO2013009214A1 (en) | 2011-07-14 | 2011-07-14 | An automated fire - fighting complex integrating a television system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2599525A1 EP2599525A1 (en) | 2013-06-05 |
EP2599525B1 true EP2599525B1 (en) | 2015-12-30 |
Family
ID=45563486
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11815812.0A Active EP2599525B1 (en) | 2011-07-14 | 2011-07-14 | An automated fire-fighting complex integrating a television system |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2599525B1 (en) |
WO (1) | WO2013009214A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2775482C1 (en) * | 2021-08-17 | 2022-07-01 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") | Multifunctional robotic complex for preventive monitoring, fire detection and fire extinguishing control at industrial facilities |
WO2023022618A1 (en) * | 2021-08-17 | 2023-02-23 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" | Multi-functional robotic system for controlling fire extinction at industrial sites |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109794017A (en) * | 2019-01-21 | 2019-05-24 | 国家电网公司 | A kind of cable tunnel extinguishing method and system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2122874C1 (en) | 1997-01-22 | 1998-12-10 | Юрий Иванович Горбань | Fire monitor |
AU2003297756A1 (en) * | 2002-12-09 | 2004-06-30 | Axonx, Llc | Fire suppression system and method |
RU2319530C2 (en) | 2005-11-24 | 2008-03-20 | Зао "Инженерный Центр Пожарной Робототехники" Эфэр" | Fire-extinguishing robot assembly |
IL174523A0 (en) * | 2006-03-23 | 2006-12-31 | Opgal Optronic Ind Ltd | System for detecting and locating a thermal event and for reactive measures |
FR2947732B1 (en) * | 2009-07-08 | 2011-07-29 | Desautel | FIRE FIGHTING SYSTEM AND CORRESPONDING METHOD |
-
2011
- 2011-07-14 EP EP11815812.0A patent/EP2599525B1/en active Active
- 2011-07-14 WO PCT/RU2011/000517 patent/WO2013009214A1/en active Application Filing
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2775482C1 (en) * | 2021-08-17 | 2022-07-01 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") | Multifunctional robotic complex for preventive monitoring, fire detection and fire extinguishing control at industrial facilities |
WO2023022618A1 (en) * | 2021-08-17 | 2023-02-23 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" | Multi-functional robotic system for controlling fire extinction at industrial sites |
Also Published As
Publication number | Publication date |
---|---|
EP2599525A1 (en) | 2013-06-05 |
WO2013009214A1 (en) | 2013-01-17 |
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