EP2599525B1 - An automated fire-fighting complex integrating a television system - Google Patents

An automated fire-fighting complex integrating a television system Download PDF

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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
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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.)
Active
Application number
EP11815812.0A
Other languages
German (de)
French (fr)
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EP2599525A1 (en
Inventor
Yury Ivanovich GORBAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
"engineering Centre Of F LLC
Original Assignee
"engineering Centre Of Fire Robots Technology "fr" LLC
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Publication of EP2599525A1 publication Critical patent/EP2599525A1/en
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    • 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 Alarms (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Description

    Technical Field
  • The invention relates to fire-fighting equipment, in particular, to robotized fire-fighting units.
    • Background Art
  • 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 that comprises two or more robotized fire-fighting units mounted on a fire pipeline and each comprising a carriage-mounted barrel having vertical and horizontal aiming drives; a nozzle provided with a drive to vary the jet spray angle; and a control panel, all connected at the input thereof to a switching unit and at the output thereof to a control device generating control instructions to point the barrels and extinguish the fire; an ignition detection and remote observation device mounted on the barrel such that the optical axis thereof extends in the direction of fire-extinguishing material flow, said device being connected to a video signal processing device that uses a program to perform algorithms for determining ignition source coordinates, said device being connected to a video monitoring device and the control device.
  • 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.
    • Disclosure of Invention
  • 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.
    • Brief Description of Drawings
  • 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.
    Best Mode for Carrying out the Invention
  • 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:
    • In a standby mode, the property protected is monitored around the clock by address fire alarms 21. Fire originating in any of the areas monitored causes address alarms 21 to go off and reception monitoring device 20 to send an "Alarm" address signal to control device 16 that activates fire-fighting robots 1 in the "Alarm" area. Television cameras 11 mounted on robots 1 send IR information through channel 12 to device 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 by communication channel 18, through network controller 19, to respective switching units 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 in control 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 on robots 11 send video information through channel 14 to device 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 of control device 16 as "Undershot" or "Overshot" and displayed on monitor 17, control signals are sent by communication channel 18, through network controller 19, to respective 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 to point 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)

  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).
EP11815812.0A 2011-07-14 2011-07-14 An automated fire-fighting complex integrating a television system Active EP2599525B1 (en)

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

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EP (1) EP2599525B1 (en)
WO (1) WO2013009214A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2122874C1 (en) 1997-01-22 1998-12-10 Юрий Иванович Горбань Fire monitor
WO2004052466A1 (en) * 2002-12-09 2004-06-24 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

Cited By (2)

* Cited by examiner, † Cited by third party
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

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EP2599525A1 (en) 2013-06-05
WO2013009214A1 (en) 2013-01-17

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