WO2022269310A1

WO2022269310A1 - Apparatus for identifying and extinguishing fires

Info

Publication number: WO2022269310A1
Application number: PCT/IB2021/055433
Authority: WO
Inventors: Shaikha Khalid Khamis BIN THANI
Original assignee: Dubai Police General Headquarters
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-12-29
Also published as: EP4319891A4; EP4319891A1

Abstract

The invention relates to an apparatus for identifying and extinguishing fires. The apparatus includes a locomotion unit for moving the apparatus and a fire extinguishing unit which, when activated, ejects fire extinguishing material. The apparatus includes an actuator for activating the fire extinguishing element and a control unit for controlling the locomotion unit and actuator. The control unit includes a number of sensors, location determination means, and communication means for identifying and extinguishing fires. This allows the apparatus to operate in an autonomous fashion to move towards and extinguish fires. It is envisaged that the apparatus will increase safety of its users and will allow autonomous extinguishment of fires in a reliable and cost-effective manner.

Description

APPARATUS FOR IDENTIFYING AND EXTINGUISHING FIRES

FIELD OF THE INVENTION

The invention relates to an apparatus for identifying and extinguishing fires and more specifically, but not exclusively, to a robot firefighting apparatus for identifying and extinguishing fires.

BACKGROUND TO THE INVENTION

Firefighting generally involves attempts to contain the spread of or to extinguish unwanted fires. Unwanted fires may occur anywhere where such fire will cause damage to property, buildings, infrastructure, or nature and, if not contained, may lead to loss of life or wildlife. In most of the world, firefighting is conducted by firefighters as part of emergency services. Firefighters are extensively trained in, and have specialized equipment for, firefighting. It is also common to provide firefighting infrastructure, such as fire-hydrants, firehoses, and fire- extinguishers that are part of municipal or building infrastructure.

Firefighting is crucial to society, business, and the environment but firefighting by its very nature is a dangerous endeavor. For this reason, it is common to employ, at least for buildings, secondary mechanisms which may be activated autonomously or remotely such as water sprinklers or asphyxiating gas lines which assist in containing or extinguishing the fire and damage to the building. One problem with such secondary measures, is that they are expensive and time consuming to install and as such will typically be unaffordable for most family homes. It is also difficult and expensive to retrofit existing buildings with such measures. Where such systems are prescribed by laws, the cost may add to housing and office prices. These systems require regular inspections and maintenance and, even if properly maintained and regularly inspected, can malfunction in rare cases. OBJECT OF THE INVENTION

It is accordingly an object of the invention to provide an apparatus for identifying and extinguishing fires which, at least partially, alleviates some of the problems associated with the prior art or provides a useful alternative thereto. SUMMARY OF THE INVENTION

In accordance with the invention there is provided an apparatus for identifying and extinguishing fires comprising:

- a locomotion unit for moving the apparatus;

- a fire extinguishing unit which, when activated, ejects fire extinguishing material; - an actuator for activating the fire extinguishing element; and

- a control unit for controlling the locomotion unit and actuator.

The locomotion unit may include a base.

The locomotion unit may include a number of wheels attached to the base.

The wheels may be driven by one or more electric motors. The electric motors may be stepper motors or servo motors.

The fire extinguishing unit may include a reservoir for holding fire extinguishing material. The fire extinguishing material may be in the form of fire extinguishing fluid.

The reservoir may be pressurized.

The fire extinguishing unit may include a pump. The fire extinguishing unit may include a nozzle wherein contents from the reservoir is directed through the nozzle when the fire extinguishing unit is activated.

The fire extinguishing element is activated by a trigger.

The trigger may include a lever connected to a valve between the reservoir and the nozzle. The actuator may be a linear actuator. The linear actuator may be a hydraulic, electrical, or magnetic actuator.

The actuator may engage the trigger of the fire extinguishing unit such that when the actuator is actuated, the trigger is triggered, and the fire extinguishing unit is activated. The actuator may also engage the lever of the trigger. The control unit may be an electronic control unit.

The electronic control unit controls the actuator and the locomotion unit electrically. The electric motors may be controlled by the control unit.

The apparatus may include a targeting element which orients and aims the fire extinguishing unit, or its nozzle, at a target. The target may be a fire in proximity of the apparatus. The apparatus may include one or more of the following sensors which are operatively connected to the control unit such that the control unit may perform calculations based on quantities measured by the sensors:

- a depth sensor for measuring distance from the apparatus in at least one direction; o the depth sensor may be employed in object detection and avoidance routines; o the depth sensor may be employed as a mapping tool for generating an electronic representation of its environment and surroundings; a fire sensor for detecting distance to, and direction of, a fire; o the fire sensor may detect ultraviolet, infrared, near infrared, or visible radiation or a combination thereof to detect fire; o the fire sensor may use thermal imaging to detect a fire; o the fire sensor may include a heat sensor; o the fire sensor may include communications means for communicating with external fire sensors; o the fire sensor may include a smoke detector.

The apparatus may include location determination means operatively connected to the control unit.

The location determination means may determine the location as a geographic coordinate and may calculate the coordinate from the Global Positioning System (GPS).

The location determination means may determine the location as a coordinate within an internal structure whereby the location is determined by communicating with beacons with a predetermined location.

The apparatus may use the location determination means and sensors to construct an internal representation of its environment including boundaries and obstacles.

The control unit may include motion planning means which uses the location determination means and the internal representation to plan and control the locomotion unit to move and orient the apparatus within the environment.

The control unit may include communication means. The communication means may be in the form of wireless communication with wide and local area networking capabilities. The apparatus may receive locomotion instructions via the communication means for controlling the locomotion of the apparatus through the control and locomotion units.

The apparatus may receive alerts via the communication means. The alerts may contain notice of and location of an unwanted fire. The apparatus may, on receiving an alert, move toward the unwanted fire, aim the fire extinguishing unit toward the fire and activate the fire extinguishing unit through the actuator.

BRIEF DESCRIPTION OF THE DRAWINGS

An embodiment of the invention is described below, by way of a non-limiting example only, and with reference to the accompanying drawing in which:

Figure 1 is schematic perspective view of an apparatus for identifying and extinguishing fires; and

Figure 2 is a schematic plan view of a building including an apparatus for identifying and extinguishing fires in use. DETAILED DESCRIPTION OF THE DRAWINGS

With reference to the drawings, in which like features are indicated by like numerals, an apparatus for identifying and extinguishing fires is generally indicated by reference numeral 1.

The apparatus 1 includes a locomotion unit 2 which includes all necessary components for moving the apparatus 1 within its environment. The environment within which the apparatus 1 is capable of operation will vary depending on where the apparatus is deployed. One example of such an environment is shown in figure 2 which depicts a room 3 in a building (home or office). This is a simple example used to explain the functions and features of the apparatus. However, those skilled in the art will recognize that the apparatus may, with suitable modifications, operate in many other environments in a similar manner.

The locomotion unit 2 includes a base 4 with a number of wheels 5 attached to the base. In this example, each wheel is independently driven by an electric motor 6. The electric motors are typically servo motors or stepper motors. However, it will be appreciated that many other motors such as multiphase or brushless DC motors may also be used, along with the required driver and control circuitry, to achieve the same purpose. The locomotion unit 2 provides the basic functionality to move the apparatus 1 within its environment including linear movement and rotation. Instead of wheels, tracks or belts may also be suitable.

The apparatus includes a fire extinguishing unit 7 which in the current example includes a reservoir 8. The reservoir 8 is under pressure and holds fire extinguishing material in the form of fire extinguishing fluid. The fire extinguishing unit 7 ejects this fluid upon activation. Alternatively, instead of the reservoir 8 being under pressure a pump may be used to pressurize the fluid or to accelerate the fluid as it is ejected. The extinguishing unit 7 is activated by a trigger 9, which in the current example includes a lever 10 and a valve 11. The valve 11 is located between the reservoir 8 and a nozzle 13. The nozzle shown in figure 1 is a diverging nozzle which disperses the pressurized fluid ejected through the valve 12 such that a target area is affected by the fluid. It should be noted that many other forms of fluids and nozzles may be used by the fire extinguishing unit 7. For example, the fluid may be water which is the most widely used fluid for fire suppression but may be very dangerous where such fires are initiated by hydrocarbon-based fuels. Other fluids like dry powders or foam may also be used in which case applicable nozzles will be required. Regardless of the fluid, the purpose of the nozzle is to direct the fluid towards the unwanted fire. The fire extinguishing unit 7 is attached to the base 4 through an angled sleeve 16. The sleeve 16 holds the extinguishing unit 7 in place and at an angle to the apparatus 1. This allows the ejected fluid to be aimed downward. This is desirable as general firefighting practice requires the fluid to be directed toward the base of a fire. In the example shown in figure 1 , the sleeve is fixed at this downward angle. However, those skilled in the art will recognize that it may be desirable to adjust the angle of the extinguishing unit. This may be achieved using an adjustable sleeve or a gimballed arrangement which allows the extinguishing unit to be aimed in any direction. Further, it is possible to include actuators in such an arrangement such that aiming or adjustment may be conducted electronically or even autonomously.

The apparatus 1 includes an actuator 14, operatively located in the current example between the base 4 and the lever 10. The actuator is hinged at the base 4 with the moveable part thereof attached to the lever through suitable attachment means 15. The actuator 14 is a linear actuator which activates the fire extinguishing unit 7 by engaging the lever 10. By engaging the lever, the trigger opens the valve 11 which allows the pressurized fluid to be ejected through the nozzle 12. The actuator may be hydraulic, electric, or magnetic provided that it can overcome the required force to activate the extinguishing unit 7 through the lever 10.

The apparatus includes a control unit (indicated schematically by reference numeral 17 in figure 1). The control unit is an electronic control unit 17 and controls the locomotion unit 2 and actuator 14; all of which are powered by a rechargeable battery 18. In this example, the actuator 14 is an electrical actuator and the electric motors 6 may be controlled, through suitable driver and power circuitry, directly by the electronic control unit 17. Similarly, the actuator 14 is electric and may be controlled directly by the control unit 17. The control unit 17 typically includes a computer which is capable of executing software to automate the control functions thereof. This computer may be in various forms such as a microcontroller or microprocessor or a single board computer with a central processing unit and associated memory for storing instructions, measurements, and so on. The architecture of the computer is not crucial provided that it is capable of executing instructions as stored in a computer program and that it can interface and use various peripherals connected thereto. This allows the apparatus 1 to be moved through its environment under the control of the control unit 17 and to activate the extinguishing unit 7 when desired and in accordance with logic of and as calculated by the software running on the computer.

The control unit 17 has a number of peripherals connected thereto. These peripherals may include sensors, location determination means, and communication means. The sensors in this example include a depth sensor 19 (in the form of a dual ultrasonic transducer range sensor) which measures the distance from the apparatus 1 in an operatively forward direction to any obstacle or boundary. The depth sensor may be used, in conjunction with software running on the control unit, in order to generate and store an electronic representation of the environment surrounding the apparatus 1. As an example, the apparatus 1 (as shown in figure 2) will in its starting position be able to detect the distance 20 between the apparatus 1 and wall 21 . Similarly, as the apparatus is moved through the room 3, the distances to other walls and obstacles 22 may be measured and related to inertial measurements or movement instructions to generate a map of its environment. This enables the apparatus to autonomously navigate its environment and avoid obstacles.

The control unit also includes a fire sensor 23 which detects the proximity of and intensity of a fire. This allows the apparatus to be oriented correctly when in proximity of the fire. The sensor may capture ultraviolet, infrared, near infrared, or visible radiation (or a combination thereof) to detect a fire. Thermal imaging or heat sensors may also be used. Where the control unit includes communication means, external fire sensors may be used to estimate the position of a fire and provided to the control unit 17. These external sensors may be similar to the ones described above or operate more generally as would be the case for smoke detectors.

The control unit 17 includes location determination means which determines the physical location of the apparatus as a geographic coordinate and is calculated from the Global Positioning System (GPS). This is especially useful where the apparatus 1 is used outdoors and has good visibility to the GPS satellites. Where the apparatus is used indoors, it is also possible to use internal visible or radio beacons with a known location, to enable the apparatus 1 to determine its position within a building or other structure. The location information may be used to improve the accuracy of the apparatus’s map of its environment or to get a better approximation of its position within the environment.

The software running on the control unit may include motion planning means. The motion planning means uses location information and the internal representation of its environment and obstacles to plan routes and generate control actions in order to achieve the planned motion such that the apparatus may autonomously navigate to various locations within the environment. This is especially useful where the location of an unwanted fire is known and the apparatus can plan the required motion in order to navigate towards the location of the fire. The motion planning means is also useful for planning movement and orientation according to programmed routines in relation to the fire. For example, a line following routine may be used, where the apparatus moves laterally, or in an arc, in relation to the fire to give it broader coverage.

The control unit 17 may, through its communications means, receive instructions remotely for controlling movement of the apparatus. This is useful where the apparatus 1 is controlled remotely by a human operator, allowing the operator to guide the apparatus toward a fire whilst remaining at a safe distance from the fire. It is also possible to provide a location coordinate to which the apparatus 1 may autonomously move towards. Further, these instructions may be in the form of an alert, where the alert includes the location of a fire and the apparatus 1 can autonomously move toward the fire and execute preprogrammed routines to aim the fire extinguishing unit 7 toward the fire and to activate the fire extinguishing unit 1 through the actuator 14.

In use, and with reference to the room 3 in figure 2, the apparatus 1 may be installed in an initial position 27 (as shown in unbroken lines in figure 2). The initial position may include, for example, a base station with a charging unit for charging the rechargeable battery 18. Upon in initial installation, the apparatus 1 is allowed to autonomously move throughout the room 3 to create a map of its environment, including the position of the boundaries and obstacles 22. The room 3 has a number of smoke detectors 24 which can communicate with the apparatus 1 . The local coordinate of each detector 24 is stored by the apparatus or by the detector itself. When a fire 25 (or smoke from the fire 25) is detected by one or more detectors 24, an alert is sent to the apparatus 1 with the location of the detector. The apparatus may correlate the location information of the detectors which sent an alert (24a and 24b) in order to deduce the actual location of the fire 25. The apparatus 1 may then navigate towards the fire 25 along a planned path 26 which avoids the obstacles to navigate towards the fire. Any obstacles which have moved will be detected by the depth sensor allowing the apparatus 1 to generate a new path to avoid such obstacles. Once the apparatus has successfully navigated to its desired location 28 proximate to the fire 25, it will use the actuator 14 to activate the fire extinguishing unit 7 and perform a routing where the apparatus moves along an arc 30 around the fire 25 towards position 29 whilst the fire extinguishing unit ejects the fire extinguishing fluid towards the fire, maximizing the possibility of extinguishing the fire. It is envisaged that the invention will provide an apparatus for identifying and extinguishing fires which will increase safety of its users and will allow autonomous extinguishment of fires in a reliable and cost-effective manner.

The invention is not limited to the precise details as described herein. For example, instead of linear actuators, rotational actuators in a suitable arrangement may be employed. Instead of using stepper or servo motors, linear hydraulic or magnetic actuators may be employed. Further, instead of having wheels, the apparatus may employ tracks or other traction elements for locomotion.

Claims

1. An apparatus for identifying and extinguishing fires comprising: a locomotion unit for moving the apparatus; a fire extinguishing unit which, when activated, ejects fire extinguishing material; an actuator for activating the fire extinguishing element; and a control unit for controlling the locomotion unit and actuator.

2. The apparatus of claim 1 wherein the locomotion unit includes a base with a number of wheels attached to the base.

3. The apparatus of claim 2 wherein the wheels are driven by one or more electric motors.

4. The apparatus of claim 3 wherein the electric motors are stepper motors or

5. The apparatus of claim 3 wherein the electric motors are servo motors.

6. The apparatus of claim 1 wherein the fire extinguishing unit includes a reservoir for holding fire extinguishing material and a nozzle directing the material through the nozzle when the fire extinguishing unit is activated.

7. The apparatus of claim 6 wherein the fire extinguishing element is activated by a trigger including a lever connected to a valve between the reservoir and the nozzle.

8. The apparatus of claim 1 wherein the actuator is a linear actuator.

9. The apparatus of claim 7 wherein the actuator engages the trigger of the fire extinguishing unit such that when the actuator is actuated, the trigger is triggered, and the fire extinguishing unit is activated.

10. The apparatus of claim 1 wherein the control unit is an electronic control unit.

11 . The apparatus of claim 10 wherein the electronic control unit controls the actuator and the locomotion unit electrically.

12. The apparatus of claim 1 wherein the apparatus includes a targeting element which orients and aims the fire extinguishing unit at a target.

13. The apparatus of claim 1 wherein the apparatus includes one or more sensors which are operatively connected to the control unit such that the control unit may perform calculations based on quantities measured by the sensors.

14. The apparatus of claim 13 wherein the apparatus includes a depth sensor for measuring distance from the apparatus in at least one direction.

15. The apparatus of claim 13 wherein the apparatus includes a fire sensor for detecting distance to, and direction of, a fire.

16. The apparatus of claim 1 wherein the apparatus includes location determination means operatively connected to the control unit.

17. The apparatus of claim 16 wherein the location determination means determines the location as a geographic coordinate calculated from the Global Positioning System (GPS).

18. The apparatus of claim 1 wherein the location determination means determines the location as a coordinate within an internal structure by communicating with beacons with a predetermined location.

19. The apparatus of claim 16 wherein the apparatus uses the location determination means and sensors to construct an internal representation of its environment including boundaries and obstacles.

20. The apparatus of claim 6 wherein the control unit includes motion planning means which uses the location determination means and the internal representation to plan and control the locomotion unit to move and orient the apparatus within the environment.

21 . The apparatus of claim 1 wherein the control unit includes communication means.

22. The apparatus of claim 21 wherein the apparatus communicates with and receives information from external fire sensors.

23. The apparatus of claim 22 wherein the external fire sensor is a smoke detector.

24. The apparatus of claim 21 wherein the apparatus receives locomotion instructions for controlling the locomotion of the apparatus through the control and locomotion units.

25. The apparatus of claim 21 wherein the apparatus receives alerts including the location of an unwanted fire via the communication means.

26. The apparatus of claim 25 wherein the apparatus, on receiving an alert, moves toward the unwanted fire, aims the fire extinguishing unit toward the fire and activate the fire extinguishing unit through the actuator.