CROSS-REFERENCE TO RELATED PATENT APPLICATION

[0001] This application claims the benefit of and priority to Indian Provisional Application No. 202141034329, filed on July 30, 2021, the entire disclosure of which is hereby incorporated by reference herein.

BACKGROUND

[0002] The present disclosure relates generally to fire suppression systems. More specifically, the present disclosure relates to fire suppression systems for buildings, off-shore drilling platforms, and/or other spaces.

SUMMARY

[0003] At least one embodiment relates to a fire suppression system including a vehicle and processing circuitry. The vehicle includes a chassis, a tractive element coupled to the chassis, a drive motor coupled to the chassis and configured to drive the tractive element to propel the vehicle, a nozzle configured to spray fire suppressant, and a sensor configured to provide data relating to a location of a fire condition. The processing circuitry is operatively coupled to the sensor and the drive motor and configured to control the drive motor to drive the vehicle toward the location of the fire condition based on the data from the sensor.

[0004] Another embodiment relates to fire suppression system including a fire detection sensor configured to detect a fire condition at a location, a suppressant distributor configured to distribute a first volume of fire suppressant at the location, a fire suppressant supply configured to provide a second volume of fire suppressant, a vehicle, and processing circuitry. The vehicle includes a chassis, a tractive element coupled to the chassis, a drive motor coupled to the chassis and configured to drive the tractive element to propel the vehicle, a nozzle, and a valve assembly configured to selectively fluidly couple the fire suppressant supply to the nozzle. The processing circuitry is operatively coupled to the fire detection sensor and the drive motor and configured to control the drive motor to drive the vehicle to the location. [0005] Another embodiment relates to a vehicle for a fire suppression system. The vehicle includes a chassis, a tractive element coupled to the chassis, a drive motor coupled to the chassis and configured to drive the tractive element to propel the vehicle, a nozzle configured to be fluidly coupled to a supply of fire suppressant and configured to spray the fire suppressant, an actuator configured to move the nozzle relative to the chassis, a sensor configured to provide data relating to a location of a fire condition, and processing circuitry operatively coupled to the actuator and the drive motor. The processing circuitry is configured to control the drive motor to drive the vehicle toward the location of the fire condition and control the actuator to aim the nozzle based on the data from the sensor.

[0006] This summary is illustrative only and is not intended to be in any way limiting.

Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements.

BRIEF DESCRIPTION OF THE FIGURES

[0007] The disclosure will become more fully understood from the following detailed description, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements, in which:

[0008] FIG. l is a block diagram of a fire suppression system, according to an exemplary embodiment.

[0009] FIG. 2 is a block diagram of a vehicle of the fire suppression system of FIG. 1, according to an exemplary embodiment.

[0010] FIGS. 3 and 4 are various views of the vehicle of FIG. 2, according to an exemplary embodiment.

[0011] FIG. 5 is a side view of the vehicle of FIG. 2, according to another exemplary embodiment.

[0012] FIG. 6 is a block diagram of a method of operating a fire suppression system, according to an exemplary embodiment. DETAILED DESCRIPTION

[0013] Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting.

[0014] Referring generally to the figures, according to an exemplary embodiment, a fire suppression system includes an automated vehicle that is configured to move throughout a building to suppress fires. The vehicle includes a drive system that is configured to propel the vehicle. The vehicle further includes a nozzle that is fluidly coupled to a supply of fire suppressant. The vehicle further includes guidance sensors that provide information to facilitate guidance of the vehicle throughout the building and a thermal camera that facilitates identifying the presence and location of fires. In operation, the vehicle is driven to the location of a fire using data from the guidance sensors to avoid obstacles. The thermal camera is used to aim the nozzle toward the fire, and the nozzle directs fire suppressant onto the fire, suppressing the fire. The vehicle is automated and/or controlled remotely, facilitating suppression of fires throughout the building without having to locate an operator within the building.

[0015] As used herein, the term “fire condition” means any indication that a fire is present or likely to occur (e.g., resulting from the presence of a condition that increases the chances of a fire occurring). By way of example, a fire condition may include a byproduct of combustion, such as smoke, ash, or gasses released during combustion, such as carbon dioxide (e.g., carbon dioxide sensors). A fire condition may include an effect of fire, such as an increase in temperature or the release of light (e.g., visible or nonvisible).

Fire Suppression System

[0016] Referring to FIG. 1, a fire suppression system or fire extinguishing system is shown as system 10 according to an exemplary embodiment. The system 10 is configured to identify (e.g., sense, locate, etc.) and address (e.g., suppress, extinguish, etc.) one or more fires within, on, or nearby a building or structure, shown as building 20 (e.g., a drilling platform, etc.). As shown, the building 20 contains or supports a series of hazards H that may be flammable or otherwise sustain one or more fires that may be addressed by the system 10.

[0017] In some embodiments, the building 20 is a type of structure containing one or more hazards H that are difficult to effectively address with a traditional fire suppression system that utilizes sprinklers that distribute water over a predetermined area. The hazards H may contain one or more substances, such as fuels, chemicals, reactive or flammable metals (e.g., titanium, lithium, magnesium, sodium, etc.), or molten metals, that are not effectively addressed by water. Additionally or alternatively, the hazards H may be positioned such that it is difficult to locate one or more sprinklers above the hazards H. By way of example, the building 20 may be a storage facility or warehouse containing chemicals or fuel. By way of another example, the building 20 may be processing plant for fuel, such as a natural gas processing facility or an oil refinery. By way of another example, the building 20 may be a fuel extraction facility, such as an oil or natural gas drilling facility or a hydraulic fracking facility. By way of another example, the building 20 may be an off-shore facility, such as an off-shore oil drilling platform, an aircraft carrier, or a vessel with a helipad. By way of another example, the building 20 may be a metal processing facility (e.g., a foundry or forge) that utilizes heated or liquid metals. By way of another example, the building 20 may be a semiconductor manufacturing facility.

[0018] Referring again to FIG. 1, the system 10 includes processing circuitry, shown as system controller 30, that controls operation of the system 10. As shown, system controller 30 includes a processor 32 and a memory 34. The memory 34 may contain one or more instructions thereon that, when executed by the processor 32, cause the system 10 to perform one or more of the functions described herein. The system controller 30 is configured to receive information regarding the presence of a fire associated with a building, control one or more components of the system 10 to address the fire, and communicate information to one or more users regarding the fire and operation of the system 10.

[0019] In some embodiments, the system controller 30 is configured to communicate with the other components of the system 10 though a communication network, shown as network 40. The network 40 may include a local area network, a wide area network (e.g., the Internet), and/or one or more lines of direct communication between the system controller 30 and one or more components of the system 10. The network 40 may utilize wired communication (e.g., Ethernet, fiber optic, etc.) and/or wireless communications (e.g., Bluetooth, Zigbee, cellular networks, satellite communications, etc.). As such, each of the components of the system 10 may include a communication interface that facilitates interaction with the network 40.

[0020] In some embodiments, the building 20 includes a series of sensors, shown as fire detection sensors 50, operatively coupled to the system controller 30 (e.g., through the network 40). The fire detection sensors 50 are configured to provide information regarding the presence or absence of a fire or a potential fire. The fire detection sensors 50 may include sensors configured to detect smoke (e.g., smoke detectors), gasses released during combustion, such as carbon dioxide (e.g., carbon dioxide sensors), temperature (e.g., temperature sensors), light (e.g., light sensors), or other indicators of a fire. By way of example, the fire detection sensors may include thermistors, thermocouples, cameras, thermopiles, ultraviolet light detectors, or other types of sensors. The fire detection sensors 50 may be positioned throughout the building 20. In some embodiments, the system controller 30 associates each fire detection sensor 50 with a corresponding position relative to the building 20. Accordingly, the system controller 30 may identify the location of a fire when the corresponding sensor exceeds a threshold output that indicates the presence of a fire nearby the fire detection sensor 50.

[0021] The system 10 includes one or more supplies of fire suppressant (e.g., fire suppressant agent, water, etc.), shown as suppressant supplies 60, configured to supply fire suppressant to various components of the system 10. In FIG. 1, the flow of fire suppressant is illustrated in dashed lines. The suppressant supplies 60 may be present within the building 20 or outside of the building 20. In some embodiments, the suppressant supplies 60 are operatively coupled to and controlled by the system controller 30. By way of example, the system controller 30 may control a pump and/or a valve of a suppressant supply 60 to initiate a flow of fire suppressant. In some embodiments, the suppressant supply 60 is permanently installed with the building 20. In other embodiments, the suppressant supply 60 is portable and brought to the building 20 in response to a fire event (e.g., by an emergency response service). In some embodiments, the building 20 includes a single suppressant supply 60. In other embodiments, the building 20 includes multiple suppressant supplies 60 distributed throughout the building 20. In some embodiments, the suppressant supply 60 provides a flow of fire suppressant agent, such as a foam or dry chemical agent. In some embodiments, the suppressant supply 60 provides a flow of water.

[0022] The suppressant supplies 60 may provide a variety of different types of fire suppressant. By way of example, the suppressant supplies 60 may supply a fire suppressant agent, such as foam or a dry chemical powder. By way of another example, the suppressant supplies may supply water. In some embodiments, the fire suppressant supply 60 is a twin agent system that is first configured to supply a first type of fire suppressant (e.g., dry chemical powder) then subsequently supply a second type of fire suppressant (e.g., foam).

The suppressant supplies 60 may include tanks that contain fire suppressant, tanks or cartridges that contain expellant gas that moves the fire suppressant through the system 10, valves that control the flow of fire suppressant, pumps that cause the flow of fire suppressant, and/or other components.

[0023] The system 10 may include one or more distribution devices, shown as suppressant distributors 70, that are fluidly coupled to the suppressant supplies 60. The suppressant distributors 70 may be configured to distribute fire suppressant from the suppressant supplies 60 onto fires throughout the building 20. In some embodiments, the suppressant distributors 70 are operatively coupled to and controlled by the system controller 30. The suppressant distributors 70 may be activated manually (e.g., by a user controlling one or more valves) or automatically (e.g., by the system controller 30, by one or more internal systems, such as a glass bulb activator, etc.). The suppressant distributors 70 may include sprinklers, monitors, nozzles, high expansion foam generators, or other types of devices configured to spray or otherwise distribute the fire suppressant. In some embodiments, the suppressant distributors 70 have coverage that is limited to a predetermined area. By way of example, a sprinkler may distribute fire suppressant (e.g., water) throughout a fixed area below the sprinkler. By way of another example, a monitor may distribute fire suppressant to various locations within a fixed area (e.g., as limited by the range of the spray of the monitor and/or a limit of the rotation of the monitor). Accordingly, the suppressant distributors 70 may not be able to reach certain areas of the building 20 (e.g., because a suppressant distributor 70 is difficult to mount in that location, because including enough suppressant distributors 70 to cover the entire building 20 would be cost-prohibitive, etc.)

[0024] The system 10 further includes one or more fire-fighting vehicles, fire suppression vehicles, or automatic guided vehicles, shown as vehicles 80, operatively coupled to the system controller 30. The vehicles 80 are self-propelled and configured to move throughout the building 20. The vehicles 80 may include one or more sensors that identify and locate fires throughout the building 20. Additionally, the vehicles 80 are fluidly coupled to the suppressant supplies 60 and configured to distribute the fire suppressant. In operation, the system controller 30 and/or a vehicle 80 may identify one or more fires and instruct the vehicle 80 to move toward the fire. As the vehicle 80 approaches the fire, the vehicle 80 may identify a precise location of the fire using one or more cameras or other sensors onboard the vehicle 80. The vehicle 80 may aim a nozzle at the base of the fire and direct the fire suppressant from a suppressant supply 60 toward the fire, suppressing the fire. The operation of the vehicle 80 may be controlled autonomously, manually (e.g., by a remote operator), or by some combination thereof.

[0025] The system 10 may include one or more user devices 90 that are configured to communicate information to one or more users. The user devices 90 may be operatively coupled to the system controller 30 through the network 40. The user devices 90 may include personal computers (e.g., laptops, desktops, etc.), smartphones, tables, or any other types of devices that are capable of providing information to a user or receiving information (e.g., commands) from a user. The user devices 90 may receive information from the system controller 30 and/or provide information to the system controller 30. By way of example, the user devices 90 be configured to provide a notification to a user when a fire is detected and/or provide information regarding operation of the system 10.

[0026] The system 10 may include one or more operator interfaces 92 that are configured to facilitate operator control over the system 10. The operator interfaces 92 may be operatively coupled to the system controller 30 through the network 40. The operator interfaces 92 may include personal computers (e.g., laptops, desktops, etc.), smartphones, tables, or any other types of devices that are capable of providing information to an operator or receiving information (e.g., commands) to an operator. In some embodiments, the operator interfaces 92 include manual pull stations that can be activated to indicate that the operator has detected a fire. The operator interfaces 92 may receive information from the system controller 30 and/or provide information to the system controller 30. In some embodiments, the user devices 90 and/or the operator interfaces 92 are combined as a single device. By way of example, the operator interfaces 92 may facilitate manual operator control over the vehicles 80.

[0027] In some embodiments, the system controller 30 is configured to communicate with one or more emergency services 94. By way of example, the emergency services 94 may include fire services, emergency medical services, law enforcement services, or other services. The system controller 30 may be in communication with the emergency services 94 through, for example, the Internet or telephone. The system controller 30 may be configured to notify the emergency services 94 in response to the identification of a fire within the building 20.

Vehicle

[0028] Referring to FIGS. 2-4, the vehicle 80 is shown according to an exemplary embodiment. The vehicle 80 includes a frame, shown as chassis 100, that supports the other components of the vehicle 80. The chassis 100 may include one or more frame members. Alternatively, the chassis 100 may include a unibody construction. The vehicle 80 further includes a body, shown as housing 102, that contains certain components of the vehicle 80. The chassis 100 and the housing 102 may define an internal volume of the vehicle 80. In some embodiments, the internal volume is substantially watertight (e.g., to protect the components within the internal volume).

[0029] The vehicle 80 further includes processing circuitry, shown as vehicle controller 110, that controls operation of the vehicle 80. The vehicle controller 110 may be coupled to the chassis 100 and/or positioned within the housing 102. As shown, the vehicle controller 110 includes a processor 112 and a memory 114. The memory 114 may contain one or more instructions thereon that, when executed by the processor 112, cause the vehicle 80 to perform one or more of the functions described herein. The vehicle controller 110 is configured to control the vehicle 80 to move about the building 20, identify fires, and direct fire suppressant to suppress the fires. The vehicle controller 110 may include one or more communication interfaces that facilitate communication with the other components of the system 10 (e.g., through the network 40). Any processing performed by the vehicle controller 110 may additionally or alternatively be performed by the system controller 30.

By way of example, the vehicle controller 110 may transfer data to the system controller 30 for processing. Such a configuration may be useful in an instance where the system controller 30 has greater processing capability than the vehicle controller 110. By way of another example, the vehicle controller 110 may be omitted, and the system controller 30 may perform all of the processing throughout the system 10.

[0030] The vehicle 80 further includes a drive system 120 that is configured to propel the vehicle 80. The drive system 120 includes one or more prime movers or actuators (e.g., motors, engines, etc.), shown as drive motors 122, that are configured to provide rotational mechanical energy to propel the vehicle 80. As shown in FIG. 3, the drive system 120 includes two drive motors 122 that are each coupled to the chassis 100. In some embodiments, the drive motors 122 are electric motors (e.g., direct current electric motors). As shown in FIGS. 2 and 3, the vehicle 80 further includes power sources or energy storage devices (e.g., batteries, capacitors, etc.), shown as batteries 124. The batteries 124 may supply electrical energy to power the drive motors 122 and/or other components of the vehicle 80 (e.g., the vehicle controller 110). The vehicle controller 110 may control the flow of electrical energy from the batteries 124 to the drive motors 122 (e.g., using power electronics) to control propulsion of the vehicle 80. In some embodiments, the batteries 124 are configured to be charged by an external power source (e.g., a power grid) prior to use of the vehicle 80. In other embodiments, the batteries 124 are omitted, and the vehicle 80 is powered by an off-board source of electrical energy (e.g., an electrical cord, a set of electrical rails that run throughout the building 20, etc.).

[0031] The drive motors 122 are each coupled to one or more tractive elements (e.g., wheel and tire assemblies, tank treads or other continuous tracks, etc.), shown as tractive elements 130. As shown in FIG. 3, the tractive elements 130 are wheel and tire assemblies that are each rotatably coupled to the chassis 100. The tractive elements 130 are configured to engage a support surface (e.g., the ground, the floor, the ceiling, etc.) to support the vehicle 80. The drive motors 122 are configured to provide rotational mechanical energy to the tractive elements 130, driving the tractive elements 130 to propel the vehicle 80. As shown in FIG. 3, each tractive element 130 is coupled to one of the drive motors 122 by a power transmission, shown as chain and sprocket assembly 132. The chain and sprocket assemblies 132 each extend between and rotationally couple an output shaft of a drive motor 122 and a shaft of the corresponding tractive element 130. In other embodiments, the drive system 120 utilizes a different type of power transmission (e.g., a timing belt and pulley assembly) or the tractive elements 130 are directly driven by the drive motors 122.

[0032] In operation, the drive motors 122 supply rotational mechanical energy to drive rotation of the tractive elements 130. Specifically, a first drive motor 122 drives the tractive elements 130 on the left side of the vehicle 80, and a second drive motor 122 drives the tractive elements 130 on the right side of the vehicle 80. The drive system 120 may utilize skid steering to steer the vehicle 80 by controlling the relative speeds of the first drive motor 122 and the second drive motor 122. By way of example, the first drive motor 122 may drive the tractive elements 130 on the left side of the vehicle 80 faster than the second drive motor 122 drives the tractive elements 130 on the right side of the vehicle 80, causing the vehicle 80 to steer to the right.

[0033] Referring to FIG. 1, the vehicle 80 may be configured to travel along the top or the bottom of a support surface. In some embodiments, the vehicle 80 rests atop a support surface, such as a floor, the ground, or a roof of the building 20. Specifically, as shown in FIG. 1, a subset of the vehicles 80 rest atop a support surface, shown as floor F. In such embodiments, the vehicle 80 may remain in place due to gravity and engagement between the tractive elements 130 and the floor. In some embodiments, the vehicle 80 hangs from (e.g., hangs below) a support surface, such as a ceiling of the building 20. Specifically, as shown in FIG. 1, a subset of the vehicles 80 hang from a support surface, shown as ceiling C. In some embodiments, a vehicle 80 is configured to switch between resting atop the floor F and hanging from the ceiling C depending upon the desired application. [0034] In embodiments where the vehicle 80 hangs from the ceiling C, gravity biases the vehicle 80 away from the ceiling C. As shown in FIGS. 2 and 5, in some embodiments, the vehicle 80 includes a coupling assembly, shown as ceiling coupler 134, that couples the vehicle 80 to the ceiling C. As shown, the ceiling coupler 134 is coupled to the chassis 100. In some embodiments, the ceiling coupler 134 includes one or more wheels, bushings, or sliders that engage a track 136 coupled to the ceiling C. In other embodiments, the ceiling coupler 134 includes magnets that couple the vehicle 80 to a magnetic (e.g., ferrous) portion of the ceiling C. In other embodiments, the ceiling coupler 134 otherwise couples the vehicle 80 to the ceiling C.

[0035] Referring again to FIGS. 2-4, the vehicle 80 includes a suppressant nozzle assembly or monitor assembly, shown as monitor 140. The monitor 140 is fluidly coupled to one or more suppressant supplies 60 by one or more hoses, pipes, or conduits, shown as hoses 142, and configured to distribute the fire suppressant toward a fire. The hoses 142 may facilitate positioning the suppressant supplies 60 offboard the vehicle 80 (e.g., by permitting the vehicle 80 to move relative to the suppressant supplies 60 while remaining fluidly coupled to the suppressant supplies 60). The monitor 140 includes an outlet portion, shown as nozzle 144, that defines an outlet for the fire suppressant and is configured to form the fire suppressant into a spray or jet. The nozzle 144 is fluidly coupled to the hoses 142 by one or more flow control elements, shown as valve assembly 146, and a conduit, shown as pipe 148. The valve assembly 146 is fluidly coupled to the hoses 142. As shown in FIG. 3, the valve assembly 146 is configured to be coupled to three hoses 142 and configured to unite the flow from the hoses 142 into a single stream. Each hose 142 may be coupled to a different suppressant supply 60, or each hose 142 may be coupled to the same suppressant supply 60. In other embodiments, the valve assembly 146 is coupled to more or fewer hoses 142. The valve assembly 146 is configured to control the flow rate of the fire suppressant to the nozzle 144. By way of example, the valve assembly 146 may turn the flow of fire suppressant on or off and/or permit proportional control of the flow rate. In some embodiments, the valve assembly 146 is controlled by the vehicle controller 110. In other embodiments, the valve assembly 146 is controlled manually by an operator. The pipe 148 extends between and fluidly couples the valve assembly 146 and the nozzle 144. In some embodiments, the pipe 148 includes multiple sections that are repositionable relative to one another. [0036] The orientation of the nozzle 144 controls the direction of the spray. To facilitate aiming the spray, the monitor 140 includes a pair of actuators, shown as vertical nozzle actuator 150 and horizontal nozzle actuator 152. The vertical nozzle actuator 150 is configured to control the orientation of the nozzle 144 within a vertical plane (e.g., a first plane), and the horizontal nozzle actuator 152 is configured to control the orientation of the nozzle 144 within a horizontal plane (e.g., a second plane that intersects the first plane). Specifically, as shown in FIG. 3, the horizontal nozzle actuator 152 is configured to rotate a section 154 of the pipe 148 relative to the chassis 100 about a vertical axis. The vertical nozzle actuator 150 is configured to rotate the nozzle 144 relative to the section 154 about a horizontal axis. The vertical nozzle actuator 150 and the horizontal nozzle actuator 152 may be operated by the vehicle controller 110 to control the direction of the spray produced by the nozzle 144. In some embodiments, the vertical nozzle actuator 150 and/or the horizontal nozzle actuator 152 are electric motors (e.g., powered by the batteries 124). In some embodiments, the vertical nozzle actuator 150 and/or the horizontal nozzle actuator 152 each include a sensor (e.g., an optical encoder, a potentiometer, etc.) that indicates a position of the corresponding portion of the monitor 140. By way of example, the vertical nozzle actuator 150 may include a sensor that indicates the position of the nozzle 144 relative to the section 154, and the horizontal nozzle actuator 152 may include a sensor that indicates the position of the section 154 relative to the chassis. The vehicle controller 110 may use feedback from these sensors to provide closed-loop feedback control over the orientation of the nozzle 144.

[0037] In an alternative embodiment, a suppressant supply 60 is positioned onboard the vehicle 80. In such an embodiment, the suppressant supply 60 may be coupled to and supported by the chassis 100 such that the suppressant supply 60 moves with the vehicle 80.

In such an embodiment, the hoses 142 may be omitted from the vehicle 80, and the suppressant supply 60 may be directly coupled to the valve assembly 146.

[0038] In some embodiments, the vehicle 80 includes one or more sensors, shown as guidance sensors 160, that facilitate guidance of the vehicle 80 throughout the building 20. The vehicle controller 110 may utilize information from the guidance sensors 160 to determine the location of the vehicle 80 within the building 20. The vehicle controller 110 may additionally or alternatively utilize information from the guidance sensors 160 to navigate around one or more obstacles. In some embodiments, the guidance sensor 160 is configured to interact with an indicator 162 that is placed within the building 20 to facilitate locating the vehicle 80.

[0039] In some embodiments, the guidance sensors 160 is configured to identify a desired path for the vehicle 80 based on an indicator 162 that is provided on a support surface (e.g., the ground (e.g., a ground surface of the ground), the ceiling) across which the vehicle 80 travels. The indicator 162 may extend along a desired path of the vehicle 80 and/or be positioned at regular intervals along the desired path, and the guidance sensors 160 may be positioned to detect the presence of the indicator 162. Accordingly, the vehicle controller 110 may determine that the vehicle 80 is traveling along the desired path when the indicator 162 is sensed by the guidance sensors 160. In some embodiments, the guidance sensors 160 include a magnet sensor that is configured to detect a magnetic field, and the indicator 162 is a line of magnetic guide tape that extends along the desired path. The magnetic guide tape may include a permanent magnet backed with adhesive that adheres the guide tape to a support surface. In other embodiments, the indicator 162 is a wire that extends along the desired path. The wire may be connected to a power source such that a current passes through the wire, generating a magnetic field around the wire. The guidance sensors 160 include a flux sensor (e.g., a magnet sensor) that is configured to detect the magnetic field when the vehicle 80 travels along the desired path.

[0040] In some embodiments, the indicators 162 are reflective targets (e.g., retroreflective tape) that are positioned at predetermined locations throughout the environment surrounding the vehicle 80. The guidance sensors 160 may be configured to identify the locations of the indicators 162. By way of example, the guidance sensors 160 may include cameras that provide image data describing the surrounding environment, and the vehicle controller 110 may perform image processing on the image data to determine the locations of the indicators 162 relative to the vehicle 80. By way of another example, the guidance sensor 160 may include a break beam sensor that emits a beam of light (e.g., a laser) and indicates when the beam is reflected back to the sensor. The vehicle controller 110 may store a map of the building 20 with the predetermined locations of the indicators 162, and the vehicle controller 110 may use the map and the data from the guidance sensors 160 to determine the position of the vehicle 80 throughout the building 20.

[0041] In some embodiments, the guidance sensors 160 include sensors that indicate the position, velocity, acceleration, and/or orientation of the vehicle 80. The vehicle controller 110 may monitor the change in position and/or orientation of the vehicle 80 over time to determine the current position and/or orientation of the vehicle 80. By way of example, the vehicle controller 110 may integrate the acceleration of the vehicle 80 to determine the velocity of the vehicle 80 and integrate the velocity of the vehicle 80 to determine the position of the vehicle 80. The guidance sensors 160 may include accelerometers, gyroscopic sensors, potentiometers, optical encoders, global positioning systems, or other types of sensors that indicate the absolute or relative position, velocity, acceleration, or orientation of the vehicle 80.

[0042] In some embodiments, the guidance sensors 160 include a sensor that provides a visual indication of the surroundings of the vehicle 80. By way of example, the guidance sensors 160 may include light detection and ranging (LiDAR) sensors, cameras, or other types of sensors that provide a two-dimensional or three-dimensional map or image data of the surroundings of the vehicle 80. The vehicle controller 110 may utilize the image data from the guidance sensors 160 to gain an understanding of the surrounding environment. The vehicle controller 110 may utilize the image data to identify objects within the environment that should be avoided (i.e., obstacles or obstructions). By way of example, the vehicle controller 110 may identify debris, boxes, vehicles, variations in the terrain (e.g., holes, stairs, etc.), humans, or animals within the surrounding environment as obstacles. The vehicle controller 110 may utilize the image data to identify one or more possible paths for the vehicle 80. By way of example, the possible paths may include any path that is not obstructed by an obstacle.

[0043] The vehicle controller 110 may utilize various control schemes to interpret the image data from the guidance sensors 160. By way of example, the vehicle controller 110 may utilize artificial intelligence, such as neural networks or other types of machine learning, to interpret the image data. Neural networks may be well-suited to the analysis of image data. By way of example, a neural network may be trained utilizing a catalogue of images of known objects. The neural network may identify an object within the image data from the guidance sensors 160 and compare the image data to the catalog to determine an object type of the object. Based on the determined object type, the vehicle controller 110 may determine if the object is an obstacle that should be avoided and adjust the path of the vehicle 80 accordingly. For example, if the object is a human, the vehicle controller 110 may select a path for the vehicle 80 that avoids the human. By way of another example, if the object is a mezzanine or overhang that is positioned above the vehicle 80 at a height sufficient to permit passage of the vehicle 80 beneath the object, the vehicle controller 110 may determine that the path of the vehicle 80 is unaffected by the object.

[0044] Referring again to FIGS. 2-4, the vehicle 80 may include a fire sensor or thermal imaging sensor, shown as thermal camera 170, that is configured to provide thermal image data of the environment surrounding the vehicle 80. As shown, the thermal camera 170 is coupled to the nozzle 144 such that the thermal camera 170 moves with the nozzle 144. Accordingly, the thermal image data characterizes an area that is sprayed by the nozzle 144. Such an arrangement may facilitate aiming the nozzle 144, as the area imaged by the thermal camera 170 moves based on the aiming of the nozzle 144. In other embodiments, the thermal camera 170 is coupled to the chassis 100 and/or the vehicle 80 includes multiple thermal cameras 170. In some embodiments, the thermal camera 170 serves as a guidance sensor 160.

[0045] In some embodiments, the thermal camera 170 is an infrared camera that is configured to provide thermal image data indicating the emission of infrared light from fires within the surrounding environment. The thermal image data may indicate the temperature and location of points within the surrounding environment. By way of example, the thermal camera 170 may provide thermal image data of a detected area. The thermal image data may include a series of pixels within the detected area, each pixel corresponding to a location within the surrounding environment. Each pixel may be associated with a corresponding temperature. By way of example, the temperature at each pixel may be associated with a temperature measurement and/or a color corresponding to a temperature. [0046] The vehicle controller 110 may utilize the thermal image data provided by the thermal camera 170 to identify and/or locate fires within the environment. The vehicle controller 110 may utilize artificial intelligence, such as neural networks or other types of machine learning, to interpret the thermal image data. The vehicle controller 110 may determine that a fire is present in response to the thermal image data identifying a temperature that exceeds a first threshold temperature. The vehicle controller 110 may determine that the fire has been extinguished in response to the thermal image data indicating that the temperature has fallen below a second threshold temperature.

[0047] In some embodiments, the vehicle controller 110 is configured to utilize the thermal image data to aim the nozzle 144. By way of example, the vehicle controller 110 may locate a particular section of the fire based on the thermal image data. The vehicle controller 110 may then aim the nozzle 144 to direct the fire suppressant at the located section of the fire. In one such example, the vehicle controller 110 is configured to locate the hottest section of the fire based on the thermal image data. In some fires, the base of the fires may be the hottest section of the fire, and the most effective method of suppressing fires may include directing fire suppressant toward the base of the fire.

System Operation

[0048] Referring to FIG. 6, a method 200 of operating the system 10 is shown according to an exemplary embodiment. In step 202 of the method 200, the vehicle 80 is configured for operation in the building 20. By way of example, the vehicle 80 may be assigned one or more desired paths through the building 20. The paths may be predetermined based on an area where fire suppression is desired and/or based on where minimal obstacles will be encountered. The path may marked using one or more indicators 162 to facilitate navigation of the vehicle 80 along the path. The vehicle 80 may be placed on the floor F of the building 20 or coupled to the ceiling C of the building 20 (e.g., using the ceiling coupler 134).

[0049] In some embodiments, the type of fire suppressant to be supplied by the vehicle 80 is selected during step 202. In some embodiments, the type of fire suppressant is selected based on the type of hazards that are present within the building 20. By way of example, a first type of suppressant (e.g., foam) may be utilized for a first type of hazard (e.g., oil), and a second type of suppressant (e.g., dry chemical) may be utilized for a second type of hazard (e.g., reactive metals). The vehicle 80 may be reconfigurable for use with a variety of different types of fire suppressant. By way of example, the vehicle 80 may be configured to supply water, foam, or a dry chemical agent. By way of another example, the vehicle 80 may have a twin agent configuration in which the vehicle 80 supplies a first agent (e.g., dry chemical agent), then subsequently supplies a second agent (e.g., foam). The vehicle 80 may be quickly and easily reconfigured between supplying different types of suppressant by changing which suppressant supply 60 is fluidly coupled to the vehicle 80.

[0050] In step 204 of the method 200, the system 10 detects a fire. By way of example, the fire detection sensors 50 may detect a fire (e.g., by identifying the presence of smoke, by identifying a temperature above a threshold temperature, etc.). By way of another example, the thermal camera 170 on the vehicle 80 may detect a fire (e.g., by identifying a temperature above a threshold temperature). By way of another example, a user may manually indicate the presence of a fire using an operator interface 92. In response to detecting the fire with the fire detection sensors 50 and/or the thermal camera 170, the system 10 may activate the suppressant distributors 70 to distribute fire suppressant and suppress the detected fire.

[0051] In step 206 of the method 200, the system 10 locates the fire relative to the building 20. By way of example, the locations of each of the fire detection sensors 50 may be predetermined and stored by the system controller 30. The system controller 30 may determine the location of the fire based on which of the fire detection sensors 50 detected the fire. By way of example, the system controller 30 may identify which fire detection sensor 50 detected the fire and determine that the fire is nearby the predetermined location of the identified fire detection sensor 50. Additionally or alternatively, the system controller 30 may determine the location of the fire based on thermal image data from the thermal camera 170. By way of example, the thermal image data may indicate the location of the fire relative to the vehicle 80, and the guidance sensors 160 may indicate the location of the vehicle 80 within the building 20.

[0052] In step 208 of the method 200, the system 10 provides a fire notification. By way of example, the fire notification may include information regarding the presence of the fire (e.g., a notification that the fire has been detected, a date and/or time that the fire was detected), information regarding the location of the fire (e.g., the fire is located in the northwest section of the building 20), or other information regarding the fire (e.g., the fire is located in a section of the building 20 that contains a particular type of hazard, such as fuel, the intensity or temperature of the fire, etc.). The system 10 may provide the fire notification to a user, such as a manager of the building 20, an owner of the building 20, or an occupant of the building 20. By way of example, the system 10 may provide the fire notification to user devices 90. The system 10 may provide the fire notification to the emergency services 94. In some embodiments, the system 10 is configured to provide a second fire notification after suppression of the fire. The second fire notification may include diagnostic information from various sensors of the system 10 throughout operation of the system 10. The diagnostic information may be utilized by the user or the emergency services 94 to study the propagation and/or suppression of the fire.

[0053] In step 210 of the method 200, the system 10 controls the vehicle 80 to navigate to the location of the fire. The system controller 30 may provide the determined location of the fire to the vehicle controller 110, which may in turn determine a path for the vehicle 80 to follow to the fire. The vehicle controller 110 may utilize the information from the guidance sensors 160 to navigate along the determined path and/or to update the determined path. By way of example, in an embodiment of the system 10 that includes magnetic guide tape along the determined path, the vehicle controller 110 may use feedback from the guidance sensors 160 to navigate along the determined path. By way of another example, in an embodiment in which the guidance sensors 160 include a camera, the vehicle controller 110 may use image data from the camera to identify an obstacle along the determined path. In response to such a determination, the vehicle controller 110 may determine an alternative path to the fire that avoids the obstacle.

[0054] In some embodiments, the vehicle 80 is configured to be fluidly coupled to a suppressant supply 60 after the vehicle 80 has travelled at least partway to the fire. By way of example, the building 20 may utilize multiple suppressant supplies 60, each configured to distribute fire suppressant to a different portion of the building 20. In such a configuration, the hoses 142 of one suppressant supply 60 may not have sufficient length for the vehicle 80 to travel throughout the entirety of the building 20 while fluidly coupled to the suppressant supply 60. Accordingly, once the fire has been located, the vehicle 80 may travel to an area of the building 20 associated with the determined location of the fire. Subsequently, the hoses 142 of a suppressant supply 60 associated with that area of the building 20 may be connected to the valve assembly 146. The vehicle 80 may then continue travelling toward the fire.

[0055] Alternatively, an operator may manually control the vehicle 80 to navigate to the fire. By way of example, the operator interface 92 may provide an operator with a live feed from a camera of the vehicle 80 (e.g., the guidance sensors 160, the thermal camera 170) to facilitate navigation. Based on the information provided by the operator interface 92, the operator may provide commands to control the drive system 120 of the vehicle 80 (e.g., drive forward, steer left, steer, right, etc.).

[0056] In step 212 of the method 200, the system 10 aims the nozzle 144 toward the fire. In some embodiments, the vehicle controller 110 determines a desired orientation of the nozzle 144 based on the thermal image data from the thermal camera 170. By way of example, the vehicle controller 110 may determine the location of the fire using the thermal image data and subsequently determine how to reorient the nozzle 144 to aim the spray toward the determined location. The vehicle controller 110 may reorient the nozzle using the drive system 120, the vertical nozzle actuator 150, and/or the horizontal nozzle actuator 152.

[0057] Alternatively, an operator may manually control the vehicle 80 to aim the nozzle 144 toward the fire. By way of example, the operator interface 92 may provide an operator with a visual representation (e.g., a picture on a screen) of the thermal image data from the thermal camera 170. The visual representation may include a visual representation (e.g., a crosshair) indicating the current trajectory of the spray from the nozzle 144. Based on the information provided by the operator interface 92, the operator may provide commands to control the drive system 120, the vertical nozzle actuator 150, and/or the horizontal nozzle actuator 152 to aim the nozzle 144.

[0058] In step 214 of the method 200, the system 10 discharges the fire suppressant toward the fire. In some embodiments, the system controller 30 activates the suppressant supply 60 to begin supplying fire suppressant to the vehicle 80. In some embodiments, the vehicle controller 110 activates the valve assembly 146 to begin supplying fire suppressant from the suppressant supply 60 to the nozzle 144.

[0059] In some embodiments, the vehicle controller 110 is configured to vary the flow rate of the fire suppressant based on the temperature of the fire. By way of example, the vehicle controller 110 may determine the temperature of the fire based on the thermal image data from the thermal camera 170. The vehicle controller 110 may control the valve assembly 146 to vary the flow rate of the fire suppressant. The vehicle controller 110 may increase the flow rate of the fire suppressant in response to an increase in temperature of the fire. By way of example, the vehicle controller 110 may vary the flow rate of the fire suppressant proportionally with the temperature of the fire. Such a control scheme may ensure that more intense fires are met with a greater supply of fire suppressant, while less intense fires do not use more fire suppressant than necessary.

Configuration of the Exemplary Embodiments

[0060] As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean +/- 10% of the disclosed values. When the terms “approximately,” “about,” “substantially,” and similar terms are applied to a structural feature (e.g., to describe its shape, size, orientation, direction, etc.), these terms are meant to cover minor variations in structure that may result from, for example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims.

[0061] It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples).

[0062] The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic.

[0063] References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.

[0064] The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein.

[0065] The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine- readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions. [0066] Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps.

[0067] It is important to note that the construction and arrangement of the system 10 as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. For example, the ceiling coupler 134 of the exemplary embodiment shown in at least FIG. 5 may be incorporated in the vehicle 80 of the exemplary embodiment shown in at least FIG. 3. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.