FIELD OF THE INVENTION

The present invention generally relates to robots. More specifically, the present invention is related to robots for operation within a fire-exposed area.

BACKGROUND OF THE INVENTION

The use of robots for handling hazardous situations continues to attract attention. Robots may be used for fighting fires, and are especially beneficial in highly dangerous environments which pose a high risk for e.g. firefighters. For example, robots of this kind may move around inside fire-ridden buildings and areas, and locate fires using different imaging systems and sensors. Further, the fire-fighting robots may be part of an operation for controlling and supressing the fires.

In particular, there is currently a large interest in robots which can aid in the handling of explosive units and materials at risk of exploding due to a fire in their proximity. Today, the robots typically carry fire supressing tools, such as water or foam hoses, and may be used to mitigate the risk of an explosion by supressing the fires.

In CN211068857U, a typical fire-fighting robot is described. The robot is a multifunctional fire-fighting robot suitable for fire-fighting and rescue work in a variety of complex fire and accident scenes. The robot may be remotely controlled and use a hose arranged on top of a chassis to aid in suppressing fires.

Other documents describe fire-fighting robots with an arm attached to the chassis, e.g. CN208827983U, in which a crawler-type robot comprises an arm with multiple parts, allowing it to bend and turn, such that a claw on the end of the arm can be maneuvered to an object and wherein the claw may be opened/closed.

Today, it is of particular interest to develop robots that can handle the threat of explosive objects present in fire-ridden areas, such as industrial sites, workshops or other locations where explosive objects are present. An example of these explosive objects are gas containers, which poses a great threat in a fire-exposed area, especially for fire fighters and other personnel present in or near the fire-exposed area. Due to the risks which the explosive objects, e.g. the gas containers, poses, access is limited to the fire-exposed area, which significantly limits e.g. fire fighters in their work. Hence, there is a need for robots which may operate in high-risk areas and neutralize the risk of explosion, while minimizing the hazards related to an explosion. Hence, it is an object of the present invention to provide alternatives to the robots in the prior art in order to improve the way that gas containers exposed to fire are handled, in order to reduce the risk for human personnel and any structure exposed to the fire.

SUMMARY OF THE INVENTION

It is of interest to provide a robot that can handle one or more gas containers exposed to fire and/or heat, in order to minimize risks for fire-fighting personnel and minimize damages related to an explosion of the gas contained s).

This and other objects are achieved by providing a robot and a method having the features in the independent claims. Preferred embodiments are defined in the dependent claims.

Hence, according to a first aspect of the present invention, there is provided a robot arranged for operation within a fire-exposed area. The robot comprises a self-propelled chassis, at least one image capturing device configured to detect at least one gas container within the fire-exposed area, and an arm coupled to the chassis. The robot is configured to carry at least one explosive unit, and wherein the robot, in case the at least one image capturing device detects at least one gas container, is configured to approach the at least one gas container, and bring the at least one explosive unit into engagement with the at least one gas container via the arm, wherein the at least one explosive unit is arranged to explode the at least one gas container.

According to a second aspect of the present invention, there is provided a robot arrangement, comprising a robot according to the first aspect of the present invention, and a remote control configured to send instructions to at least one of the chassis, the arm and the at least one image capturing device. Furthermore, the robot is configured to operate at least one of the chassis, the arm and the at least one image capturing device based on the instructions received from the remote control.

According to a third aspect of the present invention, there is provided a robot unit comprising a robot according to the first aspect of the present invention or a robot arrangement according to the second aspect of the present invention. The robot unit further comprises an explosive unit comprising a connecting part configured to engage with the arm of the robot, a support structure coupled to the connecting part, configured to hold explosive material, and an engagement structure connected to at least one of the connecting part and the support structure, wherein the engagement structure is configured to be brought into engagement with the at least one gas container.

According to a fourth aspect of the present invention, there is provided a method for neutralizing at least one gas container within a fire-exposed area. The method comprises carrying at least one explosive unit by a robot, wherein the robot comprises a self- propelled chassis. The method further comprises generating image data via at least one image capturing device arranged on the chassis and detecting at least one gas container based on the image data. The method further comprises transporting the chassis to the detected at least one gas container, bringing the at least one explosive unit into engagement with the at least one gas container via an arm arranged on the chassis, and exploding the at least one explosive unit upon command of an operator.

Thus, the first, second, third and fourth aspects of the present invention are based on the common concept or idea of providing a robot, a robot arrangement, a robot unit or a method for removing, or at least mitigating, the risk that (a) gas container(s) poses in a fire-exposed area. The threat of an uncontrolled explosion of a gas container(s) may be neutralized by bringing (an) explosive unit(s) to the gas container(s) by transporting the explosive unit(s) by the robot of the present invention, and bringing the explosive unit(s) into engagement with the gas container(s) in a precise and controlled manner using a robot arm coupled to the chassis of the robot, and neutralize the gas container(s) by exploding it. Furthermore, the robot comprises (an) image capturing device(s) configured to detect the gas container(s). The image capturing device(s) allows the robot to identify the gas container(s) and provides information which improves the controlling of the robot arm, especially when bringing the explosive unit(s) into engagement with the gas container(s).

Hence, the first, second, third and fourth aspect of the present invention share a common general inventive concept of navigating in a fire-exposed area, transporting (an) explosive unit by a robot, detecting (a) gas container(s) in the fire-exposed area by the image capturing device(s) arranged on the robot, and bringing the explosive unit(s) into engagement with the gas container(s) using a robot.

This allows the risk which a gas container(s) presents in a fire-exposed area to be neutralized by providing a controlled explosion of the gas container(s), which is highly advantageous compared to having it remain an explosion risk, or letting it explode by itself at an arbitrary time in an uncontrolled manner. It should be noted that the threat of a gas container in a fire-exposed area may hinder e.g. fire fighters to enter the fire-exposed area and perform fire suppressing actions.

It will be appreciated that the present invention allows human personnel, e.g. fire-fighters, to neutralize gas containers that are an explosive hazard, without endangering themselves.

Furthermore, the present invention provides a relatively fast way to neutralize gas containers in a fire-exposed area, which may result in faster supressing of the fires. Consequently, this may also lead to less damage being inflicted on the fire-exposed area or premises.

It will be further appreciated the present invention provides a more reliable, and controlled manner of reducing the threat of gas container(s) in a fire-exposed area, e.g. compared to fire suppressing actions. The robot according to the first, second, third and fourth aspects of the present invention comprises a self-propelled chassis. The chassis may comprise any type of system which is self-propelled. By “self-propelled” it is here meant any device, machine or system which provides means for their own movement. For example, the chassis may comprise an engine. Furthermore, the engine may power one or more continuous tracks, or one or more propellers of a flying drone, etc. The chassis may comprise different shapes and/or sizes, but is preferably configured to be able to pass through standard door openings, in order to enter e.g. industrial, office and/or residential buildings.

The robot further comprises at least one image capturing device, configured to detect at least one gas container within the fire-exposed area. The gas container may be any container configured to store gas, e.g. a bottle, cylinder or canister. The gas contained in the gas container may be acetylene. By “fire-exposed” area, it is here meant any location, building, or site, where at least a part of it is exposed to fire or to an imminent risk of fire. For example, the fire-exposed area may be a room without any fire present in that room, but wherein the room is at risk due to a nearby fire. For example, the room may be heated by the nearby fire, or the fire may spread to the room. The image capturing device may be any kind of camera or sensor arranged or configured to take (capture) one or more images. The image capturing device may use electromagnetic radiation in order to interpret its surroundings, and provide image data of the environment it is in.

The robot further comprises an arm coupled to the chassis. The (robot) arm may comprise one or more parts. The arm may comprise a plurality of parts linked together with joints. The arm may be configured to provide rotational motion by rotation at a plurality of joints. The arm may provide translational/linear displacement through a mechanism allowing a part of the arm to move in a translational manner. The arm may comprise a tool at the end distal from the chassis, and the tool may move in all three dimensions relative to the chassis due to the design of the arm. The tool may also rotate with respect to the robot arm.

Furthermore, the robot is configured to carry at least one explosive unit, and approach the at least one gas container with the explosive unit. Once at the gas container, the robot is configured to bring the at least one explosive unit into engagement with the detected gas container(s) via the arm, wherein the at least one explosive unit is arranged to explode the gas contained s). The explosive unit may be any object, device, unit or material that is configured to explode. For example, the explosive unit may comprise an explosive ordnance. The explosive unit may be configured to at least partially control the explosion, e.g. such that the direction of the explosion upon detonation is directed primarily in a predetermined direction. The robot may carry the at least one explosive unit in the arm, in the chassis or any suitable location on the robot. Once a location of the at least one gas container is determined by the robot, the explosive unit may be transported to the gas container, partly by the chassis approaching the gas container, and partly by the arm, which may carry the at least one explosive unit to the gas container and bring the at least one explosive unit into engagement with the at least one gas container.

According to an embodiment of the present invention, the arm comprises at least one of a gripping tool and a connecting tool configured to engage with the at least one explosive unit. The gripping tool may be any tool which provides gripping capabilities of the explosive unit(s). The connecting tool may be any tool configured to connect and/or couple to the explosive unit(s). For example, the connecting tool may comprise a part which may couple/connect to the explosive unit(s), such as a pin to a hole. The present embodiment is advantageous in that the arm may carry and bring the explosive unit(s) into engagement with the gas container(s) in a more reliable, specific and precise manner.

According to an embodiment of the present invention, the at least one image capturing device comprises at least one of a camera, a video camera, a LIDAR sensor, a radar sensor, an ultrasound sensor and a thermal image sensor.

According to an embodiment of the present invention, the arm is removably attached to the chassis. For example, the arm may be part of a module that may be removably attached to the self-propelled chassis. The present embodiment is advantageous in that the robot may be at least partially disassembled, e.g. for transport or storage. Furthermore, it provides the possibility of replacing the arm in a quicker and easier manner, e.g. in case of damage to the arm, or if a different arm/module is needed.

According to an embodiment of the present invention, the robot comprises a transmitter communicatively coupled to the at least one image capturing device, wherein the transmitter is configured to transmit image data retrieved by the at least one image capturing device. The present embodiment is advantageous in that image data may be transmitted, e.g. to an operator and/or a control unit.

According to an embodiment of the present invention, the transmitter comprises at least one of a wireless transmitter and a transmitter cable.

According to an embodiment of the present invention, the robot comprises a storage for storing the at least one explosive unit, wherein the arm is configured to retrieve the at least one explosive unit from the storage and bring the at least one explosive unit into engagement with the at least one gas container. The present embodiment is advantageous in that multiple explosive units may be stored and carried by the robot. For example, the robot may go into a fire-exposed building or area, identify multiple gas containers, and bring at least one explosive unit into engagement with one or more gas containers. Thus, the present embodiment provides the option of neutralizing one or more gas containers with a single transportation of the robot into the fire-exposed area. Furthermore, the present embodiment is advantageous in that the storage may provide extra protection for the explosive unit(s) during transport in the fire-exposed area. According to an embodiment of the present invention, the robot further comprises a processor, wherein the processor is configured to process image data generated by the at least one image capturing device. The present embodiment is advantageous in that it allows at least some of the processing of the image data to be performed by the robot. This may provide quicker transfer/transmit of the image data in case it needs to be transferred/transmitted back to an operator and/or control unit, since the processed image data may be faster to transfer/transmit.

According to an embodiment of the present invention, the robot is one of a ground-based robot arranged for operation on the ground, and an airborne robot arranged for operation in the air. Hence, the robot may be configured to be operable on the ground or may be configured to be operable in the air. For example, the robot may be a ground-based continuous track robot or an airborne drone.

According to an embodiment of the present invention, the robot of the robot arrangement comprises at least one of a receiver and a communication cable, and is configured to receive the instructions via at least one of the receiver and the communication cable. The present embodiment is advantageous in that the robot may be operated using instructions received from e.g. an operator at a distal location.

According to an example of the present invention, the engagement structure may form part of the explosive unit(s) and which may be configured to attach and/or grip to the gas contained s). The present example is advantageous in that the explosive unit(s) may stay in engagement with the gas container(s) after the robot arm has brought the explosive unit(s) into engagement with the gas container(s). In other words, the explosive unit(s) may be in engagement with the gas container(s) without any support from the robot.

According to an embodiment of the present invention, the engagement structure comprises at least one of an adhesive, a magnet unit comprising at least one magnet, and a gripping unit configured to at least partially grip the at least one gas container. The magnet unit may comprise a single magnet, multiple magnets or a structure comprising one or more magnets. The present embodiment is advantageous in that the explosive unit(s) may be brought into engagement with the gas container(s) in an easier and more versatile manner. For example, using a magnet and/or an adhesive allows the explosive unit(s) to be attached to the gas container(s) without any mechanical means. Furthermore, the present embodiment is advantageous in that the explosive unit(s) may be engaged with gas containers of different sizes and shapes. The present embodiment is further advantageous in that a magnet unit provides a more versatile and efficient way of attaching the explosive unit(s) to a gas container which is magnetic, e.g. acetylene gas containers.

According to an embodiment of the present invention, the robot is configured to carry a detonation cable arranged to be anchored to the at least one explosive unit for detonating the at least one explosive unit. The present embodiment is advantageous in that the robot provides the option of detonating the explosive unit(s) via a cable instead of e.g. wirelessly. Using a cable to transmit a detonation signal is more reliable and precise, than e.g. wireless alternatives. The detonation cable may be anchored to the explosive unit(s) before the explosive unit(s) is (are) brought into engagement with the gas contained s). Alternatively, the detonation cable may be anchored to the explosive unit(s) after the explosive unit(s) is (are) brought into engagement with the gas container(s). The present embodiment is further advantageous in that the robot may lay out the detonation cable starting from the explosive unit(s) which is (are) brought into engagement with the gas container(s), instead of laying it out from somewhere outside the fire-exposed area and all the way to the gas container(s). This embodiment provides a more convenient handling of the detonation cable. For example, the risk of the detonation cable being entangled on the robot’s way towards the gas container(s) may be reduced.

According to an embodiment of the present invention, the robot is configured to carry at least one detonation element for detonating the at least one explosive unit via the detonation cable arranged to be anchored to the at least one explosive unit. The present embodiment is advantageous in that it allows the explosive unit(s) to be detonated from the robot. For example, the explosive unit(s) may be detonated by a detonation signal transmitted via a detonation cable or wirelessly from the robot.

According to an embodiment of the present invention, the robot unit further comprises a control unit connected to the explosive unit, wherein the explosive unit is configured to explode upon command of an operator via the control unit. Hence, the at least one explosive unit is configured to be connected to a control unit, and the at least one explosive unit is configured to explode upon command of an operator via the control unit. The present example is advantageous in that it provides a user/operator with the option to detonate the explosive unit(s) at a time that may be selected after the explosive unit(s) has (have) been brought into engagement with the gas container(s). For example, the explosive unit(s) may be attached to the gas container(s), then the robot can move away from the gas container(s), and at a time chosen by the operator, the explosive unit(s) will explode. The present embodiment is advantageous in that the explosive unit(s) may be detonated remotely in a more controlled manner.

According to an embodiment of the present invention, the explosive unit comprises a polymeric material. The present embodiment is advantageous in that explosion debris from the polymeric material is less likely to cause damage in its surroundings, e.g. a building or objects present in the fire-exposed area.

According to an embodiment of the present invention, the explosive unit further comprises a coupling part for coupling the engagement structure to at least one of the connecting part and the support structure, wherein the coupling part comprises a polymeric material. The present embodiment is advantageous in that the explosion debris may be even less likely to cause damage in its surroundings.

According to an embodiment of the fourth aspect of the present invention, the method further comprises sending instructions, by a remote control, to at least one of the chassis and the arm, receiving the instructions by a receiver arranged on the chassis, operating at least one of the chassis and the arm based on the instructions. The present embodiment is advantageous in that the instructions may comprise information on how to control the self- propelled chassis, the imaging device(s) and/or the arm, which allows specific control of different elements of the robot.

Further objectives of, features of, and advantages with, the present invention will become apparent when studying the following detailed disclosure, the drawings and the appended claims. Those skilled in the art will realize that different features of the present invention can be combined to create embodiments other than those described in the following.

BRIEF DESCRIPTION OF THE DRAWINGS

This and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing embodiment(s) of the invention.

Fig. 1 schematically shows a robot according to an exemplifying embodiment of the present invention.

Fig. 2 schematically shows a robot arrangement according to an exemplifying embodiment of the present invention.

Fig. 3 schematically shows an explosive unit according to exemplifying embodiments of the present invention.

Fig. 4 schematically shows a method for neutralizing at least one gas container within a fire-exposed area according to an exemplifying embodiment of the present invention Fig. 5a-c schematically shows the method for neutralizing at least one gas container within a fire-exposed area according to exemplifying embodiments of the present invention performed by a robot and/or by a robot arrangement according to exemplifying embodiments of the present invention.

DETAILED DESCRIPTION

Fig. 1 shows a robot 100 according to an exemplifying embodiment of the present invention. The robot 100 comprises a self-propelled chassis 110. The self-propelled chassis 100 may be configured to move the robot 100 at least partially according to instructions received during operation from an operator and/or a computer, or by prearranged or predetermined routes and/or steps. The self-propelled chassis 110 may be any chassis that comprises means to propel itself. The self-propelled chassis 110 may comprise an engine, e.g. an electrical engine and/or a combustion engine. The self-propelled chassis 110 may comprise wheels and/or continuous tracks configured to move the robot 100 along the ground. The robot 100 further comprises (an) image capturing device(s) 120 configured to detect (a) gas container(s) 125 within the fire-exposed area. The image capturing device(s) 120 may be further configured to detect obstacles, structures, gas containers and other physical things which are present in the robot’s 100 surroundings. Information generated by the image capturing device(s) 120 may be used for improving the manoeuvring to and/or inside the fire- exposed area. The image capturing device(s) may generate image data, and the image data may be used to detect one or more gas containers 125 in its surroundings, as well as structures and other objects in its surroundings. The image capturing device(s) 120 may provide visual aid to an operator of the robot 100.

The image capturing device(s) 120 may comprise at least one of a camera, a video camera, a LIDAR sensor, a radar sensor, an ultrasound sensor and a thermal image sensor. The robot 100 further comprises an arm 130 coupled to the chassis 110. It should be noted that the arm 130 in Fig. 1 merely shows an example, and that the arm 130 may have other features, be of different size, etc. The arm 130 may be removably attached to the robot 100, allowing at least partial disassembly of the robot 100 for transportation and/or storage. Thus, the arm 130 may be more easily replaced by a second arm, e.g. with other attributes, providing more alternatives in terms of e.g. movement, reliability and/or power. Alternatively, the arm 130 may be fixedly attached to the robot 100. The arm 130 may comprise at least one of a gripping tool and a connecting tool.

The robot 100 is configured to carry (an) explosive unit(s) 140, and wherein the robot 100, in case the image capturing device(s) 120 detects (a) gas container(s) 125, is configured to approach the gas container(s) 125 and bring the explosive unit(s) 140 into engagement with the gas container(s) 125 via the arm 130, wherein the explosive unit(s) 140 is (are) arranged to explode the gas container(s) 125.

The arm 130 may comprise a claw, configured to grip the explosive unit(s) 140, and bring it into engagement with the gas container(s) 125. It is to be understood that the arm 130, and any tool comprised in the arm 130, may be used to assist the robot 100 in the process of approaching the gas container(s) 125. For example, the arm 130 may engage with obstacles. The explosive unit(s) 140 is (are) configured to be armed before being carried to the gas container(s) 125 or after it has been brought into engagement with the gas container(s) 125. For example, the explosive unit(s) 140 may be armed by an operator before being picked up by the robot 100.

Furthermore, the arm 130 may be configured to rotate around one or more joints, and/or provide translational/linear displacement through a mechanism allowing a part of the arm 130 to move in a translational manner. In other words, a distal end of the arm 130 may be configured to move in three dimensions relative to the chassis 110, and the distal end of the arm 130 may be configured to rotate around one or more axes. This relatively free movement of the distal end of the arm 130 may allow the explosive unit(s) 140 to be brought into engagement with the gas container(s) 125 when it is (they are) arranged in any position, e.g. lying down, standing up or being tilted. Furthermore, the robot 100 may allow the explosive unit(s) 140 to be engaged with the gas container(s) 125 such that the threat of the gas container(s) 125 in the fire exposed area is neutralized by performing a controlled explosion which opens a hole in the gas container(s) 125. The explosion of the explosive unit(s) 140 may open a hole in the gas container(s) 125, by e.g. piercing, perforating and/or penetrating the gas container(s) 125. For example, the explosive unit(s) 140 may be configured to provide an explosion that propagates linearly, such that a linear hole is opened in the gas container(s) 125. Similarly, the explosive unit(s) 140 may be configured to open a V-shaped hole in the gas container(s) 125 upon explosion. The explosion of the explosive unit(s) 140 may ignite gas present in the gas container(s) 125 after a hole is opened, e.g. by the heat from the explosion, such that the gas explodes. An example of a gas that can be ignited to explode is acetylene.

Fig. 2 schematically shows a robot arrangement according to an exemplifying embodiment of the present invention. The robot arrangement comprises a robot 100 which may be the same or similar to the robot 100 described in Fig. 1. The robot 100 comprises a self-propelled chassis 110, (an) image capturing device(s) 120 configured to detect (a) gas container(s) 125 within the fire-exposed area, and an arm 130 coupled to the chassis. The robot 100 is configured to carry the explosive unit(s) 140, and wherein the robot 100, in case the image capturing device(s) 120 detects (a) gas container(s) 125, is configured to approach the gas container(s) 125 and bring the explosive unit(s) 140 into engagement with the gas container(s) 125 via the arm 130.

In Fig. 2, the arm 130 comprises a tool 134, configured to engage with the explosive unit(s) 140. In other words, the tool 134 may be configured to bias/hold/fasten the explosive unit(s) 140 while approaching the gas container(s) 125 and while the explosive unit(s) 140 is (are) brought into engagement with the gas container(s) 125. The tool 134 may be at least one of a gripping tool and a connecting tool.

The robot 100 further comprises a transmitter 170 communicatively coupled to the image capturing device(s) 120, wherein the transmitter 170 is configured to transmit image data retrieved by the image capturing device(s) 120. The transmitter 170 may be configured to transmit image data to an operator at a remote location. The transmitter 170 may be at least one of a wireless transmitter and a transmitter cable. The robot 100 may further comprise a processor 230 configured to process image data generated by the image capturing device(s) 120. The processor 230 may detect the gas container(s) from the generated image data. The processor 230 may process at least part of generated the image data, and the robot 100 may transmit, via the transmitter 170, non-processed image data and/or processed image data. By processing at least at part of the generated image data before transmitting, the transmission may go faster, for example, because the processing may comprise reducing the size of the data being transmitted. The robot 100 may further comprise a remote control 180 and at least one of a receiver 190 and a communication cable 200. The receiver 190 may be a wireless receiver. For example, the transmitter 170 and the receiver 190 may be part of transceiver. The communication cable 200 may be any media configured to transmit data/signals/information via a cable/wire/cord. The remote control 180 is configured to send instructions to at least one of the chassis 110, the arm 130 and the image capturing device 120. The robot 100 is configured to operate at least one of the chassis 110, the arm 130, and the image capturing device(s) 120 based on the instructions. As an example, an operator of the robot 100 may use the remote control 180 to transport the explosive unit(s) 140 to the gas container(s) 125, using the image data generated by the image capturing device(s) 120 to help navigate around obstacles, and once the robot 100 reaches the gas container(s) 125, control the arm 130 via the remote control 180 to bring the explosive unit(s) 140 into engagement with the gas container(s) 125.

The remote control 180 and the control unit 150 may form part of a control station. The control station is configured to control the robot 100 remotely by sending instructions wirelessly or via the data communication cable 200. The control station may also be configured to receive image data being sent from the robot 100 via the transmitter 170, wirelessly or via a transmitter cable. Further, the control station may process image data and comprise a display configured to display image data, e.g. in order to provide an operator with information on the fire-exposed area and/or the gas container(s) 125.

The robot 100 is further configured to carry a detonation cable 160. The detonation cable 160 may be configured to transmit a detonation signal, and is arranged to be anchored to the explosive unit(s) 140. The detonation cable 160 may be configured to allow a shockwave to propagate inside, to the explosive unit(s) 140, wherein the explosive unit(s) 140 explodes upon arrival of the detonation signal. The detonation cable 160 may comprise a shock tube detonator, e.g. Nonel®, and be configured to initiate explosions. Alternatively, the detonation signal may be electrical. The robot 100 may comprise a cable holder arranged on the arm 130, to make the detonation cable 160 more reliably anchored to the explosive unit(s) 140 during operation. For example, the cable holder might grip and/or provide friction such that the detonation cable 160 is more reliably anchored to the explosive unit(s) 140 during transport and/or movement of the arm 130. The robot 100 may further comprise a reel for the detonation cable 160, configured to e.g. reel out the detonation cable 160 when the robot 100 has brought the explosive unit(s) 140 into engagement with the gas container(s) 125 and is moving away from the gas container(s) 125. Alternatively, the robot arrangement may comprise a reel arranged at a starting location, distal to the gas container(s) 125, wherein the detonation cable 160 is reeled out from the starting location until the robot 100 reaches the gas container(s) 125. The starting location may be the general location of an operator of the robot 100, e.g. outside the fire-exposed area.

Furthermore, the robot 100 may comprise detonation means 220 for detonating the explosive unit(s) 140 via the detonation cable 160 arranged to be anchored to the explosive unit(s) 140. The robot 100 is configured to be connected to a control unit 150, wherein the explosive unit(s) 140 is configured to explode upon command of an operator via the control unit 150. The control unit 150 may send a command to the detonation means 220 arranged on the robot 100, via a cable and/or wirelessly. Alternatively, the control unit 150 is connected to the explosive unit(s) 140, and may send a detonation signal, wirelessly or via a cable, to the explosive unit(s) 140. The detonation signal may be sent via a detonation cable 160 to the explosive unit(s) 140, or the detonation signal may be sent wirelessly to the explosive unit(s) 140.

Fig. 3 schematically shows an explosive unit 140 according to one or more exemplifying embodiments of the present invention. The explosive unit 140 comprises a connecting part 144 configured to engage with the arm of the robot, and a support structure 146 coupled to the connecting part 144. The connecting part 144 may comprise a handle configured to be gripped by a gripping tool, and/or comprise a structure configured to engage with a connecting tool. The support structure 146 is configured to hold explosive material. The explosive unit 140 may be configured to allow a detonation cable to engage the explosive material. For example, the support structure 146 may be configured to anchor the detonation cable such that the detonation cable is in engagement with the explosive material. The explosive unit 140 further comprises an engagement structure 142 connected to at least one of the connecting part 144 and the support structure 146, wherein the engagement structure 142 is configured to be brought into engagement with the gas container. The engagement structure 142 may be at least one of an adhesive, a magnet unit and a gripping unit. The magnet unit may comprise one magnet or a plurality of magnets. In the case of a plurality of magnets, the magnets may be arranged such that the explosive unit 140 can be attached to a rounded surface of the gas container in a more reliable manner, e.g. by arranging the magnets on the outer edges of engagement structure 142 on opposite sides. It should be noted that a combination of a magnet unit and an adhesive may be used, in order to attach the explosive unit 140 even more reliably to the gas container. The adhesive may be any substance or material which binds the engagement structure to the gas container. For example, the adhesive may be glue. The gripping unit may comprise at least two gripping arms configured to extend at least partially in opposite directions in order to grip the gas container and attach the explosive unit 140 to the gas container. The gripping arms may comprise an adhesive and/or one or more magnets. It is to be understood that the engagement structure may comprise any combination of the adhesive, the magnet unit and the gripping unit. The explosive unit 140 may further comprise a coupling part 148 for coupling the engagement structure 142 to at least one of the connecting part 144 and the support structure 146. The coupling part 148 may comprise a polymeric material. It is to be understood that the engagement structure 142, the connecting part 144, the support structure 146 and the coupling part 148 may form one single unit.

Fig. 4 schematically shows a method 400 for neutralizing (a) gas container(s) within a fire-exposed area according to an exemplifying embodiment of the present invention. The method 400 comprises carrying 410 (an) explosive unit(s) by a robot comprising a self- propelled chassis. The method 400 further comprises generating 420 image data via (an) image capturing device(s) arranged on the chassis. Generating image data may comprise any type of conversion of electromagnetic radiation to data used for imaging. For example, by using at least one of a camera, a video camera, a LIDAR sensor, a radar sensor, an ultrasound sensor and a thermal image sensor. The method 400 further comprises detecting 430 (a) gas container(s) based on the generated image data. Detecting 430 may be performed by processing the generated image data with a processor. Detecting 430 may comprise using computer-implemented methods to identify the gas container(s), e.g. image recognition. Alternatively, the image data may be interpreted by an operator in order to detect the gas contained s).

The method 400 further comprises transporting 440 the chassis to the detected gas container(s), and bringing 450 the explosive unit(s) into engagement with the gas container(s) via an arm arranged on the chassis. It is to be understood that the generated image data may be used to help transport the chassis to the gas contained s), e.g. by detecting walls and obstacles in order for the robot to navigate around them. After the explosive unit(s) is brought into engagement with the gas container(s), the method 400 further comprises exploding 460 the explosive unit(s) upon command of an operator.

Optionally, the method 400 further comprises sending instructions 470, by a remote control, to at least one of the chassis and the arm, receiving 480 the instructions by a receiver arranged on the chassis, and operating 490 at least one of the chassis and the arm based on the instructions.

Fig. 5a-5c schematically shows the method for neutralizing (a) gas container(s) 125 within a fire-exposed area according to the exemplifying embodiment of the present invention described in Fig. 4, performed by a robot 100 according to an exemplifying embodiment of the present invention.

It should be noted that the robot 100 shown in Fig. 5a-5c has many features in common with the robots 100 shown in Fig. 1 and/or Fig. 2, and it is hereby referred to Fig. 1 and/or Fig. 2 and the associated text for an increased understanding of the features and/or functions of the robot 100.

The robot 100 comprises a self-propelled chassis 110, (an) image capturing device(s) 120 arranged on the chassis 110, and an arm 130 arranged on the chassis 110. The robot 100 is configured to carry (an) explosive unit(s) 140, and the explosive unit(s) 140 is (are) configured to be connected to a control unit 150, wherein the explosive unit(s) 140 is (are) configured to explode upon command of an operator via the control unit 150. A detonation signal is sent from the control unit 150 via a detonation cable 160, wherein the detonation cable 160 is anchored to the explosive unit(s) 140.

In Fig. 5a, the robot 100 is carrying the explosive unit(s) 140 and transporting it towards the gas container(s) 125. The image capturing device(s) 120 is (are) configured to generate image data on the surroundings of the robot 100, detecting (a) gas container(s) 125, as well as detecting the layout of the fire-exposed area, which may be used to improve the robot’s 100 ability to navigate to the gas container(s) 125. For example, an operator may use the image data to navigate the robot 100. The detonation cable 160 may be reeled out from the robot’s 100 starting location, i.e. a location remote from the fire-exposed area.

In Fig. 5b, the robot 100 is bringing the explosive unit(s) 140 into engagement with the gas container(s) 125 via the arm 130. The arm 130 and any tool comprised in the arm 130 may be configured to align the explosive units(s) 140 with a surface of the gas container(s) 125 in order for the explosive unit(s) 140 to better engage with the gas container(s) 125. The generated image data may be used to bring the explosive unit(s) 140 into engagement with the gas container(s) 125. For example, it may be used as a visual aid for an operator.

In Fig. 5c, the explosive unit(s) 140 is (are) engaged with the gas container(s) 125, and the robot 100 has moved away from the gas container(s) 125. The explosive unit(s) 140 is (are) are now ready to be detonated upon command from an operator via the control unit 150 and the detonation cable 160.

The person skilled in the art realizes that the present invention by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.