Patent Application
20230333570
The present invention relates generally to a system for and method of detecting hazardous conditions and providing mitigating actions related to those conditions.
Fire regularly causes smoke and structural damage to homes, businesses, and their contents. Worse than damage to “things”, occupants of these homes and businesses can face serious injury or death. The use of smoke detectors, alarm systems, and sprinkler systems has done much to mitigate damage and injuries but there is still room for improvement. Robots are used by the military, safety agencies, law enforcement, and industry to address hazardous situations including fires. However, these robots are often large, unwieldy for ordinary homes and small businesses, and can be very costly. Furthermore, they are not generally autonomous in that they require a human operator to direct them to the source of the hazardous situation and are generally used to extend the “reach” of their operator such that the operator can remain at a safe distance from the hazard. The large size and cost as well as the requirement for human control make these robots impractical for use in many homes and businesses. What is needed is a cost-effective hazard mitigation robot system that is optimized for home and small businesses use that has at least a partially autonomous operation.
In an exemplary embodiment of a system for detecting and fighting fires the system comprises a plurality of building sensors, a monitoring system that receives data from the plurality of sensors, the monitoring system comprising a receiver/transmitter and a hazard mitigation robot. The hazard mitigation robot comprising a drive system configured to move the robot from a first location to a second location, a processor, a plurality of sensors, a receiver/transmitter in communication with the monitoring system, instructions that when performed by the monitoring system, cause the monitoring system to receive data from the plurality of building sensors, analyzing the received data to determine if a fire or other hazardous condition is present, identify the location of the fire or hazardous condition, provide instructions to the hazard mitigation robot, instructions that when performed by the processor of the hazard mitigation robot, cause the hazard mitigation robot to receive navigation instructions from the monitoring system which comprise the location of the fire, navigate to the location of the fire, receive data from a condition sensor, analyze the received sensor data and react to the hazardous condition based on the results of the analysis of the received sensor data.
These and other aspects and implementations are discussed in detail below. The foregoing information and the following detailed description include illustrative examples of various aspects and implementations and provides an overview or framework for understanding the nature and character of the claimed aspects and implementations. The drawings provide illustration and a further understanding of the various aspects and implementations, and are incorporated in and constitute a part of this specification.
These and other features and advantages of the present invention will become better understood with regard to the following description and accompanying drawings in which:
While various embodiments are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the claimed inventions to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.
In an exemplary embodiment, the hazardous condition mitigation system 100 is located in a residence.
In an exemplary embodiment, the hazardous condition mitigation system 100 may be equipped with one or more hazard mitigation robots 114. In the event that a fire 216 is detected in the kitchen 202, the monitoring system 102 communicates with the hazard mitigation robot 114 to provide instructions such that the hazard mitigation robot 114 travels to the kitchen 202. In certain exemplary embodiments, the hazard mitigation robot 114 may employ additional sensors in an attempt to verify that a fire 216 actually exists in the kitchen 202. Should the hazard mitigation robot 114 not detect a fire 216 or receive information that is inconclusive, the hazard mitigation robot 114 may communicate that determination to the monitoring system 102.
In certain exemplary embodiments, the monitoring system 102 may attempt to contact the remote monitoring center 232 for instruction. For example, in certain circumstances, the monitoring system 102 may detect conditions that indicate a severity that is likely unable to be addressed by the hazard mitigation robot 114 (or robots) available to a monitoring system 102 to address the condition. Emergency services may be contacted for further instructions in conjunction with the attempts by the monitoring system 102 to mitigate the detected conditions or assist occupants of the structure being monitored. In other exemplary embodiments, the hazard mitigation robot 114 is configured with a camera such that images of the kitchen 202 may be communicated to a monitoring center or emergency services such that real-time conditions within the kitchen may be observed. Thus, the hazard mitigation robot 114 may be able to assist emergency services personnel in their determination as to whether a hazardous condition actually exists.
In certain exemplary embodiments, the hazard mitigation robot 114 may periodically travel through the residence 200. In addition to supplementing the existing sensor network (204, 206, 208, 210, 212, and 214), this activity may be used to create a virtual map of the residence 200 such that the hazard mitigation robot 114 will have information necessary to navigate to an area of the residence 200 as the result of instructions from the monitoring system 102. In certain exemplary embodiments, the hazard mitigation robot 114 may comprise sensors that can be used to augment those sensors (204, 206, 208, 210, 212, and 214) located at fixed locations within the residence 200. For example, in the event that a sensor 212 located in the living room 222 detects a rise in temperature, the hazard mitigation robot 114 can be instructed to travel to the living room 222 to confirm the temperature rise and also to determine if smoke, gas, or other hazardous conditions are detectable. For example, the sensor 222 may detect a temperature rise that is not confirmed by the robot 114. In such a circumstance, the monitoring system 102 may contact a monitoring center and transmit images and sensor data so that monitoring center personnel can determine if the temperature rise is actually an indication of a hazardous condition. The hazard mitigation robot 114, being mobile, may also detect hazardous conditions that may not be detectable by the fixed sensors (204, 206, 208, 210, 212, and 214).
In certain exemplary embodiments, the hazard mitigation robot 114 will transmit received voice communications or sounds to a monitoring service such that a person or pet in the vicinity of the hazard mitigation robot 114 may be identified. In certain exemplary embodiments, a hazard mitigation robot 114 may comprise a fire suppression system 316. In an exemplary embodiment, such a fire suppression system 316 comprises a storage chamber 318 in which a fire suppressant 320 is stored until ready for use. When needed, the hazard mitigation robot 114 can cause the fire suppressant 320 to discharge through a nozzle 322. As is illustrated, the nozzle 322 can be positioned at various heights, including above the hazard mitigation robot 114, using an extendable arm 324 in order to reach a fire. For example, a fire located on a cooktop may be located higher than the hazard mitigation robot 114, necessitating a repositioning of the nozzle 322. Certain exemplary embodiments use other methods such as, without limitation, multiple nozzles, articulated arms, etc. In order to direct the fire suppressant effectively, the nozzle 322 may also be swiveled side to side and up and down. A flame sensor 332 may be used by the hazard mitigation robot 114 to identify a precise location of the flame such that the nozzle 322 can be more accurately directed to apply fire suppressant 320 to the flame. A flame sensor may be located at various locations such as, without limitation, on the body of the hazard mitigation robot 114, adjacent to the nozzle 322, or on a separate extendable arm or tower. Other types of sensor may also be used to identify the source of flame for purposes of directing the application of fire suppressant 320. Examples of such other sensor might include, but are not limited to, image capture devices, heat sensors, gas analyzers and so forth. As illustrated, such a sensor 332 is located adjacent to the nozzle 322 in certain exemplary embodiments, and may be extended along with this nozzle 322 as illustrated. Hazard mitigation robots 114 in certain exemplary embodiments may report the results of applying fire suppressant 320 as well as the flame characteristics and other data retrieved by sensors including the flame sensor. As noted herein, the hazard mitigation robot 114 is in communication with the monitoring system 102. As such, the results of the application in conjunction with flame characteristics can be accumulated by monitoring systems deployed to a plurality of different locations and best practices identified. These best practices can then be used to make improvements to the instructions stored in the hazard mitigation robot 114, improving the methods used as firefighting data is accumulated over time.
In certain exemplary embodiments, a heat sensor may be integrated into the flame sensor 332. In other embodiments, a heat sensor may be a separate installation. In these embodiments, the heat sensor may be used to monitor doors and walls as the hazard mitigation robot 114 moves through a structure. The hazard mitigation robot 114 can determine that a high level of heat exists that may be indicative of a fire and react accordingly. For example, if the hazard mitigation robot 114 is seeking to apply a fire suppressant 320, the hazard mitigation robot may follow instructions to move toward the detected high level of heat in order to locate a fire using the flame sensor 332, camera, or other sensor. In another example, if the hazard mitigation robot 114 is seeking to identify an escape route or lead someone to safely exit a structure, the hazard mitigation robot 114 may be programmed to avoid high levels of heat detected so as to protect the person or persons seeking to exit the structure. In still another exemplary embodiment, a hazard mitigation robot 114 may be used to map a structure ahead of emergency personnel, in such an embodiment, the hazard mitigation robot 114 may move through a structure while experiencing conditions unsuitable for a human searcher. While moving through the structure, the hazard mitigation robot 114 may locate individuals using the heat sensor, motion sensor, sound sensors, or other sensors capable of identifying occupants. In addition to human beings, pets could also be located. The hazard mitigation robot 114 may also identify hazards while moving through the structure. Hazards may include, but are not limited to, circumstances and conditions such as fires, dangerous gasses, or unauthorized occupants. While the hazard mitigation robot 114 is moving through the structure, information related to what occupants, conditions, or hazards detected may be transmitted to a receiver, stored by the memory of the hazard mitigation robot 114 or both. The receiver may be the monitoring system 102, a user, or emergency service providers. This information may be used to direct emergency service providers when they are entering the structure, to create a layout of the structure with indications of the occupants, conditions, or hazards detected, or both.
In certain exemplary embodiments, a hazard mitigation robot 114 may comprise an occupancy detector 326. The occupancy detector 326 may be used to alert emergency responders to the presence of a person or pet in the area of the hazard mitigation robot 114. Alternatively, the hazard mitigation robot 114 may utilize the occupancy detector 326 to determine if a sensor reading accurately detects a hazardous condition by interacting with the occupants of an area via voice queries as to the conditions present in the area. In certain exemplary embodiments, the hazard mitigation robot 114 may be equipped with lamps 328 to illuminate an area around the hazard mitigation robot 114. This can be used to allow cameras located in the hazard mitigation robot 114 to better capture images of the area surrounding the hazard mitigation robot 114. Lamps 328 may also be used to provide visibility to occupants in the vicinity of the hazard mitigation robot 114 in the event of a power outage or smoke filled room. In certain exemplary embodiments, the hazard mitigation robot 114 may be configured to illuminate the lamps 328, and provide instructions to occupants to follow the hazard mitigation robot 114 as the hazard mitigation robot 114 navigates along an escape route to lead occupants to safety exit the area of a fire or other hazardous condition. In such exemplary embodiments, the hazard mitigation robot 114 may receive building exit data such as the location of doors or egress windows obtained from building layout data stored in the building monitoring system 102. In other exemplary embodiments, the location of windows 224 and doors 228 may be obtained from window sensors 226 and door sensors 230. The hazard mitigation robot 114 and building monitoring system 102 can identify an exit or exits that are safe with regard to fire or other hazardous conditions detected using other sensors in communication with the monitoring system 102. In certain exemplary embodiments, the hazard mitigation robots 114 may be configured with devices useful to clear debris or barriers to an exit to be used to evacuate the building. In addition to sensors, fire suppression devices, and lighting, a hazard mitigation robot 114 may be equipped with survival items 330. Such items can include, without limitation, oxygen or bottled air, heat resistant coverings, flashlights, radios, first aid supplies, and the like. In some exemplary embodiments, the hazard mitigation robot 114 may be equipped with rescue devices that enable the hazard mitigation robot 114 to assist a victim to exit a dangerous area. For example, the hazard mitigation robot may be equipped with a wagon, sled, or other device into which a victim can be placed and removed from the dangerous area. In certain exemplary embodiments in which the hazard mitigation robot 114 is large, a space may be provided on or in the hazard mitigation robot which can accommodate a victim such that the hazard mitigation robot can evacuate the victim from the area of a fire.
In circumstances where an occupant is unresponsive, the hazard mitigation robot 114 may illuminate the area with lamps 328 and communicate with emergency responders to indicate that an occupant is in need of assistance while providing the location of that occupant to the emergency responders using the location of the hazard mitigation robot 114 determined using GPS or other methods of locating the hazard mitigation robot 114 described herein.
In certain exemplary embodiments, a hazard mitigation robot 114 may deploy sensors along its route to provide additional monitoring points within a structure or residence. As illustrated in the exemplary embodiment of
As noted, a system comprising a hazard mitigation robot 114 may be configured to utilize more than one hazard mitigation robot 114. For example, multi-story structures may be equipped with one or more hazard mitigation robots for each floor. In an exemplary embodiment the number of hazard mitigation robots 114 may be determined by the size of each floor or area or the types of barriers that are present in a structure. For example, structures with multiple rooms or doors may benefit from having more than one hazard mitigation robot 114 such that if one hazard mitigation robot 114 were to become trapped by a door are other barrier, another hazard mitigation robot 114 may be directed to the area from which the first hazard mitigation robot 114 is prevented from entering.
Having now described some illustrative implementations, it is apparent that the foregoing is illustrative and not limiting, having been presented by way of example. In particular, although many of the examples presented herein involve specific combinations of method acts or system elements, those acts and those elements can be combined in other ways to accomplish the same objectives. Acts, elements and features discussed in connection with one implementation are not intended to be excluded from a similar role in other implementations.
The hardware and data processing components described herein as being 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, etc.) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) 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 and/or the processor) the one or more processes described herein.
The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including” “comprising” “having” “containing” “involving” “characterized by” “characterized in that” and variations thereof herein, is meant to encompass the items listed thereafter, equivalents thereof, and additional items, as well as alternate implementations consisting of the items listed thereafter exclusively. In one implementation, the systems and methods described herein consist of one, each combination of more than one, or all of the described elements, acts, or components.
Any references to implementations or elements or acts of the systems and methods herein referred to in the singular can also embrace implementations including a plurality of these elements, and any references in plural to any implementation or element or act herein can also embrace implementations including only a single element. References in the singular or plural form are not intended to limit the presently disclosed systems or methods, their components, acts, or elements to single or plural configurations. References to any act or element being based on any information, act or element can include implementations where the act or element is based at least in part on any information, act, or element.
Any implementation or embodiment disclosed herein can be combined with any other implementation or embodiment, and references to “an implementation,” “some implementations,” “one implementation,” “an embodiment,” “some embodiments,” “certain embodiments,” or the like are not necessarily mutually exclusive and are intended to indicate that a particular feature, structure, or characteristic described in connection with the implementation can be included in at least one implementation or embodiment. Such terms as used herein are not necessarily all referring to the same implementation. Any implementation or embodiment can be combined with any other implementation or embodiment, inclusively or exclusively, in any manner consistent with the aspects and implementations disclosed herein.
Where technical features in the drawings, detailed description or any claim are followed by reference signs, the reference signs have been included to increase the intelligibility of the drawings, detailed description, and claims. Accordingly, neither the reference signs nor their absence have any limiting effect on the scope of any claim elements.
Systems and methods described herein may be embodied in other specific forms without departing from the characteristics thereof. Further relative parallel, perpendicular, vertical or other positioning or orientation descriptions include variations within +/−10% or +/−10 degrees of pure vertical, parallel or perpendicular positioning. References to “approximately,” “about” “substantially” or other terms of degree include variations of +/−10% from the given measurement, unit, or range unless explicitly indicated otherwise. Coupled elements can be electrically, mechanically, or physically coupled with one another directly or with intervening elements. Scope of the systems and methods described herein is thus indicated by the appended claims, rather than the foregoing description, and changes that come within the meaning and range of equivalency of the claims are embraced therein.
References to “or” can be construed as inclusive so that any terms described using “or” can indicate any of a single, more than one, and all of the described terms. A reference to “at least one of ‘A’ and B” can include only ‘A’, only ‘B’, as well as both ‘A’ and ‘B’. Such references used in conjunction with “comprising” or other open terminology can include additional items.
Modifications of described elements and acts such as variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, or orientations can occur without materially departing from the teachings and advantages of the subject matter disclosed herein. For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of discrete elements or positions can be altered or varied. Other substitutions, modifications, changes and omissions can also be made in the design, operating conditions, and arrangement of the disclosed elements and operations without departing from the scope of the present disclosure.
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. 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.
Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed inventions. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations, and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed inventions.
Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.
This application claims priority to U.S. Provisional application 63/330,632 filed on Apr. 13, 2022, which is incorporated herein by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 63330632 | Apr 2022 | US |
