Abstract:
Systems and methods for monitoring buildings to detect harmful chemical or biological agents. Self-propelled harmful agent detectors are provided that can propel themselves using motors and self-contained power sources. On-board harmful agent sensors can detect the presence of harmful agents and transmit information for reception by a receiving unit. Some sensors can identify the type of agent and transmit the agent type. Some detectors can measure the intensity or concentration of the harmful agent presence and transmit that intensity. Some systems include locating devices for determining positions of the roaming detectors, as well as mapping software to map the location of the individual moving detectors. Systems may include software for plotting the relative concentrations of agents detected to locate the origination of the source within the building. The moving detectors can have motors coupled to wheels, tracks, capstans, pulleys and winches to move the devices along floors, air ducts, and suspended or hanging wires.

Description:
FIELD OF THE INVENTION 
     The present invention generally relates to chemical or biological attack detection and mitigation systems, and more particularly to chemical or biological attack detection and mitigation systems for buildings. 
     BACKGROUND OF THE INVENTION 
     The recent demise of the cold war and decline in super-power tensions has been accompanied by an increase in concern over the viability of weapons of mass destruction, such as chemical and biological (CB) weapons. CB weapons include chemical agents, such as blood, blister, and nerve agents, and biological agents, such as anthrax or small pox. CB weapons may be delivered to occupants within a building by releasing the agents external to the building, but close to an air intake of the building. The air intake may be located near the ground, near the roof, or somewhere in between, depending on the building architecture. Agents may also be released within a public area of a building, and be dispersed to other, private areas of the same building. Agents released in one area of a building may be further dispersed by the heating, ventilating, and air conditioning (HVAC) system of the building. Therefore, the HVAC system may effectively deliver an agent from one room to the entire building. While the agent is being delivered through the building, the location of the agent source may remain unknown, as well as the extent of the harm caused. 
     There are various agent delivery mechanisms. For example, agents may be delivered in vehicles giving some warnings as to the delivery, such as missiles. Agents may also be delivered in vehicles giving no warning, such as a pedestrian held putative asthma inhaler activated near an air intake in the building. 
     Certain buildings, such as key military sites, can be equipped or designed well in advance to deal with the use of CB weapons. Such buildings may include elaborate, built-in fixed chemical and biological sensors. Such fixed sensors, even when thorough, are generally limited to sensing one area of a building, and may be too expensive to place in all desired areas of a building. Some buildings, however, such as hotels, may be more susceptible to a CB weapons attack, lacking even fixed sensors. What would be desirable, therefore, are chemical and biological sensors that can be deployed at multiple locations in a building. What would also be advantageous are sensors that are able to search for and identify the location of harmful agents. Devices able to assist building inhabitants during an attack would also be valuable. 
     SUMMARY OF THE INVENTION 
     The present invention includes systems for detecting agents harmful to human life in buildings. The systems can include a self-propelled harmful agent detector for traversing spaces anywhere in buildings. The self-propelled agent detectors can include a harmful agent sensor for sensing chemical and/or biological agents injurious to human health, with the harmful agent sensor having a data output. A transmitter can be coupled to the harmful agent sensor data output for transmitting data from the self-propelled harmful agent detector to a receiver. A power source can supply a motor having a moving output, with a traction device coupled to the motor moving output for moving the self-propelled harmful agent detector. One embodiment has a rotating shaft as the motor moving output, with the rotating shaft coupled to at least one wheel. Some embodiments use wheels as a traction device, other embodiments utilize tracks, and still other embodiments utilize capstans for moving the detector along suspended wires or strings. Some devices use take-up pulleys or winches to move the device up and down along strings or wires. 
     Some detectors have sensors that can measure levels of harmful agent concentration, wherein the sensor data contains data indicating harmful agent levels, and the transmitter can transmit the agent level data. Sample traps, such as vacuum vessels or adhesives, may be included in some devices to capture samples for later analysis. Some detectors can identify the type of the harmful agent and transmit that as well. Many detectors according to the present invention also broadcast the identity and absolute or relative location of the detector. Devices may have cameras and transmitters coupled to the cameras for transmitting images near the detectors to a receiver. Such mobile transmitting cameras may be used to transmit images including victim location. 
     Systems incorporating moving detectors according to the present invention are also provided. Systems can include receivers for receiving data transmitted by the moving detectors. The received information can include the mobile detector ID, the type of agent detected, the agent level detected, and the location of the detector. Some systems include machine intelligence for propelling the detector toward areas having higher harmful agent concentrations. Some mobile detectors have repeating capabilities, for receiving and re-transmitting signals received from other mobile detectors in order to extend the range of transmitters, which may be disposed in areas not conducive to RF transmissions, such as within air ducts. Some systems have mobile agent detector location systems, such as a triangulation system within a building, in order to locate the position of a transmission without requiring a mobile detector to have knowledge of its position. 
     Some embodiments of the invention, in addition to collecting and transmitting data, can assist building inhabitants. One class of devices according to the present invention can carry information, guidance, life support equipment, and even decontamination equipment to people located within a building. One such device is large enough to carry air bottles, air packs, face masks, breathing filters, protective garments, and communication gear within the device. Some devices transmit photographic views of the area surrounding the device to a central site. Other embodiments include speakers and/or changeable message signs which can be used to transmit instructions to building inhabitants. One use of such devices is to find a safe egress route from a building that is contaminated, and instruct building inhabitants as to the route and/or instruct the building inhabitants to “follow me.” 
     Methods according to the present invention include providing the mobile detectors and/or receiving systems described above. The mobile harmful agent detectors can be disposed within the building and allowed to move throughout the building, and transmit information related to any harmful agent present. Some methods include mobile detectors disposed and programmed to roam outside of a building. Mobile detectors can be disposed along building floors, within air ducts, disposed along suspended wires, strings, or shafts, and hung from hanging wires, strings, ribbons, or pendulums, both within open atriums and within vertical air shafts. Some systems move the self-propelled detectors by providing the motor on one end of a string or wire and the detector on the other end. The detector is then moved by advancing the motor to move the string or wire. Other systems provide a fixed string or wire, with the detector and motor moved together. Flying mobile detectors, for example, sensors mounted on micro air vehicles (MAVs), are also included within the invention. 
     Some methods include providing self-propelled detector sensors to measure levels of harmful agent concentration, wherein the transmitted sensor data contains data indicating harmful agent levels, which is received and stored. Other methods include directing self-propelled mobile detectors to areas of interest, where the direction is provided from a central controller, either machine or human. In some systems, a central computer creates maps of agent type and/or intensity using the data provided by the mobile detectors. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a highly diagrammatic, perspective, cutaway view of a conventional building HVAC system shown delivering a harmful agent from a public area return air duct to private areas in the building interior; 
     FIG. 2 is a highly diagrammatic, side view of a mobile harmful agent detector device having a power source, controller, transmitter, motor, and wheels for traction; 
     FIG. 3 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 2, but having a track for traction; 
     FIG. 4 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 2, but having legs for traction; 
     FIG. 5 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 2, but having driven pulleys or capstans for traction along a wire or cable which may be substantially horizontal; 
     FIG. 6 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 5, but having driven pulleys or capstans for traction along a wire or cable which may be substantially vertical; 
     FIG. 7 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 6, but having motor driven traction pulleys or spools mounted on the mobile detector for taking up a wire or cable which may be substantially vertical; 
     FIG. 8 is a highly diagrammatic, side view of a mobile harmful agent detector device similar to that of FIG. 7, but having motor driven traction take up pulleys or spools mounted on the opposing end of a wire or cable which may be substantially vertical; 
     FIG. 9 is a highly diagrammatic, side view of a mobile harmful agent detector which can be used to transmit pictures to a remote site, transmit information to building inhabitants, and carry safety equipment to inhabits; and 
     FIG. 10 is a block diagram of a system for communication with and coordination of mobile harmful agent detectors. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Various embodiments of the invention are described below in some illustrative examples of the invention. Such examples are intended to be illustrative rather than limiting. Identical reference numerals are used across the multiple figures to describe identical or similar elements, which are not reintroduced with each figure. 
     FIG. 1 illustrates a building  20  including a public atrium area  23  and having a conventional building heating, ventilating, and air conditioning (HVAC) system  22  not having any duct isolation equipment in place. HVAC system  22  is illustrated transporting harmful agent  46  through return air ducts  34  and dispersing it as externally released cloud  44 . Air intake  24  and exhaust  26  are connected to a series of ducts including large, usually rectangular chambers or ducts such as chamber  28 , and intermediate sized, usually rectangular, ducts  30 . Intermediate ducts  30  split off into a series of smaller, often circular, ducts  32 , which feed a series of room diffusers  38 . Return air vents  36  and return air ducts  34  return air to either be expelled outside the building or be mixed with fresh air intake. Heating, cooling, humidification, and dehumidification functions are often performed in large chambers such as chamber  28 , and in more local intermediate sized chambers  42 . Mixing and/or recirculation can be performed by a return air duct  48 . 
     FIG. 1 illustrates an internally released harmful agent cloud  46  dispersed in public atrium  23  near return air vents  36 . HVAC system  22  is illustrated transporting harmful agent  46  through return air ducts  34  and dispersing it as externally released cloud  44 . Return air ducts  34  are also connected through return air duct  48 , into intake chamber  28 , and may internally release harmful agent cloud  47  through diffusers  38 . As illustrated, the harmful agent is delivered from a public portion of the building to the private areas of the building by the HVAC system and to the exterior near the building as well. 
     FIG. 2 illustrates a mobile, self-propelled harmful agent detector device  100 , having a chassis or body  102 , a first wheel set  116 , a second wheel set  122 , a harmful agent sensor  104 , a controller  108 , a power source  120 , a motor  118 , and a transmitter  112 . Controller  108  is coupled to agent detector  104  through a data communication line or channel  106 , which can be, for example, any suitable electrical or optical line, wire, or channel. As used herein, “harmful agent sensor or detector” means a sensor or detector for sensing, measuring, or detecting agents harmful to humans, including chemical and biological agents. The terms “harmful agent sensor or detector” and “agent sensor or detector” are intended to convey the same meaning as used herein. Although any suitable detector either known or unknown at the present time may be used, the agent detectors can include, for example, spectrographic analyzers including visible, infrared, near infrared, ultraviolet, and/or fluoroscopic. So-called “chemical noses” or “electrical noses” may be used to identify agents. Portable mass spectrometers may also be used. Portable bioassay devices, reagents, and readable test strips may also be used as agent detectors, if desired. 
     In some embodiments, a harmful agent trap is included. Agent traps can include vacuum bottles having controllable inlet valves, or other sampling devices, well known in industrial hygiene monitoring applications. Filter traps and adhesive traps may also be included, and can be used to trap samples for later analysis. In some embodiments, a camera is included with, or in place of, harmful agent sensor  104 , with a picture being transmitted either in addition to, or in place of, harmful agent concentration data. In embodiments having only a camera, for example, reference numeral  104  may be understood to refer to a camera. 
     Controller  108  may be coupled to transmitter  112  through a data line  110 , and is illustrated transmitting data indicated at  114 . Any suitable transmitter may be used, including radio frequency (RF) and optical transmitters. While the term “transmitter” is used to denote one function of the mobile detector, the transmitter in a preferred embodiment is a transceiver, able to both transmit and receive information. 
     Power source  120  may be a battery and is preferably coupled to motor  118 . Power sources may be either fixed to the mobile detector, or located apart from the mobile detector and coupled to the detector by wires. Controller  108  can be coupled to motor  118  through a control line  109 , which can be used to control the motor driving the wheel or wheels. In one embodiment, first wheel set  116  are drive wheels and second wheel set  122  are turnable or steerable wheels, under the control of controller  108 . In some embodiments, mobile detector  100  is self-aware of its position, and can transmit that position to a receiver. In other embodiments, mobile detector  100  transmits a signal which can be triangulated upon by multiple receivers. In still other embodiments, mobile detector  100  can count its relative progress along a known route, by inches, clicks, or wheel rotations, with the relative progress into the route ascertainable by the mobile detector and/or a central receiving unit. In a preferred embodiment, the ID of the mobile detector is transmitted along with any other data. In one embodiment, the mobile detector includes a transceiver and may be programmed to retransmit data received from other mobile detectors, having different IDs, thereby allowing the mobile detectors to act as relays. This may be useful for embodiments having short transmission ranges, or detectors disposed within metal air ducts. 
     Mobile detector  100  utilizes wheels  116  and  122  as traction devices. The wheels may be formed of a rubber material or other polymer suitable for providing traction. Mobile detector  100  may be used to traverse floors, air ducts, crawl spaces, false ceilings, or any surface the wheels are able to engage. In mobile device  100 , motor  118  is mounted on body  102  such that motor  118  travels together with body  102 . In some devices, discussed below, the propelling motor is fixed to another object and remains in one location while propelling the body, for example, through a tether. In either case, the mobile detector may be self-propelled. 
     FIG. 3 illustrates a mobile detector  130 , similar to mobile detector  100  of FIG. 2, but utilizing tracks or treads  139  disposed over three wheel pair sets  132 ,  133 , and  134 . Tracks or treads may be more useful in traversing unfriendly terrain than wheels alone. In some devices, tracks are sufficiently long to enable climbing stairs. 
     FIG. 4 illustrates a mobile detector  160 , similar to mobile detector  100  of FIG. 2, but utilizing legs  168  disposed in three pairs on a chassis or body  164 . Legs may be motor driven by a motor  166  to enable the device to crawl over uncertain terrain, and may be more useful in traversing unfriendly terrain than wheels. 
     FIG. 5 illustrates a mobile detector  180 , similar to mobile detector  100  of FIG. 2, but utilizing pulleys or capstans  182 ,  184 ,  186 , and  188 , which are supported by legs  190  secured to body  102  and disposed about a wire, cable, string, shaft, or ribbon  181 . Wire  181  may be substantially horizontal in some embodiments, and may be strung through air ducts, under computer room raised floors, through crawl spaces, between buildings, and across building atriums. In some embodiments, the gap between the upper and lower wheels,  182  and  184 , and  186  and  188 , respectively, may be relatively large, and gravity relied upon to provide traction between driven upper wheels  182  and  186  and wire  181 . In other embodiments, the gap between the upper and lower wheels,  182  and  184 , and  186  and  188 , respectively, may be relatively small, and a tight fit between wheels and wire is relied upon to provide traction. In embodiments having a tight fit, enabling the wheels to grasp wire  181 , either upper wheels  182  and/or  186 , or lower wheels  184  and/or  188 , or both, may be driven by motor  118 . In some embodiments, mobile detector  180  travels between two extreme limits of travel, reversing direction when either limit is reached. In some devices, a count of wheel revolutions or similar measure is used to measure travel and can be used to calculate relative location along the route. 
     FIG. 6 illustrates a mobile detector  200 , similar to mobile detector  180  of FIG. 5, but utilizing pulleys or disposed about a wire, cable, string, shaft, or ribbon  232 . Wire  232  is illustrated as fixed to support member  230 , which may be a ceiling in some applications. Wire  232  may be substantially vertically disposed in some embodiments, and may be strung through air ducts, wall spaces, elevator shafts, and building atriums. In a preferred embodiment, the gap between wheel pairs,  182  and  184 , and  186  and  188 , may be relatively small, and a tight fit between the wheels and wire  232  is relied upon to provide traction. In embodiments having a tight fit, enabling the wheels to grasp wire  232 , either wheels  182 ,  186 ,  184  and/or  188 , may be driven by motor  118 . In some embodiments, wire  232  is serrated, having teeth or other demarcations, providing improved traction. In some embodiments, at least some of the driven wheels are also serrated or have teeth to provide better traction. In some devices, both wire or ribbon  232  and the driven wheels have matching sized teeth, to provide a track for the wheel teeth to engage for better traction. In some embodiments, mobile detector  200  travels between two extreme limits of travel, reversing direction when either limit is reached. In some devices, a count of wheel revolutions or similar measure is used to measure travel and can be used to calculate relative location along the route. 
     FIG. 7 illustrates a mobile detector  220 , similar to mobile detector  200  of FIG. 6, but utilizing a take-up pulley or spool  226  to take up a wire, cable, string, or ribbon  234  suspended from support member  230 , which may be a ceiling in some applications. Wire  234  may be substantially vertically disposed in some embodiments, and may be strung as discussed with respect to wire  232  or FIG.  6 . Motor driven take-up spool or pulley  226  is secured to body  224 , and can wind wire  234  about the spool as the spool is driven, thereby providing the traction, and pulling mobile detector  220  upward. Downward movement may be provided by reversing the motor direction or by allowing take-up spool  226  to unwind, either controllably or rapidly, depending on the embodiment. In some devices, a count of spool revolutions or similar measure is used to measure travel and can be used to calculate relative location along the route. 
     FIG. 8 illustrates a mobile detector  240 , similar to mobile detector  220  of FIG. 7, but utilizing motor  244  driving a take-up pulley or spool  246  to take up wire, cable, string, or ribbon  234  suspended from support member  230 , which may be a ceiling in some applications. A control and/or power line  242  may be coupled to motor  244  to provide power and/or control for the device. Motor driven take-up spool or pulley  246  is secured to motor  244 , and can wind wire  234  about the spool as the spool is driven in some embodiments, thereby providing the traction, and pulling mobile detector  240  upward. Downward movement may be provided by reversing the motor direction or by allowing take-up spool  246  to unwind, either controllably or rapidly, depending on the embodiment. Mobile detector  240  may be said to be self-propelled, but having the motor fixed at the opposing end of a tether, rather than moving with the mobile detector. As previously discussed, the location of the detector may be measured and transmitted along with other data related to agent detection. 
     FIG. 9 illustrates a mobile self-propelled harmful agent detector  400 , having lights  446  and wheels  404  mounted on body  402 , the wheels driven by motor  406 . Mobile detector  400  includes a controller  430  coupled to other components through control lines  410 . Unless otherwise indicated, lines  410  illustrated in FIG. 9 are power and/or control lines, which can be used to provide power and/or transmit and receive data between the various components. Controller  430  can be coupled to a transmitter  426  for transmitting and receiving data  428  as illustrated. As previously discussed, the transmissions may be through any suitable medium including RF and IR. In one embodiment, mobile detector  400  is capable of carrying life support equipment for building inhabitants, and of providing assistance during an emergency. 
     A camera head  416  having multiple cameras  418  is disposed on a neck member  420 , which can preferably be controllably turned to face directions determined by a remotely located operator. Images provided by cameras  418  may be transmitted back to a receiver. In one embodiment, neck  420  is fixed, with the multiple cameras being selectable to provide different views. In some embodiments, microphones  414  or other sensors are disposed along the body sides to listen for noises, for example, human voices. The sound signals thus received may also be transmitted back to a receiver. 
     A sensor head  408  is also illustrated, which may be rotated about a rotatable neck member  412 . Sensor head  408  may include multiple harmful agent sensors including arrays or different sensors to be used in chemical analysis. Sensor head  408  may include air intake or suction ports to be used, for example, to feed chromatographic or other instruments within body  402 . Sensor head  408  is illustrated as coupled to a sensing analysis unit  422  which is in turn coupled to controller  430 . Sensor head  418  may be rotated in some devices, so as to take samples from different directions. 
     Mobile detector  400  may include communications devices intended to communicate with humans who may be located within a building, unsure of what to do. In particular, building inhabitants may be unsure if they should attempt to leave a building, or unsure of what route may be safe to take out of a building. To this end, mobile detector  400  may include a changeable message sign  424 , having, for example, a large, light emitting diode (LED) scrolling display with useful information. Such a display may be controlled by a central controller through transceiver  426 . 
     Similarly, a loudspeaker  440  may be used to inform building inhabitants as to a safe route to take out of the building, or may inform the inhabitants to remain in place. Loudspeaker  440  may be coupled through transceiver  426  and may be used in conjunction with microphones  414  to allow a remote operator engage in conversations with people. 
     Mobile detector  400  may also contain decontamination equipment, for example, a canister of decontamination fluid or foam  436  coupled to a decontamination nozzle  432  through a pipe or tube  434 . In some embodiments, pipe  434  can be controllably rotated and aimed by a remote operator, with the decontamination fluid or foam controllably ejected by a remote operator, or even by a local person following proper instructions. 
     A door  444  may be attached to body  402 , and be opened through use of a handle  438 . A sign  442  may be used to indicate to persons located nearby that there is safety equipment inside. In one embodiment, door  444  is attached to body  402  with hinges. Safety gear disposed within body  402  can include oxygen tanks, regulators, air bottles, air packs, respirators, first aid equipment, filter masks, decontamination equipment, protective garments, and communication equipment, such as portable radios or telephones. 
     In one use of mobile agent detector  400 , mobile agent detector, either alone or using externally provided information, locates a safe egress path through a building believed to be otherwise contaminated, or under harmful agent attack. With the route located, mobile agent detector  400  may travel through the building, informing personnel within of the safe egress route. One method includes having mobile agent detector  400  informing people that a safe route is to be had by following the mobile detector to a destination, which may be an outside exit or an inside safe room. 
     FIG. 10 illustrates a mobile agent detector system  300 , including a central controller or computer  302 , and a transceiver  306  with antenna  308 . An operator interface device  310 , for example a CRT or console, is coupled to controller  302  by a communications line or channel  312 . Transceiver  306  is coupled to controller  302  by a data communications line or channel  304 . 
     Controller  302  preferably includes a computer, and operator interface device  310  preferably includes a display screen. Controller  302  can be used to coordinate the movement of numerous mobile detectors, for example, mobile detectors  100 ,  130 ,  160 ,  180 ,  200 ,  220 ,  240 , and  400 . In one embodiment, controller  302  directs the mobile detectors to execute preassigned roaming modes, while tracking, recording, and plotting any possible harmful agents detected. When there is a precipitating event, such as a high concentration measured for a harmful agent, controller  302  may take a more active role. 
     In one method, controller  302  may assign the more intrusive mobile detectors, for example the wheeled, steerable detectors, to roam the building floors, out in the open, searching for high concentrations of harmful agents. In one method, mobile detectors able to steer themselves toward higher concentrations are allowed to do so. As the detectors gather data, hot spots, or high concentration areas of harmful agents, are searched for, recorded, plotted, and analyzed by controller  302  and, in some embodiments, analyzed by a human operator. 
     In one illustrative example, a mobile detector, such as detector  240 , may detect a harmful agent concentration near a specified floor level of a large, central return vertical air duct, while an elevator shaft mounted detector confirms the specified floor as a high concentration area. One mobile detector, such as detector  180 , may indicate the presence of an agent in a smaller horizontal return air duct near that floor, at a specific location of travel. At the same time, a mobile detector within a supply duct for that floor may indicate that no agent has been detected. This may rapidly pinpoint the source of the agent. 
     In response, the proper air handling motors, dampers, and blowers may be controlled, and turned on or off, in order to limit the spread of the harmful agent, or even force the harmful agent from the building. Mobile detectors such as wheeled detectors  100 ,  130 , or  160  may be instructed to roam the specified and adjoining floors, while remote detector  400  may be sent to the specified floor to provide assistance. By way of comparison, the same number of fixed detectors in the same building may only indicate that there is a harmful agent somewhere in the building, later confirmed by reports of people being harmed, after the agent has been allowed to further spread. 
     Numerous advantages of the invention covered by this document have been set forth in the foregoing description. It will be understood, however, that this disclosure is, in many respects, only illustrative. Changes may be made in details, particularly in matters of shape, size, and arrangement of parts without exceeding the scope of the invention. The invention&#39;s scope is, of course, defined in the language in which the appended claims are expressed.