로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제13권4호
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  • Pages.237-247
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  • 2018
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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화재 특성 고찰을 통한 농연 극복 센서 모듈

A Sensor Module Overcoming Thick Smoke through Investigation of Fire Characteristics

  • 투고 : 2018.09.04
  • 심사 : 2018.11.21
  • 발행 : 2018.11.30
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초록

In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

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참고문헌

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  1. A Multi-Sensor Module of Snake Robot for Searching Survivors in Narrow Space vol.16, pp.4, 2018, https://doi.org/10.7746/jkros.2021.16.4.291