• 로봇학회논문지
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• 제13권4호
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• pp.237-247
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• 2018

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.

• 한국방재학회 논문집
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• 제5권3호
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• pp.23-28
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• 2005

본 연구에서는 온도가 보상된 대기압을 제연구역의 기준압력으로 설정하기 위한 공학적인 메커니즘과 보상방법을 정렵하였고, 차압센서의 개발을 위한 프로세스, 알고리즘 확립과 엔지니어링 데이터 구축으로 신뢰성이 확보된 차압센서를 개발하였다. 차압센서를 개발함으로서, 첫째, 비제연구역의 압력측정을 위해서 별도로 설치되는 압력측정관을 생략할 수 있어 제작단가와 설치비용 및 작업공수를 줄이고, 둘째, 층별 제연구역의 차압측정을 위한 비제연구역의 압력측정포트를 시스템에 일체화함으로서 차압의 정밀도를 향상시킬 수 있으며, 셋째, 기존의 개별제어 방식에서 제연시스템으로부터 중앙집중식 통합관리를 함으로서 보다 정확하고 신뢰성 있는 차압을 얻을 수 있고, 시스템에 유연성을 부과시킬 수 있을 것으로 본다. 또한 통합 제연시스템의 기틀을 마련하고 제연의 유연성을 주며 방재성능을 향상시킬 것으로 본다.

• 동굴
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• 제87호
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• pp.8-13
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• 2008

The automatic firewall block and fire alarm system was embodied by using gas circuit and wireless communication equipment, using a smoke sensor (ST-QA1A) and RF Module. OR-CAD was also used for testing circuit system and experiment circuit after assembling circuit. As a result in experiment, the gas sensor detected well an imaginary smoke and worked reliably for driving action of firewall block motor and wireless warning alarm. Through the smoke sensitive perception from the fire, the warning alarm and the preventing fire propagation from the specific closed region were verified reliably. The gas sensor and RF module for firewall and fire alarm system were actually available.

• 한국전자통신학회논문지
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• 제12권2호
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• pp.331-336
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• 2017

화재 재해를 예방하기 위해 조기 화재 탐지 기술의 필요성이 증대되고 있다. 화염 및 연기를 감지하기 위해 열, 연기 및 불꽃에 대한 센서 감지 장치가 널리 사용되고 있으나, 이 시스템은 센서 주변 환경의 요소에 따라 제한된다. 이 문제들을 해결하기 위해 다수의 이미지 기반 화재 탐지 시스템이 개발되고 있다. 본 논문에서는 카메라 입력 이미지로 부터 합성곱 신경망을 이용하여 연기 이미지와 불꽃 이미지에 대한 학습을 통해 특징 맵을 추출하고, 이를 사용하여 다른 입력 이미지를 연기와 불꽃으로 분류하는 이미지 기반 화재 감지 시스템을 구현하였다. 다양한 조건의 이미지를 대상으로 실험한 결과 연기와 불꽃으로 분류하는데 우수한 성능을 보여주었다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2018년도 추계학술대회
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• pp.497-498
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• 2018

화재 현장은 정전과 연기와 유독가스로 인해 열영상카메라 및 제논탐조등으로도 전방 가시거리 1m를 확보하기 힘든 것이 현실이다. 화재현장의 연기입자를 분석해보면, 파장 $5{\mu}m$ 이하의 흰색 연기일지라도, 가시거리가 1미터 이상이 되면 기존의 열영상 카메라 등을 이용할 경우 전방시야 확보가 어렵다. 입자 파장 $5{\mu}m$ 이상의 검은 연기에는 화학소재와 가스, 물분자가 섞여 있어 단일 센서가 아닌 다양한 센서를 이용한 공간투과 센서 기술이 필요하다. 전방 안전시야 확보를 위해 연기투과 및 공간정보 가시화를 위한 라이다 센싱 기술이 필요하다. 본 논문에서는 32bit CPU코어 및 주변회로를 갖춘 정보처리 시스템의 인터페이스를 설계하였다. 또한 라이다 센서와의 인터페이스를 구현하고 이를 시뮬레이션 하였으며 이를 통해 향후 휴먼 증강 소방헬멧의 정보처리 시스템을 구현 가능한 인터페이스를 제공하였다.

• International Journal of Air-Conditioning and Refrigeration
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• 제10권3호
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• pp.117-128
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• 2002

This paper describes the smoke filling process of a fire field model based on a self-deve-loped SMEP (Smoke Movement Estimating Program) code to the simulation of fire induced flows in the two types of atrium space containing a ceiling heat flux. The SMEP using PISO algorithm solves conservation equations for mass, momentum, energy and species, together with those for the modified k-$\varepsilon$ turbulence model with buoyancy production term. Also it solves the radiation equation using the discrete ordinates method. Compressibility is assumed and the perfect gas law is used. Comparison of the calculated upper-layer average tempera-ture and smoke layer clear height with the zone models has shown reasonable agreement. The zone models used are the CFAST and the NBTC one-room. For atrium fires with ceiling glass the ceiling heat flux by solar heat causes a high smoke temperature near the ceiling. However, it has no effect on the smoke movement such as the smoke layer clear heights that are important in fire safety. In conclusion, the smoke layer clear heights that are important in evacuation activity except the early of a fire were not as sensitive as the smoke layer tem-perature to the nature of ceiling heat flux condition. Thus, a fire sensor in atrium with ceiling glass has to consider these phenomena.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1734-1737
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• 1997

The conventional fire detection devices are operated after a processed fire phase, which are sensing only a high density of somke level or high temperature heat. They are not so precision to detect a fire in the early phase to protect the facility form the fire. We need to develope a new high precision smoke detection system to keep expensive industrial facilities most reliably form fire. A new optical precision smoke detection system was developed. It monitors very low level density of smoke particles in the air. It is operated continously through many years without a stop or any malfunction. The developed precision smoke detection system will be installed in important industrial facilities, such as power plants, underground common tunnel, main control rooms, computer rooms etc.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.128-132
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• 1997

The conventional fire detection devices are operated after a processed fire phase, which are sensing only a high density of smoke level or high temperature heat. They are not so precision to detect a fire in the early phase to protect the facility from the fire. We need to develope a new high precision smoke detection system to keep expensive industial facilities most reliably from fire. A new optical precision smoke detection system was developed. It monitors very low level density of smoke psrticles in the air. It is operated continuously through many years without a stop or any malfunction. The developed precision smoke detection system will be installed in important industrial facilities,such as power plants, underground common tunnel,main control rooms,computer rooms etc.

• 동굴
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• 제77호
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• pp.1-7
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• 2007

Nowaday, prohibition of smoking is getting more important issue. So we designed "non-smoking area control system". This system is organized with AVR(ATmega8535), smoke sensor, comparator(LM339) and etc. In non-smoking condition sensor's output voltage is about 5V, and in smoking condition sensor's output voltage is under 5V. So we used comparator(LM339) to devide two conditions. In both conditions AVR(ATmega8535) transmits datas to the computer of administrator. At this time method of communication is RS-232.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.