A Fire Detection and Extinguishing Mobile Robot for Industrial Environments

Abstract

Mobile robots are an efficient and useful application in the modern industry. These robots can be applied for various industrial applications such as the healthcare industry, industrial security, ocean and space exploration, the foodservice industry, and distribution applications. But modern industries have faced many difficulties due to accidental conditions such as fires. Prevention and pre-identification in such scenarios are the most discussed topic in modern science and technology. Detecting and extinguishing the emergency fire flame in less time duration is the most important factor in every industrial fire extinguishing system. This paper presents a novel approach to detect and extinguishes ground-level emergency fire flames in the industrial environment using vision feedback and a mobile robot. In this research, the image processing system and mobile robot are separate systems that contribute directly to detect and extinguish the emergency fire flames. Also, mainly focused on developing a fire detection algorithm to track the primary stage of emergency fire flames at ground level using properties of the HSV color space with a location identification algorithm. Cartesian coordinate mapping technique and mathematical operations have been applied for location identification. The four-wheeled mobile robot is operated on a wireless feedback signal to reach the desired location using a modified odometry concept with an error reduction coefficient. Fire detection results are further inspected by the flame sensors setup which is mounted on the robot body. Image processing feedback and flame sensor feedback combination have been applied to improve the accuracy of this fire robot in the industrial environment.