Abstract
Due to hot toxic smoke and unknown risks under fire conditions, detection and relevant reconnaissance are significant in avoiding casualties. A fire reconnaissance robot was therefore developed to assist in the problem by offering important fire information to fire fighters. The robot consists of three main systems, a display operating system, video surveillance, and mapping and positioning navigation. Augmented reality (AR) goggle technology with a display operating system was also developed to free fire fighters’ hands, which enables them to focus on rescuing processes and not system operation. Considering smoke disturbance, a thermal imaging video surveillance system was included to extract information from the complicated fire conditions. Meanwhile, a simultaneous localization and mapping (SLAM) technology was adopted to build the map, together with the help of a mapping and positioning navigation system. This can provide a real-time map under the rapidly changing fire conditions to guide the fire fighters to the fire sources or the trapped occupants. Based on our experiments, it was found that all the tested system components work quite well under the fire conditions, while the video surveillance system produces clear images under dense smoke and a high-temperature environment; SLAM shows a high accuracy with an average error of less than 3.43%; the positioning accuracy error is 0.31 m; and the maximum error for the navigation system is 3.48%. The developed fire reconnaissance robot can provide a practically important platform to improve fire rescue efficiency to reduce the fire casualties of fire fighters.
Highlights
Fire casualties occur for occupants and for firefighters
To overcome the above challenges, a small and flexible robot was developed for fire reconnaissance in this study, with the functions of operation display, map construction, and video monitoring. It enables the monitoring and operation of the robot based on Augmented reality (AR) technology, real-time map construction under fire conditions based on simultaneous localization and mapping (SLAM) technology, and fire detection and rescuing based on the infrared thermos image technology and video surveillance system
It was noticed that the time needed to process D* algorithm is longer than that based on the A* algorithm when obstacles are shown in the planned path
Summary
Fire casualties occur for occupants and for firefighters. Recently, many firefighters have lost their lives during fire rescuing processes. A large number of studies have been carried out regarding the development of a fire robot Based on their equipped devices and functions, these robots can be further divided into four types, namely auxiliary rescue robot, inspection robot, fire suppression robot, and reconnaissance robot. To overcome the above challenges, a small and flexible robot was developed for fire reconnaissance in this study, with the functions of operation display, map construction, and video monitoring It enables the monitoring and operation of the robot based on AR technology, real-time map construction under fire conditions based on SLAM technology, and fire detection and rescuing based on the infrared thermos image technology and video surveillance system
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