한국재료학회지 제28권 제11호 (p.237-247)

화재 특성 고찰을 통한 농연 극복 센서 모듈

A Sensor Module Overcoming Thick Smoke through Investigation of Fire Characteristics
키워드 :
Fire Fighting,Smoke Environment,Sensor Fusion,Thermal Camera,Thermal Stereo

목차

Abstract
1. 서 론
2. 화재 연기의 특성에 따른 대응센서분석
  2.1 화재 연기의 종류와 대응 센서
  2.2 연기 발생 형태에 따른 센서 대응 분석
3. 센서 모듈 구성
  3.1 센서 모듈 구성
  3.2 영상 센서 Calibration
4. 개별 모드 알고리즘 구성
  4.1 단일 카메라 센서 모드
  4.2 열화상 스테레오 모드
  4.3 다중 센서 융합 모드
  4.4 레이더 모드
5. 실험 및 결과
  5.1 흰 연기 유입 실험
  5.2 검은 연기 유입 실험
  5.3 실화재 실험
  5.4 정량적 실험
6. 결 론
References

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.