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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >A Fire Reconnaissance Robot Based on SLAM Position Thermal Imaging Technologies and AR Display
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A Fire Reconnaissance Robot Based on SLAM Position Thermal Imaging Technologies and AR Display

机译：基于SLAM位置热成像技术和AR显示的消防侦察机器人

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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.
机译：由于有毒的热烟气和着火条件下的未知风险，检测和相关侦察对于避免人员伤亡至关重要。因此，开发了一种消防侦察机器人，通过向消防员提供重要的消防信息来协助解决这一问题。该机器人由三个主要系统组成：显示操作系统，视频监控以及地图和定位导航。还开发了带有显示操作系统的增强现实（AR）护目镜技术，以释放消防员的双手，使消防员可以专注于救援过程而不是系统操作。考虑到烟雾干扰，包括了一个热成像视频监视系统，以从复杂的火灾条件中提取信息。同时，在地图定位导航系统的帮助下，采用了同时定位和地图绘制（SLAM）技术来构建地图。这可以在快速变化的火灾条件下提供实时地图，以引导消防人员到达火源或被困人员。根据我们的实验，发现所有测试的系统组件在火灾条件下均能正常工作，而视频监控系统在浓烟和高温环境下仍能产生清晰的图像； SLAM具有很高的准确性，平均误差小于3.43％；定位精度误差为0.31 m；导航系统的最大误差为3.48％。开发的消防侦察机器人可以为提高消防救援效率，减少消防人员的伤亡提供实用的平台。

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