The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Multi-Sensor Module of Snake Robot for Searching Survivors in Narrow Space

협소 공간 생존자 탐색을 위한 뱀형 로봇의 다중 센서 모듈

  • Kim, Sungjae (Smart Robot Convergence and Application Engineering, Pukyong National University) ;
  • Shin, Dong-Gwan (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO)) ;
  • Pyo, Juhyun (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO)) ;
  • Shin, Juseong (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO)) ;
  • Jin, Maolin (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO)) ;
  • Suh, Jinho (Dept. of Mechanical System Engineering, Pukyong National University)
  • Received : 2021.05.27
  • Accepted : 2021.10.16
  • Published : 2021.11.30
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Abstract

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO2 gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.

Keywords

Acknowledgement

This material is based upon work supported by the Ministry of Trade, Industry & Enegry (MOTIE, Korea) under Industrial Technology Innovation Program No. 20003739 and this research was supported by a grant(20010079) of Disaster-Safety Industry Promotion Program Funded by Minstry of Interior and Safety (MOIS, Korea)

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