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조현습(Hyunseup Jo),서석현(Sukhyun Seo) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
As of 2020, there were about 40,000 fires in Korea, resulting in the loss of over 2,000 people and approximately 600 billion won in property damage. In particular, in industrial facilities such as factories, it is easy to spread as a large-scale fire, and the damage is enormous. Therefore, in the event of a fire, it is very important to suppress the initial fire so as not to cause a bigger accident. However, when a fire breaks out, people inside the building start to get confused, which can cause the fire to spread and cause property damage and personal injury. Therefore, for the initial detection and suppression of fire on behalf of humans, autonomous driving to the point of fire and the ability to fire a throwing fire extinguisher at the recognized fire point are required. The robot manufactured for this purpose creates a map of the driving area in advance using Hector SLAM, an open source based on 2D lidar for indoor location recognition, and estimates the current location through sensing data. In addition, a fire detector capable of communication was produced in order to recognize fire and register the data in the server in real time. The robot subscribes to the fire data and finally sets the waypoint of the point where the fire detector is installed as the destination, and when it autonomously moves to the point, it recognizes the fire and launches a fire extinguisher.