Mobile Robots Based Intelligent Fire Detection and Escaping System

Transcription

1 98 JOURNAL OF COMPUTERS, VOL. 8, NO. 5, MAY 03 Moble Robots Based Itellget Fre Detecto ad Escapg System Su Hsu-Sha Natoal Yul Uversty of Scece & Techology/Graduate school Egeerg Scece ad techology, Yul Cha Sog-Hag WuFeg Uversty/Departmet of Fre Scece, Cha-Y, Tawa Lou Jhe-We ad Su Kuo-La Natoal Yul Uversty of Scece & Techology/Graduate school of Electrcal Egeerg, Yul, Tawa Abstract The paper researches the fre sources ad programs escapg path usg moble robots for tellget buldg, ad presets the movemet scearo the expermetal platform. The moble robot has the shape of cylder ad ts dameter, heght ad weght s 0cm, 8cm ad.5kg. The cotroller of the moble robot s MCS-5 mcrochp, ad acqures the detecto sgals from flame sesor ad reflectg IR sesors, ad receves the cotrol commad from the supervsed compute va wreless RF terface. The moble robot searches fre sources ad obstacles movg the expermetal platform autoomously, ad trasmts the locatos of the detected fre sources ad obstacles to the supervsed computer, too. The supervsed computer uses Gauss probablty dstrbuto fucto to compute the rsk values aroud the fre locato, ad uses Bayesa estmato algorthm to calculate the total rsk values of each locato of the expermetal platform. We proposed A* searchg algorthm to program escapg paths accordg to the rsk dstrbuto of each cross pot the platform. We develop user terface o the supervsed computer for the fre detecto ad escapg system. The supervsed computer dsplays the escapg path o the user terface, ad gudes peoples movg to the safety area usg moble robots. I the expermetal results, we use two moble robots searchg the fre sources autoomously ad locatg the postos of the fre sources. The supervsed computer programs the escapg paths usg Bayesa estmato algorthm ad A* searchg algorthm o the user terface. The moble robot gudes people movg to the safety area accordg to the programmed escapg path. Idex Terms tellget buldg system, wreless RF terface, Gauss probablty dstrbuto fucto, A* searchg algorthm, Bayesa estmato algorthm I. INTRODUCTION Fre evet s oe of the great scourges o the huma lfe. Thousads of people are jured each year by accdetal fre evet explosos. There are approxmately may thousad mllo dollars bured each year. Fre Mauscrpt receved Jauary, 0; revsed Jue, 0; accepted July, 0. Correspodg author: Su Kuo-La, sukl@yurech.edu.tw evet s may rsks to huma lfe ad property of socetes whch must be maaged. How to develop a safety processg to search fre sources ad gude people leavg the dagerous evromet s a mportat ssue. I the past lteratures of the fre detecto, may experts research moble robots. Wag [] developed the multsesor fre detecto algorthm usg eural etwork. Oe temperature ad oe smoke desty sesory sgal are fused for shp fre alarm system. Healey [] preseted a real-tme fre detecto system usg color vdeo put. The spectral, spatal, ad temporal propertes of fre were used to derve the fre-detecto algorthm. Neubauer [3] appled geetc algorthms to a automatc fre detecto system. The o-le detfcato of stochastc sgal models for measured fre sgals was preseted. Ruser ad Magor [4] descrbed the fre detecto wth a combato of ultrasoc ad mcrowave Doppler sesor. Luo ad Su [5] used oe smoke sesor, oe temperature sesor ad oe flame sesor to detect fre evet usg adaptve fuso method. Cheog [6] descrbed a ZgBeebased sesor etwork ode for the ultravolet (UV) detecto of flame. Zou [7] used mult-chael mage ose flter to detect ose pxels the mage by utlzg PCCN s specfc feature of the fre source. Tjokorda [8] focused o vdeo processg method temporal aalyss phase order to buld a more resposve fre alarm system. Ha [9] proposed block-based fre detecto algorthm cosst s of three basc steps, ad dstgush the fre rego. Lu [0] used three dfferet sesors to collect temperature, smoke cocetrato ad CO cocetrato feature, ad decdes the fre usg the decso tree. The paper cosders the problem of the fre sources, ad tegrates the multple robot system wth passve detecto modules workg together. Moble robots are actve detecto modules to be more merts tha passve detecto modules, ad are appled fre detecto ad escapg system. The multple moble robot system has more advatages tha oe sgle robot system []. Frst, the multple moble robots have the potetal to fsh some tasks faster tha a sgle robot []. Furthermore, usg several robots troduces redudacy. Multple 03 ACADEMY PUBLISHER do:0.4304/jcp

2 JOURNAL OF COMPUTERS, VOL. 8, NO. 5, MAY moble robots therefore ca be expected to be more fault tolerat tha oly oe robot. Aother advatage of multple moble robots s due to mergg of overlappg formato, whch ca help compesato for sesor ucertaty [3]. u [4] desged ad mplemeted the moble robot remote fre alarm system usg flame detecto module. These papers focused o the fre detecto usg mage recogto system or fre sesors, ad were weakess of the escapg moto plag for fre rego. The paper ot oly detects fre sources, but also programs the escapg moto path usg moble robots. II. SYSTEM ARCHITECTURE The system archtecture of the fre detecto ad escapg system s show Fg., ad cotas a supervsed computer, a expermetal platform, some wreless RF modules, ad some moble robots. The supervsed computer receves detecto sgal (locato, oretato ad ID code) of each moble robot va wreless RF terface. Moble robots search fre sources usg flame sesors movg alog the expermetal platform autoomously, ad decde the posto of the fre source the expermetal platform. Moble robots search the horzotal ad vertcal drecto of the fre source. The the supervsed computer defes the locato of the fre source. The moble robot has the shape of cylder, ad s equpped wth a mcrochp (MCS-5) as the ma cotroller. Two DC servomotors trasmt the pulse sgals to the cotroller, ad program oretato ad dsplacemet accordg to pulse umbers. The reflectve IR sesors detect obstacles ad cross pots of the expermetal platform, ad decde the locato of the moble robot. The flame sesor s R686 to detect fre sources o the frot sde of the moble robot, ad detecto rage s about 6m. The moble robot ca cotrol two DC servomotors ad voce module through I/O ps, ad commucate wth the supervsed computer usg wreless RF module. The core of the RF module s mcroprocessor (AT89C05), ad commucates wth the cotroller va wre seres terface (RS3). expermetal platform, ad detects obstacles usg the three reflectve IR sesors. The power of the moble robot s three L batteres to be coected wth parallel arragemet. The user terface of the fre detecto ad escapg system s Fg. 3. The rght sde of the user terface cotas searchg mode, commucato port settg ad startg, commucato speed settg, trasmsso ad receved data (startg ad clearg). The bottom of the user terface calculates the pulse umbers of the two moble robots (A ad B). The locato of ext door s settled at (,), ad peoples are arraged by users. The locato of fre source s searched by moble robots. The locato of the fre source s detected by oe moble robot. The user terface must kow the other drecto of the fre source from moble robots, ad plots the locato of the fre source o the user terface. The supervsed computer dsplays the rsk probablty dstrbuto usg Gauss fucto for the fre source. Fgure. The block dagram of the moble robot Fgure 3. The user terface Fgure. The system archtecture ad the moble robot The block dagram of the moble robot s show Fg.. The three reflectve IR sesors are embedded o the rght sde, left sde ad frot sde of the moble robot. I geeral, the moble robot moves o the asle of the III. ALGORITHM ANALSIS We compute the rsk values of each cross pot usg Bayesa estmato algorthm for each fre source the expermetal platform. Bayesa estmato provdes formalsm for multsesor fuso that allows sesory formato to be combed accordg to the rules of probablty theory. The Gauss dstrbuto fucto of each fre source s defed as: 03 ACADEMY PUBLISHER

3 300 JOURNAL OF COMPUTERS, VOL. 8, NO. 5, MAY 03 ( x) x μ σ p = e () σ π The parameter x s the dstace far from the fre source P Y for each cross pot. The codtoal probablty ( ) takes a value betwee 0 ad. Bayesa estmato s based o the well-kow Bayes rule: Where P ( Y ) Y) Y) P ( Y ) = () ), the posteror probablty, represet the belef accorded to the hypothess Y, gve the formato represet by. The redudat formato from a fleet of fre sources to be fused usg the lkelhood rato formulato of Bayes rule. L ( ( ( P = (3) P We ca defed the pror odds o Y as = (4) Y ) Ad assume that the operato of each sesor s depedet the tellget buldg system. The posteror odds o Y gve the formato,,..., from the flame sesors are gve by the product Y,,..., ) = (5) = The posteror odds are related to the posteror probablty by Y,,..., Y,,..., ) ) = (6) +,,..., ) We make a example to calculate the rsk value of each cross pot for fre evety. The fre evet s happe by two sources that are defed,,. We compute the rsk probablty values of the cross pot from two fre sources to be P ( = 0. 8 ad P ( = 0.. We ca calculate the posteror odds ad posteror probablty of the pot, O ( Y, ) = = (7) P ( Y, ) = = 0. 5 (8) + The posteror probablty value s 0.5 for the cross pot. The we ca compute posteror probablty values of all cross pots the expermetal platform. I the moto plag, we use A* searchg algorthm to program the safety escapg path, ad coect the low probablty values from the people to the ext door. The formula of A * searchg algorthm s followg: ( ) g( ) h( ) f = + (9) The core part of a tellget searchg algorthm s the defto of a proper heurstc fucto f ( ). g ( ) s the exact cost at sample tme from start pot to the target pot. The cost s dsplacemet to be computed by ecoder of the DC servomotor. h ( ) s a estmate fucto of the mmum cost from the start locato to the target locato. A good h ( ) fucto s the most mportat factor to obta a good searchg result. I ths study, s reschedules as to geerate a approxmate mmum cost schedule for the ext pot. The Eq. (9) ca be rewrtte as follows: ( ) g( ) + h( ) f = (0) IV. EPERIMENTAL RESULTS I the fre source searchg, we use two moble robots (A ad B) to detect fre source the expermetal platform to be show the left sde of the Fg. 4 (a). We use cadle to preset fre source. The two moble robots use the symbols A ad B to be show the rght sde of the Fg. 4 (a). We use the symbol C to defe the people. The moble robot B moves the expermetal platform, ad detects the obstacle usg the reflectg IR sesors. The the robot trasmts the locatos of the obstacle to the supervsed computer. The expermetal scearo s show Fg. 4 (b). I the Fg. 4 (c), the moble robot A detects the other obstacle, ad trasmts the locato to the supervsed computer, too. The moble robot A searches the fre source o the horzotal drecto smultaeously. The moble robots move the expermetal platform, ad search the fre source o the horzotal drecto ad vertcal drecto, ad trasmt the locato of fre source to the supervsed computer. The fre source s detected by moble robot to be recoded horzotal ad vertcal drecto o the user terface. The user terface appears the fre symbol, ad dsplays the rsk probablty values aroud the fre source to be show the ceter of the Fg. 4 (d). The fre source s detected by moble robots A ad B, ad dsplays the fre symbol the user terface. The supervsed computer calculates the posteror probablty values of each cross pot the expermetal platform. The the supervsed computer ca programs the escapg path usg A* searchg algorthm, ad coects all low rsk probablty values to be show Fg. 5 (a). The locato of the moble robot B s approach to the people, ad gudes the people (robot C) movg to the ext door (,). The the two moble robots (A ad B) program the escapg paths to be show Fg. 5 (b). We ca see the moble robot A programmg the escapg path from (,4) to (,). The robot A programs the other escapg path from (4,7) to the ext door (,). The people follow the moble robot B movg to the ext door accordg to the escapg path far from the fre source. The moble robot B moves to the posto (4,4) to detect the ew obstacle, ad trasmts the locato of the 03 ACADEMY PUBLISHER

4 JOURNAL OF COMPUTERS, VOL. 8, NO. 5, MAY detected obstacle to the supervsed computer. The robot programs the ew escapg path, ad gudes the people leavg the fre feld. The expermetal scearo s show Fg. 5 (c). Fally, the two moble robots ad the people leave the fre feld. The user terface dsplays the escapg paths of the two moble robots, ad dsplays the posto of the fre source ad the detected obstacles. The expermetal results are show Fg. 5 (d). (c) (a) (b) (c) (d) Fgure 6. Program the escapg path V. CONCLUSION We have developed the fre source searchg ad escapg path programmg system to gude peoples leavg the dagerous area. The system cotas a supervsed computer, some wreless RF modules, a expermetal platform ad some moble robots. Moble robots search fre sources movg the expermetal platform autoomously, ad trasmt the posto of the fre source to the supervsed computer va wreless RF terface. The user terface calculates the rsk probablty values of each cross pot usg Bayesa estmato algorthm, ad program the more safety escapg path usg A* searchg algorthm. The supervsed computer selects the moble robot that s more approach to the peoples. The moble robot gudes people leavg the fre feld usg the programmed escapg path. ACKNOWLEDGMENT Ths work was supported by the project Itellget power maagemet ad automated chargg system, uder Natoal Scece Coucl of Tawa, (NSC 00- -E-4-08). (d) Fgure 4. Fre source searchg (b) (a) REFERENCES [] W. hua,. Jame ad B. Mzhog, A shp fre alarm system based o fuzzy eural etwork, The 3rd World Cogress o Itellget Cotrol ad Automato, Vol. 3, pp , 000. [] G. Healey, D. Slater, T. L, B. Drda ad A. D. Goedeke, A system for real-tme fre detecto, IEEE Computer Socety Coferece o Computer Vso ad Patter Recogto, pp , 993. [3] A. Neubauer, Geetc algorthms automatc fre detecto techology, The Secod Iteratoal Coferece o Geetc Algorthms Egeerg Systems: Iovatos ad Applcatos, pp , 997. [4] H. Ruser ad V. Magor, Fre detecto wth a combed ultrasoc-mcrowave Doppler sesor, The IEEE Ultrasocs Symposum, Vol., pp , 998. [5] R. C. Luo, K. L. Su ad K. H. Tsa, Itellget Securty Robot Fre Detecto System Usg Adaptve Sesory Fuso Method, The IEEE Iteratoal Coferece o Idustral Electrocs Socety, pp , ACADEMY PUBLISHER

5 30 JOURNAL OF COMPUTERS, VOL. 8, NO. 5, MAY 03 [6] P. Cgeog, K. F. Chag, Y. H. La, I. K. Sou ad K. W. Tam, A ZgBee-based wreless sesor etwork ode for ultravolet detecto of flame, IEEE Trasactos o Idustral Electrocs, Vol. 58, No., pp , 0. [7] B. Zou, H. Zhou, H. Che ad C. Sh, Mult-chael mage ose flter based o PCCN, Joural of Computers, Vol. 7, No., pp , 0. [8] A. B. W. Tjokorda ad S. S. Ipg, Fre alarm system based-o vdeo processg, Iteratoal Coferece o Electrcal Egeerg ad Iformato, pp.j-4, 0. [9] C. Ha, U. Hwag, G. Jeo, J. Cho ad J. Jeog, Vsobased fre detecto algorthm usg optcal flow, Iteratoal Coferece o Complex, Itellget, ad Software Itesve System, pp , 0. [0] W. Lu, F. Wag,. Hu ad Y. Yag, Detecto of fre based o mult-sesor fuso, Iteratoal Coferece o Computer Scece ad Network Techology, pp.3-7, 0. [] Y. Cao, Cooperatve moble robotcs: atecedets ad drectos, Autoomous Robots, Vol.4, No., pp.7-7, 997. [] D. Guzzo, May Robots make short work, AI Mag., Vol. 8, No., pp 55-64, 006. [3] W. Burgard ad M. Moors, Coordated Mult-Robot Explorato, IEEE Trasacto o Robotcs, Vol., No. 3, pp , 005. [4] H. Hu, H. Che, C. Ca,. Guo, J. Fag ad Z. Su, Desg ad mplemet of moble robot remote fre alarm system, Iteratoal Coferece o Itellget Scece ad Iformato Egeerg, pp.3-36,0. to musc. I thk readg could elarge my Kowledge. I have a great advsor workg Natoal Yul Uversty of Scece & Techology, ad he provdes a good learg evromet ad resources. Kuo La Su receved the B. S. ad M. S. degrees automatc cotrol egeerg from Feg-Cha Uversty, Seatwe, Tawa, R. O. C., ad receved the PH. D. degree electrcal egeerg at Natoal Chug-Cheg Uversty, Cha- Y,Tawa, R. O. C., He s curretly a teacher the Departmet of Electrcal Egeerg, Natoal Yul Uversty of Scece & Techology. Hs research terests clude multsesor fuso ad robotcs. Su Hsu-Sha My ame s Su Hsu- Sha. I study Graduate school Egeerg Scece ad techology, Natoal Yul Uversty of Scece & Techology, Doulou, Yul 640, Tawa, ad receved M. S. degrees I-SHOU Uversty. My research terests clude securty systems ad robotcs. I lke to read phlosophy ad Buddhsm. Cha Sog-Hag receved the B. Sc. Degree Electrcal Egeerg from the Natoal Cheg Kug Uversty, Taa, Tawa, R.O.C. 98, ad receved the Ph.D. electrcal egeerg at Natoal Yul Uversty of Scece & Techology, Tawa, R.O.C. Sce 98, he has bee at Wu-Feg uversty (Tawa), where he s teachg the subjects of Istrumet Electroc, Electrc Crcuts, Sesor ad Trasformer. Curretly, he s a assocate professor of fre scece at Wu-Feg Uversty. Hs curret research terests are the areas of Cotrol System ad Module-Based Itellget Moble Robot Applcatos. My ame s Lou Jhe-We. I study Graduate school Electrcal Egeerg, Natoal Yul Uversty of Scece & Techology Doulou, Yul 640,Tawa, ad I Bachelor studet at LUNGHWA Uversty of Scece & Techology. My research terests clude MCU software desg ad applcato ad robotcs. I my spare tme, I lke outg ad lsteg 03 ACADEMY PUBLISHER