화재감시 이동로봇의 설계 및 구현에 관한 연구

This study has designed and implemented the fire surveillance moibile robot KFR1(Busan Kyungsang College Fire Robot #1 called asKFR1) which can detect a fire at the beginning and transmit the fire-related information accurately to the fire surveillance monitoringsystem, and then carried out the performance test at a lecture room under the assumption of fire event. Through this test, we found outthat when KFR1 moves and detects the obstacle on its traveling path, KFR1 prevents colliding with it by using the ultrasonic senorand that KFR1 detects the fire by using a flame detector in the event of the fire. Also, KFR1 can measure a variety of data by usinginstalled flame detector, temperature sensor, global positionning sensor and RF type CCD camera, and transmit it through Bluetooth tothe fire surveillance monitoring system. Therefore, KFR1 has been proved to solve the blind spot of valid detection on the flamedetector and to provide the basic data in investigating a fire through the collected fire surveillance video. Furthermore, KFR1 has dem-onstrated through the test that it is easier to repair and maintain than the existing flame detector installed in the wall.