Effective vital sign sensing algorithm and system for autonomous survivor detection in rough-terrain autonomous rescue robots

摘要

The rescue robot becomes necessary for searching the survivors in the disaster area. Autonomous rescue robot is developed to increase the searching efficiency while the rescue robot's Tele-Operation is limited. The victim detecting system normally spots the victim with heat sensors. Thermophile array sensor is generally employed to read temperature in the fan-shape fashion. The statically equipped sensor on robot may not be enough for searching the victim in the rough terrain area. The panning sensor is developed to increase the scanning rate. The developed innovation of adaptive sensor module to vary its configuration is described in this paper. The victim searching and approaching also defined. The analyzing of the latest sensor module is investigated in the issue of panning speed, robot movement speed and the different phase of sensor angle. The combination of parameter variation is also investigated. The preliminary results show that the increasing of panning speed, and slowing down the robot movement increase the rate of scanning whereas the different phase in panning sensor provide the missing the area from the only one sensor module. The combination of frequency and phase increase the number of detection.