The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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PID Controled UAV Monitoring System for Fire-Event Detection

PID 제어 UAV를 이용한 발화 감지 시스템의 구현

  • 최정욱 (남서울대학교 전자공학과) ;
  • 김보성 (남서울대학교 전자공학과) ;
  • 유제민 (남서울대학교 전자공학과) ;
  • 최지훈 (남서울대학교 전자공학과) ;
  • 이승대 (남서울대학교 전자공학과)
  • Received : 2019.10.29
  • Accepted : 2020.02.15
  • Published : 2020.02.29
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Abstract

If a dangerous situation arises in a place where out of reach from the human, UAVs can be used to determine the size and location of the situation to reduce the further damage. With this in mind, this paper sets the minimum value of the roll, pitch, and yaw using beta flight to detect the UAV's smooth hovering, integration, and derivative (PID) values to ensure that the UAV stays horizontal, minimizing errors for safe hovering, and the camera uses Open CV to install the Raspberry Pi program and then HSV (color, saturation, Brightness) using the color palette, the filter is black and white except for the red color, which is the closest to the fire we want, so that the UAV detects the image in the air in real time. Finally, it was confirmed that hovering was possible at a height of 0.5 to 5m, and red color recognition was possible at a distance of 5cm and at a distance of 5m.

사람의 손길이 닿지 않는 곳에 위험 상황이 발생하였다면 무인 비행체를 활용하여 그 상황의 규모와 위치를 파악하여 더 큰 피해를 줄일 수 있다. 이러한 점에서 착안하여 본 논문에서는 무인 비헹체가 원활한 호버링을 수행할 수 있도록 Beta Flight를 사용하여 Roll, Pitch, Yaw의 최솟값과 최댓값을 설정한 후 센서의 작동을 감지하여 기체의 기울기의 변화에 따라 센서의 PID 값을 설정하여 수평이 유지될 수 있도록 오차를 최소화하여 안전한 호버링을 할 수 있도록 하였다. 또한, 카메라는 Open CV를 활용하여 라즈베리파이 프로그램을 설치한 후 HSV 색상표를 활용하여 화원과 가장 가까운 색인 붉은색을 제외한 나머지 부분을 흑백 처리하는 필터링을 씌워 공중에서 감지한 영상을 실시간으로 수신할 수 있도록 하였다. 최종적으로 0.5~5m 높이에서 호버링이 가능하였으며 5m 높이에서 반지름이 5cm 인 붉은색 원을 인식할 수 있음을 확인하였다.

Keywords

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