Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Development of an Integrated Sensor Module for Terrain Recognition at Disaster Sites

재난재해 현장의 지형인지를 위한 통합 센서 모듈 개발

  • Seo, Myoung Kook (Smart Engineering Lab. Korea Construction Equipment Technology Institute) ;
  • Yoon, Bok Joong (Smart Engineering Lab. Korea Construction Equipment Technology Institute) ;
  • Shin, Hee Young (Smart Engineering Lab. Korea Construction Equipment Technology Institute) ;
  • Lee, Kyong Jun (Smart Engineering Lab. Korea Construction Equipment Technology Institute)
  • Received : 2020.06.15
  • Accepted : 2020.07.12
  • Published : 2020.09.01
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Abstract

A special purpose machine with two manipulators and quadruped crawler system is being developed to work at disaster sites where it is intended to quickly respond in the initial stages after the event. In this study, a terrain recognition module is developed so that the above special purpose machine can quickly obtain ground information to help choose its path while recognizing objects in its way, this is intended to enhance the remote driver's limited situational awareness. Terrain recognition modules were developed for two tasks (real-time path guidance, precision terrain measurements). The real-time path guidance analyzes terrain and obstacles while moving, while the precision terrain measurement feature provides more accurate terrain information by precisely measuring the ground in front of the vehicle while stationary. In this study, an air-cooled sensor protection module was developed so that the terrain recognition module can continue its vital tasks in the event of exposure to foreign substances, including scattered dust, mist and rainfall, as well as high temperatures.

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References

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