DEVELOPMENT OF MULTI-SENSOR MODULE MOUNTED MOBILE ROBOT FOR DISASTER FIELD INVESTIGATION

摘要

Abstract. Disasters are not easy to predict because they occur suddenly, and the scale of disasters is increasing compared to the past. Since a new type of disaster field always appears, when a disaster occurs, responders who are put into the site recognize the same risk as secondary damage and are put into the field. In this regard, the robot performs missions such as search and rescue in the initial response process at the disaster field. It is a technology with high potential to reduce damage to people and property. Most of the robots are equipped with site accessibility and monitoring through cameras and remote control, but considering the specificity of the disaster field, it is not easy to fully monitor the site with a camera sensor as the possibility of poor visibility is very high. LiDAR uses a laser to recognize the distance to a nearby object in a relatively wide range and acquires three-dimensional information, so its accuracy and precision are higher than other sensors.In this study, one multi-sensor module was manufactured by combining LiDAR and IMU sensor with a computing board for real-time monitoring so that it could be used in the field of robots. In addition, we studied how to stably mount this multi-sensor module to a robot so that it can maintain optimal accuracy at disaster field, and it is intended to be utilized as a prior research for field operation of robots equipped with sensors in the future.