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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/18197

Title: Development of Rail-guided Smart Patrol System for Surveillance and Monitoring of Facilities Safety
Authors: Lee, Hosun
Kwon, Jeasung
Shin, Minjun
Lee, Sungon
Chong, Nak-Young
Yang, Woosung
Issue Date: 2023-02-15
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2023 IEEE/SICE International Symposium on System Integration (SII)
DOI: 10.1109/SII55687.2023.10039462
Abstract: This paper describes the design and implementation of a rail-guided mobile robot-based monitoring system that can be used for autonomous monitoring of the facilities and rapid response to the on-site event. It is necessary to improve the safety and efficiency of the monitoring system when applying a robot system, and the implementation of intelligent functions can increase the level of automation to facilitate operation. In order to increase driving safety and lower the level of control, a two-track rail structure of circular pipes, U-shaped wheels, and a differential gear are used to develop a driving system that enables rotational path driving even with forward and backward movement. For the proper monitoring of facility conditions, high-temperature occurrence, and environmental quality, cameras (RGB and thermal imaging) and air quality sensors are chosen by considering the range of the monitoring site and target subjects. Data communication between the robot and the remote control room(a remote server) is built up to patrol in a planned schedule and deliver acquired video streams and environmental sensor data. Emergency alarms about high temperatures and the abnormality of air conditions can be generated by processing the transferred data. Additionally, deep network-based detection services on video data are implemented on the server for the detection of emergency situations; fall downs. Integrating the developed driving system, image/sensor data communication, and alarm function through data analysis in an operating framework reduces management work through automatic patrol and enables efficient on-site response when an alarm occurs. The validity of the proposed system is demonstrated by building and operating the system in the existing multi-use facility. The automatic patrol function and the manual operation function are performed through a test operation similar to the facility monitoring task of a human operator. The operator can control the robot to move to a desired position along the path, and by manipulating the camera module, the operator can check the on-site situation via a video stream The environmental sensor data is also transferred to the server and stored during operation, and the robot normally completes the automatic patrol task and returns to the charging station. In a simulation experiment to verify the detection alarm service, the test shows that a human falling down is detected even in the field.
Rights: This is the author's version of the work. Copyright (C) 2023 IEEE. 2023 IEEE/SICE International Symposium on System Integration (SII). DOI:10.1109/SII55687.2023.10039462. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/18197
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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