Firefighter Drone Hardware Configuration and Vision-Based Detection & Control

Abstract

MBZIRC 2020 Challenge 3 is a competition in which a large amount of water is poured into a pipe about 10 cm in diameter on the outer wall of a building. Water should be sprayed using drones and accurately sprayed on disturbance such as wind and smoke. Between buildings, electromagnetic interference or reflection from buildings is so severe that accurate GPS information is not available. Control of Vision based was used to solve this problem. To extinguish fire, we attached a water tank and a water pump to the drone. These components are controlled by STM32 Arduino, and are made to communicate with Mission Computer through serial communication. Deep-Learning Network, which is MobileNet-SSD, was used for Vision to find fire in facade. Finally Visual Servoing was able to accurately spray water into tiny pipes. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.