Payload 1.0 – Handle Style
The initial iteration of our project, Payload 1.0, features a handheld, handle-style design. It is a modular unit that allows for simple wiring and assembles all the necessary sensors, including a Boson camera. For thermal management, the system utilizes louver and honeycomb heat dissipation structures alongside integrated fans. This version establishes a wireless connection between the command station and the payload. Internally, the payload is powered by a battery and contains a radio, an Orin and camera capture card, and a radar capture card. The sensor suite includes ZEDX, thermal cameras, and radar.
Payload V1.2 – Handle Style
Payload V1.2 continues with the handle-style design but introduces several key enhancements for durability and performance during fast motion. We upgraded the camera system by changing to a Boson+ equipped with an environmental enclosure. Additionally, this version features integration with a printed circuit board (PCB) that includes both power and debugging capabilities. To better withstand harsh environments, the design incorporates heat-resistant materials and specialized damping.
Payload V1.3 – Handle Style (SVD)
The V1.3 handle-style payload, also noted as the SVD version, focuses heavily on structural material improvements. Specifically, we switched to using ASA as a heat-resistant material and integrated TPU material to enhance the system’s damping characteristics.
Payload V2.0 – Backpack Style (Fall)
Marking a significant design shift, the entire V2 series transitions to a backpack-style payload that mounts to a standard SCBA backpack frame. This version separates the compute core and battery pack from the sensor head. The gimbled multi-sensor head now houses RGB, thermal, and LiDAR sensors, alongside an added radar system. Electronics were upgraded through integration with a V2 PCB, which includes a refined core PCB on the backpack mount and a second debug and power PCB located on the sensor mount. These changes were implemented to increase overall durability and accommodate aggressive motion.
Payload V2.1 – Backpack Style (FVD)
Payload V2.1, the FVD backpack-style version, is heavily optimized for rapid deployment and aggressive motion. It features a deployable mount point that connects directly to a mountable feature on the firefighter’s harness via an interface plate and metal interlocking points. The securement is integrated directly into the harness buckle and uses a quick-deploy lever mechanism to improve the overall speed of mounting. Both the V2.1 core and the sensor head utilize this quick-mount system.
Payloads and Command Station
We have outlined two distinct hardware configurations for our payloads. FireSense Payload A is driven by an NVIDIA Jetson AGX Orin and includes two Boson+ cameras, a ZEDX camera used for its IMU and benchmarking, and a ZEDX capture card. It also features a TI radar with a TI capture board, a WiFi Halow STA bridge for connectivity, and a dedicated PCB board.
FireSense Payload B similarly uses the NVIDIA Jetson AGX Orin, a TI radar with a capture board, a WiFi Halow STA bridge, and a PCB board. However, instead of the ZEDX, it utilizes a MicroStrain IMU and plans to incorporate two Boson+ cameras acquired in the fall from Airlab.
Finally, the FireSense Command Station is equipped with a WiFi Halow AP router to seamlessly manage communications with the deployed payloads.