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首页> 外文期刊>Journal of Robotic Systems >Modular field robot deployment for inspection of dilapidated buildings
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Modular field robot deployment for inspection of dilapidated buildings

机译：模块化现场机器人部署，用于检查破旧建筑物的检查

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Robotic inspection often relies on building custom platforms for each new deployment; this is a luxury that urban search and rescue (USAR) robots do not have when time is of critical importance. A significant factor for robots deployed in disaster areas is the varying size of voids and access ways in their path. These situations require platforms that can quickly reconfigure on location. With these challenges in mind, we present the NeWheel system: An in-field reconfigurable robotic platform that allows mobility changes before, and during, deployment. The NeWheel platform also has the advantage of being small enough to be person-deployable and to travel as checked luggage on a commercial flight. This field report presents the results and learnings from three field trips on Peel Island located off the coast of Brisbane, Australia. These field trips featured the deployment of the NeWheel system in multiple configurations to inspect and map inside historic dilapidated buildings. It demonstrates the potential of the NeWheel in buildings cluttered with debris and with unstable flooring whether they are historically important or in USAR contexts.
机译：机器人检查通常依赖于每个新部署的自定义平台;这是一种奢侈，即城市搜索和救援（USAR）机器人在时间是至关重要的时期。在灾区部署的机器人的一个重要因素是在其路径中的空隙和访问方式的变化尺寸。这些情况需要在位置快速重新配置的平台。考虑到这些挑战，我们展示了NewHeel系统：一个现场可重构的机器人平台，允许在部署之前和部署期间的移动性发生变化。纽赫勒平台还具有足够小的优势，可以在商业航班上作为检查行李的人员部署和旅行。该实地报告提出了位于澳大利亚布里斯班海岸的皮尔岛的三个外地旅行结果和学习。这些实地考察以多种配置为特征在于，在多种配置中部署，以检查和地图在历史的破旧建筑内。它展示了纽钢的潜力在建筑物中杂乱无章，以及不稳定的地板，无论是历史上重要还是在USAR环境中。

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