Remote controlled mobile inspection robot

• Autorzy: Filipek P. , Kamiński T.
• Języki publikacji: EN

Abstrakty

EN

Provision of well-being in rooms is associated with their good ventilation. Good ventilation is influenced by cleanliness of ventilation ducts. The article presents a drive-by-wire version of a mobile inspection robot for ventilation ducts. A handler, which is movable in three axes and ended with a grab, a supporting vertical wheel (to reduce wheel skid) as well as a colour camera, a distance sensor and two light sources (LED and halogen lamp) on a rotary platform have been placed on a circular chassis. Apart from performing the inspection function, the operator of the "Inspector 1" robot may remove bigger pieces of dirt and garbage from a ventilation shaft using the handler and the grab. The device is powered from a 12 V / 5 Ah battery. A robot controlled using a control panel allows accurate illumination of the internal walls of the duct and wireless transmission of a colour image to the operator's monitor. The rotary platform on which the camera with lighting is placed is also capable of tilting up and down. The robot's drive has been resolved in a way that makes it as manoeuvrable as possible. Two front drive wheels operate independently and two rear wheels are easy-running. The robot will also allow recording the following environmental parameters in the ventilation shaft: humidity, temperature, draught force and direction and the presence of gases. The entire robot's electronic system is based on battery-powered supply (12V/5Ah) which is sufficient for approx. two hours of continuous operation. The voltage of the battery is constantly monitored and should it drop.

Słowa kluczowe

EN

mobile inspection robot; ventilation duct; structure of the running system; mobile robot arm; supporting vertical pressure wheel; camera positioner; environmental parameter sensors

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2011
• Tom: Vol. 18, No. 2
• Strony: 129--135
• Opis fizyczny: Bibliogr. 2 poz., rys.

Twórcy

autor

Filipek P.

autor

Kamiński T.

• Institute of Motor Transport Centre of Transport Management and Telematics Jagiellońska 80, 03-301 Warsaw, Poland phone: + 48 22 8113231, fax: [phone],

Bibliografia

• [1] Bańczerowski, B., Cyranowski, W, Duda, K, Stachowski, R., Filipek, P, Inspection-cleaning robot for ventilation ducts, 2nd Lublin Congress of Student Research Groups - Tygiel 2010, edited by J. Caban and M. Szala, Lublin University of Technology, pp. 285–296, Lublin 2010.
• [2] Filipek, P., Kamiński, T., Structural solutions of driving system and sets remotely controlled vehicle to the inspection of ventilating pipes, Journal of KONES Powertrain and Transport, Vol. 16, No. 4, p. 75-82, 2009.