産業プラント監視のためのスマートロボットシステム
A Smart Robotic System for Industrial Plant Supervision
自律移動ロボットに各種センサと知能データ処理を統合し、メタン漏洩検知や流量推定、ガス異常・油膜・音源の認識、3D環境マッピング、動的障害物回避を実現。下水処理施設での実証実験で有効性を示した。
著者: D. Adriana Gómez-Rosal, Max Bergau, Georg K. J. Fischer, Andreas Wachaja, Johannes Gräter, Matthias Odenweller, Uwe Piechottka, Fabian Hoeflinger, Nikhil Gosala, Niklas Wetzel, Daniel Büscher, Abhinav Valada, Wolfram Burgard
分類: cs.RO, cs.AI
原文アブストラクト
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a system consisting of an autonomously navigating robot integrated with various sensors and intelligent data processing. It is able to detect methane leaks and estimate its flow rate, detect more general gas anomalies, recognize oil films, localize sound sources and detect failure cases, map the environment in 3D, and navigate autonomously, employing recognition and avoidance of dynamic obstacles. We evaluate our system at a wastewater facility in full working conditions. Our results demonstrate that the system is able to robustly navigate the plant and provide useful information about critical operating conditions.
