産業プラント点検・監視のためのスマート移動ロボットシステムの評価
Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision
光学・嗅覚・音響センサを搭載した自律移動ロボットを化学プラントの排水処理場で評価し、物体検出・3D位置推定・経路計画・メタン漏れ検知・音響診断の性能を検証した。
著者: Georg K. J. Fischer, Max Bergau, D. Adriana Gómez-Rosal, Andreas Wachaja, Johannes Gräter, Matthias Odenweller, Uwe Piechottka, Fabian Hoeflinger, Nikhil Gosala, Niklas Wetzel, Daniel Büscher, Abhinav Valada, Wolfram Burgard
分類: cs.RO
原文アブストラクト
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic system designed for comprehensive plant inspection. This innovative system comprises a robotic platform equipped with a diverse array of sensors integrated to facilitate the detection of various process and infrastructure parameters. These sensors encompass optical (LiDAR, Stereo, UV/IR/RGB cameras), olfactory (electronic nose), and acoustic (microphone array) capabilities, enabling the identification of factors such as methane leaks, flow rates, and infrastructural anomalies. The proposed system underwent individual evaluation at a wastewater treatment site within a chemical plant, providing a practical and challenging environment for testing. The evaluation process encompassed key aspects such as object detection, 3D localization, and path planning. Furthermore, specific evaluations were conducted for optical methane leak detection and localization, as well as acoustic assessments focusing on pump equipment and gas leak localization.
