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Rescue RobotsBy Jörn Ahlers and Ronald Vranjes
Overwiev
Definition
The Idea
Dangerous Situations
Construction
Drive
Sensors
Tools
Controlling
Robots
Conclusion & Outlook
Questions
Definition
A rescue robot is a robot that has been designed for the purpose of aiding rescue workers.
http://en.wikipedia.org/wiki/Rescue_robot
The Idea
●Support Humans ●Better possibility finding accident victims●Reduce risk of injurities or mortality rate of rescue forces●Supply victims with medicine , food●Security
Dangerous Situations
Dangerous Situations
●Nuclear accidences●Fires: Burning buildings, tunnels, forests, ●Earthquakes : Collapsing buildings●Bombs●Hostage-taking●Security
Dangerous Situations Nuclear Accidents
●The Situation: ● Overheating fuel rods ● Exploding nuclear power reactor ● Leaking radioactive material
●Special requirements:
● Radioactive/Heat resistent material● Stable long-range communication● Protected electronics● Tools for decontamination
Dangerous Situations Fire
●The Situation: ● Burning buildings / structures● Collapsing buildings/parts● Large smoke formation
●Special requirements:
● Heat resistance● Special visual/sensoric system● Very stable body
Fire
Dangerous Situations Earthquake
●The Situation: ● Collapsing buildings/parts● Hindrance by obstacles● Burried humans
●Special requirements:
● Very stable construction● Visual/Sensoric System for
finding human beings
Earthquake
Dangerous Situations Bombs/Mines
●The Situation: ● Not exploded bombs/mines (burried)
●Special requirements:
● Tools for defusing/destructing bombs or mines
● Tools for detecting bombs/mines
Bombs/Mines
Dangerous Situations Hostage-Taking
●The Situation: ● Taken hostages ● Armed hostage takers
●Special requirements:
● System to communicate with hostage takers
● Weapon for neutralizeing● Stable and Bulletproof
Hostage-Taking
Dangerous Situations Security
●The Situation: ● Buildings which need to be secured
from intruders
●Special requirements:
● Recognition of targets● Aiming abilities● Warning-System to communicate
righten ”the target”
Security
Construction
Construction
●General requirements:
● Robust material● Reasonable weight● Sufficient power supply
●Special requirements:
● System for Recognition● Construction needs to be resistant to
fire (high temperatures), water● Drive and Tools need to be build for
special applications
Construction
●2-Legs● Rarely used for rescue robots● Reason: Balancing complicated
especially on rough underground or by passing obstacles
● Only slow movement possible
●Multiple - Legs● Sometimes used for rescue robots● Balancing much better ● Faster then two-legged robots
DriveConstruction Drive Legs
Construction
●Really fast on plain terrain●Balancing much easier with three or more wheels●Small obstacles can be passed otherwise a device for climbing is needed
Drive Wheels
Construction
●Really often used for rescue robots●Slower than wheels but faster than legs●Best for passing obstacles●Can move on steep ramps
Drive Caterpillar
Construction
●Robot need to recognize the environment:
● Obstacles:
Ramps / Stairs, Walls , other obstacles laying around
● Human beings:
Temperature, CO2, Movement, Sound
Sensors Recognizing the environment
Construction
●Walls● Laser● Ultrasonic● Infrared
●Ramps / Stairs● Camera● Tilt Sensor
Sensors Obstacles
Construction
●Things that can be measured:
Sensors Human beings
Construction
●Creating a Map of the environment
● Creating map while searching (marking location of victims)
● Getting map from operator or other robots
Sensors Mapping
Construction
●Gripper
● Grab victims● Moving parts away● Open doors
●Cutter
● Cutting victims out of cars● Cutting parts
Tools
Construction
●Disruptor
● Safely destroying Bombs / Mines
●Supply tube
● Supplying victims or rescuers with water, medicine
●Weapons
● Scare and shoot hostage takers or other criminals
Tools
Controlling
Controlling
●Most used form for controlling rescue robots
●Safest and fastest form of controlling
●Portable or stationary control unit possible
●At least one person per robot
Manual Control
Controlling
●Needs more development until usable in real situations● Many failures possible (Not recognizing victims or
obstacles, Sensors,getting stuck,security)
●Not as fast as manual controlling
●No person needed for controlling● Only supervising needed
Autonomous control
Controlling
●Robots linked together and sharing information● Flying Robot sharing map BILD
●More effective than not communicating robots● Division of work and specialization
Communicating robots
Robots
Robots
●Dimensions (H): 1,8m●Weight: 110 Kg ●Speed: up to 10mph●Cost: Research costs approx. 1.000.000 $●Task: Battlefield Extraction-Assist, carry heavy weights●Equipped with: 2 manipulator arms, 2 cameras, sensors for balancing●Control: manual●Energy: battery
Vecna BEAR
Robots
●Dimensions (HxWxL): 0,40m x 0,52m x 1,01m●Weight: 30 Kg ●Speed: Up to 5.8mph●Cost: 45000 $ per unit●Task: HAZMAT handling, search-and-surveillance, hostage rescue and other vital law enforcement tasks
●Equipped with: 4 cameras, 1 manipulator arm, intercom system,light, magnetometers; compass; accelerometers; inclinometer,
●Control: manual●Energy: 2 NiCad pack 2-12 h depending on mission profile
iRobot PackBot
Robots
●Dimensions (HxWxL): 1,37m x 0,73m x 1,32m●Weight: 220 Kg ●Speed: up to 3.5mph●Cost: 103.000 $ per unit●Task: HAZMAT handling, and other vital law enforcement tasks●Equipped with: 4 cameras, 1 manipulator arm (gripper), light, Multiple-mission tool/sensor mounts (e.g. disruptor)
●Control: manual●Energy: Cable or battery
Northrop Grumman Andros F6A
Robots
●Dimensions (H): 1 m●Weight: 118 Kg ●Speed: 10 km/h●Cost: rent per month 2.700 $●Task: helping human security guards in Tokyo, guarding, patroling ●Equipped with: ultrasonic sensor, laserscanner, bumper sensor, infrared sensor, speaker, 360° camera, smoke emitter
●Control: autonomous and manual●Energy: battery
Secom Robot X
Robots
●Dimensions (HxWxL):: 0,7m x 0,6m x 5,0m●Weight: 400 Kg ●Speed: up to 80km/h●Cost: per unit 400.000 $●Task: fire extinguishing in tunnels, traffic monitoring, pollution measuring
●Equipped with: infrared camera, multi-jet water gun●Control: manual and autonomous●Energy: battery lasts 2 h , diesel
Robogat S.r.l ROBOGAT
Robots
●Dimensions (diameter): 10cm●Weight: 0,22 Kg ●Speed: no own drive●Cost: no info available●Task: detecting victims in rubble●Equipped with: infrared camera, microphone, CO2 Sensor●Control: thrown●Energy: battery
Searchballs
Robots
●Dimensions (WxH): 62cm x 65cm●Weight: 45 Kg ●Speed: 1,1 km/h●Cost: no info available●Task: detecting victims in buildings, mapping, ●Equipped with: camera, laserscanner, CO2 Sensor, digital compass, thermosensor, microphone
●Control: autonomous and manual●Energy: battery
RoboCup Team: Plasma RX
Conclusion & Outlook
Conclusion & Outlook
●Autonomous control in real situation not used but improving
●In future more robots will be used in such dangerous situations
●Multi agent systems are a hard task and need more development and willhave an important role in the future
Questions?