Seite - 21 - in Joint Austrian Computer Vision and Robotics Workshop 2020
Bild der Seite - 21 -
Text der Seite - 21 -
DesignandImplementationofaMobileSearchandRescueRobot
GeorgA.NovotnyandWilfriedKubinger
UASTechnikumVienna,Hoechstaedtplatz6,1200Vienna
{georg.novotny,wilfried.kubinger}@technikum-wien.at
Abstract. For public emergencies such as nuclear
accidentsornaturaldisasters,anurgentandreliable
description as well as an evaluation of the environ-
ment form the basis of all organized search and res-
cue (S&R) team plans and actions. If this informa-
tion is not available the risks for the rescue services
increases dramatically. Mobile robots help to mini-
mize these risks by providing information about the
disaster site to rescue teams.
This paper discusses the needs and requirements of
mobile robots in S&R application areas such as nu-
cleardisastersandevaluatesresultsachievedduring
theENRICH2019trialbasedonthesystemarchitec-
tureof themobileS&Rrobot”Robbie”ofUASTech-
nikum Vienna. The successful participation of the
ENRICH 2019 show that the mobile robot is capa-
ble of performing S&R actions during emergencies.
1. INTRODUCTION
One of the main reasons for deaths after disas-
ters is that it takes rescue teams too long to dis-
cover victims because they need to ensure their own
safety [13, 22]. Rescue robots are designed for situ-
ations like these that are too dangerous for humans,
e.g. hostage taking, nuclear or natural disasters [21].
S&R robots eliminate the need for human scouts
to expose themselves in hazardous environments by
creating an awareness of the situation at the disaster
site by providing immediate feedback to the rescue
workers before they enter the disaster site [22]. To
support the development of rescue robots, since the
beginning of the 2000s a number of robot trials and
competitions have been held, such as: ”ELROB” -
The European Land Robot Trail , ”EnRicH” – Eu-
ropean Robotics Hackathon [8], the ”Arctic Robot
Challenge” [1], ”Rescue Robot League” [27], the
”DARPA” – Defence Advanced Research Projects Agency[6], the”EuRoC”–EuropeanRoboticsChal-
lenges [10] or the ”EU-FP7-ICARUS” [12] project
and many other. During these trials different tasks
need to be solved in various environments, rang-
ing from 2D and 3D mapping to the detection and
evacuation of people and manipulation of objects
[8,9,1,27,6,10,12].
The remainder of this chapter the requirements for
mechanical design, sensor configuration and graph-
ical user interface (GUI) for S&R robots are evalu-
ated, followed by the evaluation of the implemented
hardwareandthedevelopedsoftwareoftheFHTech-
nikumViennainsection2. Theresultsachievedwith
these setup are highlighted and discussed in section
3. Concluding section 4 summarizes this work and
givesanoverviewof futurework.
Table 1 summarizes the user requirements for S&R
robots collected in [7] and [24]. Disaster areas are
Requirements forSearchandRescueRobots
Topic Requirement
Dimensions The robot platform must fit on 2 stan-
dard Euro pallets (120cm x 160cm x
95cm) and must not weigh more than
100kg
Nr. of Operators Two people must be enough to operate
theS&R robot
Resistance IP65 for outdoor unmanned ground ve-
hicles (UGV)
Autonomy Mustbepossible to immediatelyswitch
from autonomous to tele-operated
Sensing Video (RGB and/or thermal) cameras
forvisual contactwithvictims,3Dsen-
sors to generate a structural map of the
environment
Communication Connection loses will occur→ ad-hoc
networks required
CommandandControl Simpleinterfacingtechnologiesonlyon
high-level tasks
Ambient Light Must be capable of working in com-
plete darkness as well as light environ-
ments
EnergyRequirements Energy consumption should be lower
than2kVA for recharging
Graphical User Interface Camera view(s) from robot’s perspec-
tive+ environmental perceptions
Sensor and status information of initial
state andsensors
Bird’s eyeview map
Table 1. Summary of system requirements survey, data
taken from [7,24]
21
Joint Austrian Computer Vision and Robotics Workshop 2020
- Titel
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Herausgeber
- Graz University of Technology
- Ort
- Graz
- Datum
- 2020
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Kategorien
- Informatik
- Technik