Rescue Robots By Jörn Ahlers and Ronald Vranjes

Transcription

1 Rescue Robots By Jörn Ahlers and Ronald Vranjes

2 Overwiev Definition The Idea Dangerous Situations Construction Drive Sensors Tools Controlling Robots Conclusion & Outlook Questions

3 Definition A rescue robot is a robot that has been designed for the purpose of aiding rescue workers.

4 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

5 Dangerous Situations

6 Dangerous Situations Nuclear accidences Fires: Burning buildings, tunnels, forests, Earthquakes : Collapsing buildings Bombs Hostage-taking Security

7 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

8 Dangerous Situations Fire Fire The Situation: Burning buildings / structures Collapsing buildings/parts Large smoke formation Special requirements: Heat resistance Special visual/sensoric system Very stable body

9 Dangerous Situations The Situation: Collapsing buildings/parts Hindrance by obstacles Burried humans Special requirements: Very stable construction Visual/Sensoric System for finding human beings Earthquake Earthquake

10 Dangerous Situations Bombs/Mines Bombs/Mines The Situation: Not exploded bombs/mines (burried) Special requirements: Tools for defusing/destructing bombs or mines Tools for detecting bombs/mines

11 Dangerous Situations The Situation: Taken hostages Armed hostage takers Special requirements: System to communicate with hostage takers Weapon for neutralizeing Stable and Bulletproof Hostage-Taking Hostage-Taking

12 Dangerous Situations Security 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

13 Construction

14 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

15 Construction Drive Drive Legs 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

16 Construction Drive Wheels 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

17 Construction Drive Caterpillar Really often used for rescue robots Slower than wheels but faster than legs Best for passing obstacles Can move on steep ramps

18 Construction Sensors Recognizing the environment Robot need to recognize the environment: Obstacles: Ramps / Stairs, Walls, other obstacles laying around Human beings: Temperature, CO2, Movement, Sound

19 Construction Sensors Walls Obstacles Laser Ultrasonic Infrared Ramps / Stairs Camera Tilt Sensor

20 Construction Sensors Human beings Things that can be measured:

21 Construction Sensors Mapping Creating a Map of the environment Creating map while searching (marking location of victims) Getting map from operator or other robots

22 Construction Tools Gripper Grab victims Moving parts away Open doors Cutter Cutting victims out of cars Cutting parts

23 Construction Tools Disruptor Safely destroying Bombs / Mines Supply tube Supplying victims or rescuers with water, medicine Weapons Scare and shoot hostage takers or other criminals

24 Controlling

25 Controlling Manual Control 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

26 Controlling Autonomous control 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

27 Controlling Communicating robots Robots linked together and sharing information Flying Robot sharing map BILD More effective than not communicating robots Division of work and specialization

28 Robots

29 Robots Vecna BEAR Dimensions (H): 1,8m Weight: 110 Kg Speed: up to 10mph Cost: Research costs approx $ Task: Battlefield Extraction-Assist, carry heavy weights Equipped with: 2 manipulator arms, 2 cameras, sensors for balancing Control: manual Energy: battery

30 Robots irobot PackBot Dimensions (HxWxL): 0,40m x 0,52m x 1,01m Weight: 30 Kg Speed: Up to 5.8mph Cost: $ 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

31 Robots Northrop Grumman Andros F6A Dimensions (HxWxL): 1,37m x 0,73m x 1,32m Weight: 220 Kg Speed: up to 3.5mph Cost: $ 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

32 Robots Secom Robot X Dimensions (H): 1 m Weight: 118 Kg Speed: 10 km/h Cost: rent per month $ 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

33 Robots Robogat S.r.l ROBOGAT Dimensions (HxWxL):: 0,7m x 0,6m x 5,0m Weight: 400 Kg Speed: up to 80km/h Cost: per unit $ 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

34 Robots Searchballs 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

35 Robots RoboCup Team: Plasma RX 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

36 Conclusion & Outlook

37 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 will have an important role in the future

38 Questions?