SIARan autonomous ground robot for sewer inspection

  1. David Alejo 1
  2. Carlos Marqués
  3. Fernando Caballero 2
  4. Paulo Alvito
  5. Luis Merino 1
  1. 1 Universidad Pablo de Olavide
    info

    Universidad Pablo de Olavide

    Sevilla, España

    ROR https://ror.org/02z749649

  2. 2 Universidad de Sevilla
    info

    Universidad de Sevilla

    Sevilla, España

    ROR https://ror.org/03yxnpp24

Libro:
Actas de las XXXVII Jornadas de Automática: Madrid. 7, 8 y 9 de septiembre de 2016

Editorial: Servizo de Publicacións ; Universidade da Coruña ; Comité Español de Automática

ISBN: 978-84-9749-808-1

Ano de publicación: 2016

Páxinas: 1198-1204

Congreso: Jornadas de Automática (37. 2016. Madrid)

Tipo: Achega congreso

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Resumo

This paper summarizes the latest advances of the EU Project SIAR-ECHORD++, whose main objective is the design of a new robotic platform for inspecting visitable sewers. The SIAR robot aims to determine the sewer serviceability, to identify critical structural defects, to perform sewer monitoring and eventually to take water or gas samples of the environment. To this end, an autonomous IP67 ground robot equipped with RGB-D sensors and with a powerful wireless communication system is being developed. It is able to perform 3D structure reconstruction in real-time that could be used to detect defects in the sewer structures. This paper presents the key aspects in the design of the platform as well as preliminary experimental results in real sewer systems.

Fonte de datos: Dialnet