Hybrid Inspection Robot for Indoor and Outdoor Surveys

Abstract

In this paper, simulation and experimental tests are reported for a hybrid robot being used for indoor and outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, and overall costs. In the context of structures and infrastructure inspection, robots must be able to move on horizontal or sloped surfaces and overpass obstacles. In this paper, the mechatronic design, simulations, and experimental activity are proposed for a hybrid robot being used for indoor and outdoor inspections, when the environmental conditions do not allow autonomous navigation. In particular, the hybrid robot is equipped with external and internal sensors to acquire information on the main structural elements, avoiding the need for experienced personnel being directly inside the inspection site, taking information from the environment and aiding the pilot to understand the best maneuvers/decisions to take. Given the current state of research and shortcomings worldwide, this paper discusses inspection robots taking into account the main issues in their use, functionality and standard systems, and how internal sensors can be set in order to improve inspection robots’ performances. On this basis, an illustrative study case is proposed.

Exploration of using a wall-climbing robot system for indoor inspection in occupied buildings

“…The previously designed indoor inspection robots can be categorized into unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). Examples of indoor inspection UGVs are QuicaBot 15 and two hybrid inspection robots proposed by Rea and Ottaviano 8 , 20 . QuicaBot 15 is developed for post-construction quality assessment.…”

“…Furthermore, as it is designed for the inspection of newly constructed buildings, the design did not consider the need to avoid obstruction by furniture and other indoor objects. The hybrid inspection robots use a hybrid structure of tracks and legs to improve flexibility in overpassing obstacles 8 , 20 . However, like QuicaBot, they also have a limited vertical inspection range.…”