Salvato in:
| Autori principali: | , , , , , , , , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2024
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2402.07691 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866914675368656896 |
|---|---|
| author | Fischer, Georg K. J. Bergau, Max Gómez-Rosal, D. Adriana Wachaja, Andreas Gräter, Johannes Odenweller, Matthias Piechottka, Uwe Hoeflinger, Fabian Gosala, Nikhil Wetzel, Niklas Büscher, Daniel Valada, Abhinav Burgard, Wolfram |
| author_facet | Fischer, Georg K. J. Bergau, Max Gómez-Rosal, D. Adriana Wachaja, Andreas Gräter, Johannes Odenweller, Matthias Piechottka, Uwe Hoeflinger, Fabian Gosala, Nikhil Wetzel, Niklas Büscher, Daniel Valada, Abhinav Burgard, Wolfram |
| contents | Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic system designed for comprehensive plant inspection. This innovative system comprises a robotic platform equipped with a diverse array of sensors integrated to facilitate the detection of various process and infrastructure parameters. These sensors encompass optical (LiDAR, Stereo, UV/IR/RGB cameras), olfactory (electronic nose), and acoustic (microphone array) capabilities, enabling the identification of factors such as methane leaks, flow rates, and infrastructural anomalies. The proposed system underwent individual evaluation at a wastewater treatment site within a chemical plant, providing a practical and challenging environment for testing. The evaluation process encompassed key aspects such as object detection, 3D localization, and path planning. Furthermore, specific evaluations were conducted for optical methane leak detection and localization, as well as acoustic assessments focusing on pump equipment and gas leak localization. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_07691 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision Fischer, Georg K. J. Bergau, Max Gómez-Rosal, D. Adriana Wachaja, Andreas Gräter, Johannes Odenweller, Matthias Piechottka, Uwe Hoeflinger, Fabian Gosala, Nikhil Wetzel, Niklas Büscher, Daniel Valada, Abhinav Burgard, Wolfram Robotics Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic system designed for comprehensive plant inspection. This innovative system comprises a robotic platform equipped with a diverse array of sensors integrated to facilitate the detection of various process and infrastructure parameters. These sensors encompass optical (LiDAR, Stereo, UV/IR/RGB cameras), olfactory (electronic nose), and acoustic (microphone array) capabilities, enabling the identification of factors such as methane leaks, flow rates, and infrastructural anomalies. The proposed system underwent individual evaluation at a wastewater treatment site within a chemical plant, providing a practical and challenging environment for testing. The evaluation process encompassed key aspects such as object detection, 3D localization, and path planning. Furthermore, specific evaluations were conducted for optical methane leak detection and localization, as well as acoustic assessments focusing on pump equipment and gas leak localization. |
| title | Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.07691 |