DOI QR코드

DOI QR Code

단일 사각 레일 주행이 가능한 감시 로봇 설계

Development of an Inspection Robot Operating on a Single Square Rail Track

  • 투고 : 2022.03.25
  • 심사 : 2022.04.22
  • 발행 : 2022.05.31

초록

This paper proposes an inspection robot that can operate on a single square rail. Various inspection robots have been developed to identify emergency situations in industrial environments, such as those involving fires or individuals with cardiac arrest. Because the robots must operate in wide areas and long tunnels, they are designed to move along a rail installed on the ceiling. Double rail track are typically used to ensure the stability of robot movement. However, the cost for installing a double rail track is nearly two times that for a single rail track. Moreover, it is challenging to install double rail tracks while ensuring the same curvature and interval between the two rails. Therefore, in this study, an inspection robot that operate on a single square rail track is developed. To ensure stable movement in the longitudinal and lateral directions, two passive guide parts are used, and the main active wheel is allowed to move on the upper side of the square rail. The prototype was manufactured, and experiments were performed for different robot velocities.

키워드

참고문헌

  1. J. H. Kim, M. Jeon, K. Jeon, S. H. Lee, and D. Hong, "Development of Horizontal Locomotion Robot using Rail Mechanism for H-beam Structure," J. Korean Soc. Precis. Eng., vol. 30, no. 4, pp. 421-426, 2013, DOI: 10.7736/KSPE.2013.30.4.421.
  2. H. Wang, F. Zhang, Y. Jiang, G. Liu, and X. Peng, "Development of an Inspection Robot for 500 kV EHV Power Transmission Lines," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 5107-5112, 2010, DOI: 10.1109/IROS.2010.5651966.
  3. K. Jiang, Z. Sun, Y. Liu, J. Sui, C. Fu, and Y. Li, "Development and Application of the Rail-type Inspection Robot used in Substation Rooms," MATEC Web of Conferences (ICMITE 2017), 2017, DOI: 10.1051/matecconf/201713900210.
  4. J. Wang, A. Sun, C. Zheng, and J. Wang, "Research on a New Crawler Type Inspection Robot for Power Transmission Lines," 2010 1st International Conference on Applied Robotics for the Power Industry, Montreal, QC, Canada, 2010, DOI: 10.1109/CARPI.2010.5624471.
  5. M. Cheng and D. Xiang, "The Design and Application of a Track-type Autonomous Inspection Robot for Electrical Distribution Room," Robotica, vol. 38, no. 2, pp. 185-206, 2020, DOI: 10.1017/S0263574719000559.
  6. B. P. A. Silva, R. A. M. Ferreira, S. C. Gomes Jr., F. A. R. Calado, R. M. Andrade, and M. P. Porto, "On-rail solution for autonomous inspections in electrical substations," Infrared Physics & Technology, vol. 90, pp. 53-58, May, 2018, DOI: 10.1016/j.infrared.2018.01.019.
  7. Y. Xiaoa, Y. Yan, Y. Yua, B. Wang, and Y. Liang, "Research on pose adaptive correction method of indoor rail mounted inspection robot in GIS Substation," Energy Reports, vol. 8, no. 6, pp. 696-705, Sep., 2021, DOI: 10.1016/j.egyr.2022.03.155.
  8. X. Jia, W. Yuan, H. Li, S. Jiang, and Y. Zhang, "Application of Environment-perception Intelligent Control Technology in the Inspection Robot of Coal Conveyance Corridor in Thermal Power Plant," IOP Conference Series: Earth and Environmental Science, vol. 772, 202, DOI: 10.1088/1755-1315/772/1/012056.
  9. News1 Korea, [Online], https://www.news1.kr/articles/?4266488, Accessed: April 11, 2022.
  10. Asia Gyeongje, [Online], https://cm.asiae.co.kr/article/2019122310011702133, Accessed: April 11, 2022.