Underwater Robot Navigation for Maintenance and Inspection of Flooded Mine Shafts

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI:10.1109/IROS.2018.8594445

Olaya Álvarez-Tuñón, Ángel Rodríguez, Alberto Jardón Huete, C. Balaguer

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引用次数: 5

Abstract

The maintenance and inspection of the flooded shafts, specially coal ones, is an important environmental problem. There are thousands of shafts of this type in Europe with the danger of pollution, flood and collapse. This paper presents some of the main ongoing works of the EU project STAMS that develop an autonomous underwater robotic system for periodic monitoring of flooded shafts in hazardous and complex conditions. The accurate navigation is very cluttered at 1.000 m depth conditions, where minimum visibility and unexpected obstacles are some of the difficulties to overcome. We are going beyond classical navigation approaches using only few sensor information. Another innovation is the installation of Reference Points (RPs) in the shaft's walls by the robot using a special fixation mechanism. The specially designed cases of the RPs allow to house specific sensors and help in the navigation, and will be used in periodic monitoring and assessment of the mine shafts. The positioning and attachment of these RPs is another contribution of this paper.

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水下机器人导航在矿井淹水检修中的应用

矿井，特别是煤矿矿井的维护和检查是一个重要的环境问题。欧洲有成千上万的这种竖井，有污染、洪水和倒塌的危险。本文介绍了欧盟STAMS项目正在进行的一些主要工作，该项目开发了一种自主水下机器人系统，用于在危险和复杂条件下定期监测淹水竖井。在1000米深度的条件下，精确导航非常混乱，最低能见度和意想不到的障碍物是需要克服的一些困难。我们正在超越仅使用少量传感器信息的传统导航方法。另一项创新是机器人使用特殊的固定机构在竖井壁上安装参考点(rp)。RPs的特殊设计外壳可以容纳特定的传感器并帮助导航，并将用于对矿井的定期监测和评估。这些rp的定位和附着是本文的另一个贡献。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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