國立台灣科技大學-專利商品網-專利推廣清單-陸海空災害應變機器人：異構群體智慧

技術摘要：

Problem/Objective
Disaster response robotics is an important and growing application domain in robotics. Robotics researchers and the general public are increasingly aware of disaster response and rescue robotics due to the presence of disaster response robots at the Fukushima Daiichi Nuclear power plant and 2008 Wenchuan earthquake. Researchers have proposed various solutions toward these applications using robotics technologies. However, less attention paid to multiple robots collaboration and remote chemical sensing (Drinking water and air quality) on disaster response robotics.
Solution/Method
The environment monitoring application of a heterogeneous robotic system of unmanned vehicles: unmanned ground vehicle (UGV) and unmanned aerial vehicle (UAV)and Marine robot are proposed. Three autonomous robotic systems: ground and aerial. This study propose a way to localize the ground and aerial robot coordinate, obstacles, and target position with air camera. The path planning is followed for motion control of the ground robot to arrive the target to conduct water quality inspection with onboard micro-spectrometer. The aerial robot will also sense the air quality with onboard Haze (PM2.5) detector and land on the ground robot.
Contribution/Result
The system propose real-time, local and global environment monitoring toward safety, security and rescue applications to reduce casualties, and to address the shortage of manpower.

中文摘要
災害應變機器人是一個重要且不斷成長的機器人研究領域，尤其在福島核災及汶川地震後機器人研究專家及民眾愈來愈意識到災害機器人所帶來的重要性，因此許多研究人員提出眾多的機器人技術進而想解決相關問題，但是卻鮮少有人將注意力集中在利用多重機器人協同任務上並且進行遠端環境監控(飲用水及空氣品質)在災害應變任務中。
本論文提出異構機器人在環境監控上的應用:空中,地面雨水上自主機器人系統:空中及地面機器人.機器人透過空中影像定位地面及空中機器人座標、障礙物與目標位置進行路徑規劃進而導航至目標點。地面機器人循跡導航到目標位置後透過自身所搭載的微型光譜儀進行水質檢測，空中機器人則透過搭載灰塵傳感器進行PM2.5空氣品質檢測，待任務結束後空中機器人將透過自主影像判別地面機器人平台上之標記，進而降落於地面機器人上的平台以達到陸空聯合環境監控之任務,而有些任務例如海上搜救,地面機器人無法執行才改由水上機器人協同運作。
本系統提出了實時性和局部與全域環境監控下進而增加人員安全保障和救助，以減少人員傷亡，並解決人手短缺。

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