Sistema de asistencia en rescate mediante robot móvil
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Fecha
2017
Autores
Profesor/a Guía
Facultad/escuela
Idioma
es
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Universidad Andrés Bello
Nombre de Curso
Licencia CC
Licencia CC
Resumen
Se sabe que chile es un país constantemente afectado por algún tipo de catástrofe natural (ONEMI, 2010). En el mercado existen muy pocos desarrollos donde se utiliza la robótica para dar soporte en asistencia a víctimas de estos siniestros. En Chile esta área representa una oportunidad para poder generar nuevos emprendimientos.
El objetivo de esta memoria es desarrollar metodologías y estrategias de rescate mediante un sistema que permita la utilización de un robot móvil, con el fin de dar solución y facilitar la asistencia de víctimas a un equipo de rescate. Se diseñó e implementó un robot con tracción tipo oruga, con un peso de 25 Kg y un diámetro de 68cm x 75cm x 24cm (profundidad, ancho, altura), donde se utilizaron materiales como, aluminio, Technyl, policarbonato y perfiles de fierro para lo que es el chasis de este. Este mecanismo es controlado mediante la plataforma Raspberry la cual actúa como servidor, donde por medio de una antena WIFI, un equipo cliente se conecta a ésta, mediante TCP/IP usando una interfaz gráfica en Labview que se utilizará como estación de monitoreo y sistema de adquisición de datos. La interfaz gráfica que está montada en el computador permite dos funciones esenciales: en primer lugar, monitorear y visualizar el entorno del robot mediante 1 cámara web (streaming), conectada al servidor, se incorpora un sistema de geolocalización con GPS, y también a la vez un sistema capaz de hacer un catastro de temperatura y humedad ambiente por medio de un testeo mediante censado. La segunda función es la de controlar la tracción del robot mediante un operador humano, dos controladores para motores de corriente continua controlan el giro y la velocidad de los motores montados en la tracción.
En el desarrollo, se establecerán pruebas de campo, estableciendo una serie de muestreos en diferentes escenarios, que validarán el proyecto, probando cada uno de los modos de funcionamiento en condiciones reales. Se efectuaron pruebas en tierra, pasto y concreto, dando resultados aceptables y obteniendo una autonomía de 4 hrs El sistema no se limita solo a este tipo de robot, sino que da un hincapié a futuras implementaciones conjuntas con tipos de robot aptos para sobrevolar zonas, navegar en agua, deslizar en nieve, o superficies de altas temperaturas, entre otros.
It is known that Chile is a country where it is constantly affected by some kind of natural catastrophe (Onemi, 2016), in the market there are few possibilities where robotics is used to support victims of these disasters. In Chile this area is very underdeveloped and represents an opportunity to generate new ventures. The objective of this report is to develop methodologies and rescue strategies through a system that allows the use of a mobile robot, in order to provide a solution and facilitate the assistance of victims to a rescue team. We designed and implemented a robot with traction type caterpillar, with a weight of 30.5 Kg and a diameter of 68cm x 75cm x 24cm (depth, width, height), where materials such as aluminum, tecnyl, polycarbonate and iron profiles were used to What is the chassis of this This device is controlled by the Raspberry platform, which can be used as a server, can be connected through TCP / IP using a graphical interface in LabVIEW that can be used as a monitoring station and data acquisition system. The graphical interface that is mounted on the computer allows the essential functions: first, monitor and visualize the environment of the robot through 1 webcam (streaming), connected to the server, a geolocation system with GPS is incorporated, and also to the In addition, it can also perform a temperature and humidity catastrophe by means of a means test by census. The second function is to control the robot by a human operator, the controllers for DC motors, the control of the rotation and the speed of the motors mounted in the traction. In the development, field tests will be established, establishing a succession of data in different scenarios, which will validate the project, testing each of the operating modes in real conditions. Tests were made on land, grass and concrete, giving acceptable results and obtaining a range of 4 hours for this development, it was necessary to implement a prototype of land mobile robot, a real scale, which shows how this assistance system can be implemented. The system is not limited only to the type of terrestrial robot, but it allows to realize future implementations with types of robots apt to overfly zones, to sail in water, to slide in snow, or surfaces of high temperatures, among others.
It is known that Chile is a country where it is constantly affected by some kind of natural catastrophe (Onemi, 2016), in the market there are few possibilities where robotics is used to support victims of these disasters. In Chile this area is very underdeveloped and represents an opportunity to generate new ventures. The objective of this report is to develop methodologies and rescue strategies through a system that allows the use of a mobile robot, in order to provide a solution and facilitate the assistance of victims to a rescue team. We designed and implemented a robot with traction type caterpillar, with a weight of 30.5 Kg and a diameter of 68cm x 75cm x 24cm (depth, width, height), where materials such as aluminum, tecnyl, polycarbonate and iron profiles were used to What is the chassis of this This device is controlled by the Raspberry platform, which can be used as a server, can be connected through TCP / IP using a graphical interface in LabVIEW that can be used as a monitoring station and data acquisition system. The graphical interface that is mounted on the computer allows the essential functions: first, monitor and visualize the environment of the robot through 1 webcam (streaming), connected to the server, a geolocation system with GPS is incorporated, and also to the In addition, it can also perform a temperature and humidity catastrophe by means of a means test by census. The second function is to control the robot by a human operator, the controllers for DC motors, the control of the rotation and the speed of the motors mounted in the traction. In the development, field tests will be established, establishing a succession of data in different scenarios, which will validate the project, testing each of the operating modes in real conditions. Tests were made on land, grass and concrete, giving acceptable results and obtaining a range of 4 hours for this development, it was necessary to implement a prototype of land mobile robot, a real scale, which shows how this assistance system can be implemented. The system is not limited only to the type of terrestrial robot, but it allows to realize future implementations with types of robots apt to overfly zones, to sail in water, to slide in snow, or surfaces of high temperatures, among others.
Notas
Tesis (Ingeniero en Automatización y Robótica)
Palabras clave
Rescates, Innovaciones Tecnológicas, Robótica