开发可遥控的机器人，用于狭小空间建筑维修安全检测与修复
Use-Inspired Mobile Robot to Improve Safety of Building Retrofit Workforce in Constrained Spaces
- 设计可遥控移动机械臂系统，适配狭窄空间作业
- 实现远程测绘导航、缺陷定位及热能泄漏封堵
- 适合建筑节能改造、危险环境巡检等场景
针对阁楼、夹层等狭小空间中人类作业受限、视野不足及存在有害物质等问题，本文提出并实现了用于不可达空间精准作业的帕里斯（PARIS）原型系统——一款受实际应用驱动的遥操作移动机器人。该系统获美国能源部E-ROBOT奖第一阶段优胜。其功能包括：1）遥操作测绘与导航，使操作员可在紧凑空间内探索；2）检测与传感，识别并定位保温不良区域；3）对热能流失的缝隙和裂缝进行定向气密封堵。该平台具有多功能性，还可定制用于特定空间的处理与修复任务。
原文摘要 · Abstract (English)
The inspection of confined critical infrastructure such as attics or crawlspaces is challenging for human operators due to insufficient task space, limited visibility, and the presence of hazardous materials. This paper introduces a prototype of PARIS (Precision Application Robot for Inaccessible Spaces): a use-inspired teleoperated mobile robot manipulator system that was conceived, developed, and tested for and selected as a Phase I winner of the U.S. Department of Energy's E-ROBOT Prize. To improve the thermal efficiency of buildings, the PARIS platform supports: 1) teleoperated mapping and navigation, enabling the human operator to explore compact spaces; 2) inspection and sensing, facilitating the identification and localization of under-insulated areas; and 3) air-sealing targeted gaps and cracks through which thermal energy is lost. The resulting versatile platform can also be tailored for targeted application of treatments and remediation in constrained spaces.
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