Vale S.a.

Servico Nacional De Aprendizagem Industrial, Departamento Regional Da Bahia

Alexandre Souza Santos

Filipe Augusto Santos Rocha

Marcos Paulo Torre

Gabriel Carvalho Garcia

Wilson Miola

Gustavo Medeiros Freitas

Pedro Xavier Alcantara

Héctor Azpúrua

Márcio Fernando Mansur Gomes

Ramon Nunes Araújo

Iuri Viana Brandi

Tiago Pereira De Souza

Rebeca Tourinho Lima

Ronaldo Pereira Evangelista

Luis Carlos Moreno Ledezma

Branilson Luiz Santos Costa

Marco Antonio Dos Reis

Eduardo Cota

Luiz Eduardo Da Costa Nogueira

Victória Regina Ramos

Angelo Frederico Fontes Junior

Ramon Nunes Araujo

Victoria Regina Ramos

Hector Azpurua

Marcio Fernando Mansur Gomes

This disclosure presents a robotic device for multi-terrain inspection, composed by a robot body, a quick reconfigurable locomotion module and a mapping unit capable to model the inspected environment through a 3D colored point cloud. The robot has different locomotion mechanisms that can be quickly replaced, thereby changing the robot mobility characteristics. The device is controlled through teleoperation or autonomously. When in teleoperated mode, an operating assist module provides relevant locomotion information to the operator including a map that shows areas where the robot may not transpose or tip-over. This module also suggests to the operator other locomotion configurations to overcome obstacles presented in the map. When in autonomous mode, the navigation module provides a strategy to explore unknown environments and trace optimal locomotion path considering the traveled distance, tipping-over risk and energy consumption. Regarding the invention characteristics described above, the main objective is to perform inspections of confined and risk areas, i.e., caves, sewer and dam spillway galleries, and areas with risk of collapse.

Multi-terrain inspection robotic device and methods for configuring and guiding the same

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Mariana, Brazil

Alexandre Souza Santos