Vale S.a.

Servico Nacional De Aprendizagem Industrial, Departamento Regional Da Bahia

Rebeca Tourinho Lima

Filipe Augusto Santos Rocha

Gabriel Carvalho Garcia

Gustavo Medeiros Freitas

Wilson Miola

Marcos Paulo Torre

Ramon Nunes Araújo

Angelo Frederico Fontes Junior

Márcio Fernando Mansur Gomes

Héctor Azpúrua

Victória Regina Ramos

Branilson Luiz Santos Costa

Iuri Viana Brandi

Eduardo Cota

Luis Carlos Moreno Ledezma

Luiz Eduardo Da Costa Nogueira

Ronaldo Pereira Evangelista

Marco Antonio Dos Reis

Pedro Xavier Alcantara

Alexandre Souza Santos

Tiago Pereira De Souza

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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Salvador, Brazil

Rebeca Tourinho Lima