I-Corps: Hybrid Robot for Data Collection

I-Corps：用于数据收集的混合机器人

• 批准号: 2138328
• 负责人: Anita Bell
• 金额: $ 5万
• 依托单位: University of Arizona
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-07-15 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2138328&HistoricalAwards=false
• 关键词: Corps; Hybrid; Robot; Data; Collection

The broader impact/commercial potential of this I-Corps project involves increasing the applications of data collection robots using a hybrid system that can both roll and fly. A hybrid system allows for greater mobility and significantly extends operating time, enabling longer missions and accessibility to areas where application of current robotic platforms is limited. One potential application is in crop inspection in agriculture. In such settings, a hybrid system could inspect crops both aerially and at the ground level to detect problems early and thereby increase yields while simultaneously saving resource and labor costs. Other possible inspection applications include mapping the progress of construction projects to identify design discrepancies, scanning for structural integrity flaws in power plants and turbines, and assisting in reconnaissance or search and rescue.This I-Corps project further develops a hybrid rolling/flying robotic platform. The system is comprised of a multi-rotor drone system mounted inside a stabilizing unit surrounded by a spherical shell. The system saves significant energy by rolling on the ground and switching to flying to negotiate obstacles or rough surfaces. The system is equipped with a control algorithm that allows it to navigate specified trajectories and also incorporates a real-time algorithm that selects the optimal path in terms of energy consumption, feasibility, and safety. This algorithm then autonomously selects the best mode (rolling or flying) according to the operational environment.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这个I-Corps项目更广泛的影响/商业潜力涉及使用既可以滚动又可以飞行的混合系统来增加数据收集机器人的应用。混合系统可以实现更大的机动性，并大大延长作业时间，从而能够执行更长的任务，并能够进入目前机器人平台应用有限的地区。一个潜在的应用是农业中的作物检查。在这样的环境中，混合系统可以在空中和地面上检查作物，以及早发现问题，从而提高产量，同时节省资源和劳动力成本。其他可能的检测应用包括绘制建筑项目的进度图以识别设计差异，扫描发电厂和涡轮机的结构完整性缺陷，以及协助侦察或搜索和救援。I-Corps项目进一步开发了混合滚动/飞行机器人平台。 该系统由安装在由球形壳体包围的稳定单元内的多旋翼无人机系统组成。该系统通过在地面上滚动并切换到飞行以越过障碍物或粗糙表面来节省大量能源。该系统配备了一个控制算法，使其能够导航指定的轨迹，并结合了一个实时算法，选择能源消耗，可行性和安全性方面的最佳路径。这个奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。