Self-Moving Parallel Speleological Robot with Spatial Tactile System of Recognition Contact Surface

Abstract

AbstractProblem statement: Article presents problem of conducting speleological research of natural and artificial caves, including underground river beds, as well as various mining workings in dangerous or inaccessible conditions for the speleologist. At same time, environment of objects under study may be opaque for optical, radio, ultrasonic and other physical methods of monitoring internal surface, for example, due to partial or complete flooding of object with water with inhomogeneous suspensions. Purpose of research: Aim of the research is to solve problem by robotizing speleological studies using self-moving parallel speleological robot (SMPSR) with spatial tactile system for recognizing the contact surface. Results: SMPSR is autonomous spatial parallel robot in form of octahedral structure with edges in form of rods with linear drives. Ends of rods of adjacent ribs are connected to each other using spherical or equivalent hinges. This provides spatial structure of SMPSR with geometric immutability when linear drives of rods are switched off. As result, SMPSR is able to perform contact mapping of inner surface under study, regardless of transparency of environment, and its geodetic reference to base coordinate system with visualization in form of histograms. At same time, SMPSR is able to move itself along internal surfaces regardless of their spatial orientation. Description of SMPSR and its functionality is given. Practical significance: One of important functional features of SMPSR is ability to build 3D histograms of surrounding surface through mechanical contact with reference to basic (inertial) coordinate system. Tactile recognition system of contact surface allows SMPSR to move and conduct tactile monitoring in environment that is opaque to optical, radio, ultrasonic, and other physical control methods. SMPSR allows you to robotize speleological research in places that are dangerous, difficult to reach and inaccessible to speleologist, as well as to carry out rescue operations and ensure delivery of needful cargo.KeywordsSelf-moving parallel speleological robotSpatial tactile monitoring systemSEMS3D histograms of the environmental space