Mobile robot for underground structure maintenance and autonomous motion generation method using the same

Mobile Robot for Underground Structure Maintenance

This technology is a robot control system that calculates the distance and orientation error relative to the inner walls of underground structures using the rotation angles of rollers mounted around a radar module on a manipulator. Based on this data, it performs real-time adjustments to the manipulator's orientation and working distance to execute autonomous scanning and maintenance tasks.

Maintenance of underground structures has traditionally relied on manual operation, posing high safety risks. Furthermore, an aging workforce and a general avoidance of such labor-intensive jobs have led to decreased productivity and imbalances in labor supply.

This technology utilizes a manipulator equipped with a radar module, multiple rollers, and angle sensors to acquire physical contact data. It employs mathematical models to calculate orientation errors and distance correction values, while sensor-based obstacle avoidance and autonomous path planning allow it to process environmental data and operate independently. Applicable to robotic gripping, precision measurement, and automated equipment, this system removes workers from hazardous environments and enables robots to perform maintenance autonomously, thereby enhancing both efficiency and safety.

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Key Features:

• A distance measurement unit that calculates the distance between the manipulator and the target surface of the underground structure using the rotation angles of multiple rollers installed around a radar module mounted on an arm-type manipulator.
• An orientation correction unit that adjusts the manipulator's position to ensure the radar module remains parallel to the target surface of the underground structure.
• A control unit that analyzes scan results to determine if there is any water infiltration in the target area and transmits the findings to a management server.
• A mobile platform unit that adjusts its speed and direction of travel under the control of the control unit.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the commercialization of wall-penetrating radar-based box-type sewer pipe exterior water infiltration detection robots.