AeRove: 近距離パイプライン検査のための高速双安定再構成を備えたコンパクトな空陸両用ドローン
AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection
プロペラガードを車輪としてパイプ上を走行し、バネ式双安定機構で200msで飛行モードと地上モードを切り替える空陸両用ドローンを開発。飛行を障害物跳躍に限定することで消費電流を14分の1に削減し、パイプライン検査とガス検知を実現した。
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著者: Caleb Polillio, Petras Swissler
分類: cs.RO
原文アブストラクト
Close-proximity pipeline inspection is challenging for standard drones due to high hovering power consumption, airflow sensitivity, and propeller wash interference with gas sensing. To address this, we present AeRove, a compact bimodal aerial-terrestrial robot. AeRove uses its propeller guards as wheels to roll along pipes and employs a spring-loaded bistable mechanism to reconfigure between ground and flight modes in 200 ms without continuous actuator power to maintain either state. The converging propeller-guard geometry also improves measured thrust efficiency. By reserving flight for obstacle hopping and using ground rolling for continuous traversal, current draw is reduced 14x compared to continuous flight (0.7 A vs. 10 A), extending estimated travel distance from 144 m to 2057 m. Autonomous trials on a 51 cm diameter steel pipe demonstrated navigation on straight and curved sections, obstacle jumping, and leak detection of simulated inspection markers. Separate CO2 sensing experiments evaluated gas-detection performance under perched and aerial operating conditions. Perched inspection produced a substantially larger concentration response than hovering under the tested conditions. During flight, an underbody propeller-intake configuration produced a faster and stronger gas-detection response than an extended probe by leveraging propeller-induced airflow. Code and designs are released under the CC-BY license.