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Introducing autonomous aerial robots in industrial manufacturing
Journal of Manufacturing Systems ( IF 12.1 ) Pub Date : 2021-06-24 , DOI: 10.1016/j.jmsy.2021.06.008
Francisco J. Perez-Grau , J. Ramiro Martinez-de Dios , Julio L. Paneque , J. Joaquin Acevedo , Arturo Torres-González , Antidio Viguria , Juan R. Astorga , Anibal Ollero

Although ground robots have been successfully used for many years in manufacturing, the capability of aerial robots to agilely navigate in the often sparse and static upper part of factories makes them suitable for performing tasks of interest in many industrial sectors. This paper presents the design, development, and validation of a fully autonomous aerial robotic system for manufacturing industries. It includes modules for accurate pose estimation without using a Global Navigation Satellite System (GNSS), autonomous navigation, radio-based localization, and obstacle avoidance, among others, providing a fully onboard solution capable of autonomously performing complex tasks in dynamic indoor environments in which all necessary sensors, electronics, and processing are on the robot. It was developed to fulfill two use cases relevant in many industries: light object logistics and missing tool search. The presented robotic system, functionalities, and use cases have been extensively validated with Technology Readiness Level 7 (TRL-7) in the Centro Bahía de Cádiz (CBC) Airbus D&S factory in fully working conditions.



中文翻译:

在工业制造中引入自主空中机器人

尽管地面机器人在制造业中已成功使用多年,但空中机器人在工厂通常稀疏和静止的上部区域灵活导航的能力使其适合执行许多工业部门感兴趣的任务。本文介绍了用于制造业的完全自主的空中机器人系统的设计、开发和验证。它包括无需使用全球导航卫星系统 (GNSS)、自主导航、基于无线电的定位和避障等的精确姿态估计模块,提供能够在动态室内环境中自主执行复杂任务的全机载解决方案所有必要的传感器、电子设备和处理都在机器人上。轻型对象物流丢失工具搜索。所展示的机器人系统、功能和用例已在 Centro Bahía de Cádiz (CBC) 空中客车 D&S 工厂在完全工作条件下通过技术就绪级别 7 (TRL-7) 进行了广泛验证。

更新日期:2021-06-24
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