AeRove：一种用于近距离管道检测的具有快速双稳态重构能力的紧凑型空地两栖无人机
AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection
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中文总结 AI 辅助
针对标准无人机近距离管道检测的悬停功耗高、气流敏感等问题，提出紧凑双模态空地机器人AeRove，利用螺旋桨护罩作轮并采用双稳态机构实现200毫秒快速重构，电流消耗降低14倍，实现高效管道巡检与气体检测。
中文摘要 AI 辅助
近距离管道检测对标准无人机而言具有挑战性，原因在于悬停功耗高、对气流敏感，以及螺旋桨下洗气流对气体传感的干扰。为解决这一问题，我们提出了AeRove，一种紧凑的双模态空地两栖机器人。AeRove利用其螺旋桨护罩作为轮子沿管道滚动，并采用弹簧加载的双稳态机构，在200毫秒内在地面模式与飞行模式之间重构，且无需持续致动器功率即可维持任一状态。收敛的螺旋桨护罩几何形状还提高了实测推力效率。通过将飞行保留用于越障，并利用地面滚动进行连续遍历，电流消耗相比连续飞行降低了14倍（0.7安培对10安培），估计行驶距离从144米延长至2057米。在直径为51厘米的钢管上进行的自主试验展示了在直管段和弯管段上的导航、越障跳跃以及模拟检测标记的泄漏检测。单独的二氧化碳传感实验评估了在栖息和飞行操作条件下的气体检测性能。在所测试条件下，栖息检测产生的浓度响应显著大于悬停。在飞行过程中，与延长探针相比，机身下方螺旋桨进气配置通过利用螺旋桨诱导气流产生了更快、更强的气体检测响应。代码和设计以CC-BY许可证发布。
英文摘要
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.
发表机构
- New Jersey Institute of Technology（新泽西理工学院）
机构由 AI 辅助整理，请以论文原文为准。
