TY - GEN
T1 - A Prototype Development of an Autonomous Robot for the Inspection of Suspension Spring Profiles in Toyota Hilux Pickups
AU - Godiel, Jorge
AU - Poma, Luis
AU - Vinces, Leonardo
AU - Oliden, Jose
AU - Vargas, Dante
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
PY - 2024
Y1 - 2024
N2 - Companies engaged in mining vehicle rental face challenges in adequately inspecting the condition of suspension springs due to time constraints. To address this issue and monitor the suspension of Toyota Hilux trucks before and after rental service, we propose a prototype development of an autonomous robot. The robot utilizes a SLAM-based navigation system to reach specified positions, while a robot arm control system positions a camera for inspecting spring suspension profiles. We studied the vehicle and robot arm position control systems, conducted dynamic simulations of the robot arm, designed the robot system architecture using ROS, simulated the robot using ROS Gazebo, and developed an algorithm to generate a technical inspection report with registered spring photographs. Navigation is facilitated by an A1M8 Lidar sensor. Data processing is performed using a Raspberry Pi 4B 8 GB with ROS. Image analysis will be developed in future work. The proposed approach’s effectiveness will be validated through autonomous mapping and navigation in three distinct work areas. The main contribution of this work is the development of an autonomous robot programmed in ROS Noetic that monitors the suspension spring profiles of Toyota Hilux trucks during their service life by acquiring photographs of the suspension elements.
AB - Companies engaged in mining vehicle rental face challenges in adequately inspecting the condition of suspension springs due to time constraints. To address this issue and monitor the suspension of Toyota Hilux trucks before and after rental service, we propose a prototype development of an autonomous robot. The robot utilizes a SLAM-based navigation system to reach specified positions, while a robot arm control system positions a camera for inspecting spring suspension profiles. We studied the vehicle and robot arm position control systems, conducted dynamic simulations of the robot arm, designed the robot system architecture using ROS, simulated the robot using ROS Gazebo, and developed an algorithm to generate a technical inspection report with registered spring photographs. Navigation is facilitated by an A1M8 Lidar sensor. Data processing is performed using a Raspberry Pi 4B 8 GB with ROS. Image analysis will be developed in future work. The proposed approach’s effectiveness will be validated through autonomous mapping and navigation in three distinct work areas. The main contribution of this work is the development of an autonomous robot programmed in ROS Noetic that monitors the suspension spring profiles of Toyota Hilux trucks during their service life by acquiring photographs of the suspension elements.
KW - Dynamic simulation
KW - Leaf suspension spring
KW - Robot arm
KW - ROS
KW - ROS Gazebo
KW - ROS NOETIC
KW - Rover
KW - SLAM navigation
UR - https://www.scopus.com/pages/publications/85202613542
U2 - 10.1007/978-3-031-66961-3_22
DO - 10.1007/978-3-031-66961-3_22
M3 - Contribución a la conferencia
AN - SCOPUS:85202613542
SN - 9783031669606
T3 - Smart Innovation, Systems and Technologies
SP - 241
EP - 252
BT - Proceedings of the 9th Brazilian Technology Symposium (BTSym’23) - Emerging Trends and Challenges in Technology
A2 - Iano, Yuzo
A2 - Arthur, Rangel
A2 - Saotome, Osamu
A2 - Kemper Vásquez, Guillermo Leopoldo
A2 - de Moraes Gomes Rosa, Maria Thereza
A2 - Gomes de Oliveira, Gabriel
PB - Springer Science and Business Media Deutschland GmbH
T2 - 9th Brazilian Technology Symposium on Emerging Trends and Challenges in Technology, BTSym 2023
Y2 - 24 October 2023 through 26 October 2023
ER -