A search and rescue robot with tele-operated tether docking system

Purpose - To describe a robot designed and built to operate in outdoor environments hostile to the human presence, such as debris resulting from the collapse of built structures, and targeted to the tele-operated detection of potential survivors using a set of specific sensors whose information is transmitted to a remote human operator.Design methodology approach - RAPOSA's mechanical structure is composed of a main body and a front body, whose locomotion is supported on tracked wheels, allowing motion even when the robot is upside down. The front body has variable tilting capabilities, providing means to overcome edges higher than the robot main body (e.g. when climbing a stair) and is also useful to grab the lower ground when only the main body has ground contact. This front body has one thermal camera and two webcameras installed. Additional sensors include gas, temperature and humidity sensors, web cams, light diodes, microphone and loudspeaker. The robot uses wireless communications, with an option for tethered operation.Findings - The robot was tested in several scenarios of the Fire Fighters school. In this particular exercise, the robot reduced the inspection time down to 25 percent of the time that specialized firefighters teams would take to finish the exercise. This was due to the fact that the firefighters need to stabilize the environment in order to reduce live threats. In this case, as in many other similar situations, not only the robot provides a faster inspection method, but also a much safer one.Originality value - The tether carries both power and communications, with an access point on its end. Docking and undocking the robot to the tether is accomplished remotely by the operator with the help of a camera located inside the robot, and represents the most innovative feature of RAPOSA.