MOOR I

MOOR I is an unmanned 6 wheel drive, remote controlled vehicle which is designed to navigate in uneven terrain. Having a payload of 25 kg, the MOOR I robot finds wide application in surveying, visual inspection and measurement applications. Independent suspension system and motion control is designed for the wheels to make the vehicle successful in passing positive and negative obstacles. This design lets each wheel have a free vertical displacement up to 15 cm.d

The robot has several open ports which can be connected to a variety of equipment (like GPS, Laser Scanner, GPR, stereo cameras and inspection and repair facilities). MOOR I receives the control commands and send data via a wireless link. The robot can also be navigated autonomously via a program which is operated by its embedded computer.d

The MOOR I robot can be facilitated with a laser scanner. This scanner rotates 360 degrees and scans the tunnel interior as the robot moves along the tunnel. Consequently 3D laser measurement of the tunnel is captured. This 3D point cloud data is saved in computer and arbitrary sections along the tunnel or across it, can be produced or the tunnel volume can be calculated.d

The MOOR I robot has 4 user applicable ports. These ports  provide the robot’s controller connection to a number of analog or digital sensors. Programming, testing and deployment of the robot is possible using a standard USB port which is provided on it.a

Applications

Tunnel Visual Inspection

l3D Measurment of Tunnel Interiors

Erosion and Collapse Study

Measurement on Tunnel Interior  Images

Processing of Tunnel Interior Images

Quality Assessment of Tunneling and Excavation

Lateral and Longitudinal Section Calculation

Inspection of Confined or Dangerous Spaces