3652 ラインレーザを用いた配管内移動ロボットの姿勢認識(G15-5 ロボティクス・メカトロニクス(5) ロボットシステム,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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An accident due to pipe fracture often caused the stop of lifeline and the accident in factories. Many accidents of pipes happen mainly due to the cracks by the residual stress, fatigue, defects and corrosion. Therefore, early detection of defects is indispensable. In this research, the globular robot for in pipe inspection is developed. As shape of the robot is globular, it is possible to move in various pipes. However, the robot has a problem that it is essentially unstable and sometime it runs off when the pose of the robot collapses. To prevent this situation, it is necessary to recognize pose of the robot and correct it In this research, algorithms to recognize ego-pose of the mobile robot which run in pipe were proposed. The diameter of pipes is 130mm.
2008-08-02