208401 配管な移動ロボットの姿勢認識と姿勢制御(OS17 ロボティクス・メカトロニクス5,オーガナイズド・セッション)

概要

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To prevent a possible accident at a plant, it is crucial to find defects or deterioration early in regular inspections at pipeline. To this end, this paper proposes a pipe inspection robot, which can be used in a plant at regular inspections. The proposed robot is smaller than a sphere of 13cm in diameter so that it can fit in any type of pipes including straight and curved pipes as well as T-shaped pipe of 13cm in diameter. The subject of the research is the development of the systems to recognize and control the robot attitude. Four laser pointers are added to the robot for attitude recognition. The algorithm for attitude recognition is realized by utilizing images of reflected lights from four laser pointers. The images of reflected lights are captured by an wide-angle camera attached to the robot for inspection. Several algorithms for attitude recognition are developed and tested on straight and curved pipes to find an algorithm that achieves smooth robot motion.
一般社団法人日本機械学会の論文
2011-03-17