The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 2A1-D08
Conference information
2A1-D08 Development of In-Pipe Robot Coping with Various Diameters and Recognizing In-Pipe Environments(Wheeled Robot/Tracked Vehicle (1))
Yoshiaki ONOKaname SATOShinya SUGIMOTOHun-Ok LIM
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
This paper presents a robot capable of inspecting pipes with different diameters. The robot consists of a rotating part, a connecting part and a holding part. The rotating part and the holding part are removable and have slide arms. A fiber grating (FG) system that can cognize pipe environment is installed on the robot. The FG system consists of a laser, a FG, and a CCD camera. The laser makes a grid through the FG, and they are taken by the CCD. FG system measure the coordinates according to the principle of triangulation. The robot with two and more units can move in L-type and T-type pipes. Through experiments, the effectiveness of the robot was verified.
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© 2014 The Japan Society of Mechanical Engineers
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