ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-D08
会議情報
2A1-D08 管内環境認識が可能な管直径対応型移動ロボットの開発(車輪型/クローラ型移動ロボット(1))
小野 慶昭佐藤 要杉本 信也林 憲玉
著者情報
会議録・要旨集 フリー

詳細
抄録
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 一般社団法人 日本機械学会
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