管内形状に基づく配管内検査ロボットの自律曲管走破システム

抄録

In recent times, robotic inspection of pipeline is beginning to be expected. Inspection efficiency can be significantly improved if the robot can move automatically inside the pipe. Therefore, this paper presents an autonomous turning system with a single camera and a laser spot array. By measuring the distance between the camera and each irradiation spot of the laser, inner shape of the pipe can be three-dimensionally drawn, and pathway direction of the pipeline is also obtained as well. In this paper, we verify the possibility of this autonomous turning system and conduct the preliminary test.