影画像情報に基づく配管検査ロボットのエルボー管内自動走行システム

抄録

The efficiency of pipeline inspection can be significantly improved by robots. In this paper, an autonoumous turning system for navigating in the elbow pipe by using a characteristic shadow is proposed. A characteristic shadow is generated when the light of one high power LED irradiates the inside of the elbow pipe. Also, the shape of the shadow can be changed by changing the geometric relationship between the robot and the elbow pipe. In the experiments, an automatic turning of the robot with a appropriate posture is realized.