小径ガス管検査のためのRSSIを用いたロボットチェインシステムの提案

抄録

Currently, robots are used for pipeline inspection since it is more convenient than manual inspection. In this paper, we proposed a concept of wireless relay communication to assist robot to extend the inspection range. Specifically, we developed a tracked robot-chain system. Leakage information of pipes are transmitted through multiple robots. To ensure the stability of relay communication between adjacent robots, we adopt RSSI-based evaluation method. We conducted some experiments to evaluate relay transmission efficiency, RSSI-based cooperative movement, and comprehensive performance. The results revealed that our proposed robot chain system could realize relatively accurate data relay transmission and basically RSSI-based coordinated movement.