A Study on Pipeline Shape Correction Method Using Position and Orientation Information of the Beginning and End of a Pipeline
-
- SATO Hiroto
- Chuo University
-
- UHIYAMA Kousuke
- Chuo University
-
- ITO Fumio
- Chuo University
-
- OKUI Manabu
- Chuo University
-
- NISHIHAMA Rie
- Chuo University
-
- NAKAMURA Taro
- Chuo University
Bibliographic Information
- Other Title
-
- 管路の始点と終点の位置・姿勢情報を活用した管路形状補正手法の検討
Description
<p>In the inspection of sewage pipes, it is necessary to prepare a pipeline map in order to efficiently identify the damaged areas, which are often lost so it is necessary to prepare a pipeline map at the same time as the inspection. The authors have previously developed a peristaltic robot for sewer pipe inspection and have estimated the pipe shape using IMU sensors. However, the accuracy of the estimated map was not enough to be put into practice. In this study, we try to improve the estimation accuracy by measuring the information of the position and orientation of the start and end points of the pipeline to constrain the estimated pipeline shape. The authors represent the pipe geometry with only three parameters, and the correction is performed by iterative calculation using the inverse Jacobian matrix.</p>
Journal
-
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (0), 1A1-G08-, 2021
The Japan Society of Mechanical Engineers
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390572012408578944
-
- NII Article ID
- 130008134881
-
- ISSN
- 24243124
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
-
- Abstract License Flag
- Disallowed