Proposal of Pipeline-Shape Measurement Method Using IMU Sensor Focusing on Velocity Change Due to Peristaltic Motion

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  • 蠕動運動に伴う速度変化に着目したIMUセンサによる管路形状計測手法の提案

Abstract

<p>In the inspection of sewer pipes, it is necessary to identify the damaged part, and a pipe diagram is indispensable, but it is often dissipated and many pipe maps do not exist. Therefore, it is required to create pipeline diagrams. Therefore, the authors used an IMU sensor that measures three-axis acceleration and three-axis angular velocity, and corrected the cumulative error that occurred at that time by using the traveling characteristics of the earthworm's peristaltic motion, which is a periodic motion of progression and stopping. We tried to measure the pipe length and the pipe shape. In this report, we conducted a basic evaluation experiment to measure the pipe length with high accuracy, and investigated the effectiveness of this method.</p>

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