Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot

被引：0

作者：

Tanaka, Motoyasu ^{[1
]}

Miyamoto, Sota ^{[1
]}

Takatsu, Shigeaki ^{[1
]}

Kimura, Yutaro ^{[1
]}

Tozawa, Hironori ^{[2
]}

机构：

[1] Univ Electrocommun, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan

[2] Daisue Construct Co Ltd, 1-7-27 Shinsuna,Koto ku, Tokyo, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2024年 / 36卷 / 06期

关键词：

snake robot; underground pit; articulated mobile robot; autonomous inspection; winding pipe; SNAKE-LIKE ROBOT; DESIGN;

D O I：

10.20965/jrm.2024.p1302

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study presents an autonomous inspection system for underground pits using an articulated mobile robot. The underground pit is composed of several rooms surrounded by concrete connected to each other by winding pipes. Based on an action list created in advance and environmental maps, the robot autonomously inspects the underground pit by switching between three actions: planar motion, winding pipe passing motion, and image capturing. In planar motion, the robot moves around the room while avoiding obstacles and crosses ditches through distinctive behaviors, switching the allocation of the grounded/ungrounded wheels. In the winding pipe-passing motion, the target path is autonomously generated based on the parameters of the winding pipe. Laboratory and field tests were conducted to demonstrate the effectiveness of the proposed system.

引用

页码：1302 / 1314

页数：13

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