Recognition of Inside Pipeline Geometry by Using PSD Sensors for Autonomous Navigation

被引：0

作者：

Choi, Yun Seok ^{[1
]}

Kim, Ho Moon ^{[1
]}

Suh, Jung Seok ^{[1
]}

Mun, Hyeong Min ^{[1
]}

Yang, Seung Ung ^{[1
]}

Park, Chan Min ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Dept Mech Engn, Suwon, South Korea

来源：

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) | 2014年

关键词：

ROBOT;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

To deploy an untethered robot inside pipelines without any external assistance, it is prerequisite to recognize the pipeline elements such as straight pipeline, elbow, T-branch, and miter. This paper presents a method of recognizing pipeline elements using PSD(Position Sensitive Device) sensors. It is easy to implement, but help us collect accurate information necessary for navigating inside pipelines without heavy computation. The method is composed of three parts, which is the method for distinguishing T-branch and miter, searching the direction in T-branch and elbow, and determining the types of pipeline element, respectively. The design for the PSD sensor suite is presented and the algorithm for recognition procedures are addressed. The sensor suite is implemented in an in-pipe robot, called MRINSPECT VI, and its performances are validated.

引用

页码：5024 / 5029

页数：6

共 18 条

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