Recognition of branch pipe for pipe inspection robot using fiber grating vision sensor

This paper describes a pipe inspection robot with multiple joints. We are developing the pipe inspection robot which is able to move in vertical pipe and correspond with changing radius pipe. Furthermore, our robot can go around a branch pipe by attaching to 2 robots. On the other hand, it is difficult to recognize a position of branch pipe, self position and self posture because inside of pipe is dark and surrounded by walls. In this paper, we develop the fiber grating vision sensor to recognize a position of branch pipe for the pipe inspection robot. We propose the branch pipe recognition using fiber grating vision sensor. And we show several experimental results of branch pipe recognition.

[1]  Hun-ok Lim,et al.  New in-pipe robot capable of coping with various diameters , 2012, 2012 12th International Conference on Control, Automation and Systems.

[2]  Toshio Fukuda,et al.  Rubber gas actuator driven by hydrogen storage alloy for in-pipe inspection mobile robot with flexible structure , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Kazuo Ishii,et al.  2P1-C17 A Novel Approach in Correcting the Tilt Angle of a Special 2D-Pipe Inspection Robot Platform using Material Morphology , 2008 .

[4]  Hun-ok Lim,et al.  Development of in-pipe robot capable of coping with various diameters , 2011, 2011 11th International Conference on Control, Automation and Systems.

[5]  Yunhui Liu,et al.  Self-rescue mechanism for screw drive in-pipe robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Hun-ok Lim,et al.  Development of pipe inspection robot , 2009, 2009 ICCAS-SICE.

[7]  Hyoukryeol Choi,et al.  Differential-drive in-pipe robot for moving inside urban gas pipelines , 2005, IEEE Transactions on Robotics.

[8]  D. Mândru,et al.  Development of mobile minirobots for in pipe inspection tasks , 2007 .

[9]  Zongquan Deng,et al.  Study of Locomotion Control Characteristics for Six Wheels Driven In-Pipe Robot , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[10]  S. Hirose,et al.  Design of in-pipe inspection vehicles for /spl phi/25, /spl phi/50, /spl phi/150 pipes , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  Amir Ali Forough Nassiraei,et al.  Concept and Design of A Fully Autonomous Sewer Pipe Inspection Mobile Robot "KANTARO" , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Jun'ichi Yamaguchi,et al.  A 3D shape identification system using a fiber grating vision sensor , 1990, [Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society.

[13]  Y. Kawaguchi,et al.  Internal pipe inspection robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[14]  Shigeo Hirose,et al.  Design of In-Pipe Inspection Vehicles for ø25, ø50, ø150 Pi , 1999, ICRA.

[15]  Seungho Kim,et al.  Feeder Pipe Inspection Robot with an Inch-Worm Mechanism Using Pneumatic Actuators , 2006 .