Real-Time Processing of Localization for Piping Inspection Robot
Author : Hirofumi Maeda
Abstract :
The sewerage pipes laid in Japan are extensive, spanning approximately 470,000 km, with most of them constructed during the high economic growth period from around 1955 to around 1973. According to indicators from the Ministry of Land, Infrastructure, Transport, and Tourism, the service life of sewerage pipes is estimated at 50 years. This suggests that many sewer pipes across Japan, installed over 50 years ago, are becoming obsolete. Consequently, piping inspections using robots have commenced in Japan. Currently, stand-alone types that can be inspected by a single robot are garnering attention. Meanwhile, we have been conducting research and development with the aim of implementing a small, easily portable, stand-alone piping inspection robot. Furthermore, numerous stand-alone types have been employed to prevent falls by adjusting the tire shape or the distance between the axles. However, this hardware approach does not completely prevent falls. Therefore, we have opted for a software approach to explore measures to prevent falls by controlling driving, aiming to achieve the advanced localization required for this purpose. Localization ultimately needs to be implemented on an embedded computer or microcomputer installed in the robot itself, and for this purpose, localization must be processed in real-time. However, the previous method did not meet this requirement. Therefore, this paper describes the method and usefulness of real-time processing for localization using embedded PCs and microcomputers.
Keywords :
Localization, real-time, numerical analysis, inspection robot, water pipe
