Automatic Compensation of the Positional Error Utilizing Localization Method in Pipe

Since 1965, a numerous number of cities implementing sewerage systems have increased rapidly throughout Japan, and development is considered to be becoming more widespread in various regions. However, with the increase management facilities, aging facilities for long-term use apparent. The standard expected durability these pipes approximately 50 years, but there tendency risk that collapsed roads will 30 years after are laid. Against this background, maintenance drainage sewage critical must carried out continuously. Therefore, recent investigation using robots been actively conducted order reduce manual workload workers. large-scale system as whole, result, they poorly maintainable expensive. research, I developed an autonomous portable pipe inspection robot through know-how on rescue which studied so far. inspections robot, always itself tip over due steps or small gaps at joints slips caused by sludge. prevent tumbles rollovers propose localization method only straight-driving control without relying hardware. In addition, taking possible inside into account, utilizes acceleration sensor. study, accelerometer mounted focuses relation between contact point tires, was shown well presenting numerical analysis derive estimated values. Furthermore, it confirmed estimation stable result experiment gradient (approx. 4/100) pipe, diameter 189mm.