Earticle

초록

영어

We propose a method for developing an in-pipe inspection robot based on multiple inertial sensors. Estimating the position of underground pipelines where satellite signals do not reach remains challenging. High-precision inertial sensors and high-tech mobile robots can be solutions, but their high price limits their general use. We developed an in-pipe inspection robot by combining various low-cost sensors with a microcomputer-based RC car platform. First, we fabricated a multi-inertial sensors module by combining commercial grade low-cost MEMS inertial sensors. The sensor values measured by the multi-inertial sensor are transmitted to the main computer through the MCU, and the attitude angle of the vehicle is finally calculated through the inverse variance weighted average. The travel distance of the robot is estimated by using hall sensors and neodymium magnets attached to the inside of the wheels. Also, we measured the pipe diameter using multiple ultrasonic sensors. We verified the estimation accuracy of each sensor through experiments and consequently estimated the 3D trajectory of the in-pipe robot.

목차

ABSTRACT
1. 서론
2. 연구 방법
2.1 배관 탐사 장비의 제원
2.2 역분산 가중평균을 통한 관성 센서 융합
2.3 다중 초음파센서를 이용한 관경 추정
2.4 홀 센서를 이용한 이동 거리 추정
3. 실험 결과
3.1 역분산 가중평균을 통한 자세각 추정
3.2 초음파 센서를 이용한 관경 추정
3.3 홀 센서를 이용한 이동 거리 추정
4. 결론
References

키워드

관로 탐사 로봇 추측 항법 관성 측정 장치 초음파 센서 홀 센서 역분산 가중평균 In-pipe inspection robot Dead reckoning Inertial measurement unit Ultrasonic sensor Hall sensor Inverse-Weighted average

저자

• 유성식 [ Sung-sic Yoo | Joongbu University ]
• 이흥식 [ Heung-Shik Lee | Joongbu University ] Corresponding Author

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