Chaehyeuk Lee, Da-Ni Joo, G. Kim, Byung soo Kim, Gwang hoon Lee, Soon‐Geul Lee
{"title":"用激光笔对管道内移动机器人进行弯头检测定位","authors":"Chaehyeuk Lee, Da-Ni Joo, G. Kim, Byung soo Kim, Gwang hoon Lee, Soon‐Geul Lee","doi":"10.1109/URAI.2013.6677474","DOIUrl":null,"url":null,"abstract":"Robots for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve the inspection task within pipelines. Localization is an important factor for inpipe robot to perform a successful autonomous operation. However, because of its unique characteristics of inpipe condition, sensors which have good performance in localization, like GPS and beacon, cannot be used. In this paper, a localization using elbow detection is presented. With the laser light image processing and the angular velocity of IMU, the odometry module of robot determines whether it is on straight pipe or elbow, and minimizes the integration error in orientation. The experiment environment has consisted of two straight pipes and an elbow, and the pipe map has been constructed as the result.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Elbow detection for localization of a mobile robot inside pipeline using laser pointers\",\"authors\":\"Chaehyeuk Lee, Da-Ni Joo, G. Kim, Byung soo Kim, Gwang hoon Lee, Soon‐Geul Lee\",\"doi\":\"10.1109/URAI.2013.6677474\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Robots for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve the inspection task within pipelines. Localization is an important factor for inpipe robot to perform a successful autonomous operation. However, because of its unique characteristics of inpipe condition, sensors which have good performance in localization, like GPS and beacon, cannot be used. In this paper, a localization using elbow detection is presented. With the laser light image processing and the angular velocity of IMU, the odometry module of robot determines whether it is on straight pipe or elbow, and minimizes the integration error in orientation. The experiment environment has consisted of two straight pipes and an elbow, and the pipe map has been constructed as the result.\",\"PeriodicalId\":431699,\"journal\":{\"name\":\"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)\",\"volume\":\"72 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/URAI.2013.6677474\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/URAI.2013.6677474","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Elbow detection for localization of a mobile robot inside pipeline using laser pointers
Robots for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve the inspection task within pipelines. Localization is an important factor for inpipe robot to perform a successful autonomous operation. However, because of its unique characteristics of inpipe condition, sensors which have good performance in localization, like GPS and beacon, cannot be used. In this paper, a localization using elbow detection is presented. With the laser light image processing and the angular velocity of IMU, the odometry module of robot determines whether it is on straight pipe or elbow, and minimizes the integration error in orientation. The experiment environment has consisted of two straight pipes and an elbow, and the pipe map has been constructed as the result.