管道运输
机器人
管道(软件)
差速器(机械装置)
工程类
控制工程
模拟
移动机器人
机制(生物学)
海洋工程
机械工程
计算机科学
人工智能
航空航天工程
哲学
认识论
作者
Seulki Roh,Hyouk Ryeol Choi
出处
期刊:IEEE Transactions on Robotics
[Institute of Electrical and Electronics Engineers]
日期:2005-02-01
卷期号:21 (1): 1-17
被引量:369
标识
DOI:10.1109/tro.2004.838000
摘要
Pipelines for the urban gas-supply system require a robot possessing outstanding mobility and advanced control algorithms, since they are configured with various pipeline elements, such as straight pipelines, elbows, and branches. We present a comprehensive work for moving inside underground urban gas pipelines with a miniature differential-drive in-pipe robot, called the Multifunctional Robot for IN-pipe inSPECTion (MRINSPECT) IV. MRINSPECT IV has been developed for the inspection of urban gas pipelines with a nominal 4-in inside diameter. The mechanism for steering with differential-drive wheels, arranged three-dimensionally, allows it to easily adapt to most of the existing configurations of pipelines, as well as providing excellent mobility during navigation. After carrying out analysis for fittings in pipelines, mathematical descriptions of their geometries are presented, which make it possible to estimate the movement patterns of the robot while passing through the fittings. Also, we propose a method of controlling the robot by modulating speeds of driving wheels that is applicable without sophisticated sensory information. To confirm the effectiveness of the proposed method, experiments are performed, and supplementary considerations on the design of the in-pipe robot are discussed.
科研通智能强力驱动
Strongly Powered by AbleSci AI