Automatic in-pipe robot centering from 3D to 2D controller simplification
作者： Luis A. Mateos , Marcos Rodriguez y Dominguez , Markus Vincze
DOI: 10.1109/IROS.2013.6696362
关键词: Controller (computing) 、 Robot 、 Engineering 、 Structural engineering 、 Motion control 、 Pipeline transport 、 Rotation around a fixed axis 、 Maintenance engineering 、 Fresh water 、 Distance sensors 、 Mechanical engineering
摘要: After 50 years the connections between fresh water pipes (800–1200mm diameter) need to be repaired due to aging and dissolution of the filling material. Only in Vienna 3000km of pipes need to be improved, which requires a robotic solution. The main challenge is to accurately align the robot axis with the pipe axis to enable the rotary motion of the maintenance tool. The tool system for cleaning and sealing is mounted on the maintenance unit of the robot consisting of six wheeled-legs. These legs extend to the irregular cast-iron …
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