Published March 30, 2024 | Version CC-BY-NC-ND 4.0
Journal article Open

Impact of Tire Shape on Localization Accuracy in Piping Inspection Robots

Creators

  • 1. Department of Information Science and Technology, National Institute of Technology (KOSEN), Yuge College, Ehime Prefecture, Japan.

Description

Abstract: The sewerage pipes laid in Japan are extensive, spanning approximately 470,000 km, with most of them constructed during the high economic growth period from around 1955 to around 1973. According to indicators from the Ministry of Land, Infrastructure, Transport, and Tourism, the service life of sewerage pipes is estimated at 50 years. This suggests that many sewer pipes across Japan, installed over 50 years ago, are becoming obsolete. Consequently, piping inspections using robots have commenced in Japan. Currently, stand-alone types that can be inspected by a single robot are garnering attention. Meanwhile, we have been conducting research and development with the aim of implementing a small, easily portable, stand-alone piping inspection robot. Furthermore, numerous stand-alone types have been employed to prevent falls by adjusting the tire shape or the distance between the axles. However, this hardware approach does not completely prevent falls. Therefore, we have opted for a software approach to explore measures to prevent falls by controlling driving, aiming to achieve the advanced localization required for this purpose. We are currently in the stage of verifying the localization. However, accurately measuring the robot's position and orientation using general measuring instruments is challenging due to the curved piping. Hence, we developed a specialized three-dimensional position-measuring instrument for piping inspection robots. In this paper, we utilize the instrument to examine the influence of tire shape on localization. Additionally, we demonstrate the effectiveness of the localization method in an environment where tire shape does not affect the outcome.

Files

F801612060324.pdf

Files (1.2 MB)

Name Size Download all
md5:6c8dfdf280cd1aa5f36c69c09d45081e
1.2 MB Preview Download

Additional details

Identifiers

DOI
10.35940/ijrte.F8016.12060324
EISSN
2277-3878

Dates

Accepted
2024-03-15
Manuscript received on 22 February 2024 | Revised Manuscript received on 04 March 2024 | Manuscript Accepted on 15 March 2023 | Manuscript published on 30 March 2024.

References

  • Japan institute of wastewater engineering technology, "Development foundation survey of sewerage facilities management robot", Sewer new technology Annual report of the Institute, 1992, pp.43-52.
  • Rome, E., Hertzberg, J., Kirchner, F., Licht, U. and Christaller, T., "Towards Autonomous Sewer Robots: the MAKRO Project", Urban Water, Vol. 1, 1999, pp. 57-70. https://doi.org/10.1016/S1462-0758(99)00012-6
  • Streich, H. and Adria, O., "Software approach for the autonomous inspection robot MAKRO", in Proceedings of the 2004 IEEE International Conference Robotics and Automation, 2004, pp. 3411-3416. https://doi.org/10.1109/ROBOT.2004.1308781
  • Birkenhofer, C., Regenstein, K., Zöllner, J. M. and Dillmann, R., "Architecture of multi-segmented inspection Robot KAIRO-II", DOI: 10.1007/978-1-84628-974-3_35, In book: Robot Motion and Control, 2007, pp.381-389. https://doi.org/10.1007/978-1-84628-974-3_35
  • Ayaka, N., Kazutomo, F., Toshikazu, S., Mikio, G. and Hirofumi M., "Prototype design for a piping inspection robot", 43rd Graduation Research Presentation Lecture of Student Members of the JSME, 2013, 716.
  • Kazutomo, F., Yoshiki, I. and Hirofumi M., "Modularization for a piping inspection robot", 2013 Symposium on System Integration, 2013, pp.1297-1300.
  • Kazutomo, F., Toshikazu, S., Mikio, G., Yoshiki, I. and Hirofumi M., "Miniaturization of the piping inspection robot by modularization", 44th Graduation Research Presentation Lecture of Student Members of the JSME, 2014, 613.
  • Hirofumi, M., Takuya, K., Kazutomo, F., Yoshiki, I., Toshikazu, S. and Mikio, G., "Research and development about a piping inspection robot - Report1: Prototype design for a miniaturization -", Bulletin of National Institute of Technology, Yuge College, Vol. 36, 2014, pp.79-82.
  • Hirofumi, M., Yoshiki, I., Toshikazu, S. and Mikio, G., "Research and development about a piping inspection robot - Report2: Prototype design for maintenance improvement -", Bulletin of National Institute of Technology, Yuge College, Vol. 37, 2015, pp.75-79.
  • Hirofumi M., Ryota, K., "Development of a small autonomous pipe inspection robot (Modularization of hardware using the technique of wooden mosaic work)", Transactions of the Japan Society of Mechanical Engineers, Vol.82, No.839, 2016, pp.1-16. https://doi.org/10.1299/transjsme.15-00635
  • Hirofumi M., "Automatic Compensation of the Positional Error Utilizing Localization Method in Pipe", International Journal of Recent Technology and Engineering (IJRTE), Vol.9, No.6, 2021, pp.151-157. https://doi.org/10.35940/ijrte.F5529.039621
  • Yuki, Y., Yoshiki, I., Hirofumi, M., "Self-localization Measurement of the Piping Inspection Robot by a ARtoolkit", Transactions of the Japan Society of Mechanical Engineers, No. 165-1, 2016, 502.
  • Ayano, T., Hirofumi, M., "Accuracy Improvement of the Measuring Instrument for the Piping Inspection Robot", The Japan Society of Mechanical Engineers Chugoku-Shikoku Branch, the 47th Conference on the Graduation Thesis for Undergraduate Students,2017, 921.
  • Ayano, T., Hirofumi, M., "Tilt Adjustment to Measuring Instrument for Piping Inspection Robot", Transactions of the Japan Society of Mechanical Engineers, No. 185-1, 2018, 1304. https://doi.org/10.1299/jsmecs.2018.56.1304
  • Keita I., Hirofumi M., "Hardware Design for the Contact Type Measuring Instrument", The Japan Society of Mechanical Engineers Chugoku-Shikoku Branch, the 52nd Conference on the Graduation Thesis for Undergraduate Students, 2022, 11b4.
  • Ibuki T., Hirofumi M., "Data Reception of the Contact Type Measuring Instrument using BLE", Transactions of the Japan Society of Mechanical Engineers, No. 225-1, 2022, 09a1.
  • Kohei S., Hirofumi M., "Posture Measurement of a Robot using the Contact Type Measuring Instrument", Transactions of the Japan Society of Mechanical Engineers, No. 225-1, 2022, 09a2.
  • Hirofumi M., "A Contact Type Three-Dimensional Position Measuring Instrument for Verification of a Piping Inspection Robot", International Journal of Recent Technology and Engineering (IJRTE), Vol.10, No.6, 2022, pp.65-72.
  • Hirofumi M., "Translational Calibration for Contact Type Three-Dimensional Position-Measuring Instruments", International Journal of Recent Technology and Engineering (IJRTE), Vol.11, No.5, 2023, pp.9-16. https://doi.org/10.35940/ijrte.E7384.0111523
  • irofumi M., "Calibration Considering the Direction of Rotation for Contact Type Three-Dimensional Position-Measuring Instruments", International Journal of Recent Technology and Engineering (IJRTE), Vol.12, No.3, 2023, pp.10-19. https://doi.org/10.35940/ijrte.C7867.0912323
  • Maeda, H. (2021). Automatic Compensation of the Positional Error Utilizing Localization Method in Pipe. In The International Journal of Recent Technology and Engineering (IJRTE) (Vol. 9, Issue 6, pp. 151–157). https://doi.org/10.35940/ijrte.f5529.039621
  • Pandian, PG. G., & Kalam, A. A. (2019). A New System for Steam Boiler Tubes Using Artificial Neural Network. In International Journal of Engineering and Advanced Technology (Vol. 9, Issue 1s4, pp. 873–875). https://doi.org/10.35940/ijeat.a1060.1291s419
  • Gijare, O., Khaire, S., Bagwan, Mohd. Y., Srivastava, S., & Kulkarni, Prof. V. (2020). Productivity Optimization in a Shopping Complex using Industrial Engineering and Facility Layout Planning Tools. In International Journal of Management and Humanities (Vol. 4, Issue 8, pp. 35–39). https://doi.org/10.35940/ijmh.h0766.044820
  • 4-Point Minimal Pick & Place Trajectory Design in Robotics. (2019). In International Journal of Innovative Technology and Exploring Engineering (Vol. 8, Issue 9S, pp. 801–806). https://doi.org/10.35940/ijitee.i1129.0789s19
  • Datta, R. K. (2023). A Pass Transistor based Multifunction Gate Design. In Indian Journal of VLSI Design (Vol. 3, Issue 2, pp. 5–8). https://doi.org/10.54105/ijvlsid.b1222.093223