TY - GEN
T1 - Robot system for inspection of the inner wall of large boiler-Integration and evaluation of the system prototype comprising a sensing vehicle and ground equipment
AU - Ozawa, Masaki
AU - Okada, Yoshito
AU - Tadakuma, Kenjiro
AU - Tadokoro, Satoshi
PY - 2018/2/1
Y1 - 2018/2/1
N2 - In this paper, we report on the development and evaluation of an inspection system prototype for inspection of an inner wall of a large boiler. A sensing vehicle, ground equipment and a ground console were prototyped. The vehicle has a horizontal slider table for wide-range scanning by a distance image sensor. A vibration suppression mechanism reduced the inertial force during slider movement. Two winches with automatic locking mechanism for climbing and a laser displacement meter for altitude measurement were installed as ground equipment. In addition, operating software for the inspection system prototype was developed, and this enabled exchange of measurement data and transmission of commands between the vehicle and the console. We also realized autonomous wall climbing of the vehicle while remaining level. Evaluations on a large imitation wall were carried out and they confirmed successful autonomous wall climbing and remote scanning.
AB - In this paper, we report on the development and evaluation of an inspection system prototype for inspection of an inner wall of a large boiler. A sensing vehicle, ground equipment and a ground console were prototyped. The vehicle has a horizontal slider table for wide-range scanning by a distance image sensor. A vibration suppression mechanism reduced the inertial force during slider movement. Two winches with automatic locking mechanism for climbing and a laser displacement meter for altitude measurement were installed as ground equipment. In addition, operating software for the inspection system prototype was developed, and this enabled exchange of measurement data and transmission of commands between the vehicle and the console. We also realized autonomous wall climbing of the vehicle while remaining level. Evaluations on a large imitation wall were carried out and they confirmed successful autonomous wall climbing and remote scanning.
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U2 - 10.1109/SII.2017.8279223
DO - 10.1109/SII.2017.8279223
M3 - Conference contribution
AN - SCOPUS:85050808546
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 264
EP - 269
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -