Mechanism and Shape Control of Variable Guide Frame to Inspect Inner Wall Tunnel
Takuya Uchiyama, Soonsu Kwon, Fumihiro Inoue, Satoru Nakamura, Yoshitaka Yanagihara · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2017
To improve the inspection method in the inner wall of the tunnel that became superannuated, the mechanism that was flexibly transmutable of the guide frame shape for the inspection according to the object in the tunnel was developed. In part 3 of the report, three dimension laser range finder of the high-resolution evaluation was constructed, and the position of the obstacle in the tunnel was detected The center and the depth position of the obstacle were presumed from the relation between the distance and the angle, and the boundary condition that changed the shape of the guide frame was calculated. The shape of the guide frame was analyzed based on the location information of the obtained objects.