Robotic Search and Rescue through In-Pipe Movement
Robotic Search and Rescue through In-Pipe Movement
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DOI：
10.5772/intechopen.88414
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发表时间：
2019-08
期刊：
影响因子：
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通讯作者：
A. Kakogawa;Shugen Ma
中科院分区：
文献类型：
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作者：
A. Kakogawa;Shugen Ma
迄今为止，我们一直在研究和开发各种机器人，这些机器人可以应用于现有方法（螺旋驱动型，并联多模块型和铰接轮式）无法执行的管道检查。在本章中，我们根据管道检测机器人的配置和结构对每种管道检测机器人进行了分类，包括推进机构、转向机构、伸展机构的设计以及车轮和关节轴的位置。在此分类的基础上，从开发者的角度，我们还讨论了我们已经开发的各种机器人，沿着他们的优点和缺点。
So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screw-drive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer’s point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages.