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

Masaki Ozawa, Yoshito Okada, Kenjiro Tadakuma, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages264-269
Number of pages6
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Fingerprint Dive into the research topics of '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'. Together they form a unique fingerprint.

Cite this