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In recent years, road collapse accidents due to leakage of aging sewage pipes have become a major social problem. To prevent accidents, the inside of the sewage pipe must be inspected. However, it is difficult to inspect long-distance pipes with diameters of 100 mm or less and curved pipes. Therefore, in this research, we develop an inspection system that uses earthworm movement which can drive steadily...
To reduce the risk of serious accidents, such as road subsidence caused by damaged and aging sewer pipes, internal inspections of sewer pipes is required. However, it is difficult to inspect small diameter pipes using existing inspection devices. In order to solve this challenge, this paper focuses on the locomotion of an earthworm that is capable of moving stably in a narrow space. A peristaltic...
A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories and so on. The use of an omni-directional camera which can take images of 360 deg in surroundings at a time is effective for pipe inspection. However, shape measurement is difficult only with the omnidirectional camera. Therefore, in this paper, we propose a reconstruction method of a piping shape by using a...
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