Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor

The total length of sewer pipelines in Japan is over 440,000 kilometers. Until now, experienced inspectors have conducted visual inspections by watching in-pipe animation images that are obtained from an autonomous vehicle equipped with a CCD camera. Their inspection methods have difficulties of qua...

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Autores principales:	Fujio IKEDA, Shigehiro TOYAMA, Toshio KUMOTA, Takashi YANAGISAWA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2016
Materias:	measurement vehicle sewer pipe quaternion extended kalman filter gyro sensor accelerometer Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/337c38a7120146f0afa625e5856a00a4
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spelling	oai:doaj.org-article:337c38a7120146f0afa625e5856a00a42021-11-26T06:35:12ZDevelopment of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor2187-974510.1299/mej.14-00546https://doaj.org/article/337c38a7120146f0afa625e5856a00a42016-01-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/3/1/3_14-00546/_pdf/-char/enhttps://doaj.org/toc/2187-9745The total length of sewer pipelines in Japan is over 440,000 kilometers. Until now, experienced inspectors have conducted visual inspections by watching in-pipe animation images that are obtained from an autonomous vehicle equipped with a CCD camera. Their inspection methods have difficulties of quantitative evaluation with high accuracy because the viewpoints depend on the judging skills of the inspectors. In this study, we developed vehicles equipped with an inertial navigation system (INS) consisting of a gyro sensor and accelerometer in order to measure unevenness of the sewer pipe accurately and quantitatively. We also aim to achieve a simple measurement scheme at comparatively low cost. To accomplish these missions, two vehicles were designed and manufactured. The first vehicle is designed for the function of driving and pulls a second vehicle. The second vehicle’s only function is measurement; it is towed and does not move independently. We use the MEMS sensor devices installed on the second vehicle to suit our particular needs of low price and small size. However, these low-priced gyro sensors are notorious for their inaccuracy (experiencing such problems as drift error). We apply the extended Kalman filter (EKF) algorithm to reduce the estimation errors. We use quaternions as state variables of the posture for the 3D coordinate system. The experimental study shows that the suggested algorithms effectively remove the errors and can lead to systematic measurement schemes to accurately determine the unevenness of the sewer pipes.Fujio IKEDAShigehiro TOYAMAToshio KUMOTATakashi YANAGISAWAThe Japan Society of Mechanical Engineersarticlemeasurement vehiclesewer pipequaternionextended kalman filtergyro sensoraccelerometerMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 3, Iss 1, Pp 14-00546-14-00546 (2016)
institution	DOAJ
collection	DOAJ
language	EN
topic	measurement vehicle sewer pipe quaternion extended kalman filter gyro sensor accelerometer Mechanical engineering and machinery TJ1-1570
spellingShingle	measurement vehicle sewer pipe quaternion extended kalman filter gyro sensor accelerometer Mechanical engineering and machinery TJ1-1570 Fujio IKEDA Shigehiro TOYAMA Toshio KUMOTA Takashi YANAGISAWA Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
description	The total length of sewer pipelines in Japan is over 440,000 kilometers. Until now, experienced inspectors have conducted visual inspections by watching in-pipe animation images that are obtained from an autonomous vehicle equipped with a CCD camera. Their inspection methods have difficulties of quantitative evaluation with high accuracy because the viewpoints depend on the judging skills of the inspectors. In this study, we developed vehicles equipped with an inertial navigation system (INS) consisting of a gyro sensor and accelerometer in order to measure unevenness of the sewer pipe accurately and quantitatively. We also aim to achieve a simple measurement scheme at comparatively low cost. To accomplish these missions, two vehicles were designed and manufactured. The first vehicle is designed for the function of driving and pulls a second vehicle. The second vehicle’s only function is measurement; it is towed and does not move independently. We use the MEMS sensor devices installed on the second vehicle to suit our particular needs of low price and small size. However, these low-priced gyro sensors are notorious for their inaccuracy (experiencing such problems as drift error). We apply the extended Kalman filter (EKF) algorithm to reduce the estimation errors. We use quaternions as state variables of the posture for the 3D coordinate system. The experimental study shows that the suggested algorithms effectively remove the errors and can lead to systematic measurement schemes to accurately determine the unevenness of the sewer pipes.
format	article
author	Fujio IKEDA Shigehiro TOYAMA Toshio KUMOTA Takashi YANAGISAWA
author_facet	Fujio IKEDA Shigehiro TOYAMA Toshio KUMOTA Takashi YANAGISAWA
author_sort	Fujio IKEDA
title	Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
title_short	Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
title_full	Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
title_fullStr	Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
title_full_unstemmed	Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor
title_sort	development of sewer pipe measurement system by vehicle equipped with low-priced mems sensor
publisher	The Japan Society of Mechanical Engineers
publishDate	2016
url	https://doaj.org/article/337c38a7120146f0afa625e5856a00a4
work_keys_str_mv	AT fujioikeda developmentofsewerpipemeasurementsystembyvehicleequippedwithlowpricedmemssensor AT shigehirotoyama developmentofsewerpipemeasurementsystembyvehicleequippedwithlowpricedmemssensor AT toshiokumota developmentofsewerpipemeasurementsystembyvehicleequippedwithlowpricedmemssensor AT takashiyanagisawa developmentofsewerpipemeasurementsystembyvehicleequippedwithlowpricedmemssensor
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Development of sewer pipe measurement system by vehicle equipped with low-priced MEMS sensor

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