Method for inspecting inner side of e.g. sewer pipe, by using robot system, involves creating model of object, correcting captured images based on detected position and orientation of object, and projecting images on model of object

摘要

The method involves introducing a robot (2) equipped with sensors e.g. profiler socket sensors (6), and video cameras (4) into a tubular object e.g. pipe (1). Shape of the object is captured. Gradient of the object is detected. Position and orientation of the robot are sensed by the sensors at various positions inside the object. A model of the object is created based on the shape and gradient of the object detected at different positions. The captured images are corrected based on the detected position and orientation of the object, and the images are projected on the model of the object. An independent claim is also included for a robot system for inspecting a tubular object, comprising a robot.