| 摘要 |
PROBLEM TO BE SOLVED: To provide a simple method and a facility capable of precisely making detection of a self-location of a robot autonomously traveling inside of a pipe conduit such as a sewer or the like in real time. SOLUTION: A camera sensor and a distance sensor are mounted on the autonomous traveling type robot making detection of defects in the pipe conduit by autonomously traveling inside of the sewer or the like, description points including a manhole, a T-shaped junction, a Y-shaped junction, a differential diameter junction and a joint section, etc. are identified by the distance sensor, and an operational calculation of the self-location of the autonomous traveling robot is made as a distance from the description points by contrasting a number of edge pixels of an interested domain obtained from image data acquired by the camera sensor with a number of pixels in a table of a number of pixels corresponding to the distance from the description points formed in advance. COPYRIGHT: (C)2007,JPO&INPIT
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