Abstract
MLF (Magnetic Flux Leakage) type PIG (Pipeline Inspection Gauge) is generally used to detect cracks for underground gas pipelines. Although it has good performance for inter-city scale large size pipline. It is hard for MFL PIG to be applied to the small size pipeline installed inside the city because of driving problem. So, it is necessary to adopt snake type robot system to drive PIG Module. MFL PIG has strong magnetic field generating system which could induce the magnetic force on the pipe so that the PIG could be stuck eventually. Therefore, it is very important to analyze the magnetic charateristics first before applicating to pipeline inspection.
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