Large-Scale Vine Robots for Industrial Inspection: Developing a New Framework to Overcome Limitations With Existing Inspection Methods

The research addresses the critical need for efficient and cost-effective pipe inspection methods in modern infrastructure, focusing on the maintenance of water and gas delivery systems. The objective is to improve defect detection and maintenance processes in pipes, reducing downtime and operational costs. The proposed method involves deploying pipe inspection robots, with an emphasis on on-pipe robots tailored for specific applications such as urban gas lines, small feeder pipes, and sewer systems. These robots are categorized into seven sub-types, including wheel-type, inchworm-style, AI-powered sewer inspection, caterpillar-style, and helical motion robots, each designed for unique inspection challenges. A newly developed versatile on-pipe inspection robot is highlighted for its ability to inspect a variety of plastic and metal pipes in both horizontal and vertical orientations. This robot features a body, foreleg system, rear leg system, and springs, enabling smooth navigation through pipes. The performance of this robot shows substantial improvements in inspection efficiency and accuracy, proving its effectiveness as a modern solution for infrastructure maintenance.

SummaryElectrical distribution equipment inspection is crucial for the electric power industry. With the rapid increase in the number of electrical distribution rooms, an unattended inspection method, for example, autonomous inspection robot, is eagerly desired by the industry to make up for the deficiencies of traditional manual inspection in effectiveness and validity. Existing inspection robots designed for indoor substations are generally lack of practicality, due to the factors such as inspection requirements and robot weight. To bridge the gap between prototype and practicality, in this work, we design the first completely autonomous robotic system, LongSword, which provides a satisfying technical solution for equipment inspection with an optical zoom camera, a thermal imaging camera or a partial discharge detector. Firstly, we design a novel and flexible hardware architecture which allows the robot to move, lift, and rotate in the station to reach any desired position. Secondly, we develop an intelligent software framework which consists of several modules to achieve accurate equipment recognition and reliable failure diagnosis. Thirdly, we achieve an apposite integration of the existing technologies to implement an applicable robotic system that can fulfill the requirements of indoor equipment inspection. There are over 200 LongSwords currently serving about 160 electrical distribution rooms, some of which have been working for more than 1 year. The average precision of device status recognition is up to 99.70%, and the average inspection time of a single device is as short as 13.5 s. The feedback from workers shows that LongSword can significantly improve the efficiency and reliability of equipment inspection, which accelerates the process of setting up unmanned stations.

Intelligent inspection robots can monitor the behavior of poultry in real-time according to the production management needs of standardized poultry breeding, and gradually replace the method of artificial inspection to become a new method for farm detection. The good performance of its power system is the basis for ensuring the extension of the inspection cycle. In a humid environment, the traditional power supply method will cause the wear, leakage, and heating of the wires, which causes the safety of the farm to be guaranteed. Therefore, this article designed a suspension inspection robot system with dynamic wireless charging functions. It can run steadily at high temperatures, high humidity, and high dust environment, and use radio energy transmission technology based on induction coupling principles to move the inspection robot to dynamic wireless charging. The coupling quality is used to improve the transmission efficiency of the system, and it provides a reference for the design of the wireless charging coupling device of the inspection robot in the future.

In high voltage power system, with the gradual increment of SF <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">6</sub> gas closed-end insulation composite appliance, the application of Gas insulated switchgear (GIS) becomes more and more widely accepted based on its high reliability, less maintenance, long maintenance cycle, and low failure rate (only 20% ~40% of conventional equipment). However, the GIS has its inherent shortcomings, as a result of the SF6 gas leakage, external water infiltration, the conductive impurities as well as insulator aging factors, such as internal flashover. To this end, this paper designs a rail-type inspection robot for GIS substation. First, it analyzes the background of high voltage substation and GIS. Secondly, considering the distribution of GIS and the task of substation inspection, the paper gives the key components of rail-type inspection robot, such as straight walking components, turning and changing track component, partial discharge (PD) detection component. Thirdly, it proposes that the architecture of rail type inspection robot system is a network distributed, which includes three parts: the background layer, communication layer and terminal layer. In addition, it discusses in detail the motion control method of inspection, especially positioning control. Then it explains the software and hardware structure of the motion control system: Radio frequency identification (RFID) is used for motion positioning of inspection robots; the background layer controls the motion of the inspection robot and uses the background software to analyze the detection data. Finally, the paper proves that the inspection robot has good balance, flexible turning, and a large inspection range. The robot can completely inspect work well instead of staff.

Developments, challenges, and perspectives of railway inspection robots

Virtually all equipment in the oil, gas and petrochemical industry requires some kind of periodic inspection. Pressure vessels are an important part of the production process; currently the inspection of these are being done by human inspectors that require entry into the vessels. The working environment inside these vessels is potentially dangerous, and substantial precautions must be taken ensure the safety of the inspectors. These precautions take considerable time, making the inspection both very costly and hazardous. Robotic technology offers a safe alternative to human entry, and is now advanced enough to perform inspections remotely, minimising human entry thus increasing safety. The PETROBOT project has brought together inspection methods and robotic technology to reduce risks and cost involved in inspection of pressure vessels. PETROBOT comprises the complete value chain, from robot and inspection technology providers, to inspection service providers and end-users. The project has developed robotic deployment platforms and adapted industry standard inspection techniques to demonstrate the benefits of remote pressure vessel inspection. This paper presents the use case and progress made under PETROBOT for the inspection of pressure vessels. Two different, yet complementary robots have been developed, one a magnetic crawler; the other, a snake-arm robot. The two systems enable robotised inspection capabilities in a variety of pressure vessel designs. The robots carry a payload consisting of inspection tools: a camera for visual inspection, structured light for profilometry, and an ultrasonic transducer, and an eddy current transducer. These novel inspection technologies have been integrated into the robotic systems and have been tested and verified on artificial defects, as well as real pressure vessels in a laboratory environment. During the final stages of the PETROBOT project, they will be deployed in real installations of the participating end users.

Purpose – Aims to report on the various types of tele‐operated mobile service robots for remote inspection and maintenance, especially in the field of nuclear industry.Design/methodology/approach – Describes nuclear electric robot operator (NERO), Sizewell A duct inspection equipment (SADIE), Robug‐IIs (all leg‐based) and Roboslave (wheel‐based).Findings – That these robots can handle a significant portion of inspection and maintenance tasks in a typical nuclear plant, though, given that they are primarily tailor‐made, they are still too expensive for ordinary industries.Originality/value – As the interests of health and safety and paramount, this study sees the use of such robots expanding and diversifying, irrespective of cost.

Wireless power transmission system has been applied in the field of smart grid inspection because of its advantages of non-contact and non-wear. This paper designs a coupler integrating infrared detection and power transmission for the wireless charging of industrial inspection robots. The system scheme integrating infrared detection and power transmission is proposed. The system using 4 infrared sensors to detect the position of inspection robot is established. A prototype of wireless charging system for inspection robot is developed. The 474.18W load power and 91.78% efficiency are realized. When the vehicular coil is offset by 15%, the system still works stably. This paper also compares with other coupler schemes. In addition, The electromagnetic field around the coupler is measured. The measurement results are below the limits.

Periodic inspections of power grids to prevent power outages and promptly handle potential risks are one of the most important tasks of the electricity industry. However, this is a tedious, time-consuming and dangerous job as all current inspection methods are carried out manually. This paper proposes a computer vision system that assists inspection robots working on overhead high voltage transmission lines to operate autonomously. Our system performs three main functions. The first is to detect obstacles by using YOLOv4, a state-of-the-art object detection technique so that the robot can determine how to properly overcome obstacles. The second is to estimate the distance to the obstacle by using linear regression technique so that the robot can determine the exact time to overcome the object. The third is to detect wire defects based on the wire edges by using image processing techniques. Our achieved performance of the system: detecting obstacles with mAP@0.5 equal to 98.65%, estimating distance to objects with average mean absolute error equal to 0.81cm in the range from 20cm to 100cm, and detecting wire defects with precision equal to 90.24% and recall equal to 86.05%. Our computer vision system is accurate and reliable, ready to integrate with the robot in real life. Inspection robots with this system will make the inspection of power lines faster and simpler, which saves time, maintenance costs and labor.

The emergence of power station inspection robots signifies a significant leap forward in intelligent automation within the domain of substation maintenance. These robots are equipped with the capability to autonomously traverse through substations, conducting meticulous inspections of equipment and facilities. By replacing manual inspection methods, they bring forth a multitude of benefits including heightened efficiency, cost reduction, and enhanced personnel safety. As the realms of artificial intelligence and robotics continue to advance, the development of substation inspection robots has become a focal point in the power industry. This paper offers a comprehensive overview of the current landscape of inspection robots, offering insights from both domestic and international contexts. Furthermore, it delves deeply into the critical technologies that underpin substation inspection robots, showcasing the cutting-edge advancements driving their unparalleled performance. In addition to providing a comprehensive overview of existing technologies, this work offers a forward-looking perspective on the potential applications of these robots. It provides a glimpse into the future of substation maintenance practices, envisioning a landscape where these robots play an indispensable role in optimizing operational efficiency, ensuring regulatory compliance, and enhancing overall system reliability. Moreover, the paper outlines key areas for future technical development, paving the way for continued innovation and advancement in this dynamic and rapidly evolving field.

Autonomous inspection robots have emerged as a theme in the digital transformation era, under the umbrella of industrial smart plants for their claimed superiority, safe operation, and cost-effectiveness. Autonomous inspection robots play an essential role in inspecting inaccessible pipelines and process piping, due to their great maneuverability to traverse various bends and geometries, e.g., elbows and T-joints. Saudi Aramco Inspection Department, in collaboration with Shaybah Producing Department, conducted a field trial of an autonomous robot to apply multiple inspection methods simultaneously, in an inaccessible 30" gas pipeline. The robotic system is equipped with motored magnetic wheels to enable movement inside the pipe and can hold the inspection system at certain pre-defined coordinates. The pilot study concluded that the autonomous robot provides accurate corrosion mapping and performs different inspection simultaneously. In addition, the robot has demonstrated great maneuverability inside the pipe in all orientations, i.e. axial, circumferential, and in between. The system has shown a strong potential to inspect inaccessible piping system while minimizing extremely expensive practices, e.g. scaffold erections, excavations, in a timely manner, with ease on logistics and labor. The use of autonomous robotic scanner provides the operating facility with an option, which is cost-effective and requires a single deployment to complete multiple inspection tasks. The system is capable of replacing the current practice of deploying multiple technologies for a complete inspection inside the pipeline. The system is a self-contained inspection robot that conduct various inspection functions simultaneously, including: Optical Video System, Ultrasonic Guided Waves, Ultrasonic Shear Wave and Ultrasonic Corrosion Mapping with dry-point contact transducers. The system will detect flaws, identify their type and measure the parameters of the pipeline's base metal, welding defects, and provided detailed information and data on the condition of the examined assets, while internally scanning the pipeline. The robot requires, minimum clean-up, and has great maneuverability to go through various bends and geometries, i.e. elbows, T-joints, etc. The autonomous robot can be inserted through the available manhole hatches. The robot is wireless capable and can reach up to 1,000 — 1,500 meters inside the pipe, while being controlled and inspection data is received continuously in outside control room.

ABSTRACTStructural health monitoring is essential to ensure the safe operation of infrastructure such as construction machinery and bridges, which can effectively prevent accidents, extend service life, and reduce maintenance costs. However, traditional inspection methods mainly rely on manual visual inspection, which has limitations such as low efficiency, high cost, and high risk, making it difficult to meet the demand for efficient and accurate inspection in modern engineering. As an emerging technology, intelligent inspection robots provide a new solution for structural health monitoring by virtue of their autonomy, flexibility, and efficiency. This paper systematically reviews the technical characteristics of intelligent detection robots in structural health monitoring and their applications in different scenarios, with a focus on analyzing their performance in actual detection. At the same time, it summarizes their application progress in sensor technology, fault data processing and analysis methods, and fault localization technology, highlighting their ability to achieve efficient data acquisition, accurate defect identification, and real‐time health assessment in complex environments. In addition, the main technical challenges faced by current inspection robots are summarized, such as stability in complex environments, data processing capability, and autonomous decision‐making level. Finally, the future development direction of inspection robots is outlooked, which mainly focuses on the deep integration of artificial intelligence and machine learning, the optimization of multi‐robot collaborative technology, and the improvement of lightweight and energy efficiency. Through this review, we aim to provide theoretical support and practical reference for further research and application of intelligent inspection robots in the field of structural health monitoring.

Pipe cleaning and inspection robot is one of the new concepts of professional service robots. Sewer pipes are typically of non-man-entry classification (less than 0.8 m diameter). In this paper, a pipe-cleaning and inspection robot specifically designed for this function is proposed. This paper presents a new approach for design and development of cleaning robots in an unknown pipe workspace. To do so, we propose a new cutting method for cleaning work as well as an underwater inspection method. In this study, we discuss a communication which makes the cleaning robot navigate the sewer pipe. Finally, we also evaluate the performance of our proposed inspection and cleaning processes via experiments and real tests. Also, we verify the effectiveness of the proposed methods through computer simulations.

PurposeThe purpose of this paper is to describe design and development of a pole climbing robot (PCR) for inspection of industrial size pipelines. Nowadays, non‐destructive testing (NDT) methods are performed by dextrous technicians across high‐level pipes, frequently carrying dangerous chemicals. This paper reports development of a PCR that can performin situmanipulation for NDT tests.Design/methodology/approachIntroduces a PCR including a novel four‐degrees of freedom climbing serial mechanism with the nearly optimal workspace and weight, unique V‐shaped grippers and a fast rotational mechanism around the pole axis. Simplicity, safety, minimum weight, and manipulability were concerned in the design process.FindingsThe developed prototype proved possibility of application of PCRs for NDT inspection on elevated structures. Design and development of PCRs which are able to pass bends and T‐junctions faces much more difficulties than those which should climb from a straight pole.Practical implicationsThe robot is successfully tested on an industrial size structure (exterior diameter of 219 mm) with bends and T‐junctions.Originality/valueDesign and development of a novel pole climbing and manipulating robot for inspection of industrial size pipelines. The robot is able to pass bends and T‐junctions. The V‐shaped grippers offer many advantages including safety and tolerance to power failure. After grasping the structure, in case of power failure in any of the grippers' motors, the robot does not slip on the structure. TheZ‐axis rotational mechanism provides fast navigation around the pole which is not possible with the traditional serial articulated arms.

Robots have been increasingly used in industrial applications, being deployed along other robots and human supervisors in the automation of complex tasks such as the inspection, monitoring and maintenance of industrial assets. In this paper, we shared our experience and presented our implemented software framework for such edge computing for semi-autonomous robotics inspection. These systems combine human-in-the-loop, semi-autonomous robots, edge computing and cloud services to achieve the automation of complex industrial tasks. This paper describes a robotic platform developed, discussing the key architectural aspects of a semi-autonomous robotics system employed in two industrial inspection case studies: remote methane detection in oilfields, and flare stack inspections in oil and gas production environment. We outline the requirements for the system, sharing the experience of our design and implementation trade-offs. In particular, the synergy among the semi-autonomous robots, human supervisors, model-based edge controls, and the cloud services is designed to achieve the responsive onsite monitoring and to cope with the limited connectivity, bandwidth and processing constraints in typical industrial setting.