Abstract
Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions.
Highlights
Pipelines are important for economic transport of gases and liquids such as oil, fuels, water and sewer
Autonomous robots are needed for inspection because pipeline systems are often hidden underground and are long, thin, and complex
We describe the design and development of an autonomous robot capable of inspecting pipes interior of 30 cm diameter which constitute around 60% of pipes used in sewage systems in several countries, including Egypt and Japan [2]
Summary
Pipelines are important for economic transport of gases and liquids such as oil, fuels, water and sewer. Sewage pipelines are the most commonly inspected as it is very hard to inspect by humans [2] Information such as pictures of cracks or any notches in the pipes [3] need to be collected. Autonomous robots are needed for inspection because pipeline systems are often hidden underground and are long, thin, and complex. In general the complexity resulted from the requirements to satisfy the projects needs in building such robots, including the ability to climb steep obstacles or to navigate through pipe networks of curved routes and connections. We describe the design and development of an autonomous robot capable of inspecting pipes interior of 30 cm diameter which constitute around 60% of pipes used in sewage systems in several countries, including Egypt and Japan [2].
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