Abstract
Pipes are present in most of the infrastructure around us - in refineries, chemical plants, power plants, not to mention sewer, gas and water distribution networks. Inspection of these pipes is extremely important, as failures may result in catastrophic accidents with loss of lives. However, inspection of small pipes (from 3 to 6 inches) is usually neglected or performed only partially due to the lack of satisfactory tools. This paper introduces a new series of robots named PipeTron, developed especially for inspection of pipes in refineries and power plants. The mobility concept and design of each version will be described, follower by results of field deployment and considerations for future improvements.
Published Version
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