Pipe Inspection Robot Research Articles

Autonomous control for miniaturized mobile robots in unknown pipe networks.

Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe, cannot access small-diameter pipes, and their deployment incurs high costs for highly skilled operators. In this paper, we introduce a miniaturised mobile robot for pipe inspection. We present an autonomous control strategy for this robot that is effective, stable, and requires only low-computational resources. The robots used here can access pipes as small as 75 mm in diameter. Due to their small size, low carrying capacity, and limited battery supply, our robots can only carry simple sensors, a small processor, and miniature wheel-legs for locomotion. Yet, our control method is able to compensate for these limitations. We demonstrate fully autonomous robot mobility in a sewer pipe network, without any visual aid or power-hungry image processing. The control algorithm allows the robot to correctly recognise each local network configuration, and to make appropriate decisions accordingly. The control strategy was tested using the physical micro robot in a laboratory pipe network. In both simulation and experiment, the robot autonomously and exhaustively explored an unknown pipe network without missing any pipe section while avoiding obstacles. This is a significant advance towards fully autonomous inspection robot systems for sewer pipe networks.

In-pipe inspection robotic system for defect detection and identification using image processing

Pipe inspection is a crucial process in any industry and it must be regularly done for the smooth and safe functioning of industries. Manual Pipe inspection is a sluggish and labour-intensive task therefore it is recently replaced by using robots. The main aim of the proposed work is to fabricate in pipe inspection robot to detect and identify various pipe abnormalities such as blockage, internal hole, crack, and corrosion on the inner surface of the pipe using image processing (I.P) and machine vision (M.V). The robotic system is cable to move inside the pipe with raspberry camera, processor, LED and other components mounted on it. While in motion inside the pipe, the live surveillance of the environment will be provided. Through machine vision technique, defect detection and identification will be carried out. In this research work, a prototype model is fabricated using a wheel-type mechanism having DC motors. The proposed robotics system is integrated with a Raspberry camera and the training of the model for machine vision is done using a tensor flow environment and python programming. The control of the robot is completely based on the internet of things (IoT) and the live visual inspection is proposed for effective analysis. Image processing through simulation will focus on generating and showing the output of various image processing transformations such as image blurring, image smoothing, converting image to binary, canny image formation, applying logarithmic transform, and image contouring. The proposed results help to determine the present condition of the pipe and help in avoiding pipe failures.

Design and Development of Internal Pipe Inspection Robot

In this modern era, the robotics has become the most significant key in almost all working fields of engineering where work is done without or with minimal physical interference of humans. In the field of engineering the robots are being used to reduce the work effort, to ease the work, to do the work in the areas where humans are inaccessible, to give precision in work, etc. In essence, robots are utilized to boost performance and efficiency while reducing manufacturing costs. The most reliable and secure method of transferring liquid and gas is through a pipeline. Robots have already taken over the production sector in the pipeline industries, they are also utilized in the inspection sector. Since the majority of the fluids that are delivered from pipes are toxic and hazardous, direct human contact is prohibited in this inspection area. The defects occurs external areas of pipe can be easily noticeable and fixable, but those that arise inside the pipe are more difficult to detect and more challenging to fix. So the internal pipe inspection robots are designed to ease the inspection for internal area of pipeline. These robots are designed to move inside the narrow area of pipe to detect, locate and fix the defect. The main objective of current work is to reduce the human effort and provide safety in pipeline inspection sector. This robot can move along the various diameters pipes within its prescribed range. With the help of DC motor the forward and reverse movement is obtained, while IR sensors and camera used to detect the defects like blockage, holes or cracks, dents, leakages, etc. How to cite this article:Kokane RS, Upadhye CR, Kumbhar BS. Design and Development of Internal Pipe Inspection Robot. J Adv Res Mech Engi Tech 2022; 9(3&4): 6-11. DOI: https://doi.org/10.24321/2454.8650.202202

나선 주행형 자기누설탐상 배관 검사 로봇 시스템 개발

The pipe inspection robot using the MFL non-destructive inspection equipment, has high inspection efficiency in the pipe with high magnetic permeability. However, this equipment generates attractive force between the pipe and the permanent magnet, requiring a high driving force for the robot, and sometimes causes the robot to be incapable of driving. In this study, the development of a spiral running type magnetic leakage detection pipe inspection robot system is described. Multi-body dynamics analysis was performed on the designed robot, to confirm the robot

Development of Pipe Inspection Robot

Abstract: Pipelines have been a major source to transfer oil and gas from one destination to another as they are economical when compared to other transportation means. Usually metal pipes are used which can undergo corrosion, develop cavities and holes leading to leakage of fluid and develop irregularities on the inner surface. And therefore require proper periodic maintenance. The inspection of pipes is difficult as they carry toxic chemicals, fluids and most of the time have small internal diameter or bends and also usually underground which become inaccessible to humans. This brings the need to develop an inspection device.

Design of Pipe-inspection Robot Based on YOLOv3

In this paper, a pipe-inspection robot system which uses STM32F103 as control core is designed. The robot system adopts YOLOv3 network model to detect and locate defects of sewage pipeline. The robot uses closed-circuit television system for detection, which is composed of hardware and defect detection. The hardware is mainly composed of robot body, winding coil and upper computer. The motor drive module, body attitude sensor of robot and camera are placed in the pipeline robot. The router, lithium battery and length measurer constitute the winding coil, which is connected with the robot through cable for data transmission and power supply. the upper computer communicates with the cable coil through WIFI, and the staff can send various instructions through the upper computer to control robot operation, and view the status of the pipeline through video. The defect detection of pipeline is mainly realized by YOLOv3 network model, which is used to automatically detect the types of defects in sewage pipeline and mark the location of defects. Finally, the feasibility and effectiveness of defect detection based on YOLOv3 network model are verified by simulation experiments.

PIPE INSPECTION AND CLEANING ROBOT

The pipe inspection and cleaning robot is one of the most important system developed for a proper maintenance of underground pipes. Due to Large Development and increase in usage of fuel, oil, gas and the pipes used for such process need to be maintained properly. There are many ways to do that so but Biggest problem arises with such maintenance machine are heavy cost and durability to work in and out of the pipes. We have come up with a solution of efficient Underground faulty pipe inspection and even cleaning the pipes by only one single robot. Our goal is to achieve this by using a robot that will be equipped with all necessary sensors and equipments to detect fault and even clean the pipes. The objectives of this project are as follows:  Design and assemble robot that will be carrying sensors and equipments.  Write codes for moving robot and working of sensors.  Adjust the range for ultrasonic sensors to detect the crack.  Test the code and troubleshoot to increase the robot efficiency and accuracy.  Study the shortcomings and improve them.  Test the robot performance with many faults and even increase the cleaning efficiency.  Determine other parameters which would affect robot reliability.

Pipe Inspection Robot

Abstract: The engineer is constantly conformed with the challenges of bringing ideas and design into reality. New machines and techniques are being developed continuously to manufacture various products at cheaper rates and high quality. The pipe inspection robot with active pipe-diameter adaptability and automatic tractive force adjusting is developed for long-distance inspection of main gas pipelines with different diameter series. Its physical design employs the scheme that three sets of parallelogram wheeled leg mechanism are circumferentially spaced out 120° apart symmetrically. This structural design makes it possible to realize the adaptation to pipe diameter and tractive force adjusting together. On the basis of analyzing the mechanical actions of the adaptation to pipe diameter and tractive force adjusting, the related mechanical models are established, and their control system structure and control strategy are discussed. To verify the pipe-diameter adaptability and tractive force adjusting of the robot, related field experiments are implemented in actual underground gas pipeline. The experimental results show that the theoretical analysis in this paper is valid and the prototype of this robot can work well in actual underground gas pipelines. Compared with other similar robots, this robot, which employs active mode for its adaptability to pipe diameter, can be adaptable to the wide range of gas pipeline diameters from ∅300 mm to ∅500 mm and automatically provide a stable and reliable tractive force with strong capacity of tractive force adjusting. As a mobile carrier for visual inspection wireless camera is mounted to see corrosion, crack, defect, and holes of main gas pipelines, spring is also mounted in middle for making it flexible to take turn. Keywords: In pipe robot, Active pipe diameter adaptability; Tractive force adjusting; Gas pipelines inspection

Robotic Inspection Monitoring System for Pipelines

The most popular method for transporting fluids and gases is through pipelines nowadays. Regular inspection is necessary for the pipelines to work correctly. Humans must not enter potentially dangerous environments to inspect these pipelines. As a result of this, pipeline robots came into existence. These pipe inspection robots help in pipeline inspection, protecting numerous people from harm since human beings cannot enter the pipes and inspect them in case there is any such or kind of damage that requires repair. Despite numerous improvements, pipeline robots still have several limitations. The introduction of this in pipe inspection robots helps to solve many problems, such as leakage of the gas or fluid pipelines, rustiness, and also if the pipe is broken from any part.

Development of Pipe Inspection Robot using Soft Actuators, Microcontroller and LabVIEW

Pipeline transportation is particularly significant nowadays because it can transfer liquids or gases over a long distance, usually to a market area for use, using a system of pipes. The pipeline's numerous fittings, such as elbows and tees, as well as the various sizes and types of materials utilized, make routine inspection and maintenance challenging for the technician. Therefore, the compact and portable pipe inspection robots with pneumatic actuators are required for use in industry especially in hazardous areas. Flexible pneumatic actuators with clean and safe pneumatic energy have high mobility to move in complex pipelines. High safety features such as no oil or electrical leakage, which would be dangerous if used in an explosive environment are a major factor it is widely used nowadays. As a result, the goal of this study is to propose and present the development of pipe inspection robot that employ soft actuators and are monitored by LabVIEW for usage in a variety of pipe sizes and types. This research focuses on the movement of robots in the pipeline by proposing some important mechanisms such as sliding mechanism, holding mechanism, and bending unit to move easily and effectively in the pipeline. Experiments show that with an appropriate pneumatic pressure source of 4 bar, a flexible robot using the soft pneumatic actuator can bend and move in a 2-inch diameter pipe smoothly and efficiently. It has been discovered that the proposed mechanism may readily travel pipe corners while bending in any required direction.

Design of pipe-inspection robot for pipeline systems

A Wheel based pipe inspection robot is designed for examining 300 mm to 400 mm diameter pipes which is mostly used in chemical and food industries. The fundamental point of this plan is to perform vertical slithering, autonomous multi elbow turning and support free and viable financial model. Planned robot consists of two significant modules, upper and lower module. Upper and lower course of action have three design wheel with straightforward scissor system for wheel extension. These two modules are associated by spring (compressive) to accomplish wheel extension and adaptable elbow turning. Full plan is done in solid works programming. Accordingly the robot configuration turns out great in vertical development and complex elbow turning.

Mathematical Modelling, Design and Fabrication of Pipe Inspection Robot

Mathematical Modelling, Design and Fabrication of Pipe Inspection Robot

Design and Development of Pipe-inspection robot with vision 360°

A pipe is a most commonly used product in the daily operations of industrial plants. Boiler pipes and inner ribs reduce pollution, allowing industrial plants to be both environmentally friendly and economically efficient. However, if these pipes are damaged, it will cause a huge problem for humans and ecological imbalances. Therefore, an inside inspection of a pipe is most necessary, regular duty being conducted by a surveyor of the plant. Pipe inspection includes checking for cracks, defects, leaks, corrosion and blockages in a region. However, an individual cannot do this inspection due to life-risk impact, and there is a necessity for human intelligence. This proposed robot design helps inspect a portion of the building in less time than the entire vision. In addition, the view can be recorded and easily the damaged or blocked portions of the pipe.

Design and Fabrication of Pipe Inspection Robot

Design and Fabrication of Pipe Inspection Robot

Automatic Compensation of the Positional Error Utilizing Localization Method in Pipe

Since 1965, a numerous number of cities implementing sewerage systems have increased rapidly throughout Japan, and sewerage development is considered to be becoming more widespread in various regions. However, with the increase of management facilities, the aging of facilities for long-term use is becoming more and more apparent. The standard expected durability of these pipes is approximately 50 years, but there is a tendency and a risk that the number of collapsed roads will increase rapidly 30 years after the pipes are laid. Against this background, maintenance of drainage and sewage pipes is critical and must be carried out continuously. Therefore, in recent years, investigation using robots have been actively conducted in order to reduce manual workload of the workers. However, these robots have a large-scale system as a whole, and as a result, they are poorly maintainable and expensive. Therefore, in this research, I have developed an autonomous and portable pipe inspection robot through the know-how on rescue robots which I have studied so far. However, for inspections using a pipe inspection robot, there is always the risk that the robot itself will tip over due to steps or small gaps at the joints of the pipes or slips caused by sludge. Therefore, to prevent tumbles and rollovers of the robot, I propose a localization method only by straight-driving control without relying on hardware. In addition, taking possible slips inside pipes into account, this method utilizes only acceleration sensor. In this study, localization method using only accelerometer mounted on the robot, which focuses on the relation between the pipe and the contact point of the tires, was shown as well as presenting a method using numerical analysis to derive the estimated values. Furthermore, it was confirmed that the estimation was stable as a result of an estimation experiment using autonomous small pipe inspection robot with and without a gradient (approx. 4/100) of a pipe, with a diameter of 189mm.

An Optimal Design of a Flexible Piping Inspection Robot

Abstract This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, the existing motor units prove to be oversized for passing through pipe bends at 90 deg. Thus, three cascading optimization problems are presented in this article to determine the sizing of robot assembly that can overcome such pipe bends. The first problem deals with the identification of design parameters of the tensegrity mechanism based on static stability. Followed by that, in the second problem, the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms. The third problem deals with the determination of the size of the leg mechanism for the results of the two previous optimization problems. A digital model of the optimized robot assembly is then realized using cad software.

In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism

In this study, the authors comprehensively evaluated the traveling performance of a flexible pipe inspection robot (PI-RO) that can actively output both propulsion and traction forces. Household pipes must be frequently inspected for cracks and corrosion to ensure continuous provision of water and gas. As these pipes are essential for our everyday life, it is difficult to suspend their usage for long periods; hence, inspection should be conducted for short durations. In addition, inspecting entire pipelines using existing methods is challenging because the pipes are constructed over long distances and have complex structures. Therefore, we developed a flexible robot that can actively output propulsion and traction forces to inspect long-distance complex pipelines, such as household pipelines. Herein, we describe the flexible structural design of a PI-RO that inspects thin one-inch pipes (inner diameter of approximately 28 mm) typically present in household piping. We also evaluated the characteristics of each PI-RO unit. Finally, we confirmed that the PI-RO is not significantly affected by the traveling environment, such as long distances and complex small-diameter pipes, by conducting traveling experiments on small pipes (inner diameter 28 mm) and long-distance (up to approximately 11.7 m) complex pipes composed of horizontal, vertical, and 90° bend pipes.

Development of an Inline Pipe Inspection Robot for the Oil and Gas Industry

Development of an Inline Pipe Inspection Robot for the Oil and Gas Industry

Wave Propagation Type Pipe Inspection Robot with the Linear Antagonistic Mechanism for Enhancing Traction Force

Wave Propagation Type Pipe Inspection Robot with the Linear Antagonistic Mechanism for Enhancing Traction Force

Movement Control for an Omnidirectional Mobile Mechanism for Pipe-Inspection Robot in Small Diameter Pipes

Movement Control for an Omnidirectional Mobile Mechanism for Pipe-Inspection Robot in Small Diameter Pipes