Pipe Inspection Robot Research Articles

One pneumatic line based inchworm-like micro robot for half-inch pipe inspection

By using only one pneumatic line, an inchworm-like micro robot for pipe inspection is invented. Based on drilling different micro holes among the three chambers, the timing of the airflow can be controlled within the chambers. The rear clamp, the elongation module, and the front clamp work sequentially as the air flows into each chamber. It enables the robot not only to generate inchworm-like locomotion, but also to allow for a significant reduction in both the stiffness of pneumatic lines and the friction force caused by one pneumatic line. In addition, it is possible to fabricate a micro robot with diameter of 10 mm since it does not need extra pneumatic lines to connect chambers. In order to operate the robot efficiently, the stroke corresponding to the supplied pressure is theoretically analysed with various sizes of holes between the rear clamp and the elongation module and it is compared to the stroke of the experimental results. Based on these results, maximum velocity was obtained by tuning the air insufflation time under the in-pipe conditions. Finally, the adoptability of the robot was tested under a variation of pipe diameters.

A Novel Design of in Pipe Robot for Inner Surface Inspection of Large Size Pipes#

This paper presents a novel design of robot measuring machine for inner surface inspection of large size pipes. This prototype represents an integrated mechatronic structure design of a high precision measurement machine. In mechanical design the presented measurement equipment consists of two main parts, an automatic in-pipe mobile vehicle with four degree of freedom and a 3D laser scanning system. In electronic design, the system is embedded with a professional software package, which includes a number of function modules such as data processing and analysis, surface model reconstruction, and finite element analysis etc. Further the intelligence of the machine is enhanced with an adaptive control strategy to suppress vibration disturbance, caused by environmental noise, so that the measurement accuracy of the robot system is guaranteed within the specified precision level (micrometer). The measurement diameter can range from 580 to 1000 mm. Several bench tests are presented to demonstrate the measuring machine performance.

2A1-K04 管径適応型管内移動ロボットの研究 : 第9報 : 3次元状配管内の走行(特殊移動ロボット・メカトロニクス)

In this research, a pipe inspection robot adaptive to pipe diameter was developed. Using the sinusoidal wave drive, the robot forms sinusoidal waves and obtains moving force by gripping pipe walls. The robot consists of thirteen intelligent actuators. Each intelligent actuator is composed of a DC motor and a micro servo circuit and a pair of bevel gears. It leads to decreasing the number of the wirings, high performances achieved by distributed processing and high tolerance for electrical noises. In this paper, a new servo circuit for higher control performances and a rotational mechanism for control the robot's posture are shown. On the new micro servo circuit, a PSoC (Programmable System on Chip) and a motor driver are mounted. The mechanism rotates around the pipe axis. The robot can propel itself in three dimensional pipes. The results show the potential of this system.

Development of a Mechanism of Pipe-Surface Inspection Robot

Inspection of industrial piping is a well-known and highly practical application of robotic technology. The present study examines a mechanism that allows a pipe inspection robot to move along the outside of a pipe. Robots especially designed to inspect the surface of piping have recently been realized by some companies, and are in practical use as mechanical piping inspection devices in various plants. These robots are equipped with ultrasonic diagnostic equipment that can measure the thickness of the pipe along its surface. However, they are able to move by manual operation only. Such robots cannot be applied to pipes with flanges and valves, etc. In this paper, we have designed a mechanism that enables robots to traverse flanges, rise along vertical flanges, and move along the underside of the piping. The proposed robots are composed of three connected units. Our robots move by means of magnetic elements (magnetic wheels or electromagnets).

523 配管表面検査ロボットの開発 : 垂直配管移動と水平配管底部におけるフランジ越えの自律制御(学生賞IV)

523 配管表面検査ロボットの開発 : 垂直配管移動と水平配管底部におけるフランジ越えの自律制御(学生賞IV)

522 全方位移動機構を有する配管表面検査ロボット(学生賞IV)

522 全方位移動機構を有する配管表面検査ロボット(学生賞IV)

1A1-D35 管径適応型管内移動ロボットの研究 : 第7報:垂直管走行のための保護カバーの製作と様々な形状管内における走行実験

1A1-D35 管径適応型管内移動ロボットの研究 : 第7報:垂直管走行のための保護カバーの製作と様々な形状管内における走行実験

Development of a Mechanism of a Piping Inspection Robot

The piping inspection sometimes must be performed in places such as areas of radiation contamination and at dangerous heights, etc. In an environment in which a human cannot work, a robot is needed. Up to now, many robots that inspect the inside of piping have seen practical use. On the other hand, a robot intended to inspect the surface of piping has not been realised. It has been impossible for a robot to inspect a pipe's surface due to obstacles such as flanges, valves, curves, vertical piping, etc. The present study examines a mechanism intended to allow an inspection robot to move automatically along the outside of a pipe. We have also designed a mechanism that enables the robot to correspond to traverse flanges. This robot moves by means of magnetic wheels, and is composed of three connected units. This robot can traverse flanges by moving each of its three units; i. e., one unit moves up and down while another moves horizontally.

磁気車輪を用いた配管検査ロボットの開発(計測制御・ロボット1)

磁気車輪を用いた配管検査ロボットの開発(計測制御・ロボット1)

管径適応型管内移動ロボットの研究 : 第4報 : インテリジェントアクチュエータの開発と第3号機への適応(特殊移動ロボット2)

管径適応型管内移動ロボットの研究 : 第4報 : インテリジェントアクチュエータの開発と第3号機への適応(特殊移動ロボット2)

Mobile robots walk into the future

Describes some of the papers presented at an international colloquium on autonomous mobile systems held to celebrate 10 years of the Fraunhofer Institute for Factory Operation and Automation (IFF) in Magdeburg, Germany. Following definition of a mobile robot, papers on wheeled and biped robot platforms are discussed. These are followed by a review of some of the applications using dedicated robot systems, including an autonomous welding cell, a concept for process plant maintenance, a pipe inspection robot and systems for cleaning glass facades on high buildings. The latter work at IFF has resulted in two commercial systems, one already installed for the 1997 Leipzig Trade Fair and the other to be installed at the new Fraunhofer Foundation building in Munich in 2003.

2P1-F09 管径適応型管内移動ロボットの研究第 1 報 : 2 次元モデルの試作と実験

2P1-F09 管径適応型管内移動ロボットの研究第 1 報 : 2 次元モデルの試作と実験

Navigation and Control for Pipe Inspection and Repair Robots

Mini-rovers provide an approach to inspect and repair sewage pipes of small diameters. The operations in muddy, partially unknown environment rises challenging problems in the areas of remote control and navigation. This paper reviews solutions for navigating the robot to the appropriate location, for monitoring with sensors the repair process and for telediagnosis in case of emergencies. The sensorics as well as sensor data processing aspects are addressed.

Teleoperation of Planetary Rovers and Industrial Spin-Off Applications

The teleoperation of planetary rovers has to solve challenging problems related to significant signal propagation delays, link occultation periods and disturbances. This paper reviews the teleoperations conceptdeveloped for the European Mars rover MIDD. The hardware performance tests in simulated environments and the obtained results are described. Finally the technology transfer potential related to control and sensor systems for terrestrial teleservicing applications in robotics and manufacturing is outlined. Specific examples concern pipe inspection robots, electrical wheelchairs, industrial transport robots.

Automated pipe inspection robot

Automated inspection of the inner surface of a pipe can be achieved by a mobile robot. Pipe inspection is necessary to locate defects due to corrosion and wear while the pipe is transporting fluids. Pipe inspection devices are available for these tasks; they commonly use ultrasonic or magnetic flux variation to detect defects. Says that the magnitude of the costs involved in the development and implementation of these inspection techniques is such that it inhibits their more frequent and widespread use. Posits that the automated pipe inspection robot presented is a proposed cost‐effective alternative solution. The inspection device is a PC‐based design that uses mechatronic principles to ensure a purposeful interaction between the robot and its environment.

Optical three-dimensional measurements by radially symmetric structured light projection

This structured light projection technique has been developed for the inspection of holes and tubes. In contrast to others, the triangulation base is parallel to the line of sight. The features of systems using this measurement method are the following: high accuracy in the wide-angle region, minimal diameter, symmetry of the measurements to the line of sight, and simplified coordinate calculation. The prototype application is the optics of the sewer pipe inspection robot KARO. Application fields are medical or technical wide-angle inspection systems (e.g., endoscopes).

Dynamic Behavior of Pipe Inspection Robot Driven by Fluid Force.

Dynamic Behavior of Pipe Inspection Robot Driven by Fluid Force.

Development of Internal Gas Pipe Inspection Robot

This paper describes a new mechanism and communication system for an in-pipe inspection robot. To date, inspection robots have been limited as to their mobility to turn in a T -shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels overcomes these limitations without difficult controls. This dual mechanism, resembling a crawler, enable the robot to climb over steep obstacles like sleeves and dresser joints. Another drawback of earlier robots is that the friction between the pipes and the cables for communication and power supply makes it difficult for them to move long distances. A fiber-optic communication system can reduce such friction. The spools of the fiber-optic communication cables and batteries are mounted on the robot and the cables are rolled or unrolled when the robot is moving forward or backward, respectively. An experimental inspection robot has been made to confirm the efficiency of the new mechanism. However, the robot fell off a Tshaped pipe when it attempted to turn in the pipe with its position being inadequate. It is difficult to eliminate such inadequacy because the robot might be disturbed while attempting to avoid a plug or because of sensors functioning uncertainly. For that reason, a mechanism which makes a robot twist is adopted. The improved experimental robot successfully turned in a T-shaped pipe even when its position was inadequate.

Special Issue on Advanced Maintenance Robots

At present, inspection and maintenance operations on various types of pipelines, structures, and others are carried out manually by human operators. Such operations are often performed, in general, under adverse environments such as high places and narrow areas. In addition, fire fighters in blazing high-rise buildings may be subjected to dangers involving high places and fires. Moreover, the robotization of grinding work in factories, for example, require a large number of empirical technologies. In order to mechanize tasks under such adverse environments and under special working conditions, research has been conducted, including studies of mobile mechanisms on inner walls and outer walls of piping, on wall surfaces of structures, etc. or studies of force control methods. Under these circumstances, this issue will be specialized in technical progress of various types of maintenance robots. First, a navigation system of a wind quantity inspection robot using a fuzzy neural network will be discussed by Messrs. Fukuda and Abe. Next, a report will be given by Messrs. Ishikawa and Shiire on the mechanism and functions of a pile recovery robot for large-diameter pipes, with a view to carrying out cleaning work inside cooling water pipes of electric power generation plants, as well as on its field testing. Furthermore, Messrs. Kawaguchi and Yoshida will be asked to report on the mechanism of an inspection robot for use on the inner surfaces of gas piping buried in the ground. In addition, a discussion will be carried out by Messrs. Naruse and Takada on the mechanism and fire extinguishing capability of a hybrid robot system for use in combatting fires in high-rise buildings. Moreover, Messrs. Ozaki and Jinno will be discussing the mechanism and force control system of a grinding robot. In addition, a discussion will be carried out by Messrs. Hosokai and Hara regarding the motion function of a piping inspection robot having a lazy tong mechanism and also regarding its piping test results. Finally, Messrs. Amano and Kakikura will be called upon to give a discussion concerning a robot for carrying out exfoliation of finishing materials on the outer walls of structures and its exfoliation. In closing, it is hoped that this special issue will be of some help in the future when such maintenance robots are developed.

Locomotion with articulated legs in pipes or ducts

Different implementations of remote controlled robots exist that can inspect and repair the interior of a pipe or duct. For this purpose they have video cameras and tools like a welding set or a grinder on board. This paper describes an approach with articulated legs that are pushed against the walls to obtain a grip. In contrast to wheels, for instance, legs overcome problems of common pipe inspection robots, like branches or obstacles in the pipe. The robot has a hierarchical control architecture with reflexive behaviour in the lower layers. In a two-dimensional simulation environment the robot performed successfully in several shapes of pipes. The results show that simple reflexive behaviour is sufficient to overcome even complex shapes. In the tested environment, reflexive behaviour prevented deadlock and ensured the robot's safe operation.