A review on various types of in-pipe inspection robot

Verma, Ankush; Kaiwart, Ayush; Dubey, Nikhil Dhar; Naseer, Farman; Pradhan, Swastik

doi:10.1016/j.matpr.2021.08.335

Cited by 42 publications

(19 citation statements)

References 19 publications

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“…Ren et al present a detailed study related to the structure, driving principles and mechanical behaviors of the Screw Drive In-Pipe Robots [25]. Verma et al proposed a review of in-pipe inspection robots with an emphasis on the design specifications and features of each type of robot [26]. Several authors also focused on the study of locomotion for inspection robots, e.g., Siquera et al in [27], Roslin et al in [28] and Satheesh Kumar et al in [29].…”

Section: Introductionmentioning

confidence: 99%

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Rusu

Tătar

2022

Applied Sciences

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In-pipe inspection robots have proven useful in examining the inside of pipes without affecting their structure, therefore, the interest in researching these robots has constantly increased over time. There are many different types of inspection robots, but the most commonly used are the wall pressed type. This paper proposes a review of the wall pressed type inspection robots in terms of adapting mechanisms. By adapting mechanism is meant a simple linkage or a combination of linkages, with an active or passive force generation system used to adapt the robot to variations in pipe diameter. The characteristics of the different adaptation mechanisms are compared and analyzed regarding the type of linkages used, how the pressure force on the pipe wall is obtained, and the possibility of ensuring the movement through inclined or vertical pipes with elbows and branches.

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Section: Introductionmentioning

confidence: 99%

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Rusu

Tătar

2022

Applied Sciences

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“…Numerous investigations are dedicated to various locomotion principles of in-pipe robots. For example, the recent papers [1] and [2] present a comprehensive analysis of the design and operational peculiarities of the in-pipe robots. Among a great variety of locomotion mechanisms, particularly wheeled, tracked (caterpillar), walking (legged), screw-type, inchworm-type, snake-type, etc., the wheeled ones are of the most widespread.…”

Section: Introductionmentioning

confidence: 99%

“…Analyzing numerous publications on the subject of in-pipe robots, e.g., [1]- [10], it can be concluded that most robots are equipped with an active drive system transmitting the torque from the driving unit to the corresponding locomotion mechanism (wheels, tracks, etc.). Taking into account the complexity of such transmissions, some researchers analyze the possibilities of implementing the passive locomotion principles based on vibration excitation.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Korendiy¹,

Kotsiumbas²,

Borovets³

et al. 2022

Vib. proced.

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The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.

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“…The early underground pipelines are neglected in management and disrepair for a long time, which are prone to a series of problems such as blockage, rupture, leakage and wrong mouth. In order to improve workers' bad working environment, reduce workers' labour intensity and ensure workers' personal safety, pipeline robot come into being [1]. Pipeline robot is a kind of optical, mechanical and electrical integrated system that can automatically walk along the pipeline.…”

Section: Introductionmentioning

confidence: 99%

Design of Pipe-inspection Robot Based on YOLOv3

Zhou

Yang

et al. 2022

J. Phys.: Conf. Ser.

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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.

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A review on various types of in-pipe inspection robot

Cited by 42 publications

References 19 publications

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Design of Pipe-inspection Robot Based on YOLOv3

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