A wheeled multijoint robot for autonomous sewer inspection

Ilg, Winfried; Berns, Karsten; Cordes, S.; Eberl, Martin; Dillmann, Rüdiger

doi:10.1109/iros.1997.656584

Cited by 15 publications

(8 citation statements)

References 4 publications

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“…The power of motion are suppled by the liquid's pressure difference. It is as similar as the PIG [12]. In the straight pipeline, it can save energy and make the robot walk fast.…”

Section: A Motion Without Powermentioning

confidence: 99%

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Design and Motion Analysis of a Flexible Squirm Pipe Robot

Zhang

Jia

2010

2010 International Conference on Intelligent System Design and Engineering Application

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In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing supporting mechanism automatically, and for its special shape the robot can also be driven by the pressure caused by the flowing liquid in pipe. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of motor. By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.

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“…The power of motion are suppled by the liquid's pressure difference. It is as similar as the PIG [12]. In the straight pipeline, it can save energy and make the robot walk fast.…”

Section: A Motion Without Powermentioning

confidence: 99%

“…In Swiss, Fabien Tache [9][10] has developed a robot using magnetic devices to inspect complex pipe. In German, Bernhard Klaassen [11][12] has developed multi-joint creep-pipe inspection robot system named MAKRO. In China, Deng Zongquan from Harbin Institute of Technology has developed an inspection robot working in seabed [13][14].…”

Section: Introductionmentioning

confidence: 99%

Design and Motion Analysis of a Flexible Squirm Pipe Robot

Zhang

Jia

2010

2010 International Conference on Intelligent System Design and Engineering Application

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“…Several of the application-relevant (sensing, teleop/ autonomous and gas-pipe deployed) systems are (i) the autonomous Kurt I system from GMD (Germany) used for sewer monitoring (not commercial or hardened) (Ilg, Berns, Cordes, Eberl, & Dillmann, 1997), (ii) the articulated, untethered, and self-locomoting MAKRO system from Inspector Systems used for wastewater mains (Paletta, Rome, & Pinz, 1999), (iii) the (albeit tethered) CI pipe joint-sealing robot (CISBot; ConEd-Enbridge), which is deployed through a bolt-on fitting and injects anaerobic sealant into the leaking jute-stuffed joint, and (iv) GRISLEE [Gas Technology Institute (GTI); Schempf, 2004;Schempf, Mutschler, Crowley, Goltsberg, & Chemel, 2003;Schempf, Mutschler, Goltsberg, & Chemel, 2001; Carnegie Mellon University (CMU); Maurer Technology, Inc. (MTI); Porter & Pittard, 1999], a coiled-tubing tether deployed inspection, marking, and in situ spot-repair system (Schempf, Mutschler, Crowley, Gavaert, Skoptsov, et al, 2003;Schempf, Mutschler, Crowley, Goltsberg, & Chemel, 2003). These systems are shown in Figure 3.…”

Section: Introductionmentioning

confidence: 99%

Visual and nondestructive evaluation inspection of live gas mains using the Explorer™ family of pipe robots

Schempf

Mutschler

Gavaert

et al. 2010

Journal of Field Robotics

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Visual inspection and nondestructive evaluation (NDE) of natural gas distribution mains is an important future maintenance cost-planning step for the nation's gas utilities. These data need to be gathered at an affordable cost with the fewest excavations and maximum linear feet inspected for each deployment, with minimal to no disruption in service. Current methods (sniffing, direct assessment) are either postleak reactive or too unreliable to offer a viable and Department of Transportation-acceptable approach as a whole. Toward achieving the above goal, a consortium of federal and commercial sponsors funded the development of Explorer TM . Explorer TM is a long-range, untethered, self-powered, and wirelessly controlled modular inspection robot for the visual inspection and NDE of 6-and 8-in. natural gas distribution pipelines/mains. The robot is launched into the pipeline under live (pressurized flow) conditions and can negotiate diameter changes, 45-and 90-deg bends and tees, as well as inclined and vertical sections of the piping network. The modular design of the system allows it to be expanded to include additional inspection and/or repair tools. The range of the robot is an order of magnitude higher (thousands of feet) than present state-of-the-art inspection systems and will improve the way gas utilities maintain and manage their systems. Two prototypes, Explorer-I and -II (X-I and X-II), were developed and field-tested over a 3-year period. X-I is capable of visual inspection only and was field-tested in 2004 and 2005. The next-generation X-II, capable of visual and NDE inspection [remote field eddy current (RFEC) and magnetic flux leakage (MFL)] was developed thereafter and had field trials in 2006 and late 2007. It was successfully deployed into low-pressure (<125 psig) and high-pressure (>500 psig) distribution and transmission natural gas mains, with multi-1,000-ft inspection runs under live conditions from a single excavation. This paper will describe the overall engineering design and functionality of the Explorer TM family of robots, as well as the results of the field trials for both platforms. It will highlight the importance of the various design and safety features of the in-pipe crawler and showcase the value of data types and position-tagged visual/NDE data collected in working pipelines under live flow conditions. C

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“…And Kan Taguchi has developed a pipe robot which can pass T-type pipe with two steering heads [6][7]. In German, Bernhard Klaassen [8][9] has developed multi-joint creep-pipe inspection robot system named MAKRO. Fabien Tache [10][11] from Swiss has developed an inspection pipe robot using the magnetic device to work in complex pipe.…”

Section: Introductionmentioning

confidence: 99%

Motion Analysis of a Flexible Squirm Pipe Robot

Zhang¹,

Zhang²,

Jia³

2010

2010 International Conference on Intelligent System Design and Engineering Application

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This paper describes a flexible squirm pipe robot with magnetic wheels for inspecting the inner casing of pipes with complex shaped structures. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing its supporting mechanism automatically. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of drving. This paper also presents the analyses of the motion and move condition in the straight pipe. The analysis and simulation prove the robot effective.

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A wheeled multijoint robot for autonomous sewer inspection

Cited by 15 publications

References 4 publications

Design and Motion Analysis of a Flexible Squirm Pipe Robot

Design and Motion Analysis of a Flexible Squirm Pipe Robot

Visual and nondestructive evaluation inspection of live gas mains using the Explorer™ family of pipe robots

Motion Analysis of a Flexible Squirm Pipe Robot

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