Development of Internal Gas Pipe Inspection Robot

Abstract

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.

Overview and Prospect of Underwater Desilting Robot

“…5(A). The robot works by using the rotating blade of its head to chop the blockage [48] inside the pipe, so as to realize the dredging of the pipe. The robot's design is expected to improve dredging efficiency.…”

Operation Strategy for a Low-Cost Easy-Operation Cassino Hexapod

“…Stable, efficient and fast robots (Salmi and Halme, 1996;Hirose et al, 1997) are needed to navigate uneven environments which can help humans in areas such as demining (Rachkov et al, 2005), pipe inspection (Kawaguchi et al, 1995;Horodinca et al, 2002), inspection and restoration of archaeological sites (Ceccarelli et al, 2002;Cigola et al, 2005) and interplanetary exploration (Wilcox et al, 1992).…”