Internal pipe inspection robot

Abstract

This paper describes a new mechanism, communication system, and vision system of an internal pipe inspection robot. To date, inspection robots have had such limitations as their mobility to turn in a T-shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels, resembling a crawler, not only overcomes the limitation but enables the robot to climb over sharp obstacles like sleeve and dresser joints. Another drawback of earlier robots is that the friction between the pipe and the cables for communication and power supply makes it dificult to move a long distance. A fiberoptic communication system can reduce the friction. The new vision system has been significantly miniaturized, enabling it to clearly view and inspect the welded section underneath the robot while gazing ahead for navigation.An experimental inspection robot has been successfully made to confirm the efficiency of the new mechanism, communication system, and the vision system.

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

“…Examples of such robots have exclusively relied on magnetism, such as those seen in (Kawaguchi et al 1995;Tache et al 2007). Although the design of both these robots means that they are not restricted by pipe diameter, their use of magnets limits their operational environment to those which are constructed primarily of ferrous materials.…”

Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

“…Some systems have complex mechanisms and linkages, which in turn require complicated actuation and control. Wheeled systems claimed the edge over the majority due to their relative simplicity and ease of navigation and control [7]. Comparatively, they are able to travel relatively fast and far.…”

MAGNETIC WHEELS OPTIMIZATION AND APPLICATION TO THE MagneBike CLIMBING ROBOT

“…The use of magnetic wheels is an effective solution to achieve high mobility. 1 The classic way to design them is to have a cylindrical magnet with axial magnetization encompassed between two ferromagnetic guides ( Fig. 1(a)).…”