Three-dimensional Mapping of Pipeline from Inside Images Using Earthworm Robot Equipped with Camera

Oyama, Akira; Iida, Hirotaka; Ji, Yonghoon; Umeda, Kazunori; Mano, Yuki; Yasui, Takumi; Nakamura, Taro

doi:10.1016/j.ifacol.2019.11.053

Cited by 9 publications

(1 citation statement)

References 3 publications

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“…According to the different mechanical structures and movement modes of robots, they are usually divided into fluid type, wheel type, crawler type, crawling type, creeping type, spiral type, and bionic type 2 . Among them, the typical ones are the earthworm creeping pipeline robot developed by Chuo University in Japan 3 , and an elliptical crawler pipeline robot developed by Longgu University in Japan 4 , Southwest Petroleum University has created an active screw pipe robot 5 , and Beijing Jiaotong University has created a mobile robot with multiple motion modes based on parallel mechanisms 6 . However, there are currently a number of issues with pipeline robots, including a single detection mode, a limited range of pipe diameter changes, and poor pipeline passing and adaptability.…”

Section: Introductionmentioning

confidence: 99%

Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

Yang

Xue

2023

J. Phys.: Conf. Ser.

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A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.

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Section: Introductionmentioning

confidence: 99%