JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Development of Inpipe Inspection Robot System
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Development of Inpipe Inspection Robot System
Baek, Sang-Hun; Ryu, Seong-Mu; No, Se-Gon; Choe, Hyeok-Ryeol;
  PDF(new window)
 Abstract
Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.
 Keywords
Inpipe Robot;Double Active Universal Joint;Virtual Map;
 Language
Korean
 Cited by
1.
배관 내부 검사를 위한 로봇 기술,노세곤;오기용;최혁렬;

제어로봇시스템학회지, 2004. vol.10. 4, pp.19-28
2.
Development of Anthropomorphic Robot Hand SKK Robot Hand I,;;;

Journal of Mechanical Science and Technology, 2003. vol.17. 2, pp.230-238
3.
A Self-contained Wall Climbing Robot with Closed Link Mechanism,;;;

Journal of Mechanical Science and Technology, 2004. vol.18. 4, pp.573-581
 References
1.
김영환, 1998, '배관의 진단,' 산업설비 안전성 평가 연구센터 기술보고서 SAFE 97-3, pp. 87-130

2.
Neubauer, W., 1994, 'A Spider-like Robot that Climbs Vertically in Ducts or Pipes,' Int. Proc. of IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp. 1178-1185 crossref(new window)

3.
Kawaguchi, Y., Yochida, I., Kurumatani, H. and Kikuta, T., 1996 'Development of an in-pipeinspection robot for iron pipes,' Journal of the Robotics Society of Japan, Vol. 14, No. 1, pp. 137-143

4.
최혁렬, 송성진, 신현재, 전재욱, 류성무, 김학준, 1999, '소형로봇을 이용한 배관 비파괴검사 자동화 기술,' 제1회 배관안전진단 Workshop, pp. 35-47

5.
Okada, T. and Kanade, T., 1987, 'A Three-wheeled Self-adjusting Vehicle in a Pipe FERRET-1,' The International Jorunal of Robotics Research, Vol. 6, No. 4, pp. 60-75 crossref(new window)

6.
Okada, T. and Sanemori, T, 1987, 'MOGRER : A Vehicle Study and Realization for In-pipe Inspection Tasks,' 1987, IEEE Journal of Robotics and Automation, Vol. 3, No. 6, pp. 573-582

7.
Moraleda, J., Ollero, A. and Orte, M., 1999, 'A Robotic System for Internal Inspection of Water Pipelines,' IEEE Robotics and Automation Magazine, Sep. 1999 crossref(new window)

8.
최혁렬, 류성무, '지하매설 가스관 검사로봇 개발,' 1998, 한국정밀공학회 추계학술대회, pp. 290-294

9.
최혁렬, 류성무, 백상훈, 조성휘, 송성진, 신현재, 전재욱, 2000, '지하매설 가스배관 내부검사용 로봇시스템 개발,' 한국정밀공학회지, 제 17권 제2호, pp. 121-129

10.
Ryew, S. M., Baik, S. H., Ryu, S. W., Jung, K. M., Roh, S. G. and Choi, H. R., 2000, 'Inpipe Inspection Robot System with Active Steering Mechanism,' Int. Proc. of IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp. 1652-1657 crossref(new window)

11.
Sungmoo Ryew, Sangmoo Lee and Hyoukryeol Choi, 1999, 'Design of Anthropomorphic Joint Mechanism,' The 3rd International Workshop on Advanced Mechatronics, pp. 197-201