Development of Differentially Driven Inpipe Inspection Robot for Underground Gas Pipeline

지하 매설 가스배관용 차동 구동형 배관검사 로봇의 개발

  • 노세곤 (성균관대학교 대학원 메카트로닉스) ;
  • 류성무 (성균관대학교 대학원 기계설계학과) ;
  • 최혁렬
  • Published : 2001.12.01


Up to now a wide variety of researches on inpipe inspection robots have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. This paper introduces a robot called MRINSPECT IV(Multifunctional Robotic Crawler for inpipe inSPECTion IV) for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. The proposed robot can freely move along the basic configuration of pipelines such as along horizontal or vertical pipelines. Moreover it can travel along reducers, elbows, and steer in the branches by modulating the speeds of driving modules. Especially, its capability for steering in tile three-dimensional pipeline configuration has a competative edge over the other ones and provides excellent mobility in navigation. Its critical points in the design and construction are introduced and results of experiments are given.


  1. 최혁렬, 류성무, 1998, '지하매설 가스관 검사 로봇 개발,' 한국정밀공학회 추계학술대회, pp. 290-294
  2. 류성무, 최혁렬, 1999, '가스관 내부검사용 주행로봇 개발,' 대한기계학회 논문집 A권, 제23권, 12호, pp. 2216-2225
  3. 최혁렬, 류성무, 조성휘, 백상훈, 송성진, 신현재, 전재욱, 2000, '지하매설 가스배관 내부검사용 로봇시스템 개발,' 한국정밀공학회지, 제 17권, 2호, pp. 121-129
  4. Ryew, S. M., Lee, S. M. and Choi, H. R., 1999, 'Design of Authropomorphic Joint Mechanism,' The International Workshop on Advanced Mechatronics, pp. 197-201
  5. Choi, H. R., Ryew, S. M. and Cho, S. W., 1999, 'Development of Articulated Robot for Inspection of Underground Pipelines,' Trans of the 15th Int. Conf on Structural Mechanics in Reactor Technology(SMiRT-15), Vol. 3, pp. 407-414
  6. 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,' IEEE Int. Conf. on Intelligent Robot and Systems(IROS 2000). pp. 1652-1657
  7. Roh, S. G., Ryew, S. M., Yang, J. H. and Choi, H. R., 2001, 'Actively Steerable Inpipe Inspection Robots for Underground Urban Gas Pipelines,' IEEE International Conference on Robotics and Automation(ICRA2001). pp. 761-766
  8. Roh, S. G., Ryes, S. M. and Choi, H. R., 2001, 'Development of Differntially Driven Inpipe Inspection Robot for Underground Gas pipelines,' International Symposium on Robotics(ISR2001). pp. 165-171
  9. 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
  10. Okada, T. and Sanemori, T., 1987, 'MOGRER : A vehicle study and realization for in-pipe inspection tasks,' IEEE Journal of Robotics and Automation, Vol. 3, No. 6, pp. 573-582
  11. Ilg, W., Berns, K, Cordes, S., Eberl, M. and Dillmann, R., 1997, 'A Wheeled Multijoint Robot for Autonomous Sewer Inspection,' Proc. of IEEE Int. Conf. on Intelligent Robots and System, pp. 1687-1692
  12. Hirose, S., Ohno, H., Mitsui, T. and Suyama, K., 1999, 'Design of In-pipe Inspection Vehicles for ${verphi}25$, ${verphi}50$, ${verphi}150$ pipes,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2309-2314
  13. Atsushi Sadamoto, Hajime Sudo, Hiroshi Yamada, Takashi Togasaki, Masanobu Kimura, Nobuaki Kawahara, Kazuhiro Tsuruta, Takayuki Shibata, Hiroaki Izu, and Takahisa Sakakibara, 2001, 'Wireless Micromachine for In-Pipe Visual Inspection and the Possibility of Biomedical Applications,' International Symposium on Robotics(ISR2001), pp. 433-438
  14. Tomoyasu Ohya and Tokuji Okada, 2001, 'Development of The Wheel-Type Robot with Steering in Pipe,' International Symposium on Robotics(ISR2001), pp. 992-997