• Title, Summary, Keyword: In-Pipe Robot

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Development of Pipe Cleaning Robot for the Industry Pipe Facility (산업배관의 이물질 청소를 위한 배관청소로봇의 개발)

  • Lee, Jae-Youl;Hong, Sung-Ho;Jeong, Myeong-Su;Suh, Jin-Ho;Chung, Goo-Bong;Han, Kyoung-Ryoung;Choi, Il-Seob
    • The Journal of Korea Robotics Society
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    • v.12 no.1
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    • pp.65-77
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    • 2017
  • In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

Optimal Mechanism Design of In-pipe Cleaning Robot (관로 청소 로봇의 최적 설계)

  • Jung, C.D.;Chung, W.J.;Ahn, J.S.;Shin, G.S.;Kwon, S.J.
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.21 no.1
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    • pp.123-129
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    • 2012
  • Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

Motion Control Algorithm for Crawler Type In-Pipe Robot (크롤러 방식 터널로봇의 모션제어 알고리즘)

  • Bae, Ki-Man;Lee, Sang-Ryong;Lee, Sang-il;Lee, Choon-Young
    • IEMEK Journal of Embedded Systems and Applications
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    • v.3 no.2
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    • pp.66-73
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    • 2008
  • The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.

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Inch-Worm Robot with Automatic Pipe Tracking Capability for the Feeder Pipe Inspection of a PHWR (중수형 원자로 급수 배관 검사용 자율 주행형 자벌레 로봇)

  • Choi, Chang-Hwan;Park, Byung-Suk;Jung, Hyun-Kyu;Jung, Seung-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.2
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    • pp.125-132
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    • 2008
  • This paper describes a mobile inspection robot with an automatic pipe tracking system for a feeder pipe inspection in a PHWR. The robot is composed of two inch worm mechanisms. One is for a longitudinal motion along a pipe, and the other is for a rotational motion in a circumferential direction to access all of the outer surfaces of a pipe. The proposed mechanism has a stable gripping capability and is easy to install. An automatic pipe tracking system is proposed based on machine vision techniques to make the mobile robot follow an exact outer circumference of a curved feeder pipe as closely as possible, which is one of the requirements of a thickness measurement system for a feeder pipe. The proposed sensing technique is analyzed to attain its feasibility and to develop a calibration method for an accurate measurement. A mobile robot and control system are developed, and the automatic pipe tracking system is tested in a mockup of a feeder pipe.

Water-jet Cleaning Motion of the In-Pipe Robot with Screw Drive Inside the Water Pipes

  • Kang, Hoon;Oh, Jin-Seok
    • Journal of Advanced Marine Engineering and Technology
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    • v.36 no.7
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    • pp.894-901
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    • 2012
  • For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

Guidance of Mobile Robot for Inspection of Pipe (파이프 내부검사를 위한 이동로봇의 유도방법)

  • 정규원
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.480-485
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    • 2002
  • The purpose of this paper is the development of guidance algorithm for a mobile robot which is used to acquire the position and state information of the pipe defects such as crack, damage and through hole. The data used for the algorithm is the range data obtained by the range sensor which is based on an optical triangulation method. The sensor, which consists of a laser slit beam and a CCD camera, measures the 3D profile of the pipe's inner surface. After setting the range sensor on the robot, the robot is put into a pipe. While the camera and the LSB sensor part is rotated about the robot axis, a laser slit beam (LSB) is projected onto the inner surface of the pipe and a CCD camera captures the image. From the images the range data is obtained with respect to the sensor coordinate through a series of image processing and applying the sensor matrix. After the data is transformed into the robot coordinate, the position and orientation of the robot should be obtained in order to guide the robot. In addition, analyzing the data, 3D shape of the pipe is constructed and the numerical data for the defects of the pipe can be found. These data will be used for pipe maintenance and service.

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Pipe Inspection Robot Using an Inch-Worm Mechanism with Embedded Pneumatic Actuators

  • Choi, Chang-Hwan;Jung, Seung-Ho;Kim, Seung-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • pp.346-351
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    • 2005
  • The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops a mobile feeder pipe inspection robot that can minimize the irradiation dose of human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on the pipe, one extendable and contractable actuator, and a rotation actuator connected the two gripper bodies to move forward and backward, and to rotate in the circumferential direction

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Theoretical Velocity Analysis of Micro Robot Based on Crawling Locomotive Mechanism for Pipe Inspection Micro Robot (Crawling 방식을 이용한 관 탐사용 소형 로봇의 이동속도 해석)

  • Jang, Ki-Hyun;Park, Hyun-Jun;Kim, Byung-Kyu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.32 no.8
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    • pp.633-641
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    • 2008
  • Recently, the necessity for diagnosis and management of pipes has emerged as the issue due to contamination of water supply generated by corrosion of pipes. Although inspection has been performed with industrial endoscopes, the method has limits for full diagnosis of pipes due to the lack of working range. As a solution for this problem, many locomotive mechanisms for a micro robot with endoscope functions were proposed. In this paper, we analyze the locomotive mechanism of crawling robot proposed as locomotive device for pipe inspection. Based on a mechanical modeling of motor and micro robot inside small pipe, the theoretical formula for velocity is obtained. This derived theoretical formula is demonstrated the feasibility through the comparison with experimental result. Also, we could find the most important element influencing the moving velocity of micro robot when the robot operates in small pipe. Consequently, it is expected that this study can supply useful information to design of crawling robot to move in small pipe.

Internal Pipeline Exploration of an In-pipe Robot Using the Shadow of Pipe Fittings (배관요소 그림자를 이용한 배관로봇의 배관내부 탐사)

  • Lee, Jung-Sub;Lee, Dong-Hyuk;Roh, Se-Gon;Moon, Hyung-Pil;Choi, Hyouk-Ryeol
    • The Journal of Korea Robotics Society
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    • v.5 no.3
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    • pp.251-261
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    • 2010
  • In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.

Pose Estimation of a Cylindrical Object for an Inspection Robot (검사용 로봇을 위한 원기둥형 물체의 자세 추정 방법)

  • 정규원
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.12 no.1
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    • pp.8-15
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    • 2003
  • The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.