A study of pipe-cleaning and inspection robot

Nguyen, Thin; Ngoc-Phuong, Nguyen; Tho, Tuong Phuoc

doi:10.1109/robio.2011.6181695

Cited by 24 publications

(10 citation statements)

References 3 publications

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“…For the cleaning method; the most well-known cleaning methods used for in-pipe robots are mainly dependent on water pressure and impact abrasion [50]. Henceforth, in-pipe cleaning robots are grouped into two groups: 1) Tool-based [51], [52], and 2) Pressure-based [53], [54] cleaning robots, as shown in Figure 3.…”

Section: Literature Reviewmentioning

confidence: 99%

Mechanical Design and Simulation of Water Pipes Cleaning Robot

2021

Port-Said Engineering Research Journal

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Pipelines have widely spread applications in the industry. Water, sewage, flammable liquid, high-pressure gasses, and oil are transported using pipelines. These pipelines are long, interconnected, and may be constructed underground or underwater. This makes their monitoring, periodic maintenance, and repair a hard job when done by human operators. Hence, a robot system capable of carrying out these complicated operations in pipelines is extremely requested. In this paper, a mechanical design and a prototype of an in-pipe robot system for cleaning 0.5 m inner diameter water pipes are presented. The proposed robot system is designed to perform cleaning operations for straight and curved horizontal water pipes based on the abrasion concept. The in-pipe robot system has three modules; forward and backward motion module, two identical cleaning modules that can move in rotational motion, and radial motion (in and out). These three modules are designed to have the robot's two main positions: an open position (for cleaning) and a closed position (while entering and getting out of the pipe). A 3D model has been built using SolidWorks software, then a finite element analysis was carried out on a robot's frame using two materials: Steel and Aluminum. However, the Steel material has been selected due to its high rigidity. The robot control system was done using Arduino software. Robot dynamics were simulated in a Simulink environment. The real-time robot testing showed that the proposed robot mechanism can complete the cleaning operations effectively. The developed robot is expected to minimize maintenance time, effort, and cost.

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Section: Literature Reviewmentioning

confidence: 99%

Mechanical Design and Simulation of Water Pipes Cleaning Robot

2021

Port-Said Engineering Research Journal

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“…The development of autonomous body for inspection of liquid filled pipes "pipe rover/pearl rover" has six-legged propulsion [3]. In another work, an autonomous sewer cleaning robot was published that cleans underwater sewers [4]. KARO is a wheeled tethered robot for smart sensor-based sewer inspection equipped with intelligent multi-sensors [5].…”

Section: Introductionmentioning

confidence: 99%

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

et al. 2018

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This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

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“…High output LED lights are mounted on both front and rear of the robot to provide high visibility in low light environments. Figure 2.12: A crawler type pipe cleaning and inspection robot [16] Nguyen T. T. et al [16] have mentioned that the three most important criteria which allow the in-pipe mobile robot to locomote on their deployed terrain are the capability of waterproof, sinkage and the traction on the ground, and all these criteria mostly depend on the sludge properties such as granularity, stickiness and hardness, and also on the weight of the mobile robot itself as well as the contact area and condition between the robot and the terrain.…”

Section: Carrier System Mobile Stationmentioning

confidence: 99%

“…In order to increase robot traction and stability, as many wheels as possible touching on the ground should be realized. Therefore, a robot designed by Nguyen T. T. et al [16] is based on the tracking mobile robot. The track size should be maximized without affecting the robot turning ability to avoid sinkage in dreg or sludge.…”

Section: Crawler Typementioning

confidence: 99%

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Design of tunnel robot for inspection of large-diameter sewerage tunnel

Law¹

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The used water superhighway is designed for used water collection, treatment, reclamation and disposal for the next 100 years of Singapore. It consists of trunk sewer, link sewer network and deep tunnel sewerage system. Tunnel maintenance is important to ensure the tunnel is in good working order to prolong its operating life. In-pipe robot is one of the important concepts to achieve automated tunnel maintenance such as inspection, cleaning and repairing because it can eliminate the risks that human always encounter in the tunnel. In order to identify available technologies that can be adopted in the design of the tunnel maintenance system, a study aimed to review existing pipeline and tunnel robots as well as hoisting system is then carried out. The robots can be classified into nine types of robotic system, namely PIG, Wheels, Crawler, Cylindrical, Legs, Inchworm, Helical, Snake and VVPIG type. The study implies that the research on pipeline and tunnel robot has been focusing on the maintenance of small diameter pipelines and it is seen that most of them just aim for short distance inspection. The scope of this works is to design a tunnel robot with a complete inspection system for large diameter tunnel inspections and a hoisting system for robot deployment. The robot must be waterproof , able to avoid sediment in the tunnel and has enough traction force for locomotion in the slippery condition. In this report, a preliminary design of the platform based on two types of locomotion, i.e. tracked and wheeled robot is carried out. Both track-based and wheel-based robots are simulated in CAD model to evaluate the functionality and feasibility of the design concept. The

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A study of pipe-cleaning and inspection robot

Cited by 24 publications

References 3 publications

Mechanical Design and Simulation of Water Pipes Cleaning Robot

Mechanical Design and Simulation of Water Pipes Cleaning Robot

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

Design of tunnel robot for inspection of large-diameter sewerage tunnel

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