Autonomous Navigation of In-Pipe Inspection Robot Using Contact Sensor Modules

Jang, Heesik; Kim, Tae Yu; Lee, Ye Chan; Song, Yong Heon; Choi, Hyouk Ryeol

doi:10.1109/tmech.2022.3162192

Cited by 27 publications

(13 citation statements)

References 22 publications

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“…The inchworm type has less traction and good gripping force, which helps it move inside pipelines [18]- [22]. The wall press type uses the contact force to pass through the pipelines steadily [25]- [29]. The walking type has a complicated mechanism and uses legs to walk, resulting in less slippage and damage to the pipeline's surface [30]- [34].…”

Section: A Types Of Ipirmentioning

confidence: 99%

“…In recent years many developments have been made in In-Pipe Inspection Robot (IPIR) and are grouped under their different locomotion types. They are namely the Pipeline Inspection Gauge (PIG) [4]- [10], screw [11]- [17], inchworm [18]- [24], wall press [25]- [29], walking [30]- [34], caterpillar [35]- [39] and wheel type [40], [41], [50]- [52], [42]- [49] as shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

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Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

Elankavi

Dinakaran

Doss

et al. 2022

Journal of Robotics and Control

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The most popular method for transporting fluids, and gases is through pipelines. For them to work correctly, regular inspection is necessary. Humans must enter potentially dangerous environments to inspect pipelines. As a result, pipeline robots came into existence. These robots aid in pipeline inspection, protecting numerous people from harm. Despite numerous improvements, pipeline robots still have several limitations. This paper presents the design and motion planning of a wheeled type pipeline inspection robot that can inspect pipelines having an inner diameter between 250 mm to 350 mm. The traditional wheeled robot design has three wheels fixed symmetrically at a 120° angle apart from each other. When maneuvering through a curved pipeline, this robot encounters motion singularity. The proposed robot fixes the wheels at different angles to address this issue, allowing the robot to stay in constant contact with the pipe's surface. Motion analysis is done for the proposed and existing robot design to study their behavior inside the pipeline. The result shows that the proposed robot avoids motion singularity and improves mobility inside pipelines. 3d printing technology aids in the development of the proposed robot. The experimental tests on the developed robot inside a 300 mm-diameter straight and curved pipeline show that the robot avoids motion singularity.

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Section: A Types Of Ipirmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

Elankavi

Dinakaran

Doss

et al. 2022

Journal of Robotics and Control

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show abstract

“…Fig. 1 shows examples of the Pipeline Inspection Gauge (PIG) [9,10], screw [16,17], inchworm [18][19][20][21][22][23][24], wall press [25][26][27][28][29], walking [30][31][32][33][34], caterpillar [35][36][37][38][39], and wheel type [40][41], [50][51][52], [42][43][44][45][46][47][48][49]. These popular forms of movement have drawbacks in addition to their benefits [53].…”

Section: Open Accessmentioning

confidence: 99%

“…The inchworm may pass through pipelines because of its strong grasp despite its poor traction [18][19][20][21][22]. The wall press type steadily passes through the pipelines by using contact force [25][26][27][28][29].…”

Section: Robotic In-pipe Inspection Types (Ipir)mentioning

confidence: 99%

Robotic Inspection Monitoring System for Pipelines

Baballe¹

2022

AIS

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The most popular method for transporting fluids and gases is through pipelines nowadays. Regular inspection is necessary for the pipelines to work correctly. Humans must not enter potentially dangerous environments to inspect these pipelines. As a result of this, pipeline robots came into existence. These pipe inspection robots help in pipeline inspection, protecting numerous people from harm since human beings cannot enter the pipes and inspect them in case there is any such or kind of damage that requires repair. Despite numerous improvements, pipeline robots still have several limitations. The introduction of this in pipe inspection robots helps to solve many problems, such as leakage of the gas or fluid pipelines, rustiness, and also if the pipe is broken from any part.

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“…In addition, the majority of drain/sewer pipes are too small for human inspectors to enter (most sewer pipes are smaller than 400 mm in diameter ( Drainagesuperstore, 2022 )). To address these issues, in the last few decades, specific robots have been developed to replace human entry for inspection of buried pipes ( Scholl et al, 2000 ; Nassiraei et al, 2007 ; Kim et al, 2010 ; Wang et al, 2010 ; Lee et al, 2011 ; Lee et al, 2012 ; Qiao et al, 2013 ; Debenest et al, 2014 ; Yum et al, 2014 ; Song et al, 2016 ; Knedlová et al, 2017 ; Hayat et al, 2018 ; Li et al, 2018 ; Mills et al, 2018 ; Kakogawa and Ma, 2019 ; Zhao et al, 2020 ; Brown et al, 2021 ; Virgala et al, 2021 ; Jang et al, 2022 ; Minicam, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

Autonomous control for miniaturized mobile robots in unknown pipe networks

Nguyen

Blight²,

Pickering³

et al. 2022

Front. Robot. AI

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Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe, cannot access small-diameter pipes, and their deployment incurs high costs for highly skilled operators. In this paper, we introduce a miniaturised mobile robot for pipe inspection. We present an autonomous control strategy for this robot that is effective, stable, and requires only low-computational resources. The robots used here can access pipes as small as 75 mm in diameter. Due to their small size, low carrying capacity, and limited battery supply, our robots can only carry simple sensors, a small processor, and miniature wheel-legs for locomotion. Yet, our control method is able to compensate for these limitations. We demonstrate fully autonomous robot mobility in a sewer pipe network, without any visual aid or power-hungry image processing. The control algorithm allows the robot to correctly recognise each local network configuration, and to make appropriate decisions accordingly. The control strategy was tested using the physical micro robot in a laboratory pipe network. In both simulation and experiment, the robot autonomously and exhaustively explored an unknown pipe network without missing any pipe section while avoiding obstacles. This is a significant advance towards fully autonomous inspection robot systems for sewer pipe networks.

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Autonomous Navigation of In-Pipe Inspection Robot Using Contact Sensor Modules

Cited by 27 publications

References 22 publications

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

Robotic Inspection Monitoring System for Pipelines

Autonomous control for miniaturized mobile robots in unknown pipe networks

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