Development of a Low Cost Small Sized In-Pipe Robot

Development and Adaptability of In-Pipe Inspection Robots

“…When considering the design of the robot used in pipe diameter 80 mm has been focusing on the ability of the robot to the appropriate diameter with a weight-bearing and additional forces anywhere inside the pipe. Motor appropriate for this size is a servo motor due to its small size with high torque capability [5]. It is very important in these types of small-sized robot into account the slippage inside the pipe.…”

“…As well as the solutions used during the design process to avoid the process of sliding the robot inside the pipe, covering the rim with rubber material. [5] Mobile mini-robots, it has the flexibility to environmental in the pipe with it is suitable structure that make it easy adapt with pipe diameter. There are several types of mobile mini-robot based on its structure and functions: MRINSPECT I, MRINSPECT II, MRINSPECT IV.…”

“…Another problem usually faced is when sediments and corrosion accumulate can decrease the pipeline transfer volumes which result inconsistency. The effect can be seen in increase time of complete volume transportation and thus can slow down the business activities, a high impact can be observed in oil and gas industries [5,15,16].…”

“…Then, with those details the other specifications can be determined such as the required torque, wheel type, power, steering mechanism, width, height, length of robot, overall weight and material used. These specifications and the inspection testing equipment will make up the characteristics and behaviour to be programmed into the robot [5]. The problems which are discussed further in this review paper is for the design development of the in-pipe inspection robot in the adaptability in different diameter of pipes, with the help of the correct amount of tractive force for long distance range [1].…”

Map Slammer: Densifying Scattered KSLAM 3D Maps with Estimated Depth

“…The small-sized robots are intended to be deployed in locations hard to reach for greater robots and are mainly used for inspection. For instance, they are commonly used for evaluating the state of the gas and water pipelines (Raziq Asyraf Md Zin et al, 2012;Afiqah Binti Haji Yahya et al, 2014), or even the electric power lines (Deng et al, 2014). They are also used in rescue tasks (Linder et al, 2010) due to their ability to get into narrow paths under collapsed buildings.…”