PipeTron series - Robots for pipe inspection

Debenest, Paulo; Guarnieri, Michele; Hirose, Shigeo

doi:10.1109/carpi.2014.7030052

Cited by 56 publications

(26 citation statements)

References 8 publications

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“…This configuration leads to a drastic miniaturization to 3-4 in. in the inner diameter of pipes and is even adaptable to winding pipelines and T-branch [14][15][16][17][18][19].…”

Section: Figurementioning

confidence: 99%

Robotic Search and Rescue through In-Pipe Movement

Kakogawa¹,

Ma²

2020

Unmanned Robotic Systems and Applications

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So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screwdrive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer's point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages.

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“…This configuration leads to a drastic miniaturization to 3-4 in. in the inner diameter of pipes and is even adaptable to winding pipelines and T-branch [14][15][16][17][18][19].…”

Section: Figurementioning

confidence: 99%

Robotic Search and Rescue through In-Pipe Movement

Kakogawa¹,

Ma²

2020

Unmanned Robotic Systems and Applications

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“…However, these types of devices not only require a mechanism to ensure continuous rotation, but also a mechanism that generates a propulsion force of friction by pushing wheels or crawlers to an inner wall of a piping [7][8][9][10], thereby increasing design complexity. Thus, for simplification, several researchers have adopted the use of a mechanical spring to push wheels or crawlers to an inner wall and generate friction [11][12][13]. Additionally, Kataoka et al [14] developed a device that utilizes highly elastic crawlers, and Zin et al [15] developed a device that uses magnetic force to adhere to the inner wall of pipes.…”

Section: Objectivementioning

confidence: 99%

“…To simplify the design and reduce the number of motors, Nishimura et al [11] proposed a differential mechanism that allows locomotion, rotation, and steering to be realized with only two motors. Debenest et al [12] designed a spring mechanism to eliminate the need of a separate motor to control steering. Additionally, a steering mechanism has been included in certain inchworm devices to enable path selection in branched piping systems.…”

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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“…Predominantly designed for tight bend systems such as refineries and chemical plants, the system is tethered for instant retrieval and consists of passively articulated wheels connected in a series [28]. The passive torsion springs in each module joint allow the robot to bend and alter shape Robotics 2017, 6, 36 8 of 13 depending on the problem encountered and the width of the pipe without requiring further actuators.…”

Section: Snake Systemsmentioning

confidence: 99%

Advances in the Inspection of Unpiggable Pipelines

2017

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Abstract:The field of in-pipe robotics covers a vast and varied number of approaches to the inspection of pipelines with robots specialising in pipes ranging anywhere from 10 mm to 1200 mm in diameter. Many of these developed systems focus on overcoming in-pipe obstacles such as T-sections and elbows, as a result important aspects of exploration are treated as sub-systems, namely shape adaptability. One of the most prevalent methods of hybridised locomotion today is wall-pressing; generating traction using the encompassing pipe walls. A review of wall-pressing systems has been performed, covering the different approaches taken since their introduction. The advantages and disadvantages of these systems is discussed as well as their effectiveness in the inspection of networks with highly varying pipe diameters. When compared to unconventional in-pipe robotic techniques, traditional full-bore wall-pressing robots were found to be at a disadvantage.

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PipeTron series - Robots for pipe inspection

Cited by 56 publications

References 8 publications

Robotic Search and Rescue through In-Pipe Movement

Robotic Search and Rescue through In-Pipe Movement

Development of a steerable in-pipe locomotive device with six braided tubes

Advances in the Inspection of Unpiggable Pipelines

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