In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines

摘要

In this chapter we presented the robotic systems MRINSPECT series for a long-distance inspection of pipelines. The systems show outstanding mobility and several characteristic features, which make it possible to apply the proposed systems in pipelines with complicate geometries regardless of the effect of gravity, its postures, and the direction of moving. Though the algorithms were described based on MRINSPECT series, the ideas can be generalized to the other robots. However, according to our experiences on this work, the mechanism of the in-pipe robot should be adaptable to the characteristic condition of the pipelines and it is the preliminary requirement for the successful movement. The use of a general- purpose robot may not be possible in in-pipe applications. For that means, MRINSPECT series has the possibility of being used in practical applications, although it is still under improvement through testing in the field conditions. In the near future, field tests will be conducted with the system and the system is to be modified according to the results of field evaluation.