Design and Prototyping a New Add-on Module to Increase Traction Force of a Wheeled Sewer Inspection Robot

2017 ◽  
Author(s):  
Alireza Hadi ◽  
Morteza Abdollahi ◽  
Khalil Alipour ◽  
Bahram Tarvirdizadeh
Keyword(s):  
Traction Force ◽  
Inspection Robot ◽  
Sewer Inspection

Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task

2015 ◽  
Vol 762 ◽  
pp. 163-168 ◽  
Author(s):  
Mihai Olimpiu Tătar ◽  
Ioan Ardelean ◽  
Dan Mândru
Keyword(s):  
Traction Force ◽  
Digital Measuring ◽  
Pipe Inspection ◽  
Measuring Device ◽  
Maintenance And Repair ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Complete Inspection ◽  
Inspection Task

Inspection and exploration represent a challenging domain in the field of robotics because of the hazardous and limited workspace to which the robots have to adapt and because of the reduced ability to monitor and acquire data about the inspected environment. A pipeline inspection robot must ensure sufficient traction force to pull its tether cable and other equipment while travelling inside a pipeline to complete inspection, maintenance, and repair tasks. This paper presents the design of three minirobots with adaptable structure for in pipe inspection and the experimental determination of their traction force. To measure the traction force of the minirobots, the Xplorer GLX digital measuring device was used.

NAVIGATION OF AN AUTONOMOUS SEWER INSPECTION ROBOT BASED ON STEREO CAMERA IMAGES AND LASER SCANNER DATA

2007 ◽  
Vol 16 (04) ◽  
pp. 611-625 ◽  
Author(s):  
ALIREZA AHRARY ◽  
LI TIAN ◽  
SEI-ICHIRO KAMATA ◽  
MASUMI ISHIKAWA
Keyword(s):  
Laser Scanner ◽  
Distance Estimation ◽  
Test Field ◽  
Scanner Data ◽  
Sewer Pipe ◽  
Stereo Camera ◽  
Pipe System ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Sewer Inspection

Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

Proposal of 1 Inch Pipe Inspection Robot with High Propulsive and Traction Force

2018 ◽  
Vol 2018 (0) ◽  
pp. 2A1-C04
Author(s):  
Masashi KAMATA ◽  
Kana TACHIBANA ◽  
Yuki TANISE ◽  
Takahiko KAWAGUCHI ◽  
Yasuyuki YAMADA ◽  
...  
Keyword(s):  
Traction Force ◽  
Pipe Inspection ◽  
Inspection Robot

scholarly journals Dynamic Replanning in Uncertain Environments for a Sewer Inspection Robot

10.5772/5617 ◽  
2004 ◽  
Vol 1 (1) ◽  
pp. 4 ◽  
Author(s):  
Oliver Adria ◽  
Hermann Streich ◽  
Joachim Hertzberg
Keyword(s):  
Uncertain Environments ◽  
Inspection Robot ◽  
Sewer Inspection
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