Scholarly record
MOBILE MANIPULATOR-ROBOT FOR INSPECTION OF INCLINED WATER PIPELINES
Abstract
Currently, many emphases are placed on the possibility of limiting excavation works in the event of water pipelines or sewage systems failure. For this purpose, various types of inspection and repair robots/manipulators are used, which can enter the installation's interior without the need to get into the pipe physically (e.g. with an excavator). Mobile robots allow you to diagnose the problem (or provide information on which section the failure occurred) and in some cases, to repair (unplug) the installation without needing heavy machinery. Unfortunately, the limitation of this type of mobile manipulator is the ability to move along relatively flat sections and the adaptation of the robot's geometry to the variable diameter of the pipe. The article presents the concept and construction of a robot prototype that allows it to move along sloping pipes. The design of the robot has been equipped with a variable geometry of the drive, enabling the appropriate coefficient of friction when working in an inclined pipeline. The design solutions used were presented, as well as the test results of the prototype made. The presented solution can successfully reduce the need to use heavy equipment to monitor the quality of water supply and sewage systems. The article shows the potential benefits of using mobile inspection robots to reduce the adverse human impact on the environment (following the principles of sustainable development)
Publication Impact Profile
- Captures
- Mendeley - Readers: 6
Publication details
References8
Report of the Polish Supreme Audit Office, Gospodarowanie zasobami wodnymi przez przedsiebiorstwa wodociagowe w gminach wiejskich, 197/2021/P/21/102/LZG, 2021
Tchorzewska-Cieslak B., Rak J., Awaryjnosc sieci wodociagowych w glownych miastach doliny Sanu, I Konferencja Naukowo � Techniczna �Blekitny San�, 2006
Mirats J. M., Garthwaite W., Robotic devices for water main in-pipe inspection: A survey, Journal of Field Robotics, vol. 27, issue 4, p. 491-508, 2010 DOI: 10.1002/rob.20347
Rusu, C., Tatar, M.O., Adapting Mechanisms for In-Pipe Inspection Robots: A Review, Applied Sciences, 12, 619, 2022 DOI: 10.3390/app12126191
Han Z., Zhu Z., Articulated robot system for energy pipeline maintenance, Energy Reports, vol. 8, supplement 13, p. 267-274, 2022 DOI: 10.1016/j.egyr.2022.08.064
Nayak A., Pradhan S.K, Design of a New In-Pipe Inspection Robot, Procedia Engineering, vol. 97, p. 2081-2091, 2014 DOI: 10.1016/j.proeng.2014.12.451
Pshenin, V.; Liagova, A.;Razin, A.; Skorobogatov, A.;Komarovsky, M. Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration, Infrastructures, vol. 7, issue 75, 2022 DOI: 10.3390/infrastructures7060075
Oyekola P., Pumwa J., Mohamed A., Robotic Model for Unmanned Crack and Corrosion Inspection, International Journal of Innovative Technology and Exploring Engineering 9(1), 2019 DOI: 10.35940/ijitee.a4367.119119
View or Download full articleAccess options
SWS access login
Login as SWS Scientific CommitteeLogin as SWS Scientific PartnerLogin as SWS AuthorAuthors and approved SWS contributors will read and export their own linked papers after identity matching by SWS profile, email and SGEM GlobalID.
For librarian assistance: [email protected]
Purchase Instant Access
- Article can be downloaded after successful payment.
- Article may be used according to SWS library access terms.
- Article cannot be redistributed.