Peer-reviewed articles 17,970 +


Title: MOBILE MANIPULATOR-ROBOT FOR INSPECTION OF INCLINED WATER PIPELINES
MOBILE MANIPULATOR-ROBOT FOR INSPECTION OF INCLINED WATER PIPELINES

PlumX Article Metrics by Elsevier
Kamil Gajewski; Aleksander Skrzypiec; Mateusz Swierczek; Tymoteusz Turlej
10.5593/sgem2022V/3.2/s12.14
10.5593/sgem2022V/3.2
1314-2704
978-619-7603-54-5
English
22
3.2
•    Prof. DSc. Oleksandr Trofymchuk, UKRAINE 
•    Prof. Dr. hab. oec. Baiba Rivza, LATVIA
Hydrology and Water Resources
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)
[1] Report of the Polish Supreme Audit Office, Gospodarowanie zasobami wodnymi przez przedsiebiorstwa wodociagowe w gminach wiejskich, 197/2021/P/21/102/LZG, 2021
[2] Tchorzewska-Cieslak B., Rak J., Awaryjnosc sieci wodociagowych w glownych miastach doliny Sanu, I Konferencja Naukowo – Techniczna „Blekitny San”, 2006
[3] 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
[4] Rusu, C., Tatar, M.O., Adapting Mechanisms for In-Pipe Inspection Robots: A Review, Applied Sciences, 12, 619, 2022
[5] Han Z., Zhu Z., Articulated robot system for energy pipeline maintenance, Energy Reports, vol. 8, supplement 13, p. 267-274, 2022
[6] Nayak A., Pradhan S.K, Design of a New In-Pipe Inspection Robot, Procedia Engineering, vol. 97, p. 2081-2091, 2014
[7] 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
[8] 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
[9] Oyekola P., Somade K. D., Syed S. A., Apis, P. M., Application of Computer Vision in Pipeline Inspection Robot, 11th Annual International Conference on Industrial Engineering and Operations Management Singapore, March 7-11, 2021
This publication was written as part of the student project Grant of the Rector of the AGH University of Science and Technology No. 71/GRANT/2022 and the Rector's Grant IDUB/2022 - 3870, co-financed by the Dean of the Faculty of Mechanical Engineering and Robotics WIMIR AGH
conference
https://doi.org/10.5593/sgem2022V/3.2/s12.14
Download PDF
Proceedings of 22nd International Multidisciplinary Scientific GeoConference SGEM 2022
22nd International Multidisciplinary Scientific GeoConference SGEM 2022, 06-08 December, 2022
Proceedings Paper
STEF92 Technology
International Multidisciplinary Scientific GeoConference SGEM
SWS Scholarly Society; Acad Sci Czech Republ; Latvian Acad Sci; Polish Acad Sci; Serbian Acad Sci and Arts; Natl Acad Sci Ukraine; Natl Acad Sci Armenia; Sci Council Japan; European Acad Sci, Arts and Letters; Acad Fine Arts Zagreb Croatia; Croatian Acad Sci and Arts; Acad Sci Moldova; Montenegrin Acad Sci and Arts; Georgian Acad Sci; Acad Fine Arts and Design Bratislava; Turkish Acad Sci.
117-124
06-08 December, 2022
website
8778
mobile robot, inspection robot, pipelines, hydrology