Development of in-pipe robot with extension hose and balloons

Koki Nomura; Mamoru Sato; Hiromi Takeuchi; Konno Minoru; Toriumi Ryoichi; Hiroyuki Ishii; Atsuo Takanishi

doi:10.1109/ICMA.2017.8016035

Development of in-pipe robot with extension hose and balloons

Koki Nomura, Mamoru Sato, Hiromi Takeuchi, Konno Minoru, Toriumi Ryoichi, Hiroyuki Ishii, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

In recent years, the importance of inspection technologies for old gas pipes has been advocated. In this study, we developed a robot that moves in gas pipes and acquires pictures of interior of pipes in order to easily identify problems, such as cracks in the walls or water leakages. The robot consists of two balloons and an extension hose, which can be extended or shrunk by means of changing the internal pressure. This mechanism allows the robot to move like an inchworm in gas pipes. The robot also has an active-bending module, driven by air pressure that allows it to pass curved pipe sections. Therefore, the robot can move horizontally and vertically in pipes having an inner diameter of both 28 mm and 53 mm.

Original language	English
Title of host publication	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1481-1486
Number of pages	6
ISBN (Electronic)	9781509067572
DOIs	https://doi.org/10.1109/ICMA.2017.8016035
Publication status	Published - 2017 Aug 23
Event	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan Duration: 2017 Aug 6 → 2017 Aug 9

Other

Other	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Country	Japan
City	Takamatsu
Period	17/8/6 → 17/8/9

Keywords

In-pipe Robot
Inspection Robot
Mobile Robot

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Artificial Intelligence
Industrial and Manufacturing Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2017.8016035

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Development of in-pipe robot with extension hose and balloons. / Nomura, Koki; Sato, Mamoru; Takeuchi, Hiromi; Minoru, Konno; Ryoichi, Toriumi; Ishii, Hiroyuki ; Takanishi, Atsuo.

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1481-1486 8016035.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nomura, K, Sato, M, Takeuchi, H, Minoru, K, Ryoichi, T, Ishii, H & Takanishi, A 2017, Development of in-pipe robot with extension hose and balloons. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8016035, Institute of Electrical and Electronics Engineers Inc., pp. 1481-1486, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 17/8/6. https://doi.org/10.1109/ICMA.2017.8016035

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