TY - GEN
T1 - Development of in-pipe robot with extension hose and balloons
AU - Nomura, Koki
AU - Sato, Mamoru
AU - Takeuchi, Hiromi
AU - Minoru, Konno
AU - Ryoichi, Toriumi
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted at Tokyo Women's Medical University - Waseda University Joint Institution for Advanced Biomedical Sciences and the Waseda University Next Generation Robot Research Organization. We are grateful to SolidWorks Japan Co., Ltd., Waseda Research Institute for Science and Engineering, Humanoid Robotics Institute, and Global Robot Academia. This research was conducted in cooperation with SIP “Infrastructure maintenance, update and management technology” (management corporation: JST).
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - 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.
AB - 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.
KW - In-pipe Robot
KW - Inspection Robot
KW - Mobile Robot
UR - http://www.scopus.com/inward/record.url?scp=85030323704&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85030323704&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8016035
DO - 10.1109/ICMA.2017.8016035
M3 - Conference contribution
AN - SCOPUS:85030323704
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 1481
EP - 1486
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -