Design of In-Pipe Inspection Vehicles for ø25, ø50, ø150 Pi
Design of In-Pipe Inspection Vehicles for ø25, ø50, ø150 Pi
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DOI：
10.1109/robot.1999.770450
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
S. Hirose;H. Ohno;T. Mitsui;K. Suyama
中科院分区：
文献类型：
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作者：
S. Hirose;H. Ohno;T. Mitsui;K. Suyama
In this paper we outline the design of in-pipe inspection vehicle for pipes with diameters of /spl phi/25, /spl phi/50 and /spl phi/150 mm, respectively. We introduce the concept "whole stem drive". This concept is very effective to allow an in-pipe vehicle to travel long distance in the pipeline. Based on this concept, we have built four in-pipe vehicles, the "Theseus" series. For the pipe with a diameter of 50 mm, we propose two mechanisms, in-pipe vehicle with spiral motion (Theseus-I) and in-pipe vehicle for the practical gas pipe (Theseus-II). For the pipe with a diameter of 150 mm, we propose the in-pipe vehicle based on the idea of control configured vehicle (Theseus-III). Finally, for the pipe with a diameter of 25 mm, we propose the in-pipe vehicle which has an actuator outside of the pipe (Theseus-IV).
