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Investigations of Design Issues Related To In-Pipe Inspection Robots

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 3, March 2014)
Investigations of Design Issues Related To In-Pipe Inspection
Robots
Ankit Nayak1, S. K. Pradhan2
1
M.E. Student, Mechanical Engineering Department, NITTTR Bhopal-462002, INDIA
2
Associate Professor and Head, Mechanical Engineering Department, NITTTR Bhopal-462002, INDIA
Abstract— Basically robots are designed in such way that
they remove human intervention from labour intensive and
hazardous work environment; sometimes they are also used
to explore inaccessible work places which are generally
impossible to access by humans. The inspection of pipe
comes in same category because they carry toxic chemicals,
fluids and most of the time has small internal diameter or
bends which become inaccessible to human. The complex
internal geometry and hazard content constraints of pipes
demand robots for inspection of such pipes in order to
check corrosion level of pipe, recovery of usable parts from
pipe interior, sampling of sludge and scale formation on
pipe internal surface etc.
Several designs of in-pipe inspection robots have been
proposed in the literature to solve the problems related with
inspection of these complicated internal geometries. It is felt
that a review of the design issues considered in various
developed models would help to compare their main
features and their relative advantages or limitations to
allow choose the most suitable design for a particular
application and also throw light on aspects that needs
further attention. In view of above, this paper presents
investigation of design issues pertaining to development of
in-pipe inspection robotics.
Keywords—Review in pipe inspection robot, design
issues, in-pipe robot, IPIR.
I. INTRODUCTION
Robotics is one of the fastest growing engineering
fields, presently they are used for wide variety of works
specially in manufacturing industries e.g. spot welding,
loading and unloading of tool and work piece, painting
etc. Primarily robots are designed in such way that they
reduce human intervention from labour intensive and
hazardous work environment; sometimes it is also used
to discover inaccessible work place which is generally
impossible to access by humans. The complex internal
geometry and hazard content constraints of pipes require
robots for inspection purpose. With these constraints,
inspection of pipe becomes so more necessary that,
tolerating it may lead to some serious industrial accidents
which contaminate environment and loss of human lives
also. For inspection of such pipes, robot requirement is
must especially in order to check corrosion level of pipe,
recovery of usable parts from pipe interior, for sampling
of sludge and scale formation on pipe internal surface
etc.
819
In this paper the aspects of working and mechanism
involved with In-pipe inspection robots (IPIRs) are
studied carefully, and their working ability according to
orientation of pipes are also considered, to identify issues
related to design of in-pipe inspection robots. The in-pipe
inspection robots are classified on the basis of
locomotion type under broad categories as wheel type &
without wheel type. The models are listed in
chronological order of their development. Some
prototypes have impeccable mobility but have some
issues related to energy consumption and mobility in
complex geometries i.e. motion in elbow joints, curved
surfaces of pipe interior, adaptability of varying
diameters of pipes etc. while other are exceptional at
mobility in complex geometries and have other
weaknesses.
II. DESIGN ISSUES RELATED T O IN-P IPE INSPECTION
ROBOTS
Designing of an in-pipe inspection robot (IPIR) is a
difficult task and hence the designer must take care of
following design issues while development of such
devices.
A. Mobility
Motion capability of in-pipe robots includes the
forward and backward motion of robot with optimum
torque and velocity inside the pipeline so that it can reach
at the destination point. “T” type, “Y” type , Cross “+”
junctions and “L” type joins are commonly used in
pipeline network so it is necessary for in-pipe
inspection robot to able to pass through these junction
and joints in horizontal and vertical orientation of
pipeline.
B. Steerability
The path selection capability of robot inside a pipe is
of utmost importance to perform meaningful and accurate
inspection. The provision to move the robot in required
direction at the junction point makes it capable to select
appropriate path. Steering mechanism of robot should be
design in such manner that whole body of robot can
smoothly follow the pilot without any stuck of robot in
the pipe line.
 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 3, March 2014)
C. Turning Radius
Less turning radius is always desirable for in-pipe
inspection robots Less turning radius of robot is required,
to pass through pipe bends having more bend curvature.
The turning radius of robot depends on the length and
flexibility of robot body, if length of robot is less;
inevitably the turning radius would be less but reduction
in length may possess further design issues of space
requirement for placement of different parts of the IPIR.
D. Size and Shape Adaptability
Size adaptability of robot makes it capable to move
through pipes of different diameters effectively. This is
again a critical design issue when either the diameter of a
pipe varies along the length or it is required to inspect
pipes of different diameters. Although in latter case a
single robot cannot be developed to cater all the
diameters but at least the robot must be capable to change
its dimension for a reasonable range of pipe diameters. In
real industrial/domestic situations, we generally
encounter pipes of different types of cross section like
square, rectangular, circular, semi-circular and elliptical.
Shape adaptability of robot, makes it able to move
through the pipes of these cross-sections. IPIR should be
designed in such a way to adapt itself according to the
cross section of the pipe.
E. Online Adaptability
Variations of diameter and/or shape of pipe are often
takes place in pipe network either due to size/shape or
due to excessive nonuniform internal deposition. The
IPIR should be able to adapt the diameter and/or shape of
pipe accordingly during the operation. Robot should be
able to move from pipe of big diameter to small diameter
pipe and vice versa.
F. Flexibility
Relative motion between the various segments of
robot body makes it able to take turn smoothly through
various joints and junctions of pipeline. Due to flexibility
stuck free motion can be performed by a robot. Small
articulated joints, universal joints and flexible couplings
are required to make the body of robot flexible.
G. Stability
This is again a measure concern particularly with
inclined and vertical pipes. The IPIR should be stable on
specified plane and/or axis of the motion (many time it is
central axis and/or central plane of pipe) to maintain the
accuracy of operations and smooth functioning.
H. Autonomous Operation and Obstacle Avoidance
Sensors, actuators, controllers, control software etc.
should be designed in order to make the robot motion and
operation automatic and accurate.
820
Autonomous operation includes automatic path
detection, path selection of robot, obstacle avoidance,
video recording etc. There should not be any collision
between robot body and obstacle in the pipe line.
Navigation system of robot is an important factor for
obstacle avoidance. A micro Charge Coupled Device
camera of good quality is to be used to view the status of
in-pipe operation and to take the picture. To analyse the
operation and motion of robot during and after the
operation, a recording facility is to be designed to record
the images and videos. Provision of variable lights should
be used to illuminate pipe interior.
I. Efficient at Uneven Surface
Robot should be designed to move at required velocity
without slippage on even, uneven and rough surface of
pipe interior with different pipe orientations.
J. Safe Operation
The external shape and moving parts of IPIR should
not affect and damage the pipe interior because any type
of damage of may lead to failure of pipeline.
K. Material Selection
To fabricate the robot body light weight, corrosion
proof and easy to clean material should be used. Coatings
of other materials can also be done to prevent corrosion.
L. Operations
The variation in different IPIR designs is also due to
the type of operations they are required to perform such
as-
 Inspection of pipe interior
 Blockage removal
 Cleaning of pipe interior
 Welding of pipe
 Repairing of leakage
 Recovery of lost parts from pipe line
 Sample collection etc.
M. Number of Actuators
Energy requirement and weight of robot is dependent
on the number of actuators used. A good design involves
performance of the inspection with minimum number of
actuators.
N. Operation in Active Pipe Line
IPIR should be designed in such a way to perform
operations in active pipe line without stopping the fluid
flow through pipe. Robot body should be fabricated with
hermitically sealed shells so as to prevent the actuator
and other electronic devices from short circuit. It should
be able to work against or in the direction of fluid flow
by controlling the speed of actuators.
 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 3, March 2014)
They should be able to tolerate high pressure, high
velocity of fluid, vibration and uneven temperature.
O. Retrieval of Robot
In case of tethered IPIR the cable/pneumatic-hydraulic
robot pipe line is utilised for manual retrieval of robot
but for un tethered IPIRs proper safe retrieval mechanism
is required. Robot should move in reverse direction so
that it can reach at start point (end of pipe) of motion and
operation. When a robot with tether moves inside a long
and thin pipeline, problems like increase of frictional
resistance between the tether and the pipe, blockage of
fluid flow, jamming of cable etc. occur. Hence adequate
provisions must be provided for avoidance of all these.
P. User Friendly Navigation and Control System
In case of wired IPIR the controlling of robot is done
through an external computer. While in case of wireless
controlling system, radio or other types of waves are used
to send and receive the signals. Graphical user interface
and user friendly control console are used to control the
in-pipe robots. Control panel of the robot should be
designed in such way that it can be used with less
complexity.
Q. Range of Operation
Robot should also be designed according to the range
of operation. Long and medium range robots are
controlled by the wireless means and they must have
provision of long life onboard battery. On the other hand
small and micro robots can be controlled by tether cable,
by wireless means or by mini batteries.
In-pipe inspection robots can be classified on the basis
of range of operation as follows
 500m or more - large robot
 100m to 500m- medium robot
 1m to 100m- small robot
 Less than 1m- micro robot
R. Quantitative Analysis
The design of IPIRs may become complicated
depending upon the quantitative analyses they have to
perform inside the pipe. Provision to perform quantitative
analysis of cracks and defects to forecast expected time
of failure is a common requirement. Inspection system
should be able to detect, classify and rate defects
automatically. PIRAT system introduce by Robin
Kirkham et al. [1] is used for quantitative analysis of
pipeline.
821
III. EXISTING I N-P IPE ROBOTS MODELS
In view of above, design issues like Size/shape
adaptability, steering mechanism, stability, Autonomous
operation and retrieval are the critical for optimum
performance of an IPIR. Many models available in the
literature have taken care of some of these issues either
by altering the locomotion, changing the relative
placement of linkages or by utilising different source of
energy.
A. Wheel Type Robot
Wheel type robots have simple mechanism and easy to
navigate through various bents in pipeline. They can
move quickly hence used in long range operations. The
steering mechanism is simple to design. Some wheel type
robots are as follows.
 Shigeo Hirose et al. Model (1999) [2]
 Y. Kawaguchi et al. Model (1995) [3]
 H.B. Kuntze et al Model (1998) [4]
 K.-U. Scholl et al. Model. (1999) [5]
 Koichi Suzumori et al. Model (1999) [6]
 Chao-Pei Lul et al. Model (2007) [7]
 Amir A. F. Nassiraei et al. Model (2007) [8]
 M. O. Tătar et al. Model (2008) [9]
 M. F. Yusoff et al. Model (2012) [10]
 Md Raziq Asyraf et al. Model (2012) [11]
B. Caterpillar Type Robot.
Caterpillar type robot can overcome obstacles and able
to move on uneven surface of pipe.
 Josep m et al. Model (2010) [12]
 Kosuke Nagaya et al. Model (2012) [13]
C. Screw Drive Type Robot
Screw drive type robots have simple structure, good
stability in pipe line and they are easy to control and easy
to seal. Screw drive type robots have capability to climb
vertical and horizontal pipes smoothly.
 Iwao Hayashi et al. Model (1997) [14]
 Peng Li Model (2007) [15]
 Taiki Nishimura et al. Model (2012) [16]
 Eiki Martinson et al. Model. [17]
D. Lag Type Robot
Lagged type robots are able to climb vertical and
branched pipes. They have high mobility and negligible
tendency of slippage.
 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 3, March 2014)
 Robin Bradbeer et al. Model (1997) [18]
 Andreas Zagler et al. Model (2003) [19]
E. Inchworm Type Robot
They are performing the motion like inch worm so that
they can easily move in curvilinear pipes. They can also
easily adapt the diameter and shape (some time) of pipe.
 Toshio FUKUDA et al. Model (1989) [20]
 M. C. Corrozza et al. Model (1996) [21]
 Yutaka Kondoh et al. Model (1997) [22]
 Ckdric Anthierens et al. Model (1999) [23]
 A. Manuello Bertetto et al. Model (2001) [24]
 Jinwan Lim et al. Model (2008) [25]
 Yun-Jong kim et al. Model (2009) [26]
 Woogsun Jeon et al. Model (2011) [27]
 Megumi Ikeuchi et al. Model (2012) [28]
 Jinwei Qiao et al. Model (2013) [29]
F. Wall Press Robot
Wall press robots have wide range of adaptability and
more frictional force between wheels of robot and pipe
interior. Wall press robot can further be classified as
follows.
1. Wall Press Wheel Type Robot Wall press wheel
type robots have a mechanism to press the wheels on the
inner wall of pipe line hence they can be move quikly,
take turn easily even in inclined and vertical pipes.
 Tokuji Okada et al. Model (1987) [30]
 Kan Taguchi et al. Model (1991) [31]
 M.Muramatsu et al. Model (2000) [32]
 S. M. Ryew et al. Model (2000) [33]
 Tatar et al. Model (2007) [34]
 Yunwei Zhang et al. Model (2007) [35]
 Young-Sik Kwon et al. Model (2010) [36]
 Dongwoo Lee et al. Model (2012) [37]
 Atul Gargade et al. Model (2013) [38]
2. Wall Press Caterpillar Type Robot Wall press
caterpillar robot can easily move on uneven surfaces or
even in pipes with internal protrusions.
 Jong-Hoon Kim et al. Model (2011) [39]
 Majid M. Moghaddam et al. Model (2011) [40]
 Young-Sik Kwon et al. Model (2012) [41]
G. Helical or Snake Type Robot
Helical or snake type robots have simple structure and
used for small distance operations. Snake type robots are
flexible so they can take turn easily.
 Shuichi WMMOTO et al. Mpdel (2003) [42]
 Sigurd A. Fjerdingen et al. Model (2009) [43]
 Takashi Nishihara et al. Model (2010) [44]
 Minoru Kurta et al. Model (2010) [45]
822
IV. CONCLUSION
Different design related issues of in pipe inspection
robots are investigated in this paper. Further, robots are
classified on the basis of structure and method of
locomotion. Ability and special advantages of each type
of structure and locomotion system are presented
followed by some example of already developed in-pipe
inspection robot by several researchers in previous years.
The above observations can be utilised as a guideline
while designing IPIR for a particular application.
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