Pipe Inspection Robot with an Automatic Tracking System Using a Machine Vision

This paper describes a mobile out-pipe inspection robot with an automatic pipe tracking system to apply it to the feeder pipe inspection for the PHWR. The inspection of the feeder pipe requires the robot to be able to travel the out bend of the pipe as close as possible. Since no detectable beacons or indications are attached on the pipe, two cameras are attached at the front and rear parts of the robot to measure the offset orientation angle between the pipe and the robot. The offset angle can be obtained by using the proposed image processing algorithm. The robot is composed of dual inch worm mechanisms which make it possible to move along the longitudinal direction and to rotate in a circumferential direction. These actuators are driven pneumatically. The robot is constructed and test in a mockup of the feeder pipes