Title :
Robotized system for in-pipe inspection
Author :
Costa, Ramon R. ; Dos Reis, Ney R S ; Hsu, Liu ; Peixoto, Alessandro J. ; Gomes, Luiz P C S
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil
Abstract :
This paper reports the development and experimental evaluation of robotized system devised to perform two kinds of measurements inside a pipeline: the thickness of the internal wall painting layer and the internal radius. The thickness measurement allows the inspection of the painting layer quality and, by measuring several radii, it is possible to estimate that pipeline transversal section shape. The proposed scheme is shown to yield very satisfactory results on an actual pipeline.
Keywords :
civil engineering; inspection; instrumentation; mobile robots; painting; pipelines; internal radius thickness; internal wall painting layer thickness; pipeline inspection; pipeline instrumentation; pipeline internal painting; pipeline robot; pipeline transversal section shape; robotized system; Inspection; Instruments; Mechanical sensors; Painting; Pipelines; Robotics and automation; Robots; Shape measurement; Tactile sensors; Thickness measurement;
Conference_Titel :
Industrial Electronics, 2003. ISIE '03. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7912-8
DOI :
10.1109/ISIE.2003.1267963
