Title :
NDT inspection mobile robot with spiral driven mechanism in pipes
Author :
Seungho Kim ; Chang Hoi Kim ; Yeong-geol Bae ; Hyunseok Na ; Seyoung Jung
Author_Institution :
Korea Atomic Energy Res. Inst., Daejeon, South Korea
Abstract :
This paper describes an NDT inspection mobile robot to drive 100m away with inspection module in 10cm pipes. A spiral driven mechanism was adopted to obtain a high traction force. The inspection module was made with a camera and four laser sensors. This module can find out 1mm size defects with a laser image sensor and recognize damages of the pipes using the camera. The mobile robot was tested in a real scale pipe mock-up and verified the function of mobility and accuracy.
Keywords :
cameras; image sensors; inspection; mobile robots; nondestructive testing; optical sensors; pipes; NDT inspection mobile robot; camera; damage recognition; high traction force; inspection module; laser image sensor; nondestructive test; pipes; real scale pipe mock-up; size 1 mm; size 10 cm; spiral driven mechanism; Indexes; Lasers; Lungs; Robot sensing systems; In-pipe inspection robot; NDT (Non-Destructive Test); Small pipes; Spiral driven mechanism;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695647
