대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제25권12호
  • /
  • Pages.2030-2039
  • /
  • 2001
  • /
  • 1226-4873(pISSN)
  • /
  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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배관 검사 로봇 시스템 개발

Development of Inpipe Inspection Robot System

  • 백상훈 (성균관대학교 대학원 기계설계학과) ;
  • 류성무 (성균관대학교 대학원 기계설계학과) ;
  • 노세곤 (성균관대학교 대학원 메카트로닉스협동과정) ;
  • 최혁렬
  • 발행 : 2001.12.01
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초록

Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.

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참고문헌

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