• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.576-579
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• 1997

In order to repair sewage pipes, it is necessary to dig up the damaged sewage pipes, which results in traffic jams. Since digging up the pipes takes too much time and cost, this method is inefficient. So, in stead of digging up the damaged pipes, a robot is sent down to the pipe to do the repair works. For big pipes, human workers go into the pipe and do to repair works, but for small pipes, it is impossible for human worker to go inside the pipe. In this case, mobile robots have used. The procedures for repairing pipes are as follows : First, the condition of the sewage pipes is observed by a robot. Second, appropriate steps for repair are determined according to the types of the damage. While repairing procedures, a newly-developed packer is sent into the sport to be repaired inside the pipe. Then, the packer is filled with air by a V-shaped wrinkel pipe. This makes the packer inflates uniformly and adhere closely to the inside wall of the pipe in large area. This increases the area that can be repaired. Therefore, the newly-developed packer will be very helpful for sewage pipe repair works.