KR101215539B1 - Pipe inner inspecting mobile robot and apparatus for moving the same - Google Patents
Pipe inner inspecting mobile robot and apparatus for moving the same Download PDFInfo
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- KR101215539B1 KR101215539B1 KR1020100086526A KR20100086526A KR101215539B1 KR 101215539 B1 KR101215539 B1 KR 101215539B1 KR 1020100086526 A KR1020100086526 A KR 1020100086526A KR 20100086526 A KR20100086526 A KR 20100086526A KR 101215539 B1 KR101215539 B1 KR 101215539B1
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- pipe
- moving
- mobile robot
- main body
- inspection
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Abstract
Disclosed are a mobile robot for inspecting an internal pipe and a mobile device for moving the same.
The mobile robot for inspecting the pipe inside the pipe according to the embodiment of the present invention is equipped with an image photographing apparatus, and is movable in accordance with the movement of a magnetic material outside the pipe, and for moving the body in one direction or the other in the pipe. And a moving unit and a control unit which drives the image capturing apparatus to photograph the inside of the pipe according to the movement of the main body, and stores the image data photographed by the image capturing apparatus.
Description
The present invention relates to a mobile robot for inspecting the inside of a pipe and a mobile device for moving the same.
As is well known, pipeline, one of the structures of industrial infrastructure, is a representative facility for transporting and distributing various energy resources such as gas, oil, etc. in place.
These pipes are becoming a core infrastructure that continuously supplies energy resources such as oil and gas to various urban infrastructure and factory facilities. In addition, pipes installed in large-scale plants such as petrochemical plants are used as a main facility for transporting various chemicals for purification and processing.
However, after a certain period of time after installing the plumbing equipment in various facilities, the pipe may be damaged due to corrosion by moisture and various chemicals, action by the external environment, etc. Problems of internal material leaking to the outside may occur.
The leakage of petroleum and chemicals can cause serious environmental pollution, and since gas leakage can cause a large gas explosion, etc., pipes that have passed a certain period of time require periodic inspection and replacement.
On the other hand, the pipes can be classified into two types, broad type and dense type, depending on the installation environment. The wide type is mainly used for water / sewage, gas supply pipe, oil supply pipe, etc. Can be moved to. These pipes are mainly buried underground for the purpose of damage from the outside, maintenance of the urban aesthetics, corrosion prevention, etc., which has the disadvantage of digging up the pipes for each repair and inspection.
In addition, the compact type pipe is mainly used in a plant such as a petrochemical plant, and in many cases, various pipes are twisted by a complicated transfer system. Such pipes are cumbersome to separate the outer pipe when the inner pipe inspection, there is a disadvantage that the access is inconvenient in the case of the pipe installed in a high place.
For this reason, research has been conducted on the inspection equipment that can access the pipe in a simpler and easier way, and can move and inspect the inside of the pipe through the driving suitable for the three-dimensional shape of the pipe element.
Therefore, a mobile robot has been developed that can travel in a unique and limited three-dimensional space called a pipe and inspect the inside of the pipe. The mobile robot for pipe inspection has a walking type, a wheel type, and an endless track type according to its moving method. , Elastic type, and the like.
1 is a view illustrating a mobile robot performing a pipe inspection according to the related art, a moving part 1 positioned at a lower part of the robot to move the robot, and a support wheel that can rotate in contact with an inner surface of the pipe at an upper part thereof. It is possible to adjust the height of the upper and lower, and the
However, the mobile robot as described above is not only possible through interworking with an external robot system, but also by the motor-driven moving unit 1, the robot is large in size and cannot be used for the internal inspection of small pipes having an inner diameter of about 5 cm. Have
Embodiment of the present invention can generate a magnetic force by an external magnetic material, to provide a mobile robot for inspecting the inside of the pipe to move in the inside of the pipe by the generated magnetic force to take an image inside the pipe.
An embodiment of the present invention is to provide a mobile device for moving a mobile robot for inspecting the inside of the pipe that can move the mobile robot in the pipe in a desired direction.
According to an aspect of the present invention, the mobile robot for inspecting the pipe inside the pipe according to the embodiment of the present invention is equipped with an image photographing apparatus, which is movable according to the movement of a magnetic material outside the pipe, and the body inside the pipe. And a moving unit for moving in the other direction or another direction, and a controller for driving the image capturing apparatus to photograph the inside of the pipe according to the movement of the main body, and storing the image data photographed by the image capturing apparatus.
In the mobile robot for inspecting the internal pipes according to the embodiment of the present invention, the main body is made of a spherical metal material to be moved by the magnetic material.
In the mobile robot for inspecting the internal pipe according to the embodiment of the present invention, the moving part includes moving parts including a fastening member coupled to the main body, a joint member connected to the fastening member, and a roller part connected to an end of the joint part. It is configured to, characterized in that at least two or more moving parts are installed on each of one side and the other side of the main body.
In the mobile robot for inspecting the internal pipes according to the embodiment of the present invention, the moving parts of one side and the other side of the main body are installed to be alternated with each other.
The mobile robot for inspecting the inside of the pipe according to the embodiment of the present invention further includes a housing part covering the main body, and the moving part is connected to the housing part.
In the mobile robot for internal pipe inspection according to an embodiment of the present invention, the moving part includes a fastening member coupled to the housing part, a joint member connected to the fastening member, and a roller part connected to an end of the joint part. It is composed of parts, characterized in that at least two or more moving parts are installed on each of one side and the other side of the housing portion.
In the mobile robot for inspecting the inside of the pipe according to the embodiment of the present invention, the moving part of one side of the housing part and the moving part of the other side of the housing part are alternately installed.
In the mobile robot for inspecting the internal pipes according to an embodiment of the present invention, the control unit receives a data photographed by the imaging apparatus and stores the data storage unit in a storage medium and a power supply for supplying power required for driving the control unit. And a supply unit, a driving unit which drives the image photographing apparatus by detecting movement of the main body, and an external interface which connects an external device and the control unit to provide data stored in the storage medium to the external device.
The mobile robot for inspecting the internal pipes according to the embodiment of the present invention may further include an illumination unit driven by the controller.
In another aspect, a mobile device for moving the mobile robot for inspection inside the pipe according to an embodiment of the present invention is a pipe consisting of a main body including an image photographing device for performing the shooting while driving inside the pipe and a moving unit for moving the main body. A mobile device for moving an internal inspection mobile robot, comprising: a pipe coupling body coupled to the outside of the pipe and moved outside of the pipe; And a magnetic force generating unit generating a main body and a magnetic force, wherein the pipe inspection traveling robot travels inside the pipe by the magnetic force as the pipe coupling main body moves.
The moving device for moving the mobile robot for inspecting the pipe inside the pipe according to the embodiment of the present invention may be installed inside the pipe coupling body, and may further include a driving unit equipped with a roller for driving the pipe coupling body.
In the mobile device for moving the mobile robot for inspecting the pipe inside the pipe according to an embodiment of the present invention, the traveling portion includes an elastic member connected to the roller to change the position of the roller according to the change in the diameter of the pipe, At least three or more are installed inside the coupling body.
In the mobile device for moving the mobile robot for inspecting the pipe inside the pipe according to an embodiment of the present invention, the magnetic force generating unit, the magnetic body in contact with the outside of the pipe, and supports the magnetic body inside the pipe coupling body, A support including an elastic member for changing the position of the magnetic body in accordance with a change in diameter, and a fixing member for fixing the support to the inside of the pipe coupling body, wherein at least three magnetic force generating units are installed in the pipe coupling body. It is characterized by.
According to the mobile robot for inspecting the inside of the pipe according to the embodiment of the present invention as described above, since it is movable by the magnetic force generated by the external magnetic material without a separate driving device, it is not only applicable to the pipe of small diameter but also reduces the cost. There are advantages to it.
1 is a view for explaining a conventional pipe inspection device,
2 is a block diagram showing an internal configuration of a mobile robot for inspecting the inside of the pipe for inspecting the inside of the pipe according to an embodiment of the present invention.
3 is a view showing a mobile robot for inspecting the internal pipe according to an embodiment of the present invention,
4 is a diagram illustrating a mobile device for moving the inspection mobile device according to an embodiment of the present invention,
5 is a view for explaining a process of inspecting the inside of the pipe using a mobile robot for inspecting the inside of the pipe according to an embodiment of the present invention and a moving device for moving the pipe.
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.
Figure 2 is a block diagram showing the internal configuration of a mobile robot for inspecting the pipe inside the pipe for inspecting the inside of the pipe according to an embodiment of the present invention, Figure 3 shows a mobile robot for pipe inside inspection according to an embodiment of the present invention. 4 is a diagram illustrating a mobile device for moving a test mobile device according to an embodiment of the present invention.
As shown in FIG. 2, the
The
Referring to FIG. 3, the
The moving
At least two of the moving
In addition, the moving
For example, three moving
The
The
The
In addition, as the movement of the
In the exemplary embodiment of the present invention, for example, the moving
As shown in FIG. 4, the
The magnetic
In an embodiment of the present invention, at least three or more magnetic
The
The driving
In an embodiment of the present invention, at least three or more traveling
A process in which the
5 is a view for explaining a process of inspecting the inside of the pipe using a mobile robot for inspecting the inside of the pipe according to an embodiment of the present invention and a moving device for moving the pipe.
First, as shown in FIG. 5, the
Through such a connection, a magnetic force is induced between the
Then, the worker moves the moving
As such, as the
After moving the
The worker may copy the image data stored in the
As described above as a specific embodiment of the mobile robot for inspecting the internal pipes according to an embodiment of the present invention and a mobile device for moving the same, this is merely an example, and the present invention is not limited thereto. It should be construed as having the broadest range according to. Those skilled in the art can easily change the material, size, etc. of each component according to the application field, and can be combined / substituted the disclosed embodiments to implement a pattern of a timeless shape, but this also does not depart from the scope of the present invention will be. It will be apparent to those skilled in the art that various changes and modifications may be readily made without departing from the spirit and scope of the invention as defined by the appended claims.
100: mobile robot for inspecting the inside of the pipe
200: main body 202: video recording device
218: moving part 220: housing part
240: control unit 242: storage medium
244: data storage unit 246: driver
248: external interface 250: power supply
400: moving device 410: pipe coupling body
420: magnetic force generating unit 440: driving unit
450: adjuster
Claims (13)
A moving unit 218 for moving the main body 200 in one direction or the other in the pipe,
And a controller 240 for driving the image capturing apparatus 202 to photograph the inside of the pipe according to the movement of the main body 200, and storing the image data photographed by the image capturing apparatus.
Mobile robot for inspection inside pipes.
The body 200 is made of a spherical metal material to be moved by the magnetic material, characterized in that
Mobile robot for inspection inside pipes.
The moving unit 218,
A fastening member 212 coupled with the main body 200,
A first rod 213 connected to the fastening member 212,
Joint portion 214 is connected to the end of the first rod 213,
A second rod 215 connected to the joint portion 214,
It comprises a roller portion 216 connected to the end of the second rod 215,
At least two moving parts 218 are provided on one side and the other side of the main body 200, respectively.
Mobile robot for inspection inside pipes.
The moving part 218 of one side and the other side of the main body 200 is installed to be alternated with each other
Mobile robot for inspection inside pipes.
Further comprising a housing 220 covering the main body 200,
The moving part 218 is characterized in that connected to the housing part 220
Mobile robot for inspection inside pipes.
The moving unit 218,
A fastening member 212 coupled with the housing part 220;
A first rod 213 connected to the fastening member 212,
Joint portion 214 is connected to the end of the first rod 213,
A second rod 215 connected to the joint portion 214,
It comprises a roller portion 216 connected to the end of the second rod 215,
At least two moving parts 218 are installed on one side and the other side of the housing part 220, respectively.
Mobile robot for inspection inside pipes.
The moving part 218 on one side of the housing part 220 and the moving part 218 on the other side of the housing part are alternately installed.
Mobile robot for inspection inside pipes.
The control unit 240,
A data storage unit 244 for receiving the data photographed by the image capturing apparatus 202 and storing the captured data in a storage medium;
A power supply unit 250 for supplying power for driving the control unit 240;
A driver 246 for detecting movement of the main body 200 to drive the image capturing apparatus 202;
An external interface 248 that connects an external device to the control unit 240 and provides data stored in the storage medium 242 to the external device.
Mobile robot for inspection inside pipes.
Further comprising a lighting unit 260 driven by the control unit 240
Mobile robot for inspection inside pipes.
A pipe coupling body 410 coupled to the outside of the pipe and moved outside of the pipe;
At least one installed inside the pipe coupling body 410 includes a magnetic force generating unit 420 for generating a magnetic force with the main body 200 of the traveling robot for pipe inspection,
As the pipe coupling main body 410 moves, the pipe inspection traveling robot travels inside the pipe by the magnetic force.
Mobile device for moving mobile robot for pipe internal inspection.
It is installed inside the pipe coupling main body 410, and further includes a driving unit 440 mounted with a roller 442 for traveling of the pipe coupling main body 410
Mobile device for moving mobile robot for pipe internal inspection.
The driving unit 440,
It is connected to the roller 442 and includes an elastic member 444 to change the position of the roller 442 according to the change in the diameter of the pipe, it is provided that at least three or more inside the pipe coupling body 410 Characterized
Mobile device for moving mobile robot for pipe internal inspection.
The magnetic force generating unit 420,
Magnetic material 422 in contact with the outside of the pipe,
A support 426 including an elastic member 424 for supporting the magnetic body 422 inside the pipe coupling body 410 and for changing the position of the magnetic body 422 according to a change in the diameter of the pipe;
And a fixing member 428 that fixes the support 426 to the inside of the pipe coupling body 410, and installs at least three or more magnetic force generating units 420 on the pipe coupling body 410. doing
Mobile device for moving mobile robot for pipe internal inspection.
Priority Applications (1)
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KR1020100086526A KR101215539B1 (en) | 2010-09-03 | 2010-09-03 | Pipe inner inspecting mobile robot and apparatus for moving the same |
Applications Claiming Priority (1)
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KR1020100086526A KR101215539B1 (en) | 2010-09-03 | 2010-09-03 | Pipe inner inspecting mobile robot and apparatus for moving the same |
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KR20120023415A KR20120023415A (en) | 2012-03-13 |
KR101215539B1 true KR101215539B1 (en) | 2013-01-09 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102077744B1 (en) * | 2018-10-16 | 2020-02-14 | 주식회사 코인즈 | Leakage Detection Device for Pipe |
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CN107081765A (en) * | 2017-03-29 | 2017-08-22 | 国网上海市电力公司 | A kind of substation inspection robot autonomous classification method and a kind of inspecting robot |
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JPH01159508U (en) * | 1988-04-26 | 1989-11-06 | ||
JPH10509236A (en) * | 1995-05-22 | 1998-09-08 | ビージー ピーエルシー | Pipeline moving body |
JP2009006154A (en) | 2008-08-04 | 2009-01-15 | Olympus Corp | Capsule type medical device |
KR20100012394A (en) * | 2008-07-28 | 2010-02-08 | 전남대학교산학협력단 | Micro robot and driving system of the same |
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2010
- 2010-09-03 KR KR1020100086526A patent/KR101215539B1/en active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH01159508U (en) * | 1988-04-26 | 1989-11-06 | ||
JPH10509236A (en) * | 1995-05-22 | 1998-09-08 | ビージー ピーエルシー | Pipeline moving body |
KR20100012394A (en) * | 2008-07-28 | 2010-02-08 | 전남대학교산학협력단 | Micro robot and driving system of the same |
JP2009006154A (en) | 2008-08-04 | 2009-01-15 | Olympus Corp | Capsule type medical device |
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KR102077744B1 (en) * | 2018-10-16 | 2020-02-14 | 주식회사 코인즈 | Leakage Detection Device for Pipe |
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KR20120023415A (en) | 2012-03-13 |
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