The feasibility of a robotic device to operate within underground gas distribution pipe systems and investigate the condition of the pipe is considered. The device is defined to consist of seven subsystems; locomotion, steering and articulation, power, navigation, inspection, communication and control. The robot is found to present major challenges in robotic control, miniaturized packaging, and autonomous navigation; it appears that these difficulties are surmountable with present-day technology. A prototype development plan was developed, providing for a phased approach to first produce a tethered pipe crawler and culminate in the fully autonomous mouse.
Prototype Development Plan for a Robot Which Will Investigate the Condition of Underground Pipe
1987
54 pages
Report
Keine Angabe
Englisch
Underground multi-pipe transportation type pipeline installation robot
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