Conventional wall thickness measurements of boiler water pipes has been carried out mainly with using fixed-point measurement from outside the pipes or immersion ultrasonic testing. However, in the case of fixed-point measurement, the number of measurement points is limited; and in the case of immersion ultrasonic testing, although multi-point measurement is possible, it is difficult to apply to pipes with headers because it requires human work to insert sensors into tubes to be tested. To solve this problem, we have developed a robot that can run inside pipes with headers and insert sensors into pipes to be tested in order to realize immersion ultrasonicn testing that is not limited by a measurement range. As a result of the test using the actual machine, we were able to verify the predetermined performance of the system in a series of measurement operations, and we will prepare for commercialization of the robot within the range we were able to verify in this development.
