抄録
This paper presents a robot capable of inspecting pipes with different diameters. The robot consists of a rotating part, a connecting part and a holding part. The rotating part and the holding part are removable and have slide arms. A fiber grating (FG) system that can cognize pipe environment is installed on the robot. The FG system consists of a laser, a FG, and a CCD camera. The laser makes a grid through the FG, and they are taken by the CCD. FG system measure the coordinates according to the principle of triangulation. The robot with two and more units can move in L-type and T-type pipes. Through experiments, the effectiveness of the robot was verified.
