波動伝播型管内検査ロボットの実地環境での検査性能試験

抄録

This paper describes the results of an inspection test in an actual environment using a wave propagation type pipe inspection robot, PI-Ro II. it has been difficult to inspect pipes with thin, long, and complicated layouts from the viewpoint of both propulsive force (force to push the robot deeper into the pipe) and traction force (force to pull the robot into the pipe). Therefore, we developed PI-Ro II, a compact robot with a mechanism that enables both propulsion and traction forces, and confirmed its inspection performance in a mockup. However, it is difficult to perfectly reproduce the piping conditions actually used in factories with this mockup. To solve this problem, we conducted an inspection test using PI-Ro II in a pipe used in an actual factory, and succeeded in acquiring images of the inside of the pipe and inspecting 3.8 m of pipe, including passage through two consecutive 90-degree bends.