Pipeline Route Drawing System using a Towed Sensing Unit

Abstract

In recent years, the aging of pipelines has become a serious problem. However, information such as the length and the location of bends may be missing from the piping drawings. Therefore, in this study, we describe a method of drawing piping route using a unit with an encoder and IMU, which is towed by an in-pipe inspection robot. From the experimental results, it is clear that this method can be used to draw piping route correctly.