Development of an Articulated Wheeled In-pipe Robot for Force Main Inspection in Sewer Pipes

Abstract

This paper reports the social implementation activities of the articulated wheeled in-pipe inspection robot “AIRo-7.1” to the suwer pipes. The proposed robot is waterproof and dustproof, and its adaptive inner diameter is 3 to 4 in. The torque and angle of the middle joint can be controlled by the motor current and potentiometer, respectively. The inspection target is focused to sewage force main pipes, and the actual equipment developed and the results in field tests are described.