Technology Survey for a Robot Which Will Investigate the Condition of Underground Pipe

摘要

The feasibility of a robotic device to operate within underground gas distribution pipe systems and investigate the condition of the pipe is considered. The device is defined to consist of seven subsystems: locomotion, steering and articulation, power, navigation, inspection, communication and control. Existing and emerging technologies appropriate to each of the subsystems are surveyed and candidate technologies showing promise of achieving the necessary functionality, subject to the constraints, resulting from the operating environment, are identified. The robot is found to present major challenges in robotic control, miniaturized packaging, and autonomous navigation: it appears that these difficulties are surmountable with present-day technology. Several technological areas are identified in which future developments should be monitored, since progress is expected which could improve the projected performance of the inspection device.