Autonomous pipeline inspection robot systems


 

 

- OVER VIEW -

  The robotics automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activities. We have developed robot systems for inpipe inspection of underground urban gas pipelines, MRINSPECT I, II, III, IV and V.

 


MRINSPECT VII


 

 

- OVER VIEW -

  MRINSPECT VII (Multifunctional Robotic crawler for In-pipe inspection VII) is under development for the inspection of gas pipelines with the inside diameter of 150mm and 200mm. The robot is based on a multi-axial differential gear mechanism and designed to adapt to the varying inside geometries of pipelines such as elbows by mechanically modulating the velocities of active wheels without any control effort.
 

 


MRINSPECT VII


 

- OVER VIEW -

  MRINSPECT VI and VI+ are designed for 150mm gas pipeline inspection and negotiates any type of pipeline configurations such as straight pipeline, elbow, branch and miter etc. Comparing with previous robots, the major improvement of MRINSPECT VI is that the robot can mechanically modulate the speeds of individual active wheels without any control effort. It is enabled by using a novel multi-axial differential gear mechanism, which allows each wheel to have different velocity automatically depending on the friction force acting on each wheel.

 


MRINSPECT V


 

MRINSPECT V is an intelligent autonomous in-pipe robot. It is a more advanced robot than the previous MRINSPECT series just driven by remote controlling system. MRINSPECT V can move and inspect by itself according to the appearances and changes of the inside of pipes.

 


MRINSPECT IV


 

MRINSPECT IV is an upgraded robot of MRINSPECT III in terms of miniaturization. MRINSPECT IV is composed of a body frame that mounts a CCD camera assembly and driving modules with foldable linkages, a camera assembly which is for navigation and the visual inspection of pipelines , and 120 degree apart three modularized driving modules which are controlled independently so that they can amplify the tractive forces as well as provide steering capability.

 


MRINSPECT III


 

MRINSPECT III is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, respectively and passive modules such as a NonDestruntive Testing module and a control module are chained between the active vehicles. The system has outstanding mobility by employing a new steering mechanism called Double Active Universal Joint, which makes it possible to cope with complicated configurations of underground pipelines.

 


MRINSPECT II


 

Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activities. We have developed a robot system for inpipe inspection of underground urban gas pipelines. 

 


MRINSPECT I


 

The robot automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously .

  • Ho Moon Kim, Yun Seok Choi, Yoon Geon Lee, Hyouk Ryeol Choi, Novel Mechanism for In-pipe Robot Based on Multi-axial Differential Gear Mechanism, IEEE/ASME Transactions on Mechatronics, 2016
  • Yoon Geon Lee, Ho Moon Kim, Yun Seok Choi, Heesik Jang, Hyouk Ryeol Choi, Control Strategy of In-pipe Robot Passing Through Elbow, International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2016, pp.442-443, 2016.08.19-2016.08.22
  • Ho Moon Kim, Seung Ung Yang, Yun Seok Choi, Hyeong Min Mun, Chan Min Park, Hyouk Ryeol Choi, Design of Back-drivable Joint Mechanism for In-pipe Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015, pp.3779-3784, 2015.09.28
  • 박찬민 , 김호문 , 최윤석, 문형민, 양승웅, 서준규, 이윤건, 최혁렬, CCD 카메라를 이용한 배관요소 인식에 관한연구, 제 30회 제어로봇시스템학회 학술대회, pp.115-116, 2015/05/08
  • 박정열, 최윤석, 곽호선, 심세진, 최혁렬, 문형필, 배관 내부 침전물 제거를 위한 청소 로봇 개발,제 10회 한국로봇종합학술대회, pp.14-17, 2015/05/06
  • Dong-Hyuk Lee, Hyungpil Moon, Hyouk Ryeol Choi, Landmark detection methods for in-pipe robot traveling in urban gas pipelines, ROBOTICA, pp. 1 - 18, 2014
  • Yun Seok Choi, Ho Moon Kim, Jung Seok  Suh, Hyeong Min Mun, Seung Ung Yang, Chan Min Park and Hyouk Ryeol Choi, Recognition of Inside Pipeline Geometry by Using PSD Sensors for automous navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.5024-5029, 2014.09.14 ~ 2014.09.18
  • Seung Ung Yang, Ho Moon Kim, Jung Seok Suh, Yun Seok Choi, Hyeong Min Mun, Chan Min Park, Hyungpil Moon and Hyouk Ryeol Choi, Novel Robot Mechanism Capable of 3D Differential Driving Inside pipelines, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.1944-1949, 2014.09.14 ~ 2014.09.18
  • Yun Seok Choi, Ho Moon Kim, Jung Seok  Suh, Hyeong Min Mun, Seung Ung Yang, Chan Min Park and Hyouk Ryeol Choi, Recognition algorithm of inside pipeline geometry by using monocular camera and PSD sensors, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp.634-639, 2014.07.08 ~ 2014.07.11
  • 문형민, 김호문, 최윤석, 양승웅, 박찬민, 최혁렬, PSD 센서를 활용한 파이프 요소 인식, 제 9회 한국로봇종합학술대회, 2014/06/19-2014/06/21
  • 양승웅, 김호문, 최윤석, 문형민, 박찬민, 최혁렬, 배관로봇을 위한 능동관절 모듈의 설계, 제 9회 한국로봇종합학술대회, 2014/06/19-2014/06/21
  • • Ho Moon Kim, Jung Seok Suh, Yun Seok Choi, Tran Duc Trong, Hyungpil Moon, Jachoon Koo, An In-pipe Robot with Multi-axial Differential Gear Mechanism, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.252-257, 2013/11
  • 안재규, 이건욱, 최혁렬, 문형필, Rapidly-Exploring Random Tree를 이용한 In-Pipe Robot의 마이터 극복 경로계획, 제 8회 한국로봇종합학술대회, pp.1-2, 2013/05/30 ~ 2013/06/01
  • • Dong-Hyuk Lee, Hyungpil Moon, Ja Choon Koo, and Hyouk Ryeol Choi Map Building Method for Urban Gas Pipelines Based on Landmark Detection, in Proc. IEEE Int. Conf. Control, Automation and Systems , pp.127-135, 2013/2
  • • Dong-Hyuk Lee, Hyungpil Moon and Hyouk Ryeol Choi Autonomous Navigation of In-pipe Working Robot in Unknown Pipeline Environment, in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1559-1564, 2011/3
  • • Dong-Hyuk Lee, Hyungpil Moon and Hyouk Ryeol Choi, Landmark Detection of In-pipe Working Robot Using Line-Laser Beam Projection, in Proc. IEEE Int. Conf. Control, Automation and Systems, pp.611-615, 2010/10
  • • 이정섭, 김도완, 이동혁, 노세곤, 문형필, 최혁렬, 하수관 탐사 로봇을 위한 PSD 센서기반의 하수관 변형 평가방법, 한국지능로봇 하계 종합 학술대회, pp. 478~479, 2009/7/1 ~ 7/3
  • • 김도완, 이정섭, 노세곤, 문형필, 최혁렬, 다중 센서를 이용한 배관로봇의 배관 내부 자율탐사기법에 관한 연구, 한국지능로봇 하계 종합 학술대회, pp. 480~481, 2009/7/1 ~ 7/3
  • • Jung-Sub Lee, Se-gon Roh, Dowan Kim, Hyungpil Moon, Hyouk Ryeol Choi, In-pipe Robot Navigation Based on the Landmark Recognition System Using Shadow Images, in Proc. IEEE Int. Conf. Robotics and Automation (ICRA2009), pp. 1857-1862, 2009/05/12-2009/05/17
  • • Se-gon Roh, Do Wan Kim, Jung-sub Lee, Hyungpil Moon, and Hyouk Ryeol Choi, In-pipe Robot Based on Selective Drive Mechanism, Int. J. Control, Automation, and Systems, Vol.7, No.1, pp.105-112, 2009/2
  • • Se-Gon Roh, Do Wan Kim, Jung-Sub Lee, Hyouk Ryeol Choi, Modularized In-pipe Robot Capable of Selective Navigation Inside of Pipelines, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, accept, 2008/9/22 ~ 9/26
  • • 이정섭, 노세곤, 김도완, 최혁렬, 배관로봇을 위한 곡관인식에 관한 연구, 한국지능로봇 하계 종합 학술대회, pp. 281~282, 2008/6/25 ~ 6/27
  • • 김도완, 노세곤, 이정섭, 최혁렬, 배관내부 자율주행을 위한 모듈화된 배관로봇의 개발, 한국 로봇공학회 하계 학술대회, pp. 277 ~ 278, 2008/6/25 ~ 6/27
  • • 김도완, 노세곤, 이정섭, 이수환, 최혁렬, 클러치기반의 선택적 구동방식을 이용한 배관로봇의 개발, 대한기계학회 논문집A 제32권 제3호, pp. 223-231, 2008/3
  • • 최혁렬, 노세곤, 배관탐상 로봇기술 In-pipe Working Robot (IWR), 한국가스안전공사논문집, pp. 22~pp.33, 2007/7
  • • 김도완, 노세곤, 이정섭, 이수환, 최혁렬, 클러치기반의 선택적 구동방식을 이용한 배관로봇의 개발, 한국지능로봇 하계종합학술대회, pp. 51~58, 2007/6/27~6/29
  • • Se-gon Roh, Hyoukryeol Choi, Differential Drive Inpipe Robot Moving Inside of Urban Gas Pipeline, IEEE Trans, Robotics, Vol. 21, No. 1, pp. 1-17, 2005/2
  • • 노세곤, 오기용, 최혁렬, 배관 내부 검사를 위한 로봇 기술, 제어 자동화 시스템 공학회지, 제10권, 제4호, pp. 19~28, 2004/7
  • • 노세곤, 최혁렬, Navigation inside Pipelines with Differential Drive Inpipe Robot, 삼성전자휴먼테크논문집, , 2003/2
  • • 노세곤, 최혁렬, 배관 로봇을 이용한 배관 검사 자동화 기술, 비파괴검사학회지, 제22권, 제3호, pp. 261~266, 2002/6
  • • Se-gon Roh, Hyoukryeol Choi, Strategy for Navigation Inside Pipelines with Differential-drive Inpipe Robot, Proc. IEEE Int. Conf. Robotics and Automation, pp. 2575-2580, 2002/5/11 ~ 5/15
  • • S.G. Roh, S. M. Ryew, J. H. Yang, H. R. Choi, Actively Steerable Inpipe Inspection Robot for Underground Urban Gas Pipelines, Proc. IEEE Int. Conf. Robotics and Automation, pp. 761-766, 2001/5/21 ~ 5/26
  • • S. G. Roh, S. M. Ryew, and H. R. Choi, Development of Differentially Driven Inpipe Inspection Robot for Underground Gas Pipelines, Proc. Int. Symp. Robotics, pp. 165-170, 2001/4/19 ~ 4/21
  • • H. R. Choi, S. M. Ryew, Robotic system with active steering capability for internal inspection of urban gas pipelines, Mechatronics, Vol. 12, No. 5, pp. 713-736, 2001/1
  • • 백상훈, 류성무, 노세곤, 최혁렬, 배관 검사로봇 시스템 개발, 대한기계학회 논문집 A권, 제25권, 제12호, pp. 2030~2039, 2001/1
  • 노세곤, 류성무, 최혁렬, 지하 매설 가스배관용 차동 구동형 배관검사 로봇의 개발, 대한기계학회 논문집 A권, 제25권, 제12호, pp. 2019~2029, 2001/1
  • • S.M. Ryew, S.H. Baik, S.W. Ryu, K.M. Jung, S.G. Roh, H. R. Choi, Inpipe Inspection Robot System with Active Steering Mechanism, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1652~1657, 2000/10/30 ~ 11/4
  • • 백상훈, 정광목, 류성무, 류신욱, 최혁렬, 지하매설 도시가스 배관 내부 검사용 주행로봇 시스템 개발, 동역학 및 제어부문 하계학술대회, pp. 433~439, 2000/7/13~7/14
  • • 최혁렬, 류성무, 백상훈, 조성휘, 송성진, 신현재, 전재욱, 지하매설 가스배관 내부검사용 로봇시스템 개발, 한국정밀공학회지, 제17권, 제2호, pp. 121~129, 2000/2
  • • 류성무, 최혁렬, 가스관 내부검사용 주행로봇 개발, 대한기계학회 논문집, 제23권, 제12호, pp. 2216~2225, 1999/1
  • • H. R. Choi, S. M. Ryew, S. W. Cho, Development of Articulated Robot for Inspection of Underground Pipelines, The 15th Int. Conf. Structural Mechanics in Reactor Technology, Vol. 3, pp. 407-414, 1999/1/1
  • • 최혁렬, 송성진, 신현재, 전재욱, 류성무, 김학준, 소형로봇을 이용한 가스배관 비파괴검사 기술, 대형구조물 비파괴평가기술 워크샵, pp. 101~114, 1999/1/1
  • • 최혁렬, 송성진, 신현재, 전재욱, 류성무, 김학준, 소형로봇을 이용한 가스배관 비파괴검사 자동화기술, 배관안전진단연구회 워크샵, pp. 35~47, 1999/1/1
  • • 최혁렬, 송성진, 신현재, 김영진, 최재붕, 조용현, 지하매설 가스배관에 대한 위험정보관리 시스템 개발, 인위재해방재기술워크샵, pp. 92~100, 1999/1/1
  • • 최혁렬, 류성무, 이정훈, 도시가스관 내부검사용 주행로봇 개발, 한국정밀공학회 춘계학술대회 논문집, pp. 977~981, 1998/1/1
  • • 최혁렬, 류성무, 지하매설 가스관 검사로봇 개발, 한국정밀공학회 추계학술대회 논문집, pp. 290~294, 1998/1/1

 


Publications


 

 


Project


 

  • • 산업통상자원부
  • 8" 및 16" Unpiggable 가스배관 비파괴 검사용 자가추진 로봇 기술 개발(2011/12/1 ~2017/4/30)
  • • 중소기업청
    하수관망 손상의 다목적 검사를 위한 통합 시스템 및 운용기술 개발(2009 / 6 / 1 ~ 2010 / 5 / 31)
  • • 중소기업청
    하수관거 탐사/측정을 위한 지능형로봇시스템 개발(2008 / 7 / 1 ~ 2009 / 6 / 30)
  • • 교육인적자원부, 산업자원부, 노동부
    지능형 자율주행 배관로봇의 핵심기술 개발 (2005 / 9 / 1 ~ 2008 / 8 / 31)
  • • 서울도시가스
    도시가스 배관 비파괴검사 자동화용 주행로봇 개발(1999/ 10 / 1 ~ 2000 / 9 / 30)
  • • 삼천리
    지하매설 가스배관에 대한 종합 위험 정보관리 시스템 개발(1998/ 12 / 1 ~ 2000 / 9 / 30)
  • • 과학기술부
    지하매설 가스배관에 대한 종합 위험 정보관리 시스템 개발(1998/ 12 / 1 ~ 2000 / 9 / 30)
  • • 산업 설비안전성평가 연구센터
    원격제어 진단기술 개발(1997/ 7 / 1 ~ 2002 / 2 / 28)

 


Researcher


 

Ho Moon Kim, Yun Seok Choi, Yoon Geon Lee, Hee Sik Jang, Min Sub Lee