Design and Experiments of In-pipe Inspection Vehicles for ø25, ø50, ø150 Pipes
Shigeo Hirose*, Hidetaka Ohno*, Takeo Mitsui** and Kiichi Suyama***
*Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
**Department of Television Engineering, SONY Corporation, 2-10-14 Osaki, Shinagawa-ku, Tokyo 141-0032, Japan
***Pipeline Engineering and Development Center, Tokyo Gas Co., Ltd. 1-1-7 Suehiro-cho, Tsurumi-ku, Yokohama 230-0045, Japan
In this paper we outline the design of in-pipe inspection vehicle for pipes with ø25, ø50, ø150mm in diameter, “Theseuse” series. First we introduce the concept “Whole Stem Drive”. This concept is very effective to allow an in-pipe vehicle to travel long distance in the pipeline. Based on this concept, we have made three in-pipe vehicles, Theseus-I∼III. First, for the pipe with 50mm in diameter, we propose two mechanisms, in-pipe vehicle with spiral motion (Theseus-I) and in-pipe vehicle for the practical gas pipe (Theseus-II). Next, for the pipe with 150mm in diameter, we propose the in-pipe vehicle based on the idea of Control Configured Vehicle (CCV), Theseus-III. Last, for the pipe with 25mm in diameter, we propose the in-pipe vehicle, which has an actuator outside of the pipe (Theseus-IV).
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