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Inch-Worm Robot with Automatic Pipe Tracking Capability for the Feeder Pipe Inspection of a PHWR

중수형 원자로 급수 배관 검사용 자율 주행형 자벌레 로봇

  • 최창환 (한국원자력연구원 핵주기시스템공학기술개발부) ;
  • 박병석 (한국원자력연구원 핵주기시스템공학기술개발부) ;
  • 정현규 (한국원자력연구원 원자력융합기술개발부) ;
  • 정승호 (한국원자력연구원 원자력융합기술개발부)
  • Published : 2008.02.01

Abstract

This paper describes a mobile inspection robot with an automatic pipe tracking system for a feeder pipe inspection in a PHWR. The robot is composed of two inch worm mechanisms. One is for a longitudinal motion along a pipe, and the other is for a rotational motion in a circumferential direction to access all of the outer surfaces of a pipe. The proposed mechanism has a stable gripping capability and is easy to install. An automatic pipe tracking system is proposed based on machine vision techniques to make the mobile robot follow an exact outer circumference of a curved feeder pipe as closely as possible, which is one of the requirements of a thickness measurement system for a feeder pipe. The proposed sensing technique is analyzed to attain its feasibility and to develop a calibration method for an accurate measurement. A mobile robot and control system are developed, and the automatic pipe tracking system is tested in a mockup of a feeder pipe.

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