Development of a Robot System for Monitoring and Repairing a Underground Pipe

지하매설 배관의 탐사 및 도장을 위한 로봇시스템 개발

Underground pipe is an instrument to transport rapidly and safely a lot of fluid like gas, oil, water supply and drain system. It acts like blood vessels of human body in a modern industry. As in this country, the pipe facilities have been constructing since 1970's. The pipes constructed for a long time ago are already starting to reveal the problem like corrosion and most of them are built underground. So for companies, the managing of the underground pipes is very hard because it needs high technology and a lot of money. So we made a new robot system to repair and maintain the pipes at a low price. This new robot is devised using pressing wall type to work inside 700${\sim}$900(mm) size pipe. And it has good carrying and working power.