In-pipe Robotic System for Pipe-joint Rehabilitation in Fresh Water Pipes
This addresses the need for efficient and automated repair of fresh water pipe joints, which is incremental as it builds on existing robotic and sealing technologies.
The paper tackles the problem of rehabilitating pipe joints in fresh water supply systems by developing a robotic system that crawls into water canals and applies restoration material to repair pipes, achieving coverage of the entire 3D in-pipe space with a six wheeled-leg structure and rotating tool.
The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the front separated 120° and three on the back in the same configuration, supporting the structure along the centre of the pipe. In this configuration the robot is able to clean and seal with a rotating tool, similar to a cylindrical robot, covering the entire 3D in-pipe space.