Development and Simulation of an Adaptive Vehicle for In-Pipe Inspection Task

  • Hong Zhao
  • Changliang Han
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 129)


This paper presents an adaptive vehicle for in-pipe inspection task. This vehicle can change the configuration to adapt the diameter variables of the pipe. Furthermore, the vehicle has a camera and a light mounted on the platform of the vehicle. Some simulation results are showed with the virtual prototyping tool COSMOSMotion simulator. From the simulation results and animation, we can get the motor force and torque requirement of the crank of the vehicle quickly and study the functionality of the vehicle in early design stage, so we can reduce the physical prototype development time and cost.


Mobile Robot Virtual Prototype Early Design Stage Physical Prototype Type Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Ratanasawanya, C., et al.: Design and Development of A Hardware-in-the-loop Simulation System for a ubmersible Pipe Inspecting Robot. In: IEEE CCECE 2006, Ottwa, Canada, pp. 1256–1259 (2006); Reference in IEEE Transactions form Google Scholar
  2. 2.
    Ong, J.K., et al.: Fuzzy logic control for use in in-pipe mobile robotic system navigation. Journal of System and Control Engineering, Part I 217, 401–419 (2003)Google Scholar
  3. 3.
    Chen, H.J., et al.: Drive Control System for Pipeline Crawl Robot Based on CAN Bus. In: International Symposium on Instrumentation Science and Technology, pp. 1233–1237 (2006)Google Scholar
  4. 4.
  5. 5.
    Okada, T., et al.: A Three-wheeled Self-adjusting Vehicle In A Pipe, FERRET-1. Int. J. Robot. Res. 6(4), 60–75 (1987)CrossRefGoogle Scholar
  6. 6.
    Hirose, et al.: Design of Inspection vehicles for ÆÆ25,ÆÆ50,ÆÆ150 pipes. In: Proc. IEEE Int. Conf. Robotics, Automation, pp. 2309–2314 (1999)Google Scholar
  7. 7.
    Roh, S.-G., et al.: Differential-Drive In-pipe Robot for Moving Inside Urban Gas pipelines. IEEE Trans. Robotics 21(1) (February 2005)Google Scholar
  8. 8.
    Li, P., et al.: Development of an Adaptive Mobile Robot for In-Pipe Inspection Task. In: Proceedings of 2007 IEEE International Conference on Mechatronics and Automation, Harbin, China, August 5-8 (2007)Google Scholar
  9. 9.
    Vradis, G., Driscoll, D., Schempf, H., Baker, R.: Industry gains a new tool fo r long-range visual inspection of live gas pipe. Pipeline & Gas Journal (April 2005)Google Scholar
  10. 10.
    Zhu, C.: In-pipe Robot For Inspection And Sampling Tasks. Industrial Robot: An International Journal 34/1, 39–45 (2007)CrossRefGoogle Scholar
  11. 11.
  12. 12.
  13. 13.

Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringChina University of PetroleumBeijingP.R. China

Personalised recommendations