HYBRID MOBILE IN-PIPE ROBOT FOR INSPECTION AND MAINTENANCE

Abstract

In the contemporary world, pipelines serve a vital function in the transportation of essential resources, including water, oil, and gas. As a consequence of the ongoing process of urbanization, the number of pipelines is increasing dramatically on an annual basis. The timely maintenance and inspection of pipeline infrastructure is becoming increasingly challenging due to the length of the pipelines and the limited accessibility from the outside. Consequently, specific sections of the pipeline must be repaired from the interior. This research project proposes a novel hybrid in-pipe robot equipped with a manipulator for maintenance purposes. This hybrid robot can inspect and perform refurbishment tasks inside the pipeline, such as removing debris and conducting welding operations. In addition to its physical capabilities, the system integrates an augmented reality interface to enhance inspection and interaction. By projecting live sensor data and 3D scanned maps into a mixed reality environment, the system enables immersive spatial awareness, intuitive control without reliance on traditional interfaces, and real-time anomaly detection assistance for the operator. To prove the concept, a laboratory prototype was constructed for experimental purposes in a controlled environment. This research paper is organized as follows: robot design concept, robot control, augmented reality visualization, anomaly detection and inspection, and in-pipe maintenance.