Title Page
Contents
Nomenclatures 7
요약 15
Abstract 17
1. Introduction 19
1.1. Study Background and Goals 19
1.2. Research Trends and Prior Research Analysis 25
1.3. Research objectives 36
2. Configuration of Pipe Inspection Robot 39
2.1. Requirements and Specifications 39
2.1.1. Requirements 39
2.1.2. Pipe Inspection Robot Specifications 40
2.2. Analysis of Conventional Magnetic Flux Leakage Detection Sensors 41
2.2.1. Explorer- 41
2.2.2. Intero Pipe Explorer Series 44
2.2.3. MFL Pigging 46
2.3. Pipe Robot System Design 48
2.3.1. Overview 48
2.3.2. Magnetic Flux Leakage Detection Sensor Spiral Design 50
3. Pipe Inspection Robot System Parameters 55
3.1. Driving Module Drive Parameters 55
3.1.1. Ackerman Geometry 55
3.1.2. Driving Module Speed Parameters 59
3.2. Pipe Robot Traction Parameters 65
3.2.1. Theoretical Traction 65
3.2.2. Pipe Inspection Robot Motor Torque Parameters 68
3.2.3. Pipe Inspection Required Traction Parameters 71
3.3. Suspension Spring Parameters 76
3.3.1. Suspension Spring Parameters 76
3.3.2. Driving Module Spring Parameters 79
3.3.3. Inspection Module Spring Parameters 83
3.4. Spiral Inspection Module Pitch Parameters 86
3.4.1. Spiral Inspection Area Definition 86
3.4.2. Spiral Inspection Module Pitch Angle Selection 89
3.5. Inspection Module Parameters 93
3.5.1. System Design Factors 93
3.5.2. MFL Design Factor Validation 98
4. Pipe Inspection Robot Validation 100
4.1. Pipe Inspection Robot Safety Evaluation 100
4.2. Pipe Inspection Robot Traction Evaluation 105
5. Pipe Inspection Robot Test Bed Validation 107
5.1. Experiment Environment 107
5.1.1. Experiment Pipe Selection 107
5.1.2. Test Bed Environment 109
5.1.3. Standard Defect Environment 111
5.2. Pipe Inspection Robot Driving Experiments 114
5.3. Standard Defect Detection by the Spiral Inspection Method 117
6. Conclusions 122
References 127
List of Publications 133
Appendix 137
1. Camera Module 137
2. Driving Module 139
3. Driving Link Module 142
4. Inspection Module Link Structure 144
5. Remote Control Station 147
6. Control System Design 149
Table 1. High-level performance requirements listing[원문불량;p.21] 39
Table 2. Pipe robot system specifications listing 40
Table 3. Pipe Explorer MFL check area analysis 45
Table 4. Motor driving torque parameters 68
Table 5. Module specific demand traction parameters 71
Table 6. Piping MFL inspection area 89
Table 7. Spiral inspection module pitch interval 92
Table 8. Minimum thickness of pipe according to pipe diameter 108
Table 9. Pipe inspection robot driving test 115
Figure 1-1. KOGAS 16" pipe inspection robot 27
Figure 1-2. KAERI 10cm Diameter Pipe Inspection Robot 28
Figure 1-3. Piping mobile robot used in industrial facilities 29
Figure 1-4. K-Water Water Pipe Inspection Robot 30
Figure 1-5. PNU Self-Leakage Non-Destructive Testing System 31
Figure 1-6. SKU Piping Robot Driving Mechanism 32
Figure 1-7. EPRI Underground Piping Inspection Robot 33
Figure 1-8. SwRI Explorer I, II Inspection Robot 34
Figure 1-9. TWI Small Pipe Inspection Robot 35
Figure 2-1. Overall image of the Explorer-II robot and its main modules 42
Figure 2-2. Detected and undetected areas when expanding the MFL sensor 43
Figure 2-3. Magnet-shoes in the collapsed and expanded configurations 43
Figure 2-4. Intero pipe explorer series 44
Figure 2-5. MFL Pigging inspection 46
Figure 2-6. Pipe inspection robot design 48
Figure 2-7. Change inspection method according to module configuration 49
Figure 2-8. MFL sensor cross-sectional view 51
Figure 2-9. MFL Inspection Module 52
Figure 2-10. Visualization of the piping scan area of the MFL sensor 53
Figure 2-11. MFL sensor structure 54
Figure 3-1. Ackerman geometry model 55
Figure 3-2. Wheel driving module parameter 59
Figure 3-3. Ackerman geometry 2-wheel method 60
Figure 3-4. Ackerman geometry 4-wheel method 61
Figure 3-5. Pipe in side driving parameter 62
Figure 3-6. Free body diagram of drive module 65
Figure 3-7. Drive wheel link control reduces traction 73
Figure 3-8. Drive wheel link control reduces traction 76
Figure 3-9. Spring suspension overcome obstacles and traction 77
Figure 3-10. Term definition of wheel and suspension 79
Figure 3-11. Driving spring elasticity 80
Figure 3-12. Wheel contact force exerted by the wheel suspension 82
Figure 3-13. Inspection spring elasticity 83
Figure 3-14. Term definition of inspection module 84
Figure 3-15. Spiral driving inspection 87
Figure 3-16. Inspection module pitch and detection rate 90
Figure 3-17. Inspection module pitch and inspection area 90
Figure 3-18. Spiral velocity and inspection time 91
Figure 3-19. Design factors for self-saturation of piping 94
Figure 3-20. B-H curve of permanent magnet 95
Figure 3-21. Path of magnetic flux in piping 96
Figure 3-22. Path of magnetic flux in the MFL system 97
Figure 3-23. MFL model 3D modeling 98
Figure 3-24. Distribution of magnetic flux density in piping 99
Figure 4-1. Simulate the model to analyze the robot's dynamics 102
Figure 4-2. Link structure analysis forced by MBD 104
Figure 4-3. Pipe inspection robot with MFL inspector 105
Figure 4-4. Piping inspection robot traction performance verification 106
Figure 5-1. Configuration of the test bed and installed structure 109
Figure 5-2. Test piping length 110
Figure 5-3. Standard defect type 111
Figure 5-4. Standard defect configuration 111
Figure 5-5. Standard defected type location 112
Figure 5-6. Defect detection target in detection area 113
Figure 5-7. Test-bed to examine the robot driving performance 114
Figure 5-8. Detection of weld bead in pipe 118
Figure 5-9. Detect upper MFL sensor standard defect 119
Figure 5-10. Detect the MFL sensor standard defect at the bottom 120