Analysis of In-Pipe Inspection Robot Structure Design

摘要

In the past 20 years, numerous in-pipe inspection robots (IPIRs) have been designed and utilized. According to the propulsion mechanism amount, these in-pipe inspection robots (IPIRs) can be summarized into two categories, i.e. single locomotion system and multiple locomotion system. This paper presents the classic structure features and characters of the two categories of IPIRs, and furthermore compares their own advantages and limitations, as well as performances of each type IPIR. Ultimately, it is concluded that the multiple locomotion type In-pipe inspection robot has become increasingly current developing trend.