1. 배관의 내부검사용 이동로봇 및 조향장치 등록번호 : 10-367823, 10-392816 특허권자 : 최 혁 렬 외 2 명

2. CONTENTS Introduction Previous Technology  Intelligent Pig  Mobile Robots Multifunctional Robotic crawler for INpipe inSPECTion(MR-INSPECT)  Robotic Crawler( Version I, II, III )  Ultrasonic NDT Unit  Other Characteristic System Feature

5. 수요전망

6. Situation   Gas pipelines of Korea have been constructed since 1980’s   Main transportation line(KOGAS): 1,482 km   Urban gas pipelines: 12,097 km   Regulatory demand for inspection and replacement of underground pipelines aged over 15years   Enormous budget for pipeline inspection, replacement and repair Remedies   Adequate NDE equipment and instrumentation   Life assessment technology   Regulation and law for integrity evaluation   Systematic maintenance program for gas supplier Background

7. LNG 인수기지 70kg/cm 2 GG 18kg/cm 2 10kg/cm 2 이하 정압기 3~4 kg/cm2 G 개인사용자 200mmH 2 O G 업소용 산업용 주배관 배급관 Main Line 가스수송관 (KOGAS ) G ( 인도네시아에서 수입 ) 도시가스 공급관 ( 도시가스회사 ) 대구경, 고압, 직선관 검사, 보수 용이 인구밀집지역과 거리유지 비교적 안전 대구경, 고압, 직선관 검사, 보수 용이 인구밀집지역과 거리유지 비교적 안전 가스수송관 국내도시가스 배급체계 소구경, 저압, 복잡한 배관형상 검사, 보수 어려움 인구밀집지역에 분포 비교적 위험함 소구경, 저압, 복잡한 배관형상 검사, 보수 어려움 인구밀집지역에 분포 비교적 위험함 도시가스 공급관

8. a) Pig d) Crawler b) Manual e) Leg c) Wheel f) Inchworm Basic Forms

14. Robotic systems

15. System Components Robot –portable scanner, robotic crawler, mobile platform –mobility, tracking force, size, speed, navigation distance Measurement –visual inspection: CCD camera –nondestructive inspection: ultrasonic, magnetic flux leakage, eddy current –signal processing: realtime embedded signal processing with DSP Control –system Controller: embedded Controller –communication: optical cable, wireless communication(?) –power: external power(tether cable), battery(?) Manipulation –teleoperation(master handle), autonomous navigation –user interface, monitoring, graphic display –signal processing –data storage

16. Multifunctional Robotic Crawler for INpipe InSPECTion (MR-INSPECT)

17.   Inpipe Inspection Robot   NDT unit   Ground Station   Mobility   Functionality (Measurement, manipulation, monitoring) Robotic NonDestructive Inpipe Inspection System

18. Robotic Crawler(Version 0)

19. Robotic Crawler(Version I)

20. Robotic Crawler(Version II)

21. Double Active Universal Joint Driving Robot Control Module Robotic Crawler(Version III) CCD Camera

23. Steering Mechanism (Active Universal Joint)

24. System Configuration

25. Navigation pipeline size: 160~240mm( nominally 200mm ) speed: 3~5m/min horizontal, vertical, elbow, branch, reducer, valves, omnidirectional steering navigation distance: 500m + 500m System control, measurement   instrumentation: visual inspection, ultrasonic NDT embedded controller: 80196 CPU, microelectronic components serial data transmission with optical cable and RS-232C tether cable: Optical cable(4) + Power cable(2) Global Positioning two CCD Cameras in front and back for visual inspection and navigation navigation distance: odometer, tether cable horizontal, vertical orientation 3D Virtual Map System Specifications

26. Summary Remote automated NDE technology Development of MR-INSPECT Development strategy   Mobile platform with standard plug-in NDE instrumentation Future Works   Component technology( actuator, sensor, power etc )   Navigation distance( whole stem drive )   In-Service Inspection(launching equipment)   Various fluid( packing, anti-explosion treatment etc. )   Other applications(wall climbing robot) NDT InstrumentationRobotic Crawler

27. Conventional MethodWhole Stem Drive

29. Wall Climbing Robot