Background
Utility pipes are a crucial component of public health and safety infrastructure, and it is critical to conduct regular inspections to ensure functionality. Currently, most pipes are inspected by human operators, which can pose safety concerns as well as inaccuracy and limited accessibility. As an alternative, in-pipe robots are increasingly deployed to identify blockages, leaks, and structural damages. There are many different types of in-pipe robots that are used today that exhibit high speed, precision, and power, but many are also expensive, heavy, and difficult to maneuver around obstacles.
Invention Description
Researchers at Arizona State University have developed a new pipe inspection robot design that uses a new class of bistable inflatable fabric actuators (BIFA). This design is lightweight and can exert substantial force, enabling it to firmly anchor within pipes and operate efficiently even in pipes blocked up to 34%. This design incorporates flexible supports for enhanced obstacle negotiation, and speed optimization is achieved through a Central Pattern Generator (CPG)-based gait optimizer, resulting in significant improvements in inspection speed.
Potential Applications:
- Utility & sewage pipe inspection and maintenance
- Infrastructure assessment & disaster recovery
- Industrial process monitoring within constrained or hazardous environments
Benefits and Advantages:
- Lightweight design – facilitates easy deployment and maneuverability
- High force output – allows firm anchoring and stable operation
- Wide applicability – can operate in pipes blocked by up to 34%
- Improved compliance and obstacle negotiation – use of bistable inflatable fabric actuators
- Improved operational efficiency – speed optimization through CPG-based gait optimization
- Low-cost and energy-efficient – suitable for widespread use
Related Publication:
Design and Gait Optimization of an In-Pipe Robot with Bistable Inflatable Fabric Actuators