Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Multi-purpose robot for rehabilitation of small diameter water pipes

Julien Feiguel, Mouhamed NDiaye, Pascal Chambaud, Adrien Chambellan, Pierre Blanc, Steve Bourgeois, Lucas Labarussiat, Clemence Dubois, Audrey Vigneron, Thomas Desrez, Alain Riwan, Caroline Vienne

TL;DR

This work introduces a modular in-pipe robot designed to rehabilitate small-diameter water pipes by locating, characterizing, and machining branch connections after HDPE relining. The multi-physics system combines front vision SLAM, profilometry, and eddy current sensing with a delta-based machining head and a wagon-like locomotion platform, all housed in 75 mm-diameter modules to pass 80–100 mm pipes. Prototype validation in 8 m laboratory segments demonstrates branch detection and bore capabilities in cast iron and PE, with quantified perception performance and machining timing. The approach promises trenchless restoration of service connections with reduced disruption and lays the groundwork for field-scale testing and further automation refinements.

Abstract

Rehabilitating cast iron pipes through lining offers several advantages, including increased durability, reduced water leaks, and minimal disruption.This approach presents a cost effective and environmentally friendly solution by sealing cracks and joints, extending the pipeline's lifespan, and reducing water wastage, all while avoiding the need for trench excavation. However, due to the relining process, branch connections are sealed and need to be reestablished. To address the issue of rehabilitating small-diameter water pipes, we have designed a modular robot capable of traversing and working within 200 meter long, 100 mm diameter cast iron pipes. This robot is equipped with perception functions to detect, locate, and characterize the branch connections in cast iron pipes and relocate them after lining, as well as machining functions. A first prototype of this system has been developed and validated on an 8 meter long section, in a laboratory environment.

Multi-purpose robot for rehabilitation of small diameter water pipes

TL;DR

This work introduces a modular in-pipe robot designed to rehabilitate small-diameter water pipes by locating, characterizing, and machining branch connections after HDPE relining. The multi-physics system combines front vision SLAM, profilometry, and eddy current sensing with a delta-based machining head and a wagon-like locomotion platform, all housed in 75 mm-diameter modules to pass 80–100 mm pipes. Prototype validation in 8 m laboratory segments demonstrates branch detection and bore capabilities in cast iron and PE, with quantified perception performance and machining timing. The approach promises trenchless restoration of service connections with reduced disruption and lays the groundwork for field-scale testing and further automation refinements.

Abstract

Rehabilitating cast iron pipes through lining offers several advantages, including increased durability, reduced water leaks, and minimal disruption.This approach presents a cost effective and environmentally friendly solution by sealing cracks and joints, extending the pipeline's lifespan, and reducing water wastage, all while avoiding the need for trench excavation. However, due to the relining process, branch connections are sealed and need to be reestablished. To address the issue of rehabilitating small-diameter water pipes, we have designed a modular robot capable of traversing and working within 200 meter long, 100 mm diameter cast iron pipes. This robot is equipped with perception functions to detect, locate, and characterize the branch connections in cast iron pipes and relocate them after lining, as well as machining functions. A first prototype of this system has been developed and validated on an 8 meter long section, in a laboratory environment.
Paper Structure (12 sections, 11 figures, 1 table)

This paper contains 12 sections, 11 figures, 1 table.

Table of Contents

  1. INTRODUCTION
  2. Prototype design
  3. Rehabilitation concept and design requirements
  4. Locomotion
  5. Machining
  6. Sensors
  7. Methodology and results
  8. Detection and localization of branch connections through vision
  9. Characterization of branch connections through profilometry
  10. Eddy current perception
  11. Prototype validation
  12. Conclusion and Future works

Figures (11)

  • Figure 1: Locomotion function of the robot (CAD model and picture).
  • Figure 2: Machining function of the robot (CAD model and picture). On the right, the delta mechanism integrates a pen to visualize and validate the trajectory.
  • Figure 3: Integration of the front vision system: CAD model (left) and picture (right).
  • Figure 4: Observation of a sample of cast iron pipe across all channels and each channel separately.
  • Figure 5: Example of branch detection. Left: the two images of the lasers (red channel of each video stream) with the detection of the laser lines (colored lines) and the detection of the branch connection (green circle). Right: image of the green channel of the left video stream with features detection using SLAM approach.
  • ...and 6 more figures