Communication Dans Un Congrès Année : 2024

Multi-purpose robot for rehabilitation of small diameter water pipes

Résumé

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, 100mm-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.
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Dates et versions

cea-04666921 , version 1 (02-08-2024)

Identifiants

Citer

Julien Feiguel, Mouhamed Ndiaye, Pascal Chambaud, Adrien Chambellan, Pierre-Bruno Marie Blanc, et al.. Multi-purpose robot for rehabilitation of small diameter water pipes. IEEE ICRA 2024 Workshop on Field Robotics, May 2024, Yokohama, Japan. ⟨10.48550/arXiv.2405.14382⟩. ⟨cea-04666921⟩
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