A comprehensive review of in-pipe robots

Pipelines are vital infrastructures in oil and gas, water, and sewage transfer, offering a safer and more environmentally friendly option compared to other forms of transportation. The use of in-pipe robots for labor-intensive and hazardous operations, such as inspection, maintenance, and repair of pipelines, has increased in recent years. Some of the major tasks performed by in-pipe robots include the accurate positioning of the robot and associated tools inside the pipe for data collection, inspection, and welding. This paper provides a comprehensive review of various aspects of in-pipe robots, including their geometries, propulsion systems, kinematic designs, and steering mechanisms. The paper also covers localization and navigation methods utilized for in-pipe robotics. A study of the advantages and disadvantages of the above mechanisms is presented, highlighting open research avenues for future advancements in the field.