This paper presents the definition of a teleoperated robotic system for non-destructive corrosion inspection of Steel Cylinder Concrete Pipes (SCCP) from the inside. A general description of in-pipe environment and a state of the art of in-pipe navigation solutions are exposed, with a zoom on the characteristics of the SCCP case of interest (pipe dimensions, curves, slopes, humidity, payload, etc.). Then, two specific steel corrosion measurement techniques are described. In order to operate them, several possible architectures of inspection system (mobile platform combined with a robotic inspection manipulator) are presented, depending if the mobile platform is self-centred or not and regarding the robotic manipulator type, namely a basic cylindrical manipulator, a self centred one, or a force-controlled 6 degrees of freedom (DoF) robotic arm. A suitable mechanical architecture is then selected according to SCCP inspection needs. This includes relevant interfaces between the robot, the corrosion measurement Non Destructive Testing (NDT) device and the pipe. Finally, possible future adaptation of the chosen solution are exposed.

翻译：摘要：本文提出了一种用于从内部对钢筒混凝土管（SCCP）进行非破坏性腐蚀检测的遥操作机器人系统定义。首先概述了管内环境并综述了管内导航解决方案的研究现状，重点介绍了目标SCCP案例的特性（管道尺寸、弯道、坡度、湿度、有效载荷等）。随后描述了两种具体的钢腐蚀测量技术。为操作这些技术，提出了若干检测系统架构方案（移动平台与机器人检测操作臂组合），其差异取决于移动平台是否自定心，以及机器人操作臂的类型——即基础圆柱形操作臂、自定心操作臂或六自由度（DoF）力控机械臂。根据SCCP检测需求选择了合适的机械架构，包括机器人、腐蚀测量无损检测（NDT）设备与管道之间的关键接口。最后，探讨了所选方案未来可能的适应性改进。