Detection and classification of pipelines for mobile monitoring robots

Special types of mobile robots are necessary for the pipeline monitoring tasks. One of the bio-mimetic robot applications serves the purpose of exploring pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. In order to move effectively along a pipeline, the robot's movement will resemble that of insects. When situated in massive pipelines with complex routes, the robot should have the abilities of route recognition and mobility while monitoring the pipelines. The robots have grippers to hold the pipes and four arms with three DOF joints to move on the pipelines. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions.