ABSTRACT
As a smart device, the pipeline robot can creep along the inner or outer surface of pipes, carrying one or various sensors and operating equipment, such as posture and position sensors, CCD camera, ultrasonic sensor [1], pipe-cleaning device, pipe-welding device and simple manipulator. Thus the pipeline robot can inspect, maintain and clean pipes without pipeline damaging. The in-pipe robot with inclined wheel is easily controlled, which can advance and retreat freely, stable and reliable.
