How it works:
The simulation starts with a mobile robot inside an 800mm diameter pipe. The working environment can be described as wet with little water.
A structure starts to form linked to the mobile robot. This structure integrates legs and wheels in a dynamical suspension system configuration.
Then the robot becomes monolith and the field of view from the cameras are shown.
The robot starts to move forward, it can also moves backward, looking for the pipe-joint to be repaired. The pipe-joint is localized by the omnidirectional camera located at the front of the robot. Once localized, the robot positions in its place to rehabilitate the pipe-joint.
The robot from a mobile platform becomes a rigid structure inside the pipe from extending its wheeled-legs.
Once the robot is fixed to the pipe, it can move the tool system located at the front of the structure, able to move it in cylindrical 3D space to rehabilitate the entire pipe-joint. Once this repairing process is finished, the robot contracts the tool system arms and then contract the wheeled-legs to become again a mobile platform able to move in the pipe searching for the next pipe-joint.
Moreover, the suspension system enables the robot to fit in pipes with diameters ranging from 800 to 1000mm (non-conventional pipe dimensions).