Explorer: Long-range untethered real-time live gas main inspection system

The development effort undertaken to build Explorer, a long range, untethered, modular, remotely controllable, self-powered inspection robot for the visual inspection of 6 and 8 in. natural gas distribution system pipelines. The robot is launched into the pipeline utilizing either a commercially available fitting, the case of low pressure applications, or a custom-made vertical launcher, in the case of high pressure applications. The robot's range is an order of magnitude higher than present state-of-the-art visual inspection systems, while its modular design will allow future expansion of operating capabilities via addition of inspection and/or repair tools. The prototype system is expected to be field testing starting in late 2003 and to be commercially available by 2005. Communication between robot and operator is accomplished via radio frequency wireless technology, using the pipe as a waveguide for long-range communications.