一种密封透明的软体藤蔓机器人，可深入管道内进行视觉检测与测绘。
A Hermetic, Transparent Soft Growing Vine Robot System for Pipe Inspection
- 全封闭式软体结构保护电子元件，同时保持透明便于视觉感知。
- 设计了自适应闭合末端装置，实现传感器稳定传输与环境隔离。
- 在真实污水管道中完成检测任务，验证系统可靠性与实用性。
老旧管道的修复需要对管内深处进行精确的状态评估与地图构建。软体藤蔓机器人在复杂弯曲管道中具有独特优势，但受限于复杂子系统及缺乏真实工业场景验证。本文提出并实现了具有密封性与透明性的藤蔓机器人系统，用于非分支管道内的视觉状态评估与建图。该设计将所有机械与电气部件封装于柔软、气密且透明的机器人本体中，既避免环境干扰，又支持视觉传感。为实现传感器的封闭传输，开发并测试了一种被动自适应的封闭末端安装结构。最终通过在实际污水管道中的状态评估与建图任务，验证了该系统的可行性。本工作推动了软体藤蔓机器人在管道检测中的应用，展示了一个鲁棒、精简且经实地验证的系统，具备持续研发与部署潜力。
原文摘要 · Abstract (English)
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are currently limited by complex subsystems and a lack of validation in real-world industrial settings. In this paper, we introduce the concept and implementation of a hermetic and transparent vine robot system for visual condition assessment and mapping within non-branching pipes. This design encloses all mechanical and electrical components within the vine robot's soft, airtight, and transparent body, protecting them from environmental interference while enabling visual sensing. Because this approach requires an enclosed mechanism for transporting sensors, we developed, modeled, and tested a passively adapting enclosed tip mount. Finally, we validated the hermetic and transparent vine robot system concept through a real-world condition assessment and mapping task in a wastewater pipe. This work advances the use of soft-growing vine robots in pipe inspection by developing and demonstrating a robust, streamlined, field-validated system suitable for continued development and deployment.
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