ROBOT APPARATUS FOR MEASURING AND OBSERVING INSIDE OF TUBE BASED ON AUTONOMOUS DRIVING TECHNOLOGY, AND CONSTRUCTION METHOD USING SAME

摘要

A robot apparatus includes: a construction part; a tube connected to the construction part and transferred in a pipe; a boundary line installed in the tube; and an observing robot supported by the boundary line to measure an installed state of the tube as the robot moves in the tube. A construction method using a robot apparatus for measuring and observing the inside of the tube based on autonomous driving technology comprises: a tube inserting step of inserting the tube into a pipe and moving the tube; an expansion step of introducing compressed air into the tube through the construction part; a first determining step of determining the expanded state of the tube while the observing robot moves along the boundary line in the expanded tube; a curing step of introducing steam into the tube through the construction part; and a second determining step of determining the cured state of the tube while the observing robot moves along the boundary line in the cured tube.;COPYRIGHT KIPO 2019