管道檢測機械人的功能 Role of In-line Inspection Robot 研發「管道檢測機械人」及相關的作業系統，採用了機械人設 計、傳感器、掃描、影像和人工智能等一系列技術。管道檢測 機械人在水管網絡中靈活移動，不僅能提供水管內壁表面的影 像，更重要的是可提供優化非破壞性檢測方法的機會，從而在 可行的情況下檢查水管的狀況及其結構的完整性，有助提高資 產管理的營運效益和表現，以及工地安全。 機械人能夠在直徑600 毫米的水管內 部通過 T 型接頭和 90 度彎頭以及垂 直管道單向行駛超過 150 米的距離。 The robot is capable of navigating along the interior of 600mm diameter water mains through T-joints and 90-degree bends, as well as vertical pipes in a single pass for over a distance of 150 metres. 在數據處理軟件中增設人工智能過濾 器，能自動剔除不適合使用的超聲波 返回波。 An AI-filter has been added to the data processing software to automate the removal of ultrasonic returns that are not suitable for use. A cluster of technologies including robotics design, sensors, scanning, imaging and artificial intelligence (AI) are adopted in developing the “In-line Inspection Robot” and relevant collaborative systems. The In-line Inspection Robot manoeuvring through the water mains network not only provides images on the internal surface of pipes, but more importantly offers the opportunity to optimise the use of non-destructive testing methods as far as practicable to inspect the conditions and assess the structural integrity of the pipes. This has enhanced operational efficiency and performance in asset management, as well as site safety. 利用彩色燈光配以圖像處理演算法， 檢查管道內壁的表面。 Visual inspection: Visual inspection of the internal pipe wall surface is carried out by using coloured lighting with different image processing algorithms. 採用超聲波探頭量度管壁厚度。 Pipe wall thickness measurement is carried out by using ultrasonic probes. 超聲波探頭 Ultrasonic probes T 型接頭的結構（側面圖） T-joint configurations (Side view) 導航 Navigation 影視覺檢測 Visual inspection 超聲波檢測 Ultrasonic inspection 超聲波波形訊號過濾器 Ultrasonic waveform filtering 現新 Innovate 水務署 二零二一至二二年年報 WSD Annual Report 2021/22 57
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