Pipeline Cleaning Robots: Technological Developments, Application Scenarios, and Future Perspectives

Abstract

Pipeline-cleaning robots are an essential component of mechatronic systems, widely used for infrastructure maintenance in both industrial and municipal applications. This paper discusses technological advancements from 2010 to 2024 and analyzes the core functional modules of pipeline-cleaning robots, including locomotion, perception, cleaning actuation, and energy systems. The research shows that different specific environments require different technical solutions. The industrial pipeline needs robots with wheeled mechanisms and combined mechanical-hydraulic cleaning for precise operations in structured environments. And municipal applications prefer robots that use adaptable tracked or legged systems with enhanced obstacle-negotiation capabilities, which are better suited to unstructured environments. Although significant advancements have been achieved, fundamental challenges persist across all domains. Energy constraints are the primary problem for long-distance operations in all of them. Tethered systems limit mobility, while battery-powered solutions face endurance constraints. In turbid or debris-laden environments, perception reliability can deteriorate. The current passive and active mechanisms cannot deal with sudden diameter changes. Additionally, the absence of standardized evaluation makes effective technology comparison and adoption hard. Future developments will focus on enhanced intelligence through advanced sensors, improved energy autonomy via new energy harvesting, and the use of soft robotics and innovative materials. This field is developing toward multi-robot cooperative systems and standardized frameworks, giving a crucial pathway toward ensuring the safety, efficiency, and longevity of global pipeline infrastructure through autonomous maintenance solutions.