Development of a Capsule-Type Inspection Robot Customized for Ondol Pipelines

Abstract

Ondol is a heating system unique to Korean homes that increases indoor temperatures by supplying hot water through pipes embedded in floor slabs. Known for its comfort and sustained heating advantages, ondol has garnered international interest in countries requiring efficient heating solutions. Given the inherent challenges faced during installation and operation, timely inspection of ondol is crucial due to difficulties in detecting and locating defects in buried concrete pipes, often leading to costly rework and removal. However, specialized inspection systems tailored to ondol pipes remain underexplored. Therefore, this paper proposes a robotic inspection system capable of assessing the conditions of ondol pipelines. We analyze the characteristics of ondol piping to establish system requirements and develop a prototype of a compact capsule-shaped inspection robot tailored for ondol pipe inspection. Subsequent laboratory testing validates system performance and usability, confirming field applications through curvature maneuverability and image reception quality tests. This study aims to motivate advancements in ondol-specific system implementation and performance validation, potentially contributing to the smartification of ondol maintenance practices.