A Mobile Robotic Framework for Teleoperated Pipe Inspection in Hydroelectric Power Plants

Hydroelectric power plants constitute the primary source of electricity generation in Guatemala, representing the largest share of the national energy mix, making the inspection and maintenance of infrastructure such as large water inlet pipes (penstocks) crucial. These pipes, which are several kilometers long and have limited access, present hazards for human inspectors. This work introduces a low-cost, modular robotic rover designed for manual inspection of penstocks of varying sizes and conditions. The robot features a tracked locomotion system with an adjustable mechanism for stable alignment and is operated via a web-based joystick interface, enabling real-time anomaly detection. It supports mapping, localization, and data logging for post-inspection analysis. The modular design allows for disassembly and transport through tight spaces, followed by quick reassembly inside the pipe. The rover has successfully conducted multiple inspections in diverse hydroelectric pipelines of different diameters and materials, under diverse sediment accumulation conditions.