scholarly journals Cornering Algorithm for a Crawler In-Pipe Inspection Robot

Symmetry ◽  
2020 ◽  
Vol 12 (12) ◽  
pp. 2016
Author(s):  
Liang Xu ◽  
Liang Zhang ◽  
Jinzhou Zhao ◽  
Kiwan Kim
Keyword(s):  
Weight Change ◽  
Large Scale ◽  
Good Stability ◽  
Elastic Structure ◽  
Pipe Diameter ◽  
Pipe Inspection ◽  
Optimization Analysis ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Supporting Force

Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.

Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task

2015 ◽  
Vol 762 ◽  
pp. 163-168 ◽  
Author(s):  
Mihai Olimpiu Tătar ◽  
Ioan Ardelean ◽  
Dan Mândru
Keyword(s):  
Traction Force ◽  
Digital Measuring ◽  
Pipe Inspection ◽  
Measuring Device ◽  
Maintenance And Repair ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Complete Inspection ◽  
Inspection Task

Inspection and exploration represent a challenging domain in the field of robotics because of the hazardous and limited workspace to which the robots have to adapt and because of the reduced ability to monitor and acquire data about the inspected environment. A pipeline inspection robot must ensure sufficient traction force to pull its tether cable and other equipment while travelling inside a pipeline to complete inspection, maintenance, and repair tasks. This paper presents the design of three minirobots with adaptable structure for in pipe inspection and the experimental determination of their traction force. To measure the traction force of the minirobots, the Xplorer GLX digital measuring device was used.

scholarly journals Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

2019 ◽  
Vol 2 (1) ◽  
pp. 25
Author(s):  
Ata Jahangir Moshayedi ◽  
Saeed Safara Fard ◽  
Liefa Liao ◽  
Seyed Ali Eftekhari
Keyword(s):  
High Efficiency ◽  
Research Work ◽  
Fatigue Cracking ◽  
Inspection Time ◽  
Pipe Diameter ◽  
Pipe Inspection ◽  
Robot Controller ◽  
Inspection Robot ◽  
Adjustable Mechanism ◽  
Chemical Products

Daily tasks mixed with the various applications in the robotic field. Since past, pipes have been used as the safe fluid transmitter. But gradually, these pipes affected by fatigue, cracking, leakage, sediment and breaking down. Also, sometimes humid environment and chemical products existing in the soil, causes rust and fatigue the pipes. All these problems lead to redundancy and impose high expenses for installation and maintenance. One of the recent inspection ways, is using the robot controller which leads to help and reduces the inspection time and preventive repairs activity. Besides, sometimes there are some unpleasant situation such as unfit pipes. It is obvious that in these conditions, doing inspection in toxic arena, narrow and meandering ways is impossible by human. So, designing a pipe inspection robot can be helpful in such circumstances. In this design, first, the former study, the way of operation, movement, mechanisms and advantages of each robot have studied. Then, by considering important parameters in designing, and sketching, making robot with the help of CATIA took place. This structure enjoys a regular mechanism design. It also has a proportional pipe diameter with the possibility of crossing through the slope routes. On the other hand, recording and processing of visual report, needs a camera and GUI toolbox written in Matlab. So image processing can help to exact investigation. One of the main difference of this research work over the various test on the platform, is hiring the mentioned toolbox which helps the operator to have the double investigation inside of the pipes. Moreover, the adjustable mechanism to pipe diameter, polyhedral movement and ascension power, relatively high efficiency in order to use frictional power and reducing repair and pause time are the advantages of this design. Also, observing the inner side of the pipe on the monitor, leads to reducing images. Moreover, its investigation by the introduced toolbox, causes more effective observation, more quickly diagnosis and analysis.

scholarly journals Automatic Compensation of the Positional Error Utilizing Localization Method in Pipe

2021 ◽  
Vol 9 (6) ◽  
pp. 151-157
Author(s):  
Hirofumi Maeda
Keyword(s):  
Large Scale ◽  
Contact Point ◽  
Positional Error ◽  
Pipe Inspection ◽  
Automatic Compensation ◽  
Localization Method ◽  
Know How ◽  
Inspection Robot ◽  
Background Maintenance

Since 1965, a numerous number of cities implementing sewerage systems have increased rapidly throughout Japan, and sewerage development is considered to be becoming more widespread in various regions. However, with the increase of management facilities, the aging of facilities for long-term use is becoming more and more apparent. The standard expected durability of these pipes is approximately 50 years, but there is a tendency and a risk that the number of collapsed roads will increase rapidly 30 years after the pipes are laid. Against this background, maintenance of drainage and sewage pipes is critical and must be carried out continuously. Therefore, in recent years, investigation using robots have been actively conducted in order to reduce manual workload of the workers. However, these robots have a large-scale system as a whole, and as a result, they are poorly maintainable and expensive. Therefore, in this research, I have developed an autonomous and portable pipe inspection robot through the know-how on rescue robots which I have studied so far. However, for inspections using a pipe inspection robot, there is always the risk that the robot itself will tip over due to steps or small gaps at the joints of the pipes or slips caused by sludge. Therefore, to prevent tumbles and rollovers of the robot, I propose a localization method only by straight-driving control without relying on hardware. In addition, taking possible slips inside pipes into account, this method utilizes only acceleration sensor. In this study, localization method using only accelerometer mounted on the robot, which focuses on the relation between the pipe and the contact point of the tires, was shown as well as presenting a method using numerical analysis to derive the estimated values. Furthermore, it was confirmed that the estimation was stable as a result of an estimation experiment using autonomous small pipe inspection robot with and without a gradient (approx. 4/100) of a pipe, with a diameter of 189mm.

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