Development of a Smart Sensor System with Application to In-Pipe Inspection Robots

2015 ◽  
Vol 762 ◽  
pp. 169-174 ◽  
Author(s):  
Leon Brai ◽  
Radu Balan ◽  
Ciprian Lapusan
Keyword(s):  
Mobile Robot ◽  
Sensor System ◽  
Smart Sensor ◽  
Pipe Network ◽  
Pipe Inspection ◽  
Network Parameters ◽  
Inspection Robots

The paper presents the development of a smart sensor system that is used for measuring pipe network parameters. The developed sensor is intended for use with in pipe inspection robots that can independently explore and evaluate the constructive parameters and the condition of the pipe network. The proposed system is developed around the Atmel ATMega16 microcontroller which is connected to a set of sensors and to the robot. The sensor system was tested using the ROBIN250 mobile robot and the obtained results are presented in the paper.

An In-Pipe Mobile Robot for Use as an Industrial Endoscope Based on an Earthworm’s Peristaltic Crawling

2012 ◽  
Vol 24 (6) ◽  
pp. 1054-1062 ◽  
Author(s):  
Shota Horii ◽  
◽  
Taro Nakamura
Keyword(s):  
Mobile Robot ◽  
Motion Pattern ◽  
Pipe Inspection ◽  
Brushless Motors ◽  
Robot Locomotion ◽  
Propulsion Force ◽  
Locomotion Speed ◽  
Inner Diameter ◽  
Pass Through ◽  
Inspection Robots

Many pipe accidents caused by corrosion or deterioration have been reported recently; hence, in-pipe inspection is needed to prevent such problems. Fiberscopes are currently used as industrial endoscopes to inspect defects in pipes. Because of friction, however, they cannot be inserted into pipes that are more than 15 m long or into complex pipes such as elbows. Therefore in-pipe inspection robots need to be selfpropelled in order to be inserted into these environments. We are developing a robot capable of propelling itself through various pipes, such as long pipes and elbow pipes, specifically, a peristaltic crawling robot using DC brushless motors for in-pipe inspection. In this study, the robot we developed was used in straight and elbow pipes with an inner diameter of 27 mm. In this paper, we derive theoretical formulas for robot locomotion speed and propulsion force and propose a special motion pattern, known as the middle motion pattern, for the robot’s peristaltic crawling pattern. We performed several experiments in a 27-mm-diameter acrylic pipe to examine the locomotion speed and propulsion force. We also developed a robot that can pass through an elbow and conducted several experiments to confirm this.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

Real-Time Vision Using a Smart Sensor System

2007 ◽  
Author(s):  
Ahmed Nabil Belbachir ◽  
Martin Litzenberger ◽  
Christoph Posch ◽  
Peter Schon
Keyword(s):  
Real Time ◽  
Sensor System ◽  
Smart Sensor
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