A Localization and Navigation Method for an In-Pipe Robot in Water Distribution System Through Wireless Control Towards Long-Distance Inspection

Abstract

In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed wireless communication system that is suitable for harsh environments of soil, water, and rock with a multi-phase control algorithm. The new ''wireless control algorithm'' facilitates ''smart navigation'' and ''near real-time wireless data transmission'' during operation for our in-pipe robot in WDS. The smart navigation enables the robot to pass through different configurations of the pipeline with long inspection capability with a battery in which is mounted on the robot. To this end, we have divided the operation procedure into five steps that assign a specific motion control phase and wireless communication task to the robot. We describe each step and the algorithm associated with that step in this paper. The proposed robotic system defines the configuration type in each pipeline with the pre-programmed pipeline map that is given to the robot before the operation and the wireless communication system. The wireless communication system includes some relay nodes that perform bi-directional communication in the operation procedure. The developed wireless robotic system along with operation procedure facilitates localization and navigation for the robot toward long-distance inspection in WDS. INDEX TERMSIn-pipe robots, wireless control algorithm, smart navigation, water quality monitoring, water distribution systems.

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

“…Prototypes of wheeled robots. (a) Single three-wheel configuration robot [42] and (b) Double three-wheel configuration robot [57] The Single three-wheel configuration robot tries to rotate along the circumferential direction of the pipeline when it moves forward [60] as shown in the Fig. 4.…”

“…In recent years many developments have been made in In-Pipe Inspection Robot (IPIR) and are grouped under their different locomotion types. They are namely the Pipeline Inspection Gauge (PIG) [4]- [10], screw [11]- [17], inchworm [18]- [24], wall press [25]- [29], walking [30]- [34], caterpillar [35]- [39] and wheel type [40], [41], [50]- [52], [42]- [49] as shown in Fig. 1.…”

Localization, Mapping, Navigation, and Inspection Methods in In-Pipe Robots: A Review

“…Kazeminasab et al [88] proposed a method using RNs that extends the RN-based method's application to nonstraight paths. In this method, the RNs are located at nonstraight configurations of the network that is the operation path of the robot (see Fig.…”

“… Monte Carlo Algorithm [132].  Motion Controller [67], [88], [111], [122], [171] [66] [172].  Boiler Header Inspection Robot (BHIR) [58]  Mechanical Mechanism for Leak Detection [127].…”

“…RF Fading Pattern[49],[93] [92].  Relay Node Placement[86]-[88],[143].  Received Signal Strength Analyzing with Sensor Array[90].…”