Control and Mechanical Design of a Multi-diameter Tri-Legged In- Pipe Traversing Robot

Maningo, Jose Martin Z.; Fernando, Arvin H.; Vicerra, Ryan Rhay P.; Antonio, Micah Antoinette B.; Diaz, Julianne Alyson I.; Ligeralde, Manuel Jr I.; Mascardo, Philix Anton R.

doi:10.1109/sii.2019.8700363

Cited by 13 publications

(6 citation statements)

References 14 publications

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“…In this section, we designed a multi-phase motion control for our proposed robot that enables maneuverability with stabilized motion in complicated configurations of pipeline that is has been a challenge for in-pipe robots [39,46,[53][54][55][56][57][58][59][60]. However, switching between different phases of motion controller remains a challenge to solve.…”

Section: Controller Performance At T-junctionmentioning

confidence: 99%

Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller

Kazeminasab

Banks

2022

Intel Serv Robotics

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Incident in water distribution systems (WDS) cause water loss and water contamination that requires the utility managers to assess the condition of pipelines in a timely manner. However, pipelines are long and access to all parts of it is a challenging task; current in-pipe robots have the limitations of short-distance inspection and inability to operate in-service networks. In this work, we improve the design of our previously developed in-pipe robot and analyze the effect of line pressure and relative velocity on the robot during operation with computational fluid dynamics (CFD) simulations. An extreme scenario for robot operation is defined and we estimate the minimum inspection distance for the robot with one turn of battery charge that is 5400m. A multiphase motion controller is proposed that ensures reliable motion at straight and non-straight configurations of pipeline and also stabilized configuration with zero velocity at junctions. We also propose a localization and navigation method based on particle filtering and combine it with the proposed multi-phase motion controller. In this method, the map of the operation is provided to the robot and the robot localizes itself based on the map and the particle filtering method. Furthermore, the robot navigates different configurations of pipelines by switching between different phases of the motion controller algorithm that is performed by the particle filter algorithm. The experiment and simulation results show that the robot along with the navigation shows a promising solution towards long-distance inspection of pipelines by in-pipe robots.

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Section: Controller Performance At T-junctionmentioning

confidence: 99%

Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller

Kazeminasab

Banks

2022

Intel Serv Robotics

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“…Fig. 1 shows examples of the Pipeline Inspection Gauge (PIG) [9,10], screw [16,17], inchworm [18][19][20][21][22][23][24], wall press [25][26][27][28][29], walking [30][31][32][33][34], caterpillar [35][36][37][38][39], and wheel type [40][41], [50][51][52], [42][43][44][45][46][47][48][49]. These popular forms of movement have drawbacks in addition to their benefits [53].…”

Section: Open Accessmentioning

confidence: 99%

Robotic Inspection Monitoring System for Pipelines

Baballe¹

2022

AIS

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The most popular method for transporting fluids and gases is through pipelines nowadays. Regular inspection is necessary for the pipelines to work correctly. Humans must not enter potentially dangerous environments to inspect these pipelines. As a result of this, pipeline robots came into existence. These pipe inspection robots help in pipeline inspection, protecting numerous people from harm since human beings cannot enter the pipes and inspect them in case there is any such or kind of damage that requires repair. Despite numerous improvements, pipeline robots still have several limitations. The introduction of this in pipe inspection robots helps to solve many problems, such as leakage of the gas or fluid pipelines, rustiness, and also if the pipe is broken from any part.

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“…Among them, wheeled pipe robots are the most commercially adopted and most commonly used. Wheeled pipe robots have the characteristics of effective flexibility and low power consumption [2], but lack stability, for example: the six-wheel drive in-tube robot that has difficulty moving through bent pipe smoothly [3]. The peristaltic pipeline inspection robot [4,5] has a simple structure and high motor utilization rate, but its complex mechanical structure results in space constraints, making it difficult to pass through a damaged or concave straight pipe or bent pipe.…”

Section: Classification Of the In-pipe Robotmentioning

confidence: 99%

“…Such methods usually need to be matched with appropriate pressure sensors to determine the radial pressure from the pipe wall received by the crawler foot. For example, the robot in [3] uses a scissor chain structure driven by spiral components to automatically adapt the pipe diameter. The advantage of this method is that it can actively control the pressure of the robot's crawler foot and pipe diameter, for example, providing enough friction for the robot's climbing process in a vertical pipe.…”

Section: Problems With the In-pipe Robot In Controlmentioning

confidence: 99%

Cornering Algorithm for a Crawler In-Pipe Inspection Robot

Zhang

Zhao

et al. 2020

Symmetry

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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.

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Control and Mechanical Design of a Multi-diameter Tri-Legged In- Pipe Traversing Robot

Cited by 13 publications

References 14 publications

Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller

Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller

Robotic Inspection Monitoring System for Pipelines

Cornering Algorithm for a Crawler In-Pipe Inspection Robot

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