Cornering Algorithm for a Crawler In-Pipe Inspection Robot

Abstract

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.

A pipeline inspection robot for navigating tubular environments in the sub-centimeter scale

“…To ensure that they are in a good working order, these pipelines need to be inspected regularly, from both the outside and the inside. Various inspection robots have been developed to navigate pipelines; several of them include wheel-type ( 1 ), walking-type ( 2 ), and crawler-type robots ( 3 ) and other locomotion mechanisms ( 4 ); adopt electromagnetic motors and gear transmission systems; and are suitable for inspecting pipelines with large diameters. When it comes to small-scale pipelines with diameters of less than a centimeter, the dimensions of robots with such mechanisms of navigation are difficult to scale down.…”

Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot

“…The robot should be affordable, if the designers meet the following requirements, simultaneously or individually: is intended only for specific missions and threats, for example pyrotechnic intervention [48]; is built modularly [49]; subsystems to be redesigned so that the solution is as simple and reliable as possible [50]; can use a disruptor [51]; should be equipped with video cameras [52]; must have an adequate lifting capacity [53]; can use X-ray systems [54]; should be equipped with omnidirectional cameras [55]; the robot must be able to communicate with an operator [56]; can easily climb stairs it can be said that only 10% of the threats targeted easily accessible open areas; should be easy to maintain and repair; must operate in a wide range of terrains [57]; arm should have high mobility [58].…”

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

“…A reconfigurable field robot has been developed to move inside circular and rectangular section pipes by incorporating the mechanism that permit it to adjust its width and height and shift its centre of mass (COM) to adapt a robot as per the size of the pipe [19,20].A cornering algorithm has been presented for crawler pipeline robots with an electric telescopic rod structures for controlling the smooth and stable operation of the robot in the pipeline. It is claimed that the optimization analysis of telescopic rod expansion and the ratio of the speed of each crawler has been performed to resolve the difficulty for the robot to adapt to the change of pipe diameter automatically [21]. In light of advancements in in-pipe robot technology, these robots can be classified into three distinct generations: the first generation, the second generation, and the third generation.…”