Proposal for Pipeline-Shape Measurement Method Based on Highly Accurate Pipeline Length Measurement by IMU Sensor Using Peristaltic Motion Characteristics

Sato, Haru–Tada; Mano, Yuki; Ito, Fumio; Yasui, Takumi; Okui, Manabu; Nishihama, Rie; Nakamura, Taro

doi:10.1109/aim43001.2020.9158972

Cited by 8 publications

(5 citation statements)

References 9 publications

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“…From Equations ( 1) and ( 6), for the robot to climb the vertical pipe the spring stiffness needs to satisfy the condition k ≥ m robot g 6µ wheel (∆l + 0.5)tanθ (7) When the robot passes through a vertical pipe with an inner diameter of 150 mm, the θ is 41.37 • and ∆l is 15.16 mm calculated based on Equation (4). With the weight of 3.3 kg and the coefficient of friction between the wheel and the pipe of 0.75, from Equation (1) becomes…”

Section: Slider-crank Mechanismmentioning

confidence: 99%

“…In-pipe robots can be classified based on locomotion, actuator, and power supply, as illustrated in Table 1. Regarding actuators, common types include pneumatic actuators [3,4], DC motors [5], and new artificial actuators like Shape memory alloy actuators (SMAs) [6]. In terms of power supply, in-pipe robots are powered through cable [3] or battery [5].…”

Section: Introductionmentioning

confidence: 99%

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Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection

Park,

Luong,

Moon

2024

Biomimetics

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Pipelines are embedded in industrial sites and residential environments, and maintaining these pipes is crucial to prevent leakage. Given that most pipelines are buried, the development of robots capable of exploring their interiors is essential. In this work, we introduce a novel in-pipe robot utilizing Continuously Variable Transmission (CVT) mechanisms for navigating various pipes, including vertical and curved pipes. The robot comprises one air motor, three CVT mechanisms, and six wheels at the end of six slider-crank mechanisms, including three active and three idler ones. The slider crank and spring mechanism generate a wall press force through the wheel to prevent slipping inside the pipe. This capability allows the robot to climb vertical pipes and adapt to various pipe diameters. Moreover, by combining CVT mechanisms, whose speed ratios between the driver and driven pulleys are passively adjusted by the position of the slider, the robot achieves independent and continuous speed control for each wheel. This enables it to navigate pipes with various geometries, such as straight–curved–straight pipes, using only one motor. Since active control of each wheel is not needed, the complexities of the robot controller can be significantly reduced. To validate the proposed mechanism, MATLAB simulations were conducted, and in-pipe driving experiments were executed. Both simulation and experimental results have shown that the robot can effectively navigate curved pipes with a maximum speed of 17.5 mm/s and a maximum traction force of 56.84N.

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Section: Slider-crank Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection

Park,

Luong,

Moon

2024

Biomimetics

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“…Most robots are actuated either by pneumatic actuators [10]- [12] or electrical actuators (i.e. DC motors) [13]- [24].…”

Section: A Literature Reviewmentioning

confidence: 99%

SmartCrawler: An In-pipe Robotic System with Novel Low-frequency Wireless Communication Setup in Water Distribution Systems

Kazeminasab¹,

Banks²

2021

Preprint

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Water Distribution Systems (WDS) are critical infrastructures that deliver potable water to residential areas. Water quality monitoring is one of the requirements for utility managers to ensure the health of the water. However, it is challenging to access all parts of the WDS since they are long and comprise different configurations. In this paper, we propose a size-adaptable in-pipe robot so-called “SmartCrawler”. We develop two-phase control algorithm that enables reliable motion in different configurations of pipelines. The controller in phase 1 stabilizes the robot in the straight paths and tracks the desired velocity with high-level linear quadratic regulator (LQR) and low-level proportional-integral-derivative (PID) based controllers. The controller in phase 2 enables the robot to have reliable change of direction in the non-straight paths. The performance of the two-phase controller is evaluated with experimental and simulation results. Wireless underground communication is a challenging task for underground applications. To facilitate wireless communication, we propose an active radio frequency identification (RFID) based communication working in 434MHz carrier frequency and evaluate its performance with experimental results. At the end of this work, we design the printed circuit board (PCB) for the SmartCrawler. The simulation and the experimental results prove the proposed robotic system can be used for in-pipe missions where wireless communication is needed to communicate with the robot during operation. <br>

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“…Duisterwinkel et al [20] combined a molar sensor and an IMU to measure the pipeline and identify and localize structural features of the pipeline by analyzing the acceleration and angular velocity data detected in the IMU. Sato et al [21] used a peristaltic robot equipped with an IMU to estimate the shape of the pipe type, distinguish between bent and straight pipes utilizing the change in angular velocity, and determine the angle of the bent pipe based on the attitude angle of the sensor. However, there are existing problems in pipeline feature recognition: (i) the IMU conducts inspections on long-distance pipelines, generating a substantial volume of ILI data.…”

Section: Introductionmentioning

confidence: 99%

An intelligent feature recognition method of natural gas pipelines based on shapelet and blending fusion model

Ma,

Hu,

Wang

et al. 2023

Meas. Sci. Technol.

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Despite the availability of pipeline bending strain detection technologies based on inertial measurement unit (IMU), there is a lack of intelligent and efficient methods for accurately identifying pipeline features by bending strain. Therefore, this paper proposes a novel method for identifying features in natural gas pipelines based on shapelet and blending fusion model. Specifically, the shape features of the bending strain data are extracted and transformed by shapelet. Then a blending fusion model with SVM, Decision Tree and Gradient Boosting as base learners and Random Forest as meta-learner is constructed. Finally, the extracted features are fed into the blending fusion model for pipeline feature recognition. The model is trained with bending strain data obtained from a real natural gas pipeline, the results indicate that the recognition accuracy of the proposed method is 97.17%. Compared with other models, the superiority of the proposed model is verified, and it is proved that the proposed method has better accuracy than the existing models (over 1.3%). Overall, the method proposed in this paper can be effectively combined with the in-line inspection system to provide a reference for pipeline companies to carry out pipeline integrity management.

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Proposal for Pipeline-Shape Measurement Method Based on Highly Accurate Pipeline Length Measurement by IMU Sensor Using Peristaltic Motion Characteristics

Cited by 8 publications

References 9 publications

Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection

Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection

SmartCrawler: An In-pipe Robotic System with Novel Low-frequency Wireless Communication Setup in Water Distribution Systems

An intelligent feature recognition method of natural gas pipelines based on shapelet and blending fusion model

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