Identify the Deterioration in Pipe by Using Wheel Operated Robot

Abstract : Nowadays, Robots are used in many industries for various purposes. Inspection is the one of the field in which robot used as the inspector. One application is monitoring the inside of the pipe, Recognizing and solving problem through interior of the pipe. So, Inspection of pipe can be achieved by using wheel operated robot. Various problems related to pipe line such as corrosion, erosion and cracks. They can effectively reduce strength and wall thickness of pipe. Pipe inspection is necessary to locate defects due to corrosion and wear to avoid failure. In this work, Pipe inspection robot with ability to move inside horizontal and vertical pipes has been designed and fabricated. The robot consists of motor for driving and camera for monitoring.

 EXISTING SYSTEM :

 ? Many very different designs exist for mechanisms moving inside pipes. ? For inspection of large sewer pipes a large number of wheeled vehicles exist which provide traction with the pipe-wall simply trough their weight. ? However, none of the existing projects targets both the small diameter, large spreading factor and capabilities of taking mitered bends at the same time. ? Different wheel designs exist, the main difference lying in their roll-off shape. ? A typical mecanum wheel can have a continuous motion on a flat floor providing traction perpendicular to the roller wheel orientation.

 DISADVANTAGE :

 ? A possible solution for this problem is explored in this paper, using omni-wheels or mecanum wheels. ? The same problem has been solved on a different (conceptual) level by the RoboScan design where wheels have been employed which can rotate round a vertical axis. ? With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. ? Encountering these issues gave us the inspiration to improve the previous design for better performance during operation.

 PROPOSED SYSTEM :

 • With most of the peristaltic or crawler-type robots no attention is paid to the orientation (or rotation) of the system inside the pipe. • The solution explored and proposed here makes use of the properties of an omniwheel to provide friction necessary for traction in the driving direction while allowing free motion in a direction tangential to the wheel. • To design a robot that fulfills the requirements proposed by the CNPC, some literature is investigated. • More sensors (e.g., IR sensors and tactile sensors) will be added into the inspection robotic system to satisfy multifunctional purposes in the oil pipeline inspection.

 ADVANTAGE :

 ? Using flat plate has the advantage that the design can be manufactured quickly using a laser cutter, allowing for short development cycles. ? These wheels have been used in many robot platforms mainly aimed at a flat floor. ? A PID controller has been used to control the robot’s orientation. Since damping in the system due to friction is very high and the first-order behavior is dominant, the D action can be omitted. ? These might be contributed to the uneven surface of the wheels caused by the individual rollers. ? The deviation between the encoder data (purple) and the accelerometer data (green) is caused by the slip of the roller wheels.