Design of a Fully Autonomous Mobile Pipeline Exploration Robot (FAMPER)

Pipelines have been an integral part of our constructions for many centuries. However, need to be maintained, and the cost of maintenance continues to increase. Robots have been considered as an attractive alternative, and many different types of pipeline robots have been proposed in the past. Unfortunately many of them work under only very restricted environments such as customized pipelines, often have no vertical mobility, or can traverse through only a simple pipeline structure due to wired control. This thesis presents the design and implementation of a robot based on novel idea we call “caterpillar navigational mechanism”. A Fully Autonomous Mobile Pipeline Exploration Robot (FAMPER), for exploring pipeline structures autonomously has been built and its performance has been evaluated. We present the design of a robot based on wall-pressed caterpillar type for not only horizontal, but also vertical mobility in pipeline elements such as straight pipelines, elbows and branches, and its autonomous navigational system providing useful information for pipeline maintenance. FAMPER has been designed for 6 inch sewer pipes, which are predominantly used in urban constructions. The proposed design enables FAMPER to display formidable mobility and controllability in most of the existing structure of pipeline, and provides a spacious body for housing various electronic devices. Specifically, FAMPER is equipped with several sensors, and a high performance processor for autonomous navigation. We have performed experiments to evaluate the effectiveness of our architecture and we present here a discussion of the performed results

Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system

Mechanical Design and Dynamic Analysis of Pipe Crawling Robot for 6” to 10” diameter Internal Gas Pipeline Inspection

With the world moving forward, robot has been considered as an attractive and innovative alternative to help human in their work. For oil and gas industry, pipelines have been an important asset that needs to be maintained always. For many centuries, it has been integrals part of our constructions. However, with the cost of maintenance continue to increase, a new approach needed to accomplishing them. Many different types of pipelines robot have been proposed in the past. Unfortunately, many of the robot work under very restricted area or environments such as customized pipes sometimes have no vertical movement or can traverse through only a simple pipeline structure. This project is targeted to build and design a functional robot where the application can be tailored to internal pipelines inspection and maintenance. With overcome the existing problem from the past pipeline inspection robot, a new and improved design will help in constructing the robot. The scope of this project is focused on mechanical and structural design of the pipe crawling robot. The methodology of this project will be involving research and identification, conceptual and system design including analysis, construction of the prototype, simulation testing and analysis and completing the final report. In the end of this project will be able to develop a simulation model of pipe crawling robot for internal pipeline inspection. The related mechanical model and analyzing of the mechanical design and active adaption to pipe diameter, tractive force adjusting, control system structure are discussed. As a pipe crawling robot for visual inspection, this project can become the fundamental for other inspection robo

Development of Laboratory-scale Pipeline Inspection Robot (PIR)

Investment on pipeline inspection and maintenance with the aim to extend the pipeline lifetime, optimize flow efficiency and prevent failure has always been a magnifying concern of the industry in recent time. However, the existing methods poses several problems such as labour demanding, time intense, slow motion and inconsistency of sensor performance which leads to ineffectiveness of inspection task. Inline Pipeline Inspection Robot (PIR) is proved to be able to provide visual inspection, documentation, specific defects identification and reach inaccessible locations inside the pipeline. Hence, this project proposed to use wheeled type robot based on Lego Mindstorms robot for a faster mobility in horizontal pipeline. At the same time, Colour Sensor is installed for the simulation purpose to detect cracks that are represented with different tape colours, such that BLUE as slant crack, YELLOW as longitudinal crack and RED as transverse crack. Communication between two NXT bricks through Bluetooth connection has been established for data transmission. Camera is attached for the purpose of monitoring the video of real-time inner pipeline condition from another device outside of the pipe. The performance of robot and Colour Sensor under different lightning conditions, ideal speed, ideal distance from inner pipe and ideal inclination angle are studied and tested. The optimal distance between sensor and inner pipe wall under bright and dark conditions is proven to be 3.5cm. The robot performs the best at the speed of 20 with 180 degree sensor scanning. The accuracy of detecting slant, longitudinal and transverse cracks are 70%, 90% and 90% respectively. Furthermore, the robot is able to drive up and down the pipe at the angle ranged from -30º to +20º. As compared with the existing crawler type, this PIR has better performance

Development Of Linkage Mechanism For In-Pipe Robot

Pipeline inspection works has been done by human to observe and identify any leakage especially in industrial plant, chemical, natural gas and oil rig. This job environment is the most dangerous and high possibility to give hazard for workers in short or long term effect. To encounter this problem, in-pipe inspection robot has been introduced to replace the job and evolved to offer better performance compared with manual inspection. The purpose of this project is to design a in-pipe robot which is capable to move in the pipe and turning in stable condition in the pipe junction with various diameter in the market and industry. The design of robot including the mechanism on how to turn in the corner of the pipe and the area of contact for the robot to keep stable while moving through the pipeline. To make the robot mobile in the pipeline, control system is implemented in the robot’s body to rotate the wheels by using Arduino UNO as a “brain” that transmit electrical supply to locomotion of the robot. After conducting experiment, robot is observed can make turn in the pipe junction and make good mobility in straight pipe. However, suitable material selection at the ball wheels will give different effect towards grip performance on pipe wall. Thus, the suitable material is coating the rubber on ball wheels to ensure better gripping performance. This project can give contribution on the robot’s mechanism to passing through the juction of pipe

Development Of Linkage Mechanism For In-Pipe Robot

Humans have carried out pipeline inspection work to watch for and find any leaks, particularly in industrial facilities, chemical plants, natural gas pipelines, and oil rigs. This workplace is the most hazardous and has a high likelihood of endangering employees in the short or long term. In order to solve this issue, in-pipe inspection robots have been developed to take the position of workers and have improved performance over manual inspection. The goal of this project is to create an in-pipe robot capable of turning in a steady manner at pipe junctions of varying diameters found in commerce and industry. Robot design, including turning mechanism for pipe corner and surrounding area. The purpose of this project is to design an in-pipe robot which is capable to move in the pipe and turning in stable condition without wear and tear problem in the pipe junction with various diameter in the market and industry. The robot's design includes a mechanism for turning around a pipe corner and a point of contact to keep the robot stable as it travels through the pipeline. Using Arduino UNO as the robot's "brain" to transfer electrical supply to its locomotion, a control system is constructed in the robot's body to rotate the wheels and make it mobile in the pipeline