Development of Cleaning Device for In-pipe Robot Application

AbstractPipelines are essential tools for transporting water, oils, gases and sewer from one place to another. Pipelines are used to interconnect networks from one station to another that involved various diameter sizes and fittings to compensate intended directions. There are many issues that influenced performance of the pipelines namely aging, corrosion, cracks and use to clog up with debris, or sediments after long use. There are number of methods available to clean the inside of the closed pipeline namely traditional method like boiling, picking, alcohol and salt and cleaning kits, or tools kits such as wire and plunger or large-gauge snake. However, all the methods can over-stress older pipeline and cause leaks that make even more extensive repair procedures needed to fix the problem. Chemical fluid for pipe cleaning is also not suitable to all types of pipeline because the chemical can erode the pipe wall. Currently, service robot is the best solution that purposely developed to facilitate humans being activities including cleaning, inspection for cracks or repairing damage in pipeline. This paper intends to report about the development of cleaning device for in-pipe robot application. The development covers both software and hardware of the device. Significant experiment has been designed to validate the function of the device. It is proof that the device has successfully clean the soft and moderate clog. The success of the cleaning device can be attached to the in-pipe robot and the outcome is expected to assist pipeline cleaning operations. Thus, enable the pipelines to transport efficiently with minimum cost of operation

Development of In-Pipe Robot D300: Cornering Mechanism

Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90° pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300) has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target

Development of In-Pipe Robot D300: Cornering Mechanism

Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90° pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300) has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target