Development of Wall-Pressed in-Pipe Robot for Cleaning and Inspection Tasks

The aim of the project is to design a pipe cleaning and inspection robot for industrial applications. This is going to use very simple mechanism for cleaning the internal area of the pipe with changing diameters. The design is focusing on developing a bevel gear mechanism which can able to clean and translate the robot body into the pipe effectively. Here we are going to use only single DC motor for both cleaning and locomotion in the pipe. The inspection of the pipe is by using the ultrasonic sensor. The ultrasonic sensor is going to give the distance between the obstacle and the robot. According to the distance measured we are going to know about the bends and joints. The ultrasonic sensor is also going to give information regarding the waste materials accumulated in the pip