Authors: Marala Bhavvyya Sree, Krishna Mohan VSS, Hrithik R, Hrudai HG, Nachikethan HD
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Pipelines have been a major source to transfer oil and gas from one destination to another as they are economical when compared to other transportation means. Usually metal pipes are used which can undergo corrosion, develop cavities and holes leading to leakage of fluid and develop irregularities on the inner surface. And therefore require proper periodic maintenance. The inspection of pipes is difficult as they carry toxic chemicals, fluids and most of the time have small internal diameter or bends and also usually underground which become inaccessible to humans. This brings the need to develop an inspection device.
II. PROBLEM STATEMENT
a. This mechanism was the best suited for our application because of the individual spring which is the only type which would help in turning through bends in pipe.
b. It also has lesser moving parts than the other types.
c. It can be used for a wide range of pipe diameters.
d. Better stability, control, grip inside the pipe.
A. For Vertical Movement of Robot
C. Electric Circuit
The brain of the system is the Arduino Uno which stores all the codes and works along with other modules. The three motors on each arm work simultaneously and are driven by a motor controller with which the speed and the direction of the motor can be controlled.
The LED lights for visibility are connected to the digital pins of the board.
VGA CMOS Camera Image Sensor Module is used to detect the defects on the walls of the pipes and the data is transmitted to the on site engineer for further processing .The entire system is powered by a 12V 10000 mAh lithium Ion Battery and has a duration of approximately one hour per full charge.
To execute the project, the entire timeline was divided into five phases- starting with the
VII. RESULTS AND DISCUSSION:
A. Mechanical Design
The team was able to design the different components of the robot and assemble it on Autodesk fusion 360.
B. Electrical Design
The team will be able to design and implement all the electronics on the robot with the help of an arduino UNO. The Arduino UNO being an open source helps to code and debug easily.
The major task will be to implement the camera module and the transmission of the data to the onsite engineers. For the transmission, there are 2 options- a) Bluetooth - which has good connectivity over short distance and is much cheaper b) ESP8266 wifi module - which has a wider range and can also be connected the internet for remote inspection.
C. Integration of Mechanical and Electrical Components
The integration will require basic wiring and following the standard operational procedures to implement the system. The major task will be to protect the electronics for the saline water to prevent short circuiting and at the same time make it easy to repair and replace.
VIII. FUTURE SCOPE
A. After our research on the various mechanisms, the team finalised on the wall pressed, three arm individual spring mechanism .The springs give independent movement to the arms which help in navigating bends and adapt to the varying diameter. B. In total, the robot has two identical structures with three arms, springs, gearbox and motors each and is attached with a Universal joint. C. The robot detects the surface defects with a wide angle camera (with night vision) and transmits the live footage to the inspector outside. The camera pivots about a point powered servo motors to cover the range of the hemisphere and is controlled by the inspector with a joystick.
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Copyright © 2022 Marala Bhavvyya Sree, Krishna Mohan VSS, Hrithik R, Hrudai HG, Nachikethan HD. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.