Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe, cannot access small-diameter pipes, and their deployment incurs high costs for highly skilled operators. In this paper, we introduce a miniaturised mobile robot for pipe inspection. We present an autonomous control strategy for this robot that is effective, stable, and requires only low-computational resources. The robots used here can access pipes as small as 75 mm in diameter. Due to their small size, low carrying capacity, and limited battery supply, our robots can only carry simple sensors, a small processor, and miniature wheel-legs for locomotion. Yet, our control method is able to compensate for these limitations. We demonstrate fully autonomous robot mobility in a sewer pipe network, without any visual aid or power-hungry image processing. The control algorithm allows the robot to correctly recognise each local network configuration, and to make appropriate decisions accordingly. The control strategy was tested using the physical micro robot in a laboratory pipe network. In both simulation and experiment, the robot autonomously and exhaustively explored an unknown pipe network without missing any pipe section while avoiding obstacles. This is a significant advance towards fully autonomous inspection robot systems for sewer pipe networks.

Autonomous control for miniaturized mobile robots in unknown pipe networks

Development of an inchworm-like soft pipe robot for detection

Wireless motion and large capacity are two important characteristics for practical applications of the miniature robots, and become more challenging as the decrease of the robot size. Here, we proposed a tripodal miniature piezoelectric robot (TMPR) with size of 31 × 44 × 20 mm 3 and weight of 9.8 g. The prominent features were the square section piezo-leg arranged at a 45° angle and the supporting structure with a passive wheel. The former made the robot achieve bidirectional motions by only one signal; and the latter, inspired by land motion of seals, helped the robot increase the load capacity. Then, a small onboard power supply was developed, and the TMPR achieved wireless motions with maximum velocities of 146.0 mm/s (forward) and 93.1 mm/s (backward). In the wireless motion, the tested maximum load was 331.6 g, the load-to-weight ratio exceeded 33.8, and the cost of transport in the bidirectional motions were only 1.33 and 1.56, respectively; besides, the endurance time was more than 120 min powered by a 400 mAh battery. Moreover, the robot could operate in sloping or shaking pipelines, and collect information by equipping carrying a small camera, which exhibited much potential in application of small pipeline detection.

An Untethered Tripodal Miniature Piezoelectric Robot With Strong Load Capacity Inspired by Land Motion of Seals

Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot's kinematic characteristics, particularly the average translational speed. Methods: The simplified dynamic diagram of the robot's oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear's method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software. Results and discussion: The obtained results show the time dependencies of the robot body's basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions. 

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Incidents to pipes cause damage in water distribution systems (WDS) and access to all parts of the WDS is a challenging task. In this paper, we propose an integrated wireless robotic system for in-pipe missions that includes an agile, maneuverable, and size-adaptable (9-in to 22-in) in-pipe robot, “SmartCrawler”, with 1.56 m/s maximum speed. We develop a two-phase motion control algorithm that enables reliable motion in straight and rotation in non-straight configurations of in-service WDS. We also propose a bi-directional wireless sensor module based on active radio frequency identification (RFID) working in 434 MHz carrier frequency and 120 kbps for up to 5 sensor measurements to enable wireless underground communication with the burial depth of 1.5 m. The integration of the proposed wireless sensor module and the two-phase motion controller demonstrates promising results for wireless control of the in-pipe robot and multi-parameter sensor transmission for in-pipe missions.

/pdf/smartcrawler-a-size-adaptable-in-pipe-wireless-robotic-lztor07w.pdf

SmartCrawler: A Size-Adaptable In-Pipe Wireless Robotic System with Two-Phase Motion Control Algorithm in Water Distribution Systems

A Review: Technological Trends and Development Direction of Pipeline Robot Systems

Pipes, which are the main means of transporting resources, deteriorate over time, thereby leading to defects or accidents. Therefore, periodic inspection of pipes is required, and a pipe robot that moves and inspects the inside of a pipe is one of the solutions. Herein, we propose an inspection robot system capable of autonomous driving inside buried pipes. This robot is called a Multifunctional Robotic Caterpillar for in-pipe INSPECTion (MRCINSPECT) and has been developed for pipes with a 0.5-m diameter. The robot utilizes a caterpillar mechanism and a wall-press mechanism to ensure that it can drive on slopes and generate a high traction force. In addition, we developed a miter bend recognition method using contact sensor modules. Therefore, MRCINSPECT can autonomously navigate in accordance with the estimated pipe information, and simultaneously, an operator can check the robot’s location and pipe information in real time. We verified the performance of the robot system through indoor experiments and its field applicability through outdoor tests.

Autonomous Navigation of In-Pipe Inspection Robot Using Contact Sensor Modules

Medical data sampled through medical sensor nodes can provide services properly only when the data are not lost even during the fault of a home health gateway. The loss of medical data can be minimized if a sensor node, in which it is expected that there are the most saving spaces, is selected after medical sensor nodes tentatively conduct local save or communicate with each other during a fault when data cannot received. Furthermore, efficient saving techniques are necessary since the cycle for sampling information is different according to the type of medical data and a space for distributed saving is different for each apparatus. So, this research suggests an efficient distributed archiving protocol (DAP) for medical data sensor nodes, each of which has a diverse sampling cycle. In order to confirm the usefulness of DAP, DAP between sensor node and gateway was designed and materialized. An experiment was conducted using the materialized program and earned a high level of recovery rate (99.3%) and of accuracy rate, which confirms that sensor nodes can play their role during a temporary fault.

Distributed Archiving Protocol between the Medical Sensor Nodes for the Home Health Service

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A Review: Technological Trends and Development Direction of Pipeline Robot Systems

Autonomous Navigation of In-Pipe Inspection Robot Using Contact Sensor Modules

Distributed Archiving Protocol between the Medical Sensor Nodes for the Home Health Service