Design, analysis and development of pipeline inspection robot

Pipe line inspection is an important task where robotics could be applied extensively. Robotic pipeline inspection devices reported in literature are primarily of internal type, requiring special preparation of pipelines for their deployment and retrieval. In this context, robotic systems which can traverse along the external surface of the pipeline structure have the advantage of being able to do inspection without blocking the pipeline. In this paper we have done the design, analysis and development of an external pipeline inspection robot. The proposed system consists of a base with two arms on both sides. It has four wheels, two large hollow ones enclosing the complete base structure and two smaller ones at the end of each arm. For inspection, the system hugs the pipe along its outer periphery such that, only the wheels are in contact with the surface and then drives along the length of the pipeline. Approximate mathematical modelling of the system has been performed and its working has been analysed through an ADAMS-Matlab Cosimulation. Based on the results, a prototype has been manufactured, consisting of multiple digital servos for arm joints and dc motors for the wheels, along with on-board controllers and wireless camera. The system can be controlled through WiFi from a remote station. Field trials have shown that the robot is capable of inspecting pipelines with an outer diameter of about of 200 mm. The application potential of the system includes surface and exposed large diameter pipeline inspection in outdoor and industry.