文章基本信息

标题：Smart-Spider: Autonomous Self-driven In-line Robot for Versatile Pipeline Inspection ⁎
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作者：Ying Qu ; Petar Durdevic ; Zhenyu Yang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：8
页码：251-256
DOI：10.1016/j.ifacol.2018.06.385
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents the design and development of a conceptual prototype of an autonomous self-driven inline inspection robot, called Smart-Spider. The primary objective is to use this type of robot for offshore oil and gas pipeline inspection, especially for those pipelines where the conventional intelligent pigging systems could not or be difficult to be deployed. The Smart-Spider, which is real-time controlled by its own on-board MCU core and power supplied by a hugged-up battery, is expected to execute pipeline inspection in an autonomous manner. A flexible mechanism structure is applied to realize the spider’s flexibility to adapt to different diameters of pipelines as well as to handle some irregular situations, such as to pass through an obstacled areas or to maneuver at a corner or junction. This adaption is automatically controlled by the MCU controller based on pressure sensors’ feedback. The equipped devices, such as the selected motors and battery package, as well as the human-and-machine interface are also discussed in detail. Some preliminary laboratory testing results illustrated the feasibility and cost-effective of this design and development in a very promising manner.
关键词：KeywordsPipeline inspectioninline robotautonomous controlflexible legsHMI interface