Design of PEIS: A Low-Cost Pipe Inspector Robot

Salvatore, Mario Mauro, Galloro, Alessio, Muzzi, Leonardo, Pullano, Giovanni, Odry, Péter and Carbone, Giuseppe (2022) Design of PEIS: A Low-Cost Pipe Inspector Robot. DUNAKAVICS, 10 (1). pp. 45-64. ISSN 2064-5007

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Abstract

This paper outlines the design of a novel mechatronic system for semi-automatic in-spection and white-water in-pipe obstruction removals without the need for destructive methods or specialized manpower. The device is characterized by a lightweight structure and high trans-portability. It is composed by a front, a rear and a central module that realize the worm-like lo-comotion of the robot with a specifically designed driving mechanism for the straight motion of the robot along the pipeline. The proposed mechatronic system is easily adaptable to pipes of various sizes. Each module is equipped with a motor that actuates three slider-crank-based mechanisms. The central module incorporates a length-varying mechanism that allows forward and backward locomotion. The device is equipped with specific low-cost sensors that allow an operator to monitor the device and locate an obstruction in real time. The movement of the device can be automatic or controlled manually by using a specific user-friendly control board and a laptop. Preliminary laboratory tests are reported to demonstrate the engineering feasibility and effectiveness of the proposed design, which is currently under patenting.

Item Type:	Article
Uncontrolled Keywords:	Detection; Robot; pipe inspection
Divisions:	Informatika Intézet > Számítógép Rendszerek és Irányítástechnikai Tanszék
Depositing User:	Gergely Beregi
Date Deposited:	23 Jun 2022 06:31
Last Modified:	23 Jun 2022 06:31
URI:	http://publication.repo.uniduna.hu/id/eprint/889
MTMT:	32635095

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