Smart-Spider: Autonomous Self-driven In-line Robot for Versatile Pipeline Inspection ⁎. Issue 8 (2018)

• Record Type: Journal Article
• Authors: Qu, Ying; Durdevic, Petar; Yang, Zhenyu
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 8(2018)
• Page Start: 251
• Page End: 256
• Publication Date: 2018
• Subjects: Pipeline inspection -- inline robot -- autonomous control -- flexible legs -- HMI interface; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.06.385
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This 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.