@article{ref1,
title="Design of wireless in-pipe inspection robot for image acquisition",
journal="Industrial robot, The",
year="2022",
author="Wu, Kunlun and Sang, Haifeng and Xing, Yanhao and Lu, Yao",
volume="50",
number="1",
pages="145-161",
abstract="PURPOSE Pipeline robots are often used in pipeline non-destructive testing. Given the need for long-range in-pipe inspections, this study aims to develop a wireless in-pipe inspection robot for image acquisition. <br><br>DESIGN/METHODOLOGY/APPROACH In this paper, an in-pipe robot with a new mechanical system is proposed. This system combines a three-arm load-bearing structure with spring sleeves and a half-umbrella diametric change structure, which can ensure the stability of the camera when acquiring images while maintaining the robot's flexibility. In addition, data were transmitted wirelessly via a system that uses a 433 MHz ultra-high frequency and wireless local-area network-based image transmission system. Software and practical tests were conducted to verify the robot's design. A preliminary examination of the robot's cruising range was also conducted. <br><br>FINDINGS The feasibility of the robot was demonstrated using CATIA V5 and MSC ADAMS software. The simulation results showed that the centre of mass of the robot remained in a stable position and that it could function in a simulated pipeline network. In the practical test, the prototype functioned stably, correctly executed remote instructions and transmitted in near real-time its location, battery voltage and the captured images. Additionally, the tests demonstrated that the robot could successfully pass through the bends in a 200-mm-wide pipe at any angle between 0° and 90°. In actual wireless network conditions, the electrical system functioned for 44.7 consecutive minutes. <br><br>ORIGINALITY/VALUE A wheeled wireless robot adopts a new mechanical system. For inspections of plastic pipelines, the robot can adapt to pipes with diameters of 150-210 mm and has the potential for practical applications.  Keywords: Pipeline transportation <p /> <p>Language: en</p>",
language="en",
issn="0143-991X",
doi="10.1108/IR-02-2022-0043",
url="http://dx.doi.org/10.1108/IR-02-2022-0043"
}