Abstract
This paper presents the design, control, and implementation of a new in-pipe inspection robot named LH-6. This robot can spontaneously adapt its configuration while it is rolling in the pipeline. The constant contact of all wheels with the ground is ensured by a series of elastic spring in the middle of each supporting arm. By analyzing the wheel kinematics model of the supporting arms mechanism of rolling, the dynamic equation for the contact drive of the in-pipe robot is established, and according to the requirements of pre-commissioning condition, optimization of its control inputs is performed using optimal control approach. It provides speed and force control that allows the robot to properly balance its posture while the load can be distributed as evenly as possible on each contact wheel on the bottom of the robot for any situation of the pipeline. Finally, the robot is tested on different pipeline shapes in the field and proves its capability to adapt in real-time to the pre-commissioning pipeline.
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Li, H., Li, R., Wang, Y. (2021). Design and Control of In-Pipe Inspection Robot for Pre-commissioning. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_6
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