압착가능한 바퀴형 배관탐사로봇의 관로 주행 제어에 대한 연구

Abstract

Various pipeline inspection robots have been researched so far. However, there are few control methods of the pipeline inspection robots. Therefore, research on control methods of the pipeline inspection robots is needed. This thesis proposes the development results of a compressible wheeled type of pipeline inspection robot driving in pipeline with curved pipelines with mm pipeline. The developed pipeline inspection robot can be used to inspect the sea-water pipe lines such as horizontal, vertical and elbow pipelines with variable diameters from to . To do this, the followings are done. First, the pipeline inspection robot is designed by Solid works and then manufactured. The designed pipeline inspection robot consists of driving part and sensor part. The driving part is composed of two modules such as passive module and active module that produces pressing force to the inside wall of the pipeline, and universal joint connecting them. The sensor part is composed of ultrasonic sensors and camera sensor. Three ultrasonic sensors are used for detecting curvature of pipe line and wheel position, whereas the camera sensor is used for detecting the inside of the pipeline and obtaining data of obtained from the inside of pipeline in real time. Both the active and passive modules consist of a body, 3 driving modules and 3 link-legs that are spaced at an angle of 120 to each other, The link-legs in the active and passive modules are extended and shrunk by the rotation of rotating screw that is driven by screw motor and compression spring to produce the pressing force to the inside wall of the pipeline, respectively. The body of the active module consists of front body, rear body, rotating screw, gear motor and screw motor; whereas the body of the passive module consists of front body, rear body, spring and axis shaft. Second, kinematic modeling of pipeline inspection robot and DC motor modeling are designed. Third, a driving algorithm for driving the robot in a curved pipeline is proposed. This driving algorithm is used to design wheel reference velocities and robot reference velocities by detecting curvature of the curved pipeline and wheel position depending on the posture of the robot using 3 ultrasonic sensors. Fourth, based on the kinematic modeling and the DC motor modeling of the pipeline inspection robot, an optimal controller based on LQR method is designed to track the wheel reference velocities and robot reference velocities in order to drive well in the curved pipeline. Fifth, a control system using computer, ATmega8 microcontroller, RS232 communication channel, ultrasonic sensors and camera is developed for driving the proposed pipeline inspection robot. Sixth, the simulation and experimental results are shown to prove the effectiveness and the applicability of the designed driving algorithm and the proposed controller. Finally, driving experimental results of the inpipe inspection robot in pipeline are presented and detecting images of pipeline wall obtained from camera sensor are shown.