가변적 배관의 탐사를 위한 배관탐사로봇의 개발

Abstract

Recently, pipelines have a lot of dangerous accidents when they become old and corroded. To solve this problem, various methods has been studed for inspection of pipeline. Particularly, pipeline inspection methods using a robot are being studied. But these studies have been ended up simple research and development. Therefore, they are difficult to apply to industrial fields. In this thesis, a new inpipe inspection robot combining wheel type and wall-press type is designed and developed. The developed inpipe inspection robot is to inspect the sea-water pipelines such as horizontal pipeline, vertical linear pipeline and elbow with variable diameters from 250mm to 350mm. The method for the developed inpipe inspection robot is as follows. First, the inpipe inspection robot is designed by Solid works and simulated as a virtual pipeline. The inpipe inspection robot is made by duralumin. The pipeline inspection robot are composed of link part for contacting with wall of the inner pipeline, driving module part spaced in 120° on front and back of the body of the inpipe inspection robot, sensor attachment part for attaching infrared sensor of the body of the inpipe inpection robot, camera control part for recording state of the wall of the inner pipeline, and central axis for compressive force generated by tensional spring. Second, kinematical modeling is a relational equation between link structure displacement of vertical direction and moving displacement of prismatic joint and is used to get proper compressive force needed for inspecting the inner of pipeline. Third, a driving algorithm in elbow using distances between robot and elbow is proposed for preventing damage of hardware generated by overload when the robot drives in a desired elbow. Forth, a PID-controller is designed for each motor track a given velocity from the driving algorithm for the robot to drive in straight pipeline and elbow. Fifth, camera with function of Pan-Tilt records state of the inner of pipeline and it is controlled manually. Sixth, a control system using DSP TMS320F28335, RS-232, infrared sensor and camera is developed for driving the robot. Finally, the efficiency and the effectiveness of the proposed controller of pipeline inspection robot are verified by simulation and experimental results.