Abstract:
Pipelines are an integral part of the infrastructure, whether it be in Oil and Gas,
Municipality or any other industry. The pipe network has increased over the past years,
and increased usage has led to issues in pipelines such as corrosion, pitting, leaks etc.
Such issues in the piping network can result in the loss of transported materials and
leaks, which can negatively impact the environment.
Thus, it is important to regularly inspect these pipelines, which usually requires
significant manpower. However, conditions might expose humans to hazardous
substances, confined spaces and many other risks, and may even present a case where a
pipeline section is inaccessible to direct human access.
Many major companies already have robots to provide services for clients, and the
industry is estimated to be worth 4 billion dollars by 2028. [1] Thus, it is important to
develop In Pipe Inspection Robots indigenously.
Literature review showcased that the in-pipe inspection robots are classified majorly on
their propulsion types – wheel driven, tracked, PIG, Screw Driven, Legged, Inch Worm
or Snake robots. Keeping in view complexity and costs, we opted for a 6 linked robot
propelled by 3 driving wheels and 3 wheels for support.
Initial testing of our final design showed promising results in achieving the objectives
we had aimed for, and the design successfully adapted to changing pipe diameters,
transversed smooth curves (45o) and also traveled in vertical pipelines.
Further improvements on the prototype are possible, such as integrating an ML
algorithm for pipe inspection, further mechanical modifications to meet requirements
(such as remote operations through Wi-Fi/Bluetooth).
