Design and Implementation of Pipeline Detection Robot with Three-Dimensional Scanning Capability

Abstract

To adapt to different application scenarios, the structure and execution components of pipeline robots need to be customized according to specific projects. Custom design requires a lot of time and manpower. Therefore, this paper proposes a pipeline robot based on network communication, which can achieve three-dimensional inspection inside pipelines with good expandability, reducing the development work for new projects and allowing for quick product updates. The hardware of the robot is designed around an ethernet switch controller, which connects communication modules and sensors, the expansion interface is reserved for further use. The software is based on the special workflow of pipeline detection robots and is designed around robot control - data acquisition - pipeline defect analysis. Testing in various scenarios showed that the design of the robot meets the functional requirements of pipeline detection as well as having good expandability.