A new pipe cleaning and inspection robot with active pipe-diameter adaptability based on ATmega64

摘要

In-pipe robot are important research topics to achive automated pipeline cleaning. However, the variety of pipe diameter restricted the development of various types of pipe robot. In this paper, a new pipe cleaning and inspection robot based on ATmega64 is developed for long distance cleaning of pipelines with different diameter series. Its physical design adopts a new umbrella-like open-and-close structure and a tail positioning system. This structural design makes it possible to realize the adaptation to pipe diameter and the stability of body posture. The entire robot system combines the two ways of auto run and remote control mode through RS485 bus, which make it real-time and flexible. According to the experimental, the robot have a highly adaptability and can work stably so that it has a high practical value and spread value.