Design of an ex-proof untethered in-pipe inspection robot

摘要

In this work, the design of a natural gas pipeline inspection robot that generates energy from gas flow, performs onboard image processing and handles propulsion through biometal fiber (BMF) driven arms is presented. For an in-pipe inspection of an explosive gas filled pipe to be performed properly in real operational conditions, the robot should be free of external cable to prevent gas leakage from the pipe, ex-proof to prevent any spark that can lead to a fire or explosion, and adaptive to highly varying pipe diameters and tight curvatures on L and T joints. Novel solutions that address the mentioned requirements are proposed for systems of propulsion, energy source, data acquisition and communication. Design of robot that combines all these solutions is explained in detail.