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Κατασκευή πρωτότυπου μη επανδρωμένου ρομποτικού συστήματος για την επιθεώρηση μεταλλικών αγωγών

Tsatsarounos Stylianos

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Summary

The purpose of the current diploma thesis is the design, programming and construction of a prototype robotic pipeline inspection vehicle. The main features of this low cost vehicle include its capabilities regarding identification, mapping and evaluation of the health of any metal pipeline interior with a diameter greater than 300mm and any metal surface through the transmission of high quality live feed imagery and video. The vehicle can be operated both in wireless and Ethernet-connection modes, while integrated magnets enable navigation of the vehicle under any inclination upon metal surfaces. The operation of the vehicle requires its use in a secure ignition and corrosion environments, as long as the system does not come into direct contact with water.The development of such a robotic system contributes decisively in many engineering domains and applications, such as geosciences, oil and gas industry, environmental protection from leaks, and search and rescue applications.The construction of the prototype used common three dimensional prints from recyclable materials. The inspection system allows wireless data transmission and two-way communication to the base station. The operation time of the vehicle is estimated at six hours carrying a maximum weight of 1 kg, for the installed equipment.The experimental procedure took place on various metal surfaces (horizontal and vertical), including pipelines, construction beams and vertical walls. During this process the data collected were assessed in order to identify possible failures for the metal surfaces.

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