Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends

Sera, Fumiya; Kakogawa, Atsushi; Ma, Shugen

doi:10.1109/icamechs.2019.8861677

Cited by 5 publications

(2 citation statements)

References 6 publications

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“…Xiong Yi and colleagues (2019) designed a novel foam smart PIG for oil and gas pipelines with good pass-through capability to detect pipeline defects while performing pipeline cleaning. However, such robots' particular power source limits their application environments to sealed pipelines filled with flowing media [13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Study of a Small Robot for Mine Hole Detection

Ge,

Fang,

et al. 2023

Applied Sciences

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China is rich in coal resources, but complex hydrogeological conditions lead to difficulties in coal mining, including coal mine collapses, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mines in advance helps to reduce safety hazards and prevent coal mine accidents; however, the operation of existing coal mine hole detection technology is cumbersome, difficult to control, and encounters problems due to an insufficient depth of jacking. This paper designs a new type of small robot for mine hole detection. Firstly, we analyzed the function and structural design of the mine hole detection robot, designed a variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzed the mechanics of the critical parts using theoretical calculations. Secondly, using three-dimensional modeling software (Solidworks 2019), we established a structural model of the small robot for mine hole detection. After that, we designed a hardware circuit and control program for the robot and emphasized the safety design of the circuit, considering the presence of water and gas inside the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole-detection small robot were carried out. The experimental results show that the developed mine hole-detection small robot can adapt to working hole diameters from 65 mm to 100 mm and has a maximum working power of only 12 W and a maximum crawling speed of 3.96 m/min. The maximum crawling slope reaches 90°, which can meet existing mine hole inspection needs. This research provides theoretical and design guidance for developing mine hole-detection robots with substantial engineering practical reference values.

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Section: Introductionmentioning

confidence: 99%

Study of a Small Robot for Mine Hole Detection

Ge,

Fang,

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Xiong Yi and colleagues 2019 designed a Novel Foam Smart PIG for oil and gas pipelines with good pass-through capability to detect pipeline defects while performing pipeline cleaning. However, such robots' particular power source limits their application environments to sealed pipelines filled with flowing media [13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Study of Small Robot for Mine Hole Detection

Ge,

Fang,

et al. 2023

Preprint

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China is rich in coal resources, but the complex hydrogeological conditions lead to difficulties in coal mining, such as coal mine collapse, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mine in advance helps to reduce safety hazards and prevent coal mine accidents, for the existing coal mine hole detection technology operation is cumbersome, not easy to control, and insufficient depth of jacking prob-lems, this paper designs a new type of mine hole detection small robot. Firstly, this paper ana-lyzes the function and structural design of the mine hole detection robot, designs the variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzes the mechanics of the critical parts through theoretical calculations; secondly, based on the three-dimensional modeling software, established the structural model of the small robot for mine hole detection; after that, designed the robot's hardware circuits and control pro-grams for the presence of water and gas inside the mine hole, highlighting the need to carry out a new type of mine hole detection small robot. After that, we designed the robot's hardware circuit and control program, giving particular emphasis to the safety design of the circuit for the pres-ence of water and gas inside the mine hole of the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole detection small robot are carried out. The experimental results show that the mine hole inspection small robot realized by this design can adapt to the working hole diameter from 65 mm to 100 mm, the maximum working power is only 12 W, and the maximum crawling speed is 3.96 m/min. The maximum crawling slope reaches 90°, which can meet the actual mine hole inspection needs. The research can provide theoretical and design guidance for developing the mine hole detection robot with substantial engineering practical reference value.

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