Towards inspection and cleaning on the inner face of GIS pipelines: design, control, and implementation of negative omnidirectional wall-climbing robot

Yisheng Yu; Yu Yan; ZhanFan Zhou; Yunya Zhou; Biao Wang; Mai Peng

doi:10.1117/12.2645903

23 November 2022 Towards inspection and cleaning on the inner face of GIS pipelines: design, control, and implementation of negative omnidirectional wall-climbing robot

Yisheng Yu, Yu Yan, ZhanFan Zhou, Yunya Zhou, Biao Wang, Mai Peng

Author Affiliations +

Proceedings Volume 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022); 1230229 (2022) https://doi.org/10.1117/12.2645903
Event: Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 2022, Guangzhou, China

Abstract

According to the needs of pipeline inspection and cleaning in power industry, an omni-directional motion robot with a negative pressure adsorption is proposed. The robot can not only achieve the stable adsorption and movement of the vertical walls, but also has a brief structure, and high flexibility. Firstly, in consideration of the actual performance requirements of the project, we determined the scheme selection of different modules of the robot. Secondly, Maxwell module of ANSYS finite element analysis software was used to study the adsorption device, and an adsorption device with stable adsorption was obtained, which ensured the safe and stable operation of the robot on the vertical wall. Thirdly, the hardware system and control system of the robot are determined and the construction of the robot system is completed. Then the dynamics of the robot are analyzed, and the simulation is carried out according to the analysis. It is verified that under the control of PID algorithm, the acceleration of the robot can be in a stable state finally, which ensures the robot is stable in the process of motion. Finally, we finished experiments of the robot and verified the robot is stable whenever it works on walls.

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Yisheng Yu, Yu Yan, ZhanFan Zhou, Yunya Zhou, Biao Wang, and Mai Peng "Towards inspection and cleaning on the inner face of GIS pipelines: design, control, and implementation of negative omnidirectional wall-climbing robot", Proc. SPIE 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 1230229 (23 November 2022); https://doi.org/10.1117/12.2645903

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KEYWORDS

Fluctuations and noise

Geographic information systems

Inspection

Absorption

Control systems

Adsorption

Robotic systems

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