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SmartCrawler: A Size-Adaptable In-Pipe Wireless Robotic System with Two-Phase Motion Control Algorithm in Water Distribution Systems †.
- Source :
-
Sensors (14248220) . Dec2022, Vol. 22 Issue 24, p9666. 20p. - Publication Year :
- 2022
-
Abstract
- Incidents to pipes cause damage in water distribution systems (WDS) and access to all parts of the WDS is a challenging task. In this paper, we propose an integrated wireless robotic system for in-pipe missions that includes an agile, maneuverable, and size-adaptable (9-in to 22-in) in-pipe robot, "SmartCrawler", with 1.56 m/s maximum speed. We develop a two-phase motion control algorithm that enables reliable motion in straight and rotation in non-straight configurations of in-service WDS. We also propose a bi-directional wireless sensor module based on active radio frequency identification (RFID) working in 434 MHz carrier frequency and 120 kbps for up to 5 sensor measurements to enable wireless underground communication with the burial depth of 1.5 m. The integration of the proposed wireless sensor module and the two-phase motion controller demonstrates promising results for wireless control of the in-pipe robot and multi-parameter sensor transmission for in-pipe missions. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 14248220
- Volume :
- 22
- Issue :
- 24
- Database :
- Academic Search Index
- Journal :
- Sensors (14248220)
- Publication Type :
- Academic Journal
- Accession number :
- 161002532
- Full Text :
- https://doi.org/10.3390/s22249666