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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 (Basel, Switzerland) [Sensors (Basel)] 2022 Dec 09; Vol. 22 (24). Date of Electronic Publication: 2022 Dec 09. - 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.
Details
- Language :
- English
- ISSN :
- 1424-8220
- Volume :
- 22
- Issue :
- 24
- Database :
- MEDLINE
- Journal :
- Sensors (Basel, Switzerland)
- Publication Type :
- Academic Journal
- Accession number :
- 36560035
- Full Text :
- https://doi.org/10.3390/s22249666