Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration

摘要

There is an obvious tendency towards increasing the information content of surveys of hard-to-reach objects at high altitudes through the use of remote-controlled robot crawlers. This can be explained by the reasonable desire of industrial objects owners to maintain their property: pipelines, containers, metal structures in operating technical condition, which contributes to reducing accident risks and increasing the economic efficiency of operation (optimization of repair planning, etc.) This paper presents the concept of a robotic device equipped with LIDAR and EMAT which can move over pipes from a diameter of 100 mm by using a special type of magnetic wheel. The robot uses convolutional neural networks to detect structural elements and classify their defects. The article contains information about tests held on a specially developed test rig. The results showed that the device could increase the information level of survey and reduce the labour intensity. In this work, we consider a prototype of the device which has not started mass operation at industrial facilities yet.