Design and Simulation of a Mobile Robot for Pipeline Inspection

摘要

This paper presents a mobile robot design that can be used to help the sanitation in wastewater centers, allowing us to inspect the unreachable and inaccessible drainage ducts, at the same time, can be used to visualize the pipeline interiors to find what causes the extrusions of the drainage. These devices can be adapted to certain sizes according to regulations and can be controller from a portable control station on the surface, either with remote access or via cable. The design should be adapted to the sewer structure to move on a certain surface and be handled easily, taking into account that the accessories and electrical appliances do not hinder the observation of the interiors in order to capture in detail what comes from a deeper and farther location.