fully autonomous pipeline cleaning robot safuan naim bin mohamad
Contents
1. Program Memory Enabled v Source None Empi Etasedi 4 Memory Source Program Memory EEPROM Data Auto lmport Hex en Iv wa 00 FF FF FP FF FF FP FF FP FF PF FF FF FP FF FF FRA Bede 10 PF FF FF FF FP FF FF FF FF FF FF FF FF FF OFF port Hex 20 FF FF FF FF FF PP FF PP FP FF FF FF FF FF FF FF EEPROM Data Memory 30 FF FF FF FT FF FP FP FP FE FP FF PP EP FP FP Py PICKit 2 Figure 4 25 The structure of PICkit 2 programmer Fie Device Family Programmer Tools View Help PIC18F Configuration Device PIC18F8720 Configuration 2200 DEOO 0183 0001 UserIDs FF FF FF FF FF FF FF FF art ee SAME Checksum 786D NS VDD Target man oo Figure 4 26 The program is successful load to MCU OSCCAL BandG ap 46 CHAPTER 5 RESULT AND ANALYSIS 5 1 The Movement of the Pipeline Water Cleaning Robot The first step in the analysis process is to identify the functionality of the Fully Autonomous Pipeline Cleaning Robot Analysis conducted based on the objectives of the project which are to build a fully autonomous pipe cleaning robot to design a robot that can move horizontally and vertically in the pipeline to construct a robot that can minimize the mud inside the pipe As a result Figure 5 1 shown algorithm of Fully Autonomous Pipeline Cleaning Robot movement Once the start button is push the robot will start moving inside the2. 100K typical Data EEPROM memory 100 000 erase write cycle min for industrial temperature range 1M typical e Self reprogrammable under software control e Power on Reset POR Power up Timer PWRT and Oscillator Start up Timer OST e Programmable code protection e In Circuit Serial Programming ICSPTM e Programmable Brown out Detection and Reset generation e Selectable Power Management modes Sleep Idle and Alternate Clock modes The MCU main circuit consists of crystal and 5 volts supply from voltage regulator Crystal is connected to the OSC1 pin 13 and OSC2 pin 14 pins to establish oscillation Figure 4 17 shows the schematic diagram PIC microcontroller circuit Pins 11 21 32 and 40 are connected direct to 5 volts voltage regulator and pins 12 20 31 and 39 are grounded The configuration of crystal is shown in the Figure 4 15 VDD is 5 volts regulated voltage from voltage regulator circuit A 15 MHz crystal is choose as the oscillator to ensure the execution time of each instruction is fast enough By referring to dsPIC30F4011 datasheet it is necessary to connect 15 33picoFarad ceramic capacitors to increase the stability of the oscillator OSC1 L2 m Cap Semi 33pF GND OSC2 OSC2 Cap Sem 33pF GI DSPIC30F4011 20E P Figure 4 17 The schematic diagram PIC microcontroller circuit 4 45 Infra Red Sensor 38 Infra red sensor is used to detect the obstacle in front
3. 544 I Tech Vienna Austria EU September 2007 12 Retrieved on February 17 2012 http www microchip com wwwproducts De vices aspx 13 Cytron Technology 2010 User Manual UICOOB USB ICSP PIC PROGRAMMER Brochure Cytron Technologies Sdn Bhd 58 APPENDICES APPENDIX A Gantt chart First Semester 2011 2012 Weeks Project Proposal Background Study Choosing and buy component Design wheel mechanism Build body Design build circuit Presentation Report 213 14151678 9 10 11 12 13 M 15 ms EINEN 59 Gantt chart Second Semester 2011 2012 Weeks 112134 3 Robot Building a Parts Assembly 10 11 12 13 14 15 C 1 No Programming Testing Modification tuned the robot Demo Preparation Report Writing Presentation Thesis Compilation
4. cleaning methods Besides the objective of research problem statement scope of project and thesis structure also present in this chapter Chapter 2 will focus on literature review on many projects that have been built before this by different authors around the world The literature review is useful in giving the insight ideas for the Fully Autonomous Pipeline Water Cleaning Robot project undertaken Chapter 3 presents the research methodology and also the Gantt chart for the following work of project Chapter 4 describes the mechanical and electronic design and interface circuit used in this project The microcontroller circuit and other related circuits suchas DC motor will be discussed The robot control programming process starting from flowchart writing program and downloading it into the microcontroller via USB programmer will also been presented Chapter 5 discusses on the result findings and the assessment of the robot The robot will be analyzed to measure its effectiveness and to ensure the objectives successfully achieved Throughout the analysis stage strengths and weaknesses of the robot were identified Chapter 6 presents the conclusion of the whole project and recommendation for future work CHAPTER 2 LITERATURE REVIEW 2 1 Introduction Literature review is a study from previous people about the similar work to his or her It is very important for the researcher to know the problemand how other people s
5. of 80 100 mm pipelines 6 This robot consists of a main body three linkage structures and caterpillar wheel parts as shown in Figure 2 10 It length is 70mm and the exterior diameter changes from 80mm up to 100mm The main board located at the main body consisting of a micro controller Atmega8 a motor drive a sensor processor Atmegal28 and a linkage structure connects the main body to a caterpillar wheel part Each caterpillar wheel contains a 14 micro DC motor The body is constructed as a triangular shape which is adequate to support the three linkage structures For each chain two four bar linkage structures similar to scissors are connected to the hinge joints grounded at the main body as show on Figure 2 10 And the hinges are connected by a spring shaft The deflection of the spring allows foldable characteristic of the linkage structure when the caterpillar wheel contacts the rough surface of the pipeline ili sa Silicon wheel v Figure 2 9 Pipeline inspection robot 6 A micro DC motor equipped with an encoder is enclosed inside the caterpillar wheel parts and its length is 10 mm The function of the encoder is for measuring the moving distance of the robot The robot mechanism consists of three pairs of caterpillar They are operated by micro DC motor Figure 2 9 shows that the two robot modules are connected by a spring so that a smooth steering can be achieved at T branches or elbows Each sub chain is desig
6. of the robot Figure 4 18 shows the schematic of infra red sensor It consists of transmitter and emitter The transmitter will send the light If there are any obstacle or object the light will deflected back and the emitter will receive the light The comparator LM324 is used to compare between the input from the emitter and variable resistor Figure 4 19 show the principle of the comparator Then the output from comparator will be send to the microcontroller a Transmitter and receiver of infra red sensor 39 b Variable resistor for infra red sensor RII K LED 3010 LM3MCOMPARATOR 330ohm c Comparator LM324 Figure 4 18 Schematic circuits for infra red circuit 5V V 1 4 LM324 Vin gt Vref Vout 5V Vref Vin lt Vref Vout Ov Vin Figure 4 19 Principle of the comparator 40 4 4 6 UICO00B USB ICSP PIC programmer UICOOB USB ICSP PIC programmer is designed to program popular Flash PIC MCU which includes most of the PIC family Besides 8 bits it can also program 16 bits and 32 bits PIC MCU On board ICSPTM In Circuit Serial Programming connector offers flexible methods to load program UART Tool and Logic Tool It supports on board programming which eliminate the frustration of plug in and plug out of PIC MCU This also allow user to quickly program and debug the source code while the target PIC is on the development board Since USB port is commonly available
7. requirement of the robot a b 23 d f g Figure 4 1 Classification of in pipe robot a Pig type b Caterpillar type c Wall press type d Wheel type e Screw type f Inchworm type g Walking type 11 After studied the related references the combination between caterpillar type and wall press type was choose to design the robot The robot has four caterpillar tracks and each of them will be supported by the foldable lingkage The Fully Autonomous Pipeline Cleaning Robot was built based on several mechanical components There are body foldable linkage caterpillar track and foldable cleaning mechanism For the body most of it is built from acrylic sheet This is because the acrylic is easy to cut and rustproof Furthermore the lightweight of acrylic play important role to ensure the robot can climb vertically 4 0 Fully Autonomous Pipeline Cleaning Robot Design Before the actual robot is built the CAD drawing is used to design the robot By using Solid Work the initial design of the robot was design as shown in Figure 4 2 From the design the actual size of the robot can be determined Cleaning Mechanism Caterpillar Track Figure 4 2 The initial robot design using CAD drawing Figure 4 3 shows the final whole design of Fully Autonomous Pipeline Cleaning Robot from front view back view and side view and also the length and width of the robot in each
8. robot Berus ini akan berputar untuk mencuci lumut Proses mencuci akan bermula jika penderia mengesan sebarang kotoran atau lumut Jika penderia tidak mengesan sebarang kotoran proses mencuci tidak akan berlaku DsPIC30F4011 digunakan sebagai pengawal untuk mengawal pergerakan robot ini Penderia yang digunakan di dalam projek ini adalah penderia infra merah Penderia ini digunakan untuk mengesan sebarang halangan yang berada di hadapan robot Jika terdapat halangan robot akan mengundur secara automatic sehingga keluar daripada paip CHAPTER TABLE OF CONTENTS TITLE TITLE PAGE DECLARATION DEDICATION ACKNOWLEDGMENT ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF FIGURES LIST OF TABLES LIST OF SYMBOLS AND ABBREVIATION LIST OF APPENDICES INTRODUCTION 1 1 Back ground 12 Problem Statement 1 3 Objectives 1 4 Scope of the Project 1 5 Thesis Layout LITERATURE REVIEW 22 Introduction 2 2 OH s Pipe Cleaning Robot OPC vi PAGE ii iv vi xii xiii xiv KRW Q a Un 2 3 Pipeline Water Cleaning Robot 2 4 Wire Rope and Chain Scraper 2 5 Multifunctional Robot for In pipe Inspection MRINSPECT IV 2 6 Pipe Pigging Robot 2 7 Pipeline Inspection Robot 2 8 Pipeline Jet Cleaning Robot 29 Non Autonomous Robots 2 10 Semi Autonomous Robots 2 11 Fully Autonomous Robots METHODOLOGY 3 1 Overview 3 2 Project Workflow 3 3 Project Plan MECHANICAL AND ELECTRONIC DESIGN 4 1 Mechanical Design 4 2
9. robot usually carries all the required modules that are required for it to assess and process the condition of the pipeline Only a few of the fully autonomic robots have been developed for pipeline inspection KURT 10 and are two such robot platforms for pipeline inspection that are designed for fully autonomic navigation in more or less cleaned pipelines with diameters ranging from 300 mm to 600 mm and under dry weather conditions KURT is able to navigate to ground level pipe junctions was designed for inspecting pipelines assisted by maps uploaded into the robot MAKRO consists of six segments connected by five motor driven active joints these components enable it to simultaneously climb a step and turn in the pipeline junctions MAKRO was designed to establish that robots can navigate themselves autonomously inside sewer pipelines Figure 2 15 Examples of fully autonomous robots 19 CHAPTER 3 METHODOLOGY 3 1 Overview The project is start by collecting information related to the water pipeline cleaning robot or the robot that move inside the pipe Some research from previous pipeline cleaning robot has been done to get more information related to the topic The research about pipeline inspection robot also gives the additional information in designing the robot The idea and concept are important to make sure the robot is suitable for it application and can working properly in the pipe The rese
10. wire brush The high pressure water jet is not very suitable because it use high pressure to operate Working in high pressure is very dangerous Furthermore the wire to supply the water will minimize the distance that can be travel by the robot Finally the decision to use the wire brushes was decided It is because the wire brushes can remove the mud effectively Besides it also low cost and easy to maintenance Working with mud also has other problem The mud is wet and can cause damage to the electronic part inside the body of the robot In order to avoid this problem silicon is used to seal the robot completely and make the robot water proof 54 6 2 Suggestion and Future Development There is still a lot of space for improvement and enhancement for this Fully Autonomous Pipeline Cleaning Robot project This robot covers a very large area which needed creativity talent and dynamic mentality to fully optimize the technology knowledge and inspiration of the nature The design of the robot can be improve to allow the robot can move in different size of pipe To make this happen the circuits of the robot need to be small as possible The small circuits allow the designer to design smaller body for the robot Another technology that can be added is vision system The vision system such as water proof camera can be the eye of the robot to send the vision to the main controller So the robot can monitor if there are any defect on t
11. 2 Table 4 1 The specification of the metal gear motors when running at 6V gearmotor gear ratio free run RPM free run current stall current nini 301 Micro 301 440 40 mA 360 mA 4103 0 35 10 150 1 Micro 150 1 85 40 360 mA 15 14 035 10 298 1 Micro 296 1 45 30 360 mA 25118 035110 4 4 8 Power Supply The power supply part is the most critical unit in an electronic project Two rechargeable LiPo Lithium Polymer 7 4V 1000mAh batteries is used to supply power to the Pipeline Water Cleaning Robot The LiPo battery is quite small light and has longer life Figure 4 22 shows the lithium polymer battery This battery was connected to the voltage regulator to supply 5V to the microcontroller Another battery is connected to the motor driver to support the motor It is very important to used different battery for main board and motor driver because the motor required a lot of current in order to move Figure 4 22 The lithium polymer battery 43 4 5 Software Design Basic process of writing software for the Fully Autonomous Pipeline Cleaning Robot is showed in Figure 4 23 below Desire robot movement Writing program Compile the program NO Download to the microcontroller Test the robot movement Figure 4 23 Process of writing software 4 5 1 Program Download By using MPLAB software the hex file was created as shown in Figure 4 24 Then the hex file will upload into the microcontroller using PIC
12. FULLY AUTONOMOUS PIPELINE CLEANING ROBOT SAFUAN NAIM BIN MOHAMAD UNIVERSITI TEKNOLOGI MALAYSIA I hereby declare that I have read this thesis and in my opinion this thesis is sufficient in terms of scope and quality for the award of the degree of Bachelor of Engineering Electric Mechatronic Signature EE M eis DE Name of Supervisor Prof Dr Shamsudin bin Hj Mohd Amin Date 24 JULY 2012 FULLY AUTONOMOUS PIPELINE CLEANING RO BOT SAFUAN NAIM BIN MOHAMAD A thesis submitted in partial fulfillment of the requirements for the award of the degree of Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia JULY 2012 DECLARATION T declare that this thesis entitled Fully Autonomous Pipeline Cleaning Robot is the result of my own research except as cited in the references The thesis has not been accepted for any degree and is not concurrently submitted in candidature of any other degree Tsar Name SAFUAN NAIM BIN MOHAMAD Date 274 JULY 2012 Specially to my belo ved parents siblings and friends for their eternal support encouragement and inspiration throughout my journey of education ACKNOWLEDGEMENT I would like to give my sincere appreciation to my supervisor Prof Dr Shamsudin bin Hj Mohd Amin for encouragement advices and guidance that have led to the success of this project I would also like to take t
13. Fully Autonomous Pipeline Cleaning Robot Design 4 3 Fully Autonomous Pipeline Cleaning Robot Platform 4 3 1 Caterpillar Track 4 3 2 Body and Foldable Linkage 4 3 3 Foldable Cleaning Mechanism 4 3 4 Fully Autonomous Pipeline Cleaning Robot 4 4 Flectronic Design 4 4 1 Main Board Circuit 4 4 2 Voltage Regulator 4 4 3 Motor Driver Circuit 444 Dspic30f4011 Microcontroller Unit MCU 4 4 5 Infra Red Sensor 12 13 16 16 17 18 19 19 20 20 22 22 24 27 27 28 29 29 32 32 34 35 36 38 vii 4 4 6 UICOOB USB ICSP PIC programmer 4 4 7 Micro Metal Gear Motor 4 4 8 Power Supply 4 5 Software Design 4 5 1 Program Download RESULT AND ANALYSIS 5 1 The Movement of the Pipeline Water Cleaning Robot 5 2 Robot Ability 5 2 1 Ability to Move Horizontally and Vertically 5 2 2 Ability to Clean the Mud DISCUSSION AND CONCLUSION 6 1 Discussion 6 2 Suggestion and Future Development 6 3 Conclusion REFERENCES Appendix A viii 40 41 42 43 44 46 48 48 50 53 53 54 54 56 58 59 FIGURE NO 1 1 1 2 2 1 22 23 24 2 5 2 6 a b 2 2 8 2 9 2 10 2 11 2 12 2 13 2 14 2 15 3 1 4 1 4 1 4 1 b 4 1 c 4 1 d LIST OF FIGURES TITLE The pipe with mud The pipe without scale OH s Pipe Cleaning Robot OPC The structure of pipeline water cleaning robot The position of the wheel The chain scraper Photo of MRINSPECT IV Structure of the linkage Pipe pig
14. H RE5 AN7 RB7 Lj 9 O 32 1 VDD AN8 RB8 10 Co 31H vss Von 11 e 30H C1RX RFO vss 0 12 E 29 C1TX RF1 OSC1 CLKI 13 o 28 H U2RX CN17 RF4 OSC2 CLKO RC15 14 27 U2TX CN18 RF5 EMUD1 SOSCI T2CK U1ATX CN1 RC13 O 15 26 O PGC EMUC U1RX SDI1 SDA RF2 EMUC1 SOSCO T1CK U1ARX CNO RC14 16 25 O PGD EMUD U1TX SDO1 SCL RF3 FLTA INTO RE8 17 24H SCK1 RF6 EMUD2 OC2 IC2 INT2 RD1 18 23 EMUC2 OC1 IC1 INT1 RDO OC4 RD3 O 19 22 1 OC3 RD2 vss 20 21 VDD Figure 4 16 dsPIC30f4011 pin notation 12 High Performance Modified RISC CPU Modified Harvard architecture C compiler optimized instruction set architecture 84 base instructions with flexible addressing modes 24 bit wide instructions 16 bit wide data path 16 x 16 bit working register array Up to 30 MIPs operation DC to 40 MHz external clock input 4 MHz 10 MHz oscillators input with PLL active 4x 8x 16x Peripheral and External interrupt sources 8 user selectable priority levels for each interrupt 4 processor exceptions and software traps Primary and Alternate interrupt Vector Tables Peripheral Features High current sink source I O pins 25 mA 25 mA Optionally pair up 16 bit timers into 32 bit timer modules I2C module supports Multi Master S lave mode and 7 bit 10 bit addressing Trigger for synchronized A D conversions 37 Special Microcontroller Features e Enhanced Flash program memory 10 000 erase write cycle min for industrial temperature range
15. I oo DX AL NIT mm Ez PANATA zZ Directing Device Pasanin aasang a aakala 3 NARRA Figure 2 8 The pipe pigging robot structure 13 The working cycle of the mechanism for pipe pigging robot is as follows First the turbine is driven to rotate by the fluid which will then drive the transmission shaft to rotate at the same speed or via a reduction or step up gearbox Second if the peg of the nut is in the forward driving screw thread the nut will be pushed forward to the left in Figure 2 8 because the brushes attached to the nut can slide along the pipe and the brushes on the body of the pig will hold its position against the pipe wall When the nut reaches the end of the screw thread the peg of the nut is moved in a continuous groove into the backward screw thread Consequently the nut will be held stationary against the pipe by means of its brushes Since the shaft will continue to rotate the pig body will begin to move forward In the design of this new self drive pig several key problems are in need of addressing including Under what conditions the pig can move upstream or downstream How fast the pig will move upstream or downstream How much capacity the pig can have to do other work Which design parameters are crucial to the performance of the pig 2 7 Pipeline Inspection Robot Pipeline Inspection Robot as shown in Figure 2 9 is a reconfigurable robot that can be used for inspection
16. OF APPENDICES TITLE Gantt Chart First Semester 2011 2012 Gantt Chart Second Semester 2011 2012 xiv PAGE 58 59 CHAPTER 1 INTRODUCTION 1 1 Background The pipeline water system cleaning is very important in order to maintain the efficiency of the pipeline The continuous used of pipeline water system can cause mud or scale inside the pipe The mud or scale can reduce the efficiency of water flow and damage the pipe The mud also can reduce the diameter of the pipe and change the water flow rate as shown in the Figure 1 1 In several applications such as water cooling system the flow of the water is very important to determine the water needed The mud can cause the error in the flow meter reading So the pipe must be clean as possible as shown in Figure 1 2 The traditional cleaning methods such as manual cleaning chemical cleaning and mechanical cleaning cannot meet the need of cleaning the pipe well The manual cleaning is the method that used in the industry nowadays The pipe was cleaned by using man power to scrub the pipe with the wire brush The wire brush was attached on the tip of the long rod and the worker will scrub the pipe until it cleaned This method is really tiring and time consuming Furthermore this method can clean the pipe with limited distance and can only clean on straight pipe High pressure water jet is one of the cleaning methods The advantages of using high pressure water jet is low cost high c
17. and widely used on Laptop and Desktop PC UICOOB is designed to be plug with US B connection 13 This programmer obtained its power directly from USB connection thus no external power supply is required making it a truly portable programmer This programmer is ideal for field and general usage UICOOB offers reliable high speed programming and free windows interface software UICOOB USB ICSP PIC programmer as shown in Figure 4 20 is used to transfer the programming from computer into the PIC microcontroller There are used certain pin at microcontroller for the connection to USB programmer circuit Pin RF2 Vpp Vad and Vss are the pins that are used at the microcontroller for the connection Figure 4 20 UICOOB USB ICSP PIC programmer 41 4 47 Micro Metal Gear Motor Micro Metal Gear motor as shown in Figure 4 21 was used as an actuator to move the forward backward and driving the cleaning mechanism For this robot two type of gear ratio is needed The first ratio is 289 1 Micro Metal Gear motor is used to move the robot Second ratio is 150 1 Micro Metal Gear motor is used to drive the cleaning mechanism To be able to move the robot needs very high torque motor because of the weight of the robot As for cleaning part it need high speed motor to rotate and clean the mud Table 4 1 shows the specification of the metal gear motors when running at 6V 14 Figure 4 21 Micro Metal Gear motor with the dimension 4
18. aning Robot in the pipeline The springs give the ability for the robot to grip with the wall of pipe The robot can move vertically without slip or fall down 5 2 2 Ability to Clean the Mud The robot has ability to clean the mud or dirt inside the pipe The cleaning process was done by using the wire brush in Figure 5 4 Wire brush is effective method to remove the mud The cleaning mechanism shown in Figure 5 5 is attach at the back of the robot will rotate to clean the mud The cleaning mechanism used springs to automatically vary the position of the wire brush accordingly to the size of pipe Figure 5 4 The wire brushes Figure 5 5 The foldable cleaning mechanism 51 Figure 5 6 The foldable cleaning mechanism attached at the back of the robot 52 53 CHAPTER 6 DISCUSSION AND CONCLUSION 6 1 Discussion Based on the achievement and respond from the lecturer and students the Fully Autonomous Pipeline Cleaning Robot project is seen most likely successful in achieving its scope and objectives as discussed in chapter one The earlier constrains that existed such as choosing the best material to develop the robot structure had been finalized by using the acrylic sheet due to its light weight flexible material and looked solid The material is also easy to shape drill and cut into pieces At the beginning of the project there are many cleaning method need to consider such as high pressure water jet pigging and
19. arch also include in finding the best cleaning method and robot body design to make sure the robot is good enough to clean the dirt or mud in the inner surface of the pipe After that the design of the robot and the design of complete circuit will be produce The hardware and circuit design is important in order to choose suitable material and electronic components for the robot To achieve this task the study of the mechanical design and circuit design is important to make sure the design is suitable for the robot 20 After completing the mechanical and electronic design the real robot will be constructed Then the programming can be developing in order to achieve the objective of this project During the overall process continuously improvement and troubleshooting must be done to make sure the structure of the robot or electronic part working properly 3 2 Project workflow This project involved the hardware electronic and the software part So to accomplish this project the workflow of the project is shown in Figure 3 1 has been done The workflow make the process of this project goes smoothly and knows the state of priority task that need to be done first Roughly this project will begin with the hardware part which is the robot design and construction Then the electronic parts that control the robot will be design Last but not least the software part which is programming will be program in the robot to give instruction to the
20. bot run smoothly high torque motor was used The motor can give torque about 1 8 kg cm 4 3 2 Body and Foldable Linkage Foldable linkage Figure 4 5 The body and foldable linkage Along with caterpillar tracks the foldable linkage is use to support the track The foldable linkage is a factor to make sure the robot can move vertically This links are responsible in giving the required gripping force to the robot The springs give the ability for the linkage to contract and expend The foldable linkage is attached with the body of the robot The linkage is about 90 degree with each other Using four caterpillar track also make the robot more stable and avoid the robot from slipping due to the mud inside the pipe 29 4 3 3 Foldable Cleaning Mechanism TM Figure 4 6 Foldable cleaning mechanism with brushes The foldable cleaning mechanism is attached at the back of the robot The advantage of using the foldable cleaning mechanism is it can vary accordingly with the size of pipe The cleaning mechanism consists of three fingers and at the tip of each finger has wire brush Wire brush is very effective way to clean the mud inside the pipe The cleaning mechanism is drive by a motor The cleaning mechanism will be rotated during the cleaning process 4 3 4 Fully Autonomous Pipeline Cleaning Robot Figure 4 7 shows the overall outlook of the final version of the Fully Autonomous Pipeline Cleaning Robot The final str
21. chains generate considerable mechanical forces roller chains are not recommended in clay pipes Any pipe made from steel cast iron or plastic will accept these forces without risk of damage When working in clay pipes a Cable Loop attachment is available for pipes 8 16 inches diameter Clay pipes have a tendency to be brittle due to damage from roots external forces and offsets The cable loop attachment offers a softer cleaning effect when operating under these conditions However this Chain Scraper is handled manually Figure 2 4 The chain scraper 3 2 5 Multifunctional Robot for In pipe Inspection MRINSPECT IV As depicted in Figures 2 5 and 2 6 MRINSPECT IV largely consists of three parts called body frame driving module and CCD assembly 4 Three driving modules are attached at the distal ends of foldable legs of the body frame and they are located circumferentially 120 degrees apart from each other The CCD assembly is mounted in the front side of the body frame The radial dimension of the robot is changeable from 85 to 109 mm while the axial one is 150 10 mm constant Also the robot can exert 9 8 N of traction force and 0 15 m s of speed in maximum just with 0 7 Kg of its own weight As illustrated in Figure 2 6 the body frame is a skeletal linkage mechanism the other components such as driving modules and CCD assembly are attached to It is composed of two sets of slider crank mechanisms in the front and r
22. cted in wrong polarity e Capacitors are used to minimize noise to produce more stable and constant output voltage e The LED serves as an indicator of the 5V and 6V outputs NCC D LM7805 Diode 1N4001 a VCC D 147806 b Figure 4 14 Schematic circuit for voltage regulator 35 4 43 Motor Driver Circuit Motor driver is used to control the direction of the motor It also can control the speed of the motor by controlling the pulse width modulation PWM In this project the L293D motor driver is used to drive DC motor Figure 4 15 shows the schematic diagram for the motor driver circuit One motor driver can control two motors The robot used five DC motor to move and to drive cleaning mechanism So three motor drivers is needed to operate the DC motor VSS VS IN2 OUT2 EM EN2 IN3 OUT3 IM GND GND OUT4 Figure 4 15 Schematic diagram for the motor driver circuit using L293D 36 4 4 4 Dspic30f4011 Microcontroller Unit MCU o MCLR 01 V 40 O AVDD EMUD3 ANO VREF CN2 RBO 2 39 AVss EMUC3 AN1 VREF CN3 RB1 0 3 38 PWM1L REO AN2 SS1 CN4 RB2 O 4 37 PWM1H RE1 AN3 INDX CN5 RB3 0 5 36 PWM2L RE2 AN4 QEA IC7 CN6 RB4 6 o 35 I PWM2H RE3 AN5 QEB IC8 CN7 RB5 O 7 o 34 1 PWM3L RE4 ANG OCFA RB6 8 U 33 0 PWM3
23. e pipeline water cleaning robot was made by Muhammad Hafiz Bin Makhtar Mokhtar from Universiti Teknologi Malaysia UTM 2 The robot use high pressure water jet and a span to clean the pipe Figure 2 2 shows the isometric view of the robot The robot was controlled by using two push buttons One push button will give signal to the robot to move forward and another push button to move backward The movement of the robot was manually control by a user The metal gear motor was used to move the robot Water jet Figure 2 2 The structure of pipeline water cleaning robot 2 The body is in triangle shape as shown in Figure 2 3 There are three links 120 degree from each other acts as a suspension to press the pipe The suspension will make sure the robot body maintain at center of the pipe Two of the wheel is attach with metal gear motor to move the robot Figure 2 3 The position of the wheel 2 2 4 Wire Rope and Chain Scraper The Chain scraper head is a highly effective multi purpose tool designed for easy use and maintenance under rugged work conditions Figure 2 4 shows the structure of scraper The Rotating Chain Scraper can be adapted to a wide range of pipe diameters by simply adjusting the skid and selecting the respective chain length 3 For extra heavy deposits chains with welded manganese steel plates and roller chain attachments are available for the larger chain cutters Due to their high cleaning effect rotating
24. ear side of the robot respectively where each set consists of three slider crank mechanisms located equidistantly along the circumferential direction Couplers of slider crank mechanisms in the front and the rear side of the robot are connected each other with driving modules Radial motions of wheels are synchronized with a ring like slider and its axial motion is limited with a stopper in the central shaft The front wheels and the rear ones called front wheel set and rear wheel set are allowed to move radials in an asymmetric fashion as three driving modules are attached at the ends of the legs on the body frame Figure 2 5 Photo of MRINSPECT IV 4 Foldable linkage b Figure 2 6 Structure of the linkage 4 11 12 2 6 Pipe Pigging Robot Figure 2 7 Pipe pigging robot 5 Pipeline inspection robots or pigs have been used for the last 100 years or so to work in pipes that were inaccessible to humans The earliest pigs were of a very simple structure propelled by the differential pressure provided by the flowing fluid They mainly carried out cleaning work using scrapers and brushes example in Figure 2 7 5 A long time ago many researchers have worked on endowing more capability to the conventional pig concept for example to make it intelligent by adding sensors and control units Moving Direction cem TN VELA m DL DD 0 Pipe SS Double Screw Thread X
25. ging robot The pipe pigging robot structure Pipeline inspection robot Linkage structure and caterpillar wheel module Silicon caterpillar wheel Pipeline Jet Cleaning Robot Examples of non autonomous robots RAUSCH Electronics USA LLC Example of semi automatic robot PIPAT Examples of fully autonomous robots Project flow Classification of in pipe robot Pig type Caterpillar type Wall press type Wheel type PAGE 17 18 21 22 22 22 22 23 4 1 e 4 1 f 4 1 g 4 2 4 3 a 4 3 b 4 3 c 4 3 d 44 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 a 4 14 b 4 15 4 16 4 17 4 18 a 4 18 b 4 18 c 4 19 4 20 Screw type Inchworm type Walking type The initial robot design using CAD drawing Side view of the robot Front view of the robot Back view of the robot Cleaning mechanism The caterpillar track The body and foldable linkage Foldable cleaning mechanism with brushes Isometric view of the final version of the Fully Autonomous Pipeline Cleaning Robot Side view of the final version of the Fully Autonomous Pipeline Cleaning Robot Front view of the final version of the Fully Autonomous Pipeline Cleaning Robot Back view of the final version of the Fully Autonomous Pipeline Cleaning Robot Block diagram for circuit connection Main board circuit Motor driver circuit Schematic circuit for voltage regulator 5V Schematic circuit for voltage regulator 6V Schematic diagram for the motor driver circ
26. gram for circuit connection 4 4 1 Main Board Circuit The main board circuit as shown in Figure 4 12 is where the microcontroller voltage regulator circuit and USB Burner were located I have decided to use dsPIC30F4011 microcontroller as the main controller to control the hardware performance The USB Burner is used to load the program to the 33 microcontroller In order to make the loading process easier a connection will be made in the main board Voltage regulator 5V dsPIC30F4011 SITE meee LT 5 Microcontroller z Figure 4 12 Main board circuit Figure 4 13 Motor driver circuit 34 4 42 Voltage Regulator For this project two voltage regulators are needed to give constant supply to the circuit The first voltage regulator will provide 5 V constant power supply for the dsPIC30F4011 microcontroller to operate The LM7805 was used to convert 12V power supply to constant 5V The microcontroller is very sensitive and only can operate within 5 0 1 V Below or above this values the dsPIC30F4011 microcontroller may end up burn or not operate Second voltage regulator LM7806 will provide constant 6V power supply for the motor As shown in Figure 4 14 the schematic for two voltage regulators is the same but the regulator value used is different A few functions of components that were used in the voltage regulator circuit are e The 134001 diode is used to protect the voltage regulator when power supply is conne
27. he pipe wall 6 3 Conclusion For the short summarized this thesis discusses about the pipeline cleaning robot that actuated using five micro DC motors This project is implemented using dsPIC130F4011 which was programmed using the C Language and a motor driver L293D as a mean to move those motors Besides the infra red sensor is used to detect the obstacle in front of the robot As a conclusion all objectives for this project were managed to achieve The objectives are To build a fully autonomous pipeline cleaning robot 2 To design a robot that can move horizontally and vertically inside the pipe 3 construct a robot that can minimize the mud and scale inside the pipe 55 This project is successfully designed implemented and tested The main function for this project was achieved Everything that we learned was applied in this final year project Students can improve the skills to make mechanical and electronic designs that very useful after graduate and in working life after that For the next robot development it is hoped that this robot can be reconstructed with some modification to improve the abilities and to provide benefits in future also be able to be marketed or commercialized 56 REFERENCES 1 Young Hoon OH 2002 OH s Pipe Cleaning Robot University of Florida 2 Muhammad Hafiz Bin Makhtar amp Mokhtar 2010 Pipeline Water Cleaning Robot Banchelor Degree Universiti Teknologi Malaysia Sk
28. his opportunity to express my deepest grateful appreciation to my family member who always gives fully moral support and advice for me The support from family members makes me more confident in doing this project My fellow friends should also be recognized for their continual support and encouragement My sincere appreciation also extends to all course mate and others who have provided assistance at various occasions Their views and tips are useful indeed I am also indebted to Universiti Teknologi Malaysia UTM particularly Faculty of Electrical Engineering FKE for their assistance in carrying out my project and provided accommodations to fulfill the objectives of this project ABSTRACT Fully Autonomous Pipeline Cleaning Robot is used to clean the mud or dirt inside the pipe The autonomous pipe cleaning robot has four tracks to make a smooth mobility inside the pipe The track was attached with foldable linkage The foldable linkages give the ability to the robot to move horizontally or vertically inside the pipe The compress and track design was combined together to maximize the efficiency of the robot Furthermore the track wheel will give more friction between robot and the pipe Thus it can prevent the robot from slipping or spinning inside the pipe The wire brushes are an effective way to remove the mud inside the pipe This gives the idea of combining the robot technology with the wire brushes cleaning technology The brushe
29. ine motor3 1 fdefine motor r fdefine motor4 1 fdefine pum2 define motors r LATBbits LATBL PORTBbits PBZ PORTBbits PB4 PORTBbits REG PORTBbits RBG PORTEbits RBO LATEbits LATB3 LATBbits LATBS LATCbits LATC13 notor2 LATCbits LATC14 PDCl LATEbits LATEO LATEbits LATEZ LATDbits LATDL LATDbits LATD3 LATFbits LATF4 LATFbits LATFS notor factors LATDbits LATDO Build Version Control Find in Files CREO oya Ea POUL sapu SKE WIL O paesa T Sup CA Toy TES MoU TPT LA ASMIT Sune Sup pug pUUMUTT gr U SYO Aap STU c program files nicrochip mplabo30 v3 30 bin bin bin pic30 coff ld exe Varning linker script did not specify CRTO_STARTUP file default for this c program filesvmicrochipynplabe30Nv3 30Nbinybinn bin pic30 coff ld exe Varning linker script did not specify CRT1 STARTUP file default for this Executing C Program Files Microchip MPLAB ASM30 Suite bin pic30 bin2hex exe sn cof Loaded D mplab sn cof BUILD SUCCEEDED Thu Jun 14 16 50 35 2012 Figure 4 24 Writing program by using MPLAB IDE 45 2 File Device Femly Programmer Toos Hep Menu Bar Midrange Configuration Device mereeean Configuration FFF 4 Device Configuration UseriDs FFFFFFFF Checksum FFFF DSCEAL PICkit 2 found and connected ROCHIP PIC Device Found Mic et Progress Bar n n moe Daan 159 Ent Device Voo Status Window
30. kit 2 programmer Figure 4 25 show the structure of PICkit 2 programmer First the UICOOB USB ICSP PIC programmer must be connected with USB port of the computer Then the socket from UICOOB USB ICSP PIC programmer need to connected with microcontroller After all the setup done the PICkit will detect if there any microcontroller available or not If the microcontroller is available the type of microcontroller will be display in device configuration window in Figure 4 25 The hex file needs to be import first to the PICkit programmer Then the hex file was burnt into the PIC as shown in the Figure 4 26 Now the PIC microcontroller is ready to be used sn MPLAB IDE v7 43 File Edit View Project Debugger Programmer Tools Configure Window Help Ded tee Saw e Release 07 5 Bh Checksum Ox7d9e D mplab ssa c FOSC CSW FSCM OFF amp XT PLL4 OFF 8 C snm FBORPOR PBOR OFF BORV 27 PWRT 16 6 MCLR EN C Source Files E sac E Header Files Object Files Library Files amp Cd Linker Scripts E psotaatt g Other Fies Files 23 Symbols L Output _FGS CODE PR detine pin input define ledl define sensorl define sensor fdefine frontsensor fdefine sensor4 fdefine frontsensor output fdetine motorl r define motorl 1 fdefine motor2 r define notor2 1 fdefine pnl 8define enablel 8define enable fdefine motor3 r def
31. leaning efficiency and reliable However to work in such high pressure is very dangerous Figure 1 2 The pipe without scale 1 2 Problem statement The problem statements for this project are 1 The robot is not widely used to clean the pipeline water system in our industry 2 The mud inside the pipe can reduce the efficiency of the water flow 3 The conventional method is very difficult and tiring 1 3 Objectives There are three objectives in this project The objectives are 1 To build a fully autonomous pipeline cleaning robot 2 To design a robot that can move horizontally and vertically inside the pipe 3 To construct a robot that can minimize the mud and scale inside the pipe 1 4 Scope of the project The reason of scoping the project work to a boundary is to ensure the project will be done in a systematic manner and prevent overlapping of work occurs This project focuses on cleaning the inner of the pipeline water system For this project there are a few limitations The limitations are The diameter of the pipe is about 150mm or 6 inch The pipe not contains water during cleaning process The mud is not hard mud PSOE Only a section of the pipe will be used and it must be on the ground 1 5 Thesis Layout This thesis is organized in six chapters Detailed explanation about each of the chapter contained in this thesis is as follows Chapter 1 gives the overview of the project about pipeline
32. ned so that it is foldable to fit into the size of pipeline The caterpillar wheel of Figure 2 11 is made of two gears and a wrapping silicon belt The function of the silicon is for adhering to the wall since it has a very large friction coefficient The arrangement for each caterpillar wheel module is 120 degrees apart Therefore the robot is able to hold the surface of the pipeline firmly while moving on the surface of the pipeline very smoothly Due to each caterpillar is controlled 15 independently it is possible to perform steering at elbows or T branches of pipelines by differentiating the velocities of the three wheels Figure 2 10 Linkage structure and caterpillar wheel module spring Figure 2 11 Silicon caterpillar wheel 16 2 8 Pipeline Jet Cleaning Robot Stone age Company had built the Pipeline Jet Cleaning Robot as shown in Figure 2 12 7 This pipeline cleaning robot is driven by track and used high water pressure jet as the cleaning method However the robot face some problem which is it cannot suit the pipe diameters well and lateral alignment is bad As a result this affects cleaning process To overcome the problem with the medium small pipeline the intelligent cleaning equipment which has small and weight moving carrier with high efficiency and multi functional walking mechanism is propped by researcher Figure 2 12 Pipeline Jet Cleaning Robot 7 2 9 Non Autonomous Robots A non autonomou
33. of different view 25 a Side view of the robot b Front view of the robot Wire Brushes c Back view of the robot Rotating Part d Cleaning mechanism Figure 4 3 Different view of the robot 26 27 4 3 Fully Autonomous Pipeline Cleaning Robot Platform All commercial sewer pipe robots are capable of moving in straight pipes but not in any kinds of bended or branched pipes Most of those robots are not capable to travel in vertical pipeline network However mobility in vertical pipelines is one of biggest challenge for an in pipe robot because most of pipelines in general houses and buildings consist of very complicated network including vertical as well as horizontal pipelines In the mechanical model of pipe cleaning robot wall press type is considered for vertical mobility and caterpillar type is combined with the former for increasing the gripping force After the design complete the real robot was constructed The body of the robot is constructed as a rectangular shape By using this shape it can support four linkage structures on each one of the surface 4 3 1 Caterpillar Track Caterpillar track Figure 4 4 The caterpillar track 28 The caterpillar track can give more friction between the robot and the wall of the pipe The robot was implemented with four caterpillar tracks each I inch wide and 5 5 inch long as shown in Figure 4 4 For giving more torque to make sure the ro
34. olve the problem Different people come with many way of solution or method It also gives researcher knowledge about the current technology and tool to use in designing something Therefore this chapter will give information about the previous pipe cleaning robot and it structure 2 2 OH s Pipe Cleaning Robot OPC Figure 2 1 shows the OPCR move in the pipe This robot was made by Young Hoon Oh from University of Florida a student from Department of Electrical and Computer Engineering 1 The role of OPCR OH s Pipe Cleaning Robot is simple It automatically finds the obstacle runs back changes the pitch of the wheel and cleans it When it does not find any more obstacles then change the pitch to the run mode again and run until the end of the pipe When the robot reaches the end of the pipe its work is done that means it stops The sensors are used for finding the obstacles and sensing the end of the pipe The test was successful and all the problems are solved The robot only can move in a straight pipeline It will scrub the scale with the blade that attach to the body The motion of the robot is helical Figure 2 1 OH s Pipe Cleaning Robot OPC 1 OPCR specification 1 Head Unit Diameter 5 544 inches Height 2 25 inches 2 Driving Unit Individual Strut Length Including wheel housing angle control motor 3 475 inches Diameter 5 544 inches Height 3 4 inches 2 3 Pipeline Water Cleaning Robot Th
35. pipe The robot is fully autonomous because it will make it own decision The sensor is used to send the feedback to the microcontroller and execute the desire instruction 47 Switch ON the robot Robot move forward Normal speed Mud detected YES Cleaning process Moderate speed Obstacle detected Reverse Normal speed Figure 5 1 Algorithm of Fully Autonomous Pipeline Cleaning Robot movement 48 5 2 Robot Ability Once the robot characteristics have been identified the next step is to analyst and to identify the strengths and weaknesses of robot From the experiments conducted robot was able to move in horizontal and vertical motion The robot also can detect any obstacle in front of it Beside the robot can clean the mud by using the wire brushes attach at the back of the robot 5 2 1 Ability to Move Horizontally and Vertically In this project the pipe size is constant The diameter of the pipe must be at least 6 inch as shown in Figure 5 2 The Fully Autonomous Pipeline Cleaning Robot was able to move horizontally and vertically inside the pipeline as shown in Figure 5 3 The specifications of the pipe must be as follows for the robot to move smoothly Figure 5 2 Pipeline with 6 inch in diameter a Robot entering the pipe b Robot move horizontally inside the pipe 49 50 c Robot move vertically inside the pipe Figure 5 3 The movement of Fully Autonomous Pipeline Cle
36. robot 3 3 Project plan Same as any other project the plan is needed to make the project run smoothly and systematic Failure to plan the project can cause a lot of trouble and waste of time One year timeline were given to finish the project A Gantt chart will help us to manage the progress of the project A Gantt chart is a plan that will be use to execute the scope of our project within a week The Gantt chart of FYP1 and FYP2 is available in Appendix B 21 Decide the FYP project objectives and scope of the project Make research from the previous in pipe robot design Design the mechanism by using CAD drawing Mechanism and circuit design Material and electronic selection Build the hardware part Test the mechanism YES Build the electronic part Test and troubleshooting the circuit YES Combination between the hardware and electronic part Software integration YES Test and improving the robot Figure 3 1 Project flow 22 CHAPTER 4 MECHANICAL AND ELECTRONIC DESIGN 4 1 Mechanical Design The main objective in this chapter is to find the suitable design for the robot the material and approach to construct the robot structure The robot structure was build to achieve the target which is to move vertically and horizontally inside the pipe There are many type of in pipe robot design The design is shown in Figure 4 1 The selection of design is very important in order to fulfill the
37. s are attached behind the robot The brushes will rotate to clean the mud The cleaning process will start if the sensors detect the mud If the sensors do not detect the mud the cleaning process will not happen By using this method the life span of battery can last longer due to power saving The dsPIC30F4011 is used as the microcontroller for the robot to control the movement of the robot The sensor used in this project is infra red sensor Infra red sensor is used to detect the obstacle in front of the robot If there are any obstacles the robot will reverse automatically until the robot come up from the pipe ABSTRAK Robot Pencuci Paip secara automatik digunakan untuk mencuci lumut atau kotoran di dalam paip Robot ini mempunyai empat trek untuk memudahkan robot bergerak di dalam paip Trek trek ini disokong oleh sambungan yang boleh dimampatkan Sambungan yang boleh dimampatkan membolehkan robot ini bergerak secara melintang dan menegak di dalam paip Sambungan yang boleh dimampatkan dan trek dapat menambahkan keberkesanan robot Selain itu tayar trek juga dapat menambahkan daya geseran di antara robot dan dinding paip Oleh itu robot dapat mengelak daripada tergelincir atau berpusing di dalam paip Berus wayar adalah cara yang paling berkesan untuk menanggalkan lumut atau kotoran di dalam paip Ini telah memberi idea untuk mengabungkan robot teknologi dengan teknologi pencucian paip menggunakan berus wayar Berus wayar terletak di belakang
38. s robot usually just acts as a medium to the human operator to check the subjected area where the operator cannot reach The human operator remotely operates the robot and the control signals for the robot are usually sent through a tethered cable The human controller determines the conditions of the subjected pipeline by examining the output from the sensor data which are usually the pictures from the camera attached to the robot 17 a Tractor L500 with Camera KS200Z b Tractor L100 with Camera KS100 Figure 2 13 Examples of non autonomous robots RAUSCH Electronics USA LLC 2 10 Semi Autonomous Robots In semi autonomic robots the assessment of the pipeline is not completely left to the human operator The Robot often includes modules which will enable the robot to perform actions which are usually pre programmed onto the robotic modules But still the controls to start these operations have to be issued by the human operator So this makes the robot a semi autonomic Some of the robots which show the semi autonomic functionality are PIPAT 8 9 developed for quantitative and automatic assessment of the sewage condition Figure 2 14 Example of semi automatic robot PIPAT 18 2 44 Fully Autonomous Robots Fully autonomic robots are one such field where the research and development when compared to the other robots is comparatively fewer than the research being done in other types of robots A Fully autonomic
39. ucture is constructed based on the continuous modification and improvement 30 Front sensor Figure 4 7 Isometric view of the final version of the Fully Autonomous Pipeline Cleaning Robot Figure 4 8 Side view of the final version of the Fully Autonomous Pipeline Cleaning Robot 31 Figure 4 9 Front view of the final version of the Fully Autonomous Pipeline Cleaning Robot Figure 4 10 Back view of the final version of the Fully Autonomous Pipeline Cleaning Robot 32 4 4 Electronic Design The electronic circuit is designed to control all the actuator sensor and motor to the main microcontroller of the robot The circuit is soldered on a donut board The connections are made using wrapping wires and soldering The circuit was divided into three parts which are the main board the sensor circuit and the driver circuit to control the motor The main board and the sensor circuit were designed on the same board The driver circuit is designed on the other board Both ofthe board will be stack together The board must be small to make sure it fix inside the body of the robot The space for circuit board is very limited Figure 4 11 shows the block diagram for summarizes the connection between the main electronic components of Pipeline Water Cleaning Robot dsPIC30F4011 Microcontroller Motor driver L293D Voltage Voltage Micro metal regulator 5V gear motor regulator 6V Figure 4 11 Block dia
40. udai 3 ENZ USA INC enz golden jet Catalogue 2009 Aurora IL Trade brochure 2009 4 Se gon Roh and Hyouk Ryeol Choi Diffential Drive In Pipe Robot for Moving Inside Urban Gas Pipeline IEEE Transaction on Robotics 2005 21 1 1 17 5 Zheng Hu and Ernest Appleton 2005 Dynamic Characteristics of a Novel Self Drive Pipeline Pig IEEE Transactions on Robotics VOL 21 NO 5 6 Young Sik Kwon Hoon Lim Eui Jung Jung Byung Ju Yi Design and Motion Planning of a Two Moduled Indoor Pipeline Inspection Robot 2008 IEEE International Conference on Robotics and Automation May 19 23 2008 Pasadena CA US A IEEE 2008 3998 4004 7 Ding Feng Chaobin Huang Kui Zhou Peng Wang Jin Liu amp Shouyong Li Crucial Technology Research on Pipeline Jet Cleaning Robot In C Xiong ed ICIRA 2008 Part II LNAI 5315 London Springer Verlag 1137 1144 2008 8 Kirkham R Kearney P Rogers K Mashford J 2000 PIRAT A System for Quantitative Sewer Pipe Assessment In International Journal of Robotics Research 19 11 1033 1053 9 Implementation of PIRAT http www csiro au solutions ps wg html 10 Hertzberg J Kirchner F Landmark based autonomous navigation in sewerage pipes Advanced Mobile Robot 1996 Proceedings of the First Euromicro Workshop on 9 11 Oct 1996 Page s 68 73 57 11 Bioinspiration and Robotics Walking and Climbing Robots Book edited by Maki K Habib ISBN 978 3 902613 15 8 pp
41. uit using L293D dsPIC30f4011 pin notation The schematic diagram PIC microcontroller circuit Transmitter and receiver of infra red sensor Variable resistor for infra red sensor Comparator LM324 Principle of the comparator UICOOB USB ICSP PIC programmer 23 23 23 24 25 25 26 26 27 28 29 30 30 31 31 32 33 33 34 34 35 36 38 38 39 39 39 40 4 21 4 22 4 23 4 24 4 25 4 26 5 1 5 2 5 3 5 3 b 5 3 c 5 4 5 5 5 6 Micro Metal Gear motor with dimension The lithium polymer battery Process of writing software Writing program by using MPLAB IDE The structure of PICkit 2 programmer The program is successful load to MCU Algorithm of Fully Autonomous Pipeline Cleaning Robot movement Pipeline with 6 inch in diameter Robot entering the pipe Robot move horizontally inside the pipe Robot move vertically inside the pipe The wire brushes The foldable cleaning mechanism The foldable cleaning mechanism attached at the back of the robot 41 42 43 44 45 45 47 48 49 49 50 51 51 52 xi xii LIST OF TABLES TABLE TITLE PAGE 4 1 The specification of the metal gear motors when running at 6V 42 MPa DC USB Kg LED PIC CCD xiii LIST OF SYMBOLS AND ABBREVIATIONS Mega Pascal Direct Current Universal Serial Bus Universiti Teknologi Malaysia kilogram Light Emit Diode Programmable Interface Controller charge coupled device APPENDIX A LIST
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