Research Highlight

Research done on the project focuses on developing a robot capable of delivering an improved mechanical and sensor performance compared to conventional intelligent pigging robots. The main highlights of the research done so far are detailed below:

Sensors Output:

Optical Sensor

Package Type: Leaded
Detector Type:Phototransister
Peak Operating Dostance<0.5mm
Dimensions7x7x6
Collector Current0mm to 5mm
Emitter Wavelength950nm
Operating Range Within>20% relative
Output:

GMR Sensor

Wheel Assembly

The following picture depicts the model of the wheel assembly which is inspired from the wheel system used in pipe inspection mini robot (IPMR-III):

 

 

New Wheel Assembly

Harmonic Response of the module with the new wheel assembly

GUI Development

GUI provides two modes of operation :

  • Online Mode: The real time data of the robot is displayed in this mode using a communication model.

  • Offline Mode: The sensors data from the robot is stored in SD Card, this SD card data is virtualized in this Offline Mode and studied.

    • Online Mode:

     

    GUI Outputs:

    Login Window of GUI:

     
    Offline Mode:
    GUI Window for plotting data for MFL, CNY70, Optical Encoder, Pressure Sensor.
     

     

    PHMR

    Previous Designs
    PHMR-I
  • Initial Prototype
  • Turbine for power generation.
  • PVDF, Point MFL, Optical Sensors
    		•
    PHMR-II-a
  • Full Aluminium Body
  • PVDF, Distributed MFL Sensors
  • Constant Speed
  • Cannot negotiates pipe bends
    • PHMR-II-b
  • Speed Control
  • PVDF, Distributed MFL Sensors, Optical Sensors
  • Cannot negotiates pipe bends

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