Publication: Micro inspection and cleaning mobile robot for enclosed environment
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Date
2024-08
Authors
Lim, Wei Liang
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Abstract
Maintaining enclosed environments, such as culverts, presents significant challenges, particularly when human access is limited or hazardous. Traditional
inspection and cleaning methods are labor-intensive and costly. This thesis introduces a micro inspection and cleaning mobile robot designed to navigate, inspect, and clean small-diameter pipes efficiently. The robot integrates advanced sensors, including LiDAR and orientation sensors, for precise 3D mapping and inclination detection. A robust graphical user interface (GUI) enables real-time data transmission, remote control, and system diagnostics. Experimental testing evaluated the robot's performance in navigating 300 mm and 400 mm diameter pipes, assessing cleaning efficacy against various debris types, and ensuring operational reliability under challenging conditions. The robot successfully navigated straight and inclined pipes with a maximum slope of 15° and performed accurate 3D modeling of pipe interiors. It achieved a cleaning efficiency of 96.4% for tissue debris, while the efficiency for paper and plasticine was 0%. Challenges included motor torque limitations and structural weaknesses in 3D-printed components, highlighting the need for improvements in power systems and material selection. In conclusion, this research advances micro robotics by offering a viable solution for efficient and safe inspection and maintenance in confined spaces.