CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
INTERNAL DIAGNOSTICS PIPELINE mobile robots. PART 1. hybrid mathematical model of the robot MOVING inside the pipe
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Read | Golubkin Igor A., Shcherbatov Ivan A. INTERNAL DIAGNOSTICS PIPELINE mobile robots. PART 1. hybrid mathematical model of the robot MOVING inside the pipe // Caspian journal : management and high technologies. — 2016. — №2. — pp. 69-81. |
Golubkin Igor A. - post-graduate student, Astrakhan State Technical University, 16 Tatishchev St., Astrakhan, 414056, Russian Federation, golubkin@inbox.ru
Shcherbatov Ivan A. - Ph.D. (Engineering), Astrakhan State Technical University, 16 Tatishchev St., Astrakhan, 414056, Russian Federation, sherbatov2004@mail.ru
Inspection of gas pipes with robotic devices of various constructions is extremely topical scientific and practical task. The big length and complex configuration of the pipelines cause the application of high-efficiency and fault diagnosis of defects inside the pipe. We justify the choice of mobile robot design for the diagnosis. The possibility of constructing a mathematical model of the wheeled robot with tricycle kinematic mechanism moving inside the pipe, based on typical situations. A hybrid model of the robot moving inside the pipe, based on the analysis and description of the types of situations that arise in the process of moving the robot inside the pipe. The model consists of the analytical part (calculation robot radius and the contact force of the wheels) and parts of Production. The results of the simulation, confirming the effectiveness of the proposed approach and the adequacy of the developed model the real process of the robot movement.
Key words: газопровод, внутритрубная диагностика, робот, перемещение в трубе, типовая ситуация, гибридная модель, нечеткие множества, диагностика, информационные технологии, gas pipeline, in-pipe diagnostics, robot, movement in pipeline, typical situation, hybrid mo