title: Ð Ð¢Ð¡-Ð´Ð¸Ð°Ð³Ð½Ð¾ÑÑÐ¸ÐºÐ° ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Developed robotic system of diagnostics of main gas pipelines of complex configuration and varying degrees of pollution
Creators: name: ÐÐ¾Ð»ÐºÐ¾Ð², ÐÐ»Ð°Ð´Ð¸ÑÐ»Ð°Ð²
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÐÐ°Ð·Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ñ Ð¼Ð°Ð³Ð¸ÑÑÑÐ°Ð»ÑÐ½ÑÐµ
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in-line pipe diagnostics
crawler

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description: The aim of this graduation thesis is to develop the design and control elements of an autonomous robotic system for pipeline diagnostics capable of overcoming various pipeline details (tees, bends, ball valves, concentric transitions) and conducting profilometry and diagnostics of straight sections within a given range of diameters in conditions of pollution on the internal surface of the pipeline and accumulation of contaminants in the lower part of the pipeline. The research for this thesis was conducted at the facilities and within the framework of the current project of the Central Research Institute of Robotics and Technical Cybernetics enterprise under the guidance of company specialists. As a result, the following tasks were set and solved: the design appearance of the robotic system was developed; the schematic diagram of the system operation; the kinematic scheme and subassemblies of the transport module; the structure of the on-board control system of the robot; the test sample of the robotic system was developed, produced and tested. Practical significance. The developed robotic system will significantly reduce diagnostic time and enable diagnostics of extended sections of old gas pipelines with different configurations. Conclusions. There are many in-line diagnostic complexes all over the world, including many of domestic production, however, the developed robotic system currently has no analogues in terms of the sum of parameters â passability capabilities, autonomy, and diagnostic methods. The tests of the developed test sample proved the operability of the design when overcoming the complex geometry of the pipeline and the EMA diagnostics of the pipe-wire. The topic of developing such an in-line robotic diagnostic complex can be developed in the form of a postgraduate thesis.