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Vol. 161, Issue 12, December 2013, pp. 206-211




Numerical Simulation of Speed Fluctuation Process of Differential-pressure-driven in-pipe Inspection Robot
* Hong Xu, Zhuxin Li, Zhen Zhang, Yuanyuan Li, Qitao Liu

Logistical Engineering University, Shapingba District, Chongqing, 401311, China

* Tel.: +86 15922951258

* E-mail: 504673003@qq.com


Received: 13 October 2013   /Accepted: 22 November 2013   /Published: 30 December 2013

Digital Sensors and Sensor Sysstems


Abstract: Robot's speed fluctuation can greatly affect robot's localization precision and detection accuracy. This study analyzes the factors affecting the speed of robot's differential-pressure-driven in-pipe inspection in detailed, and, with the aid of dynamic grid technique by Fluent software, carries out numerical simulation of robot's speed fluctuation processes. Simulation results show that abrupt change of frictional resistance and that of inlet velocity are the main causes of robot's speed fluctuation, and the mass of robot can affect its amplitude of speed fluctuation. Proposes two ways to effective control the robot velocity fluctuations, there are benefits for providing a theoretical basis for further research pipeline inspection robot speed control system.


Keywords: Pipeline robot, Speed fluctuation, Abrupt change of resistance, Numerical simulation.


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