Diseño y construcción de un robot explorador de tubería interna horizontal (Alcantarillado Pluvial) para detección de daño dentro de la tubería

Abstract

The mobile robot deployed to detect, locate precisely the obstruction and reconstruct the path where the pipe is moving, so corrective action can be taken to avoid loss of money, time and resources for better scan it. The project will provide a solution in a horizontal inner pipe (storm sewer), so that the robot will be a very useful and effective tool in use; This project consists of the following functions: detection of damage inside the pipe by video inspection to observe large breaks from approximately 5.0mm in diameter, the relative position of the robot with the operator, the reconstruction of the path made of pipes from inside and obstacle avoidance in the minor road to 15 °. The robot is acrylic, waterproof and sealed structure, which facilitates the exploration of the inner pipe through video inspection and where people cannot access.