A Novel Dual-Spherical Intelligent Pipeline Robot for Leak Detection
Zefeng Yan, Lei Wei, Liang Lu, Zhou Yang, Jiacheng Wang, Bin Han
AI summary
Problem
Existing pipeline robots struggle to balance low hydrodynamic drag with high maneuverability and waterproofing in complex, water-filled environments, making efficient inspection and leak detection challenging.
Approach
The authors established a multi-objective optimization framework to design a streamlined dual-spherical shell and a helical differential propulsion system, minimizing energy consumption while maximizing thrust and sensor integration space.
Key results
- Multi-objective optimization framework balancing drag, stability, and internal layout
- Helical differential propulsion system with optimized thruster orientations for energy efficiency
- Fully sealed, streamlined dual-spherical prototype enabling stable waterproof operation
- Experimental validation demonstrating agile turning and reliable locomotion across four pipeline environments
Why it matters
Offers a practical, energy-efficient robotic platform for safe and reliable inspection of critical water-filled infrastructure, reducing maintenance costs and environmental risks.
Abstract
To address the challenge of achieving both low drag and high maneuverability in complex water-filled pipeline environments, this study proposes a novel dual-spherical pipeline robot with integrated leak detection and mapping capabilities. A multi-objective optimization framework was established to simultaneously improve hydrodynamic perfor- mance, motion stability, and internal spatial layout, while adopting a streamlined shell design to achieve both low- drag and sensor integration requirements. Based on a task- driven configuration optimization method, an energy-efficient propeller arrangement was derived under the constraint of maintaining maneuvering performance. The robot employs a helical differential propulsion system and integrates multiple sensors, including a vision module, an inertial navigation unit, and a pressure sensor, to enable leak detection and mapping. Its fully sealed spherical housing ensures stable operation in water-filled pipelines. Based on the proposed configuration, an experimental platform incorporating four representative pipeline environments was constructed, and a series of in- spection, mapping, and environmental adaptability tests were conducted. The results demonstrate that the robot can achieve agile turning and stable locomotion in water-filled pipelines, showing strong potential for practical engineering applications.