A TETHERLESS ROBOTIC CRAWLER FOR AUTOMATIC LEAK DETECTION
Limitations of Tethered Robotic Crawlers
Tethered robotic crawlers are remotely operated visual inspection systems that rely on dedicated tether cables for uninterrupted communication and transmission between the control unit and the crawler. The tether cables, however, can get caught on debris or other objects, cause the crawler to flip, and limit the crawler's ability to drive around multiple bends.
MICkey | Mouse Inspired Crawler
Our product MICkey is a battery operated, tetherless quadruped crawling robot capable of navigating a complex network of small diameter water distribution pipes underground to check for leaks. It is designed to mimic the maneuverability and adaptability of a real mouse that can pass through narrow spaces with multiple turns and bends.
MICkey's design features a lightweight and compact, mouse-like robot with four structural components resembling those of a mouse: head, waist, front body and back body. Each body consists of a pair of hip structures and two leg structures connected to the hips. The control board and battery are placed horizontally on top of front body and back body, to prevent water intrusion when wading in wet and muddy environments.
Each of MICkey’s four legs has a two-parallel four-bar linkage mechanism to achieve independent swings of different leg components. For example, the robot can transition from walking to crawling to pass through a lower space. During crawling, it uses the back servo to control the extension of the leg and the front servo to control the height of the leg. In addition, the hip movement controlled by a servo allows MICkey to perform in-place turns.
A camera serving as the head is connected to the front body using a universal joint representative of the neck. This universal joint provides flexibility for the head to move both horizontally and vertically, with dual servo motors controlling the movement in each direction. This design allows the robot to turn its head around at multiple angles to conduct thorough inspection inside the pipeline.
MICkey has a flexible waist that can bend, allowing it to perform complex motions such as turning in narrow pipelines, which are difficult to accomplish by traditional quadruped robots.
In addition, four Infrared sensors are mounted on MICkey's head to detect obstacles ahead and steer the robot towards self-adaptive motions.
These designs allow MICkey to switch between walking, crawling, turning and climbing motions according to the needs of different terrains.
Automatic Navigation
MICkey can operate autonomously and drive itself inside the pipeline. It is equipped with four infrared distance sensors mounted on the head to detect obstacles in its path. Once launched, MICkey autonomously travels the pipeline using on-board sensors to ensure it can safely progress. For instance, if a left-angled bend is detected ahead, the infrared distance sensors will alert MICKey to avoid collision and make a left turn.
Benefits
- Fully battery operated.
- Compact and lightweight, quadruped crawling robot suitable for small diameter pipes.
- Autonomously navigate through extensive network of small diameter pipelines with tight turns and bends to inspect previously inaccessible areas.
- Tetherless to maximize robot's range and minimize human intervention.
- Low maintenance and quick to deploy.
- Automatically detect leaks.
Automatic Leak Detection
To automatically detect leaks, MICkey's camera requires a dataset to help it recognize what to look for inside the pipe. A synthetic dataset was created containing a large number of pipe leak images. The dataset was then used to train an AI mode, which was inputted into the camera. Using the AI processor inside the camera, MICkey can automatically interpret camera images to recognize leaks inside the pipe. When a leak is detected, a rectangle will appear on MICkey’s camera screen around the leak.
Key Specifications
- Used in dewatered pipelines
- Weight (with battery): 600g / 1.32lb
- Dimension of Standing: 25x10x11cm / 9.8x3.9x4.3in
- Dimension of Crouching: 25x10x8cm / 9.8x3.9x3.1in
- Pipe Internal Diameter: 6-inch to 24-inch
- Walking Speed: 3.2m per minute
- Standard Components: Sentry K210 Camera, Infrared IR Line Track Follower Sensor Module, ESP32-C3 Development Module SuperMini, 5000mah 7.4v High Discharge Lithium Polymer (Li-Po) Battery, Mini DC-DC Buck Step-Down Voltage Regulator Module, FeeTech Servo Controller Board, and FeeTech SCS009 Metal Gear 2.5kg 9g Micro Bus Servo
Get Started
Want to get a quote or connect with one of our team members? We would love to hear from you. Contact us today at info@mickeyinnovations.com