ABSTRACT

Ever since its invention, robotics has influenced our lifestyles in ways more than
one. Be it space explorations or in engineering expeditions the most common
feature in all these applications is direction finding. Our aim is to build a robot that
can be used to venture to remote and untampered regions which are difficult for
human beings to reach through.

It is well known that the most reliable and effective way to transport oil/gas is to
employ a pipeline system. However, with the influence of the long-term wear-out
and variable surrounding conditions, the pipeline will always be deformed and
corroded. If the situation is severe, it will cause oil-gas leakage, in turn; this will
bring difficult problems to the safe operation. So it is essential to have an effective
method and means to inspect and appraise oil-gas pipelines regularly.

In this project we are sending a robot into the pipeline. The administrator can
control the movement of the robot by selecting different control buttons displayed
in the server user interface. Once a control button is selected by the administrator,
corresponding signal is send to the robot. Robot then does the action based on the
commands given by the administrator. The control of the Robot is done through a
user interface written in Java program.

The robot has a connection with a wireless camera for remote video capturing. The
wireless camera captures video and send captured video to the remote server
computer. The server then displays this live video in the server machine. These
captured video streams are updated in a website so that distant experts could view
them in LIVE STREAMS and can recommend the any suggestions.

CONTENTS
 INTRODUCTION

Newspapers often carry incidents of oil

spillage from pipelines. Shown are few
incidents. Oil spillage from pipelines due
cracks are one of the most severe cases of
faults, and result in large environmental
damage, loss of millions of dollars, and in
extreme cases lead to explosion and loss of
life and property.

Cracking may be invisible to the eye. But it can damage the pipeline sufficiently to
cause a catastrophic failure by bursting
These are some of the types of cracks:-
Stress Corrosion Cracks - Single:
Single cracks grow at the steel grain boundaries in the
presence of stress, coating damage (soil plus moisture),
temperature etc.
Stress Corrosion Cracks - Colonies:
Single cracks grow in length and coalesce with others to
produce much longer, wider cracks. Parallel cracks begin
to develop.
Fatigue/Toe Cracks:
Long, very tight cracks develop at the toe of the weld
under the action of pressure cycling from within the pipe.

Shrinkage Cracks:
Crack produced during manufacture due to rapid cooling
of the pipe after welding.

Hook Cracks:
Manufacturing defects found in pre-1970 ERW pipe and
A.O.Smith Flashweld pipe.

Lack of fusion:
Poor control of welding process causing a lack of fusion
on the weld centre line

Dents with cracking:

Mechanical damage to pipe causes denting and localized
work hardening that later result in cracking.

Hydrogen Induced cracking HIC:

High H2S content in the pipeline product causes hydrogen
migration in the steel that results in cracking parallel to the
pipe surface.

Every crack, regardless of its type or origin, weakens the structural integrity of the
pipeline. Since each type exhibits distinct attributes and growth characteristics,
accurate and timely crack detection is a major challenge. Specialized inspection
capabilities are essential in order to identify and accurately describe cracks.

Our project employs a robot to inspect pipelines and detect cracks.

In this project we are sending a robot into the pipeline. The administrator can
control the movement of the robot by selecting different control buttons displayed
in the server user interface. Once a control button is selected by the administrator,
corresponding signal is send to the robot. Robot then does the action based on the
commands given by the administrator. The control of the Robot is done through a
user interface written in Java program.

The robot has a connection with a wireless camera for remote video capturing. The
wireless camera captures video and send captured video to the remote server
computer. The server then displays this live video in the server machine. These
captured video streams are updated in a website so that distant experts could view
them in LIVE STREAMS and can recommend the any suggestions.

Here the whole project is divided mainly into two parts: Hardware Section which
includes the control unit and vehicle unit. Software section contains video
streaming section and action control section which sends control signal to the
hardware part.
HARDWARE SECTION

INTRODUCTION
CONTROL UNIT

LAYOUT DIAGRAM
CONNECTION DIAGRAM
POWER SUPPLY
 U2
D1 +
1 3

1
1 T1 5 V IN V O U T
230VAC INPUT
2 - + 4

4 8 7805
+ C8 5V DC OUTPUT
B R ID G E + C7 1000m F
1000m F
3

TR A N S F O R M E R
-
INTRODUCTION
CONTROL UNIT
LAYOUT DIAGRAM
CONNECTION DIAGRAM
POWER SUPPLY
MAX 232 INTERFACE
433 MHz TRANSMITTER

TESTING OF THE CONTROL UNIT

VEHICLE UNIT
LAYOUT DIAGRAM
CONNECTION DIAGRAM
433 MHz RECEIVER
MICRO-CONTROLLER PIC 18F452
PROGRAMMING OF THE MICRO-CONTROLLER
TIP 122
STEPPER MOTOR
VIDEO TRANSMITTER
SOFTWARE SECTION
INTRODUCTION
LAYOUT DIAGRAM
USE CASE DIAGRAM
ACTIVITY DIAGRAM
HARDWARE REQUIREMENTS

SOFTWARE REQUIREMENTS
SOFTWARE IMPLEMENTATION TOOLS