pipe inspection robot

1. 1
A Thesis on
Power Generation from Railway Track
Submitted for partial fulfillment of award of
Of
BACHELOR OF TECHNOLOGY
Degree
In
Mechanical Engineering
Under the Supervision of
Mr. Aditya Mishra
By
Alok Singh Sisodiya (K10510)
Shakti Sharma (K10210)
Satyanarayan Rathore (K10217)
To
Career Point University, Kota
May, 2016

2. 2
Certificate
This is to certify that Report entitled “Power Generation from Railway Track” which
is submitted by Ajay Malav (K10473) Girraj Prasad (K10476) Naved Akhtar Mev
(K10194) Nitesh Prasad (K10023) in partial fulfillment of the requirement for the award
of degree B.Tech. In Mechanical Engineering to Career Point University , Kota is a
record of the candidate’s own work carried out by him under my supervision. The matter
embodied in this report is original and has not been submitted for the award of any other
degree anywhere else.
Date: Supervisor

3. 3
ACKNOWLEDGEMENT
We would like to express our heartfelt gratitude to our guide Assistant Professor Mr.
Bhupendra Gahlot, Department of B.Tech Mechanical Engineering for his valuable time
and guidance that made the project work a success. They have inspired us such a spirit of
devotion, precision and unbiased observation, which is essentially a corner stone of
technical study.
We are highly grateful to Ms Nikita Jain, Head of the Department of. B.Tech Mechanical
Engineering and our Guide Mr.Bhupendra Gahlot, Assistant Professor in Department of
B.Tech Mechanical Engineering, for their kind support for the project work. We thank all
our friends and all those who have helped us carrying out this work directly or indirectly
without whom completion of this project work was not possible.
We would also like to sincerely thank Vice-chancellor of Career Point University for
giving us a platform to carry out the project.
Sincerely yours,
Ajay Malav (K10473)
Girraj Prasad (K10476)
Naved Akhtar Mev (K10194)
Nitesh Prasad (K10023)

4. 4
ABSTRACT
Recently many plants' pipes and drains became old and many robots to inspect these
pipes were developed in the past. Wired robots were put to practical use, but they had a
heavy power supply and a signal wire. Therefore, new inspection robots using wireless
radio communication system are considered useful for long complex pipes and long
distance pipes including straight. But sending wireless radio signals isn't practical
because the properties of the radio wave are affected by the shape and material of the
pipes. For these reasons, we measured the properties of wireless radio signal with steel
pipes and ceramic pipes and we developed a practical wireless radio communication
system. This time, we developed and tested a new inspection robot that had integrated
both the inspection system using wireless radio communication and message transmission
developed. In this experiment, we confirmed that we could drive the robot by wireless
radio communication system in the inside test pipe and find the hole and some signals
from the pipe.

5. 5
Contents
CERTIFICATE
ACKNOWLEDGEMENTS III
ABSTRACT I2
LIST OF FIGURES 3I
LIST OF FLOWCHARTS 7
LIST OF ACRONYMS IX
1. INTRODUCTION
1.1 Motivation and Business-case
1.2 Selection of Material
1.3 Methodology Adopted
2. COMPONENTS OF PI ROBOT
2.1 Central Frame
2.2 GSM Module
2.3 PCB
2.4 LCD
2.5 RF Module
2.6 LDR
2.7 Micro Controller
2.8 Wheel
2.9 Battery & Connector
2.10 List of Equipments & Tools
3. WORKING

6. 6
3.1 WIRELESS COMMUNICATION
3.1.1 RADIO FREQUENCY
3.1.2 ANTENNA
3.1.3 TRANSMITTER
3.1.4 RECIEVER
3.2 PI ROBOT TEST RESULT
3.3 Working Process Flow Chart
4. Coding System
4.1 Working system
4.2 GSM Module Working
4.3 LCD Working
5. FUTURE SCOPE OF WORK
5.1 SUMMARY
5.2 CONCLUSION
5.3 FUTURE SCOPE OF WORK
REFERENCES
ANNEXURE

7. 7
List of Figures
Figure 2.1 GSM Modules
Figure 2.2 PCB TOP
Figure 2.3 PCB Bottom
Figure 2.4 LCD
Figure 2.5 RF Module
Figure 2.6 LDR
Figure 2.7 Micro Controller
Figure 2.8 Battery & Battery Connector
Figure 3.1 Manufacturing Process
Figure 3.2 Remote Control
Figure 3.3 Robot and all Parts
Figure 3.4 LCD
Figure 3.5 Final Robot

8. 8
List Of Flow Chart
Flow Chart 3.1 Working Process Flow Chart
List of Acronyms
GSM Global System for Mobiles
PI Robot Power Generation from Railway Track
LDR Light Depend Resistance
LCD Liquid Crystal Display
LED Light Emitting Diode
RF Radio Frequency
ASCII American Standard Code for Information Interchange

9. 9
1. Introduction
Recently many plants became old, so steel pipes, ceramic pipes, concrete pipes and
plastic pipes used for transportation of water and gas also became old. And, these pipes
become cracked because of deterioration and corrosion. Many robots to inspect these
pipes were developed in the past, but they had a heavy power supply and a signal wire.
As a result, these wires caused problems with the movement of the robot. Therefore in
this research, our purpose was to develop a flexible drain inspection robot using a
wireless radio communication system. In 2005 and 2007, the radio communication
properties inside the pipe were measured in an actual pipe and the appropriate radio
frequency was analyzed. As a result, in steel pipe with a diameter of 30cm, the inside
hole information could be transferred by using radio communication system. In an actual
frequency test earthenware pipe. On the other hand, for inspecting the inside of pipe with
a touch sensor system. We developed the robot with this technique and report that the
robot could inspect the inside of the pipe.
Many kinds of pipes are being utilized to construct important lifelines such as water and
gas supply in our contemporary society. Also pipes are widely used in chemical
industries and in gulf countries for carrying petrol, diesel, oil etc. But after some years
these pipes get damaged and defects are occurring in pipe. If the defects in the pipe are
caused by rust and nature calamity, it is difficult to find out the defects and the place of
the defects, and also there is great amount of loss. Thus scheduled inspection must be
done. If we decide to do this inspection manually then large amount of time, effort and
labor is necessary to grub up the pipes that are buried in the ground. If the robot can
inspect inside the pipes, fast and accurate examination will be able to be done at low cost.
1.1Motivation and Business-case
Nowadays, there are going on a lot of studies in the field of robotic for inspection. One of
many environments where the robots are used is pipe inspection for instance steam chest
plants. In this sector the maintenance and inspection are a main issue. In fact, this helps to
guarantee high standards of safety and performance. The conventional inspection
methods require to disassembling complex, large and heavy parts and not always all the
spots are easily reachable. Moreover all the operations need days or even weeks to be
executed, this means high cost for the company and gas turbine power plant is unusable.
After these considerations it is obvious that a company has huge interest in a better and
faster inspection procedure. Inspection robots help to guarantee this aim. They can be
placed in specific points to detect defects and also locally repaired; at least the part with
an error must be disassembled.
1.2Selection of Material
The materials used for this machine are light and rigid. Different materials can be used
for different parts of the robot. For optimum use of power the materials used should be
light and strong. Wood is light but it is subjected to wear if used for this machine. Metals
are the ideal materials for the robot as most if the plastics cannot be as strong as metals.

10. 10
Material should be ductile, less brittleness, malleable, and high magnetic susceptibility.
Among the metals, aluminum is the material chosen for the linkages and the common
rod, which is made as hollow for reduction in weight. However, other materials are
chosen for the motor. The materials chosen for the motor should have high magnetic
susceptibility and should be good conductor of electricity. The materials are copper and
so on. But aluminum is chosen as the materials for the linkages and central body because
of its much-desired properties.
1.3Methodology
Based on the project requirements the following specifications have been derived:
1.3.1 Design and create an ascender that allows the robot to exit and enter in pipe.
1.3.2 The ascender must be:
• Operable by a single person
• Must drive in the pipe more than 25cm and more diameter.
Design and create a mobile based two way communication/control system that must:
• Include a message sending quality
• Be able to operate out of line of sight throughout the area of a typical

11. 11
2. Components of PI Robot
2.1 Central Frame
Central body is the frame of the robot. It supports all other components and holds
batteries at the centre of the body. It is made of aluminum and has four wheels to drive
the robot.
2.2 GSM Module
GSM MODEM is a class of wireless MODEM devices that are designed for
communication of a computer with the GSM. It requires a SIM (Subscriber Identity
Module) card just like mobile phones to activate communication with the network. Also
they have IMEI (International Mobile Equipment Identity) number similar to mobile
phones for their identification. A GSM MODEM can perform the following operations:
1. Receive, send or delete SMS messages in a SIM.
2. Read, add, search phonebook entries of the SIM.
3. Make, Receive, or reject a voice call.
The MODEM needs AT commands, for interacting with processor or controller, which
are communicated through serial communication. These commands are sent by the
controller/processor. The MODEM sends back a result after it receives a command.
Different AT commands supported by the MODEM can be sent by the
processor/controller/computer to interact with the GSM cellular network.
GSM (Global System for Mobile Communications, originally Group Special Mobile), is a
standard developed by the European Telecommunications Standards Institute (ETSI) to describe
the protocols for second-generation (2G) digital cellular networks used by mobile phones, first
deployed in Finland in July 1991. As of 2014 it has become the default global standard for mobile
communications - with over 90% market share, operating in over 219 countries and territories.
In our project we use GSM for send message on registered mobile number, for this we insert a
SIM in GSM Module which will send a message while receiving instructions from transmission
receiver.
GSM – Global System for Mobiles

12. 12
Figure2.1- GSM Module
2.3 PCB
A printed circuit board (PCB) mechanically supports and electrically connects electronic
components using conductive tracks, pads and other features etched from copper
sheets laminated onto a non-conductive substrate. Components — capacitors, resistors or
active devices — are generally soldered on the PCB. Advanced PCBs may contain
components embedded in the substrate.
PCBs can be single sided (one copper layer), double sided (two copper layers) or multi-
layer (outer and inner layers). Conductors on different layers are connected with via’s.
Multi-layer PCBs allow for much higher component density.
FR-4 glass epoxy is the primary insulating substrate. A basic building block of the PCB
an FR-4 panel with a thin layer of copper foil is laminated to one or both sides. In multi-
layer boards multiple layers of material are laminated together.
Printed circuit boards are used in all but the simplest electronic products. Alternatives to
PCBs include wire wrap and point-to-point construction. PCBs require the additional

13. 13
design effort to lay out the circuit, but manufacturing and assembly can be automated.
Manufacturing circuits with PCBs is cheaper and faster than with other wiring methods
as components are mounted and wired with one single part. Furthermore, operator wiring
errors are eliminated.
Figure 2.2 PCB TOP

14. 14
Figure 2.3 PCB BOTTOM
2.4 LCD
A liquid-crystal display (LCD) is a flat-panel display or other electronic visual
display that uses the light-modulating properties of liquid crystals. Liquid crystals do not
emit light directly.
LCDs are available to display arbitrary images (as in a general-purpose computer display)
or fixed images with low information content, which can be displayed or hidden, such as
preset words, digits, and 7-segment displays as in a digital clock. They use the same basic
technology, except that arbitrary images are made up of a large number of small pixels,
while other displays have larger elements.
LCDs are used in a wide range of applications including computer monitors,
televisions, instrument panels, aircraft cockpit displays, and signage. They are common
in consumer devices such as DVD players, gaming devices, clocks, watches, calculators,
and telephones, and have replaced cathode ray tube (CRT) displays in nearly all
applications. They are available in a wider range of screen sizes than CRT and plasma
displays, and since they do not use phosphors, they do not suffer image burn-in. LCDs
are, however, susceptible to image persistence.
The LCD screen is more energy-efficient and can be disposed of more safely than a CRT
can. Its low electrical power consumption enables it to be used in battery-
powered electronic equipment more efficiently than CRTs can be. It is an

15. 15
electronically made up of any number of segments controlling a layer of liquid
crystals and arrayed in front of a light source (backlight) or reflector to produce images in
color or monochrome. Liquid crystals were first discovered in 1888. By 2008, annual
sales of televisions with LCD screens exceeded sales of CRT units worldwide, and the
CRT became obsolete for most purposes.
Figure 2.4 LCD
This is a ASCII LCD
ASCII – American Standard Code for Information Interchange
2.5 RF Module
An RF module (radio frequency module) is a (usually) small electronic device used to
transmit and/or receive radio signals between two devices. In an embedded system it is
often desirable to communicate with another device wirelessly. This wireless
communication may be accomplished through optical communication or
through radio frequency (RF) communication. For many applications the medium of
choice is RF since it does not require line of sight. RF communications incorporate
a transmitter and/or receiver.

16. 16
RF modules are widely used in electronic design owing to the difficulty of designing
radio circuitry. Good electronic radio design is notoriously complex because of the
sensitivity of radio circuits and the accuracy of components and layouts required
achieving operation on a specific frequency. In addition, reliable RF communication
circuit requires careful monitoring of the manufacturing process to ensure that the RF
performance is not adversely affected. Finally, radio circuits are usually subject to limits
on radiated emissions, and require Conformance testing and certification by
a standardization organization such as ETSI or the U.S. Federal Communications
Commission (FCC). For these reasons, design engineers will often design a circuit for an
application which requires radio communication and then "drop in" a pre-made radio
module rather than attempt a discrete design, saving time and money on development.
Figure 2.5 RF Transmitter & Receiver
2.6 LDR
A Light Dependent Resistor (LDR) or a photo resistor is a device whose resistivity is a
function of the incident electromagnetic radiation. Hence, they are light sensitive devices.
They are also called as photo conductors, photo conductive cells or simply photocells.
They are made up of semiconductor materials having high resistance. There are many
different symbols used to indicate a LDR, one of the most commonly used symbol is
shown in the figure below. The arrow indicates light falling on it.

17. 17
Figure 2.6 LDR
2.7 Micro Controller
A microcontroller is a small computer (SoC) on a single integrated circuit containing a
processor core, memory, and programmable input/output peripherals. Program memory
in the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included on
chip, as well as a typically small amount of RAM. Microcontrollers are designed for
embedded applications, in contrast to the microprocessors used in personal computers or
other general purpose applications consisting of various discrete chips.
Microcontrollers are used in automatically controlled products and devices, such as
automobile engine control systems, implantable medical devices, remote controls, office
machines, appliances, power tools, toys and other embedded systems. By reducing the
size and cost compared to a design that uses a separate microprocessor, memory, and
input/output devices, microcontrollers make it economical to digitally control even more
devices and processes. Signal microcontrollers are common, integrating analog
components needed to control non-digital electronic systems.

18. 18
Figure 2.7 Micro Controller
2.8 Wheel
Freewheel is basically used in robots.
In this project we use 2 freewheel and 2 motor connected wheel.

19. 19
2.9 Battery & Connector
Batteries give supply for a motor and wireless camera. Motor and radio frequency gets
6v supply from the central body and wireless camera gets supply from a 9v battery. And
3v batteries for transmitter which has two toggle switch. One is for motor forward and
reverse control and the other one is for glowing LED’s.
To supply Power we use battery and battery connector to connect it with equipment.
We use 3V and 9V batteries.
Figure 2.8 Battery & Connector

20. 20
2.10 List of Equipments & Tools
 LED
 Iron Chassis
 Micro Base
 Regulator 7805
 Motor 300 RPM
 Motor 12 V
 4 Wheel
 Variable Resistance
 Connecting Wire
 555 AC
 ON/OFF Switch
 RF Design PCB
 Micro Controller Programming Base
 Soldering Pest
 Soldering Wire
 Soldering Machine
 Glue Stick
 Glue Stick Electrical Pistol
 HT 12D Wireless Receiver
 HT 12E Wireless Transmission

21. 21
3. Working
When a job is dull, dangerous, or dirty, robots are there to make life a little easier.
Purpose built machines can either replace or compliment a human worker's ability to get
a job done. As technologies have advanced in the fields of drone and robotic technologies
life has gotten safer in a range of fields. Bomb experts no longer have to touch the deadly
device, pipeline inspectors can avoid going into toxic pipes, and pilots no longer have be
in a physical cockpit to act as eyes in the sky, all because of rapid advancements in drone
and robotic technology. This is possible due to our greater understanding of the
techniques and technologies to dynamically communicate vast quantities of data between
the controller and robot. While there is currently no truly standardized definition for the
word robot the one generally accepted idea associated with robotics is that robots have
the ability interact with their environment and while exhibiting some kind of intelligent
behavior.
Experiment condition using a 10m steel pipe with a diameter of 18cm. In the experiment,
we emitted a wireless radio signal from the wooden pipe inlet and it was measured in the
wood pipe outlet.
3.1 WIRELESS COMMUNICATION
3.1.1 Radio Frequency
Radio Frequency (RF) radiation is a subset of electromagnetic radiation with a
wavelength of 100 km to 1mm, which is a frequency of 3 KHz to 300 GHz, respectively.
This range of electromagnetic radiation constitutes the radio spectrum and corresponds to
the frequency of alternating current electrical signals used to produce and detect radio
waves. RF can refer to electromagnetic oscillations in either electrical circuits or
radiation through air and space. Like other subsets of electromagnetic radiation, RF
travels at the speed of light.
3.1.2 Antenna
An antenna (or aerial) is a transducer designed to transmit or receive electromagnetic
waves. In other words, antennas convert electromagnetic waves into electrical currents
and vice versa.

22. 22
3.1.3 Transmitter
The power is provided by battery and/or transformer/adapter. The complete wiring for the
wireless RF and transmitter end follows:
As in the pipe LDR founds a Hole, sends it to the transmitter, and the transmitter sends
the signal out to the air. The receiver picks up the signal and outputs it to a Mobile.
3.1.4 Receiver
After the transmitters have provided the signal the receiver collects this signal and routes
it the Mobile. The receiver accepts the wireless transmitters signal and then out puts it to
your Mobile. The receiver needs only power and a Device to view and receive the
message.
3.2 PI ROBOT TEST RESULT
Following the design and modeling of the proposed mechanism a prototype unit was
built. The prototype was built for a robot with the weight of 2.7 kg. The body of the robot
was fabricated mostly from aluminum. The Robot was driven by two dc motors. PIC
robot tested successfully for movement in horizontal pipes. The robot has a good mobility
and ability to pass over small obstacles. The important thing is the amount of force
between robot tracked units and pipe wall. Even in horizontal moving, attachment of the
up tracked unit in addition to bottom ones, improve the movement of robot. Because in
this state 2 motors participate in robot move although friction is more. In addition to this,
the robot is more stable and distribution of load on different actuators is more similar.
Monitoring the pipe inside was suitable and the control of different actuators was
effectively possible. The model of PIR is drawn with the help of mechanical engineering
software tool, Pro ENGINEERING.

23. 23
Figure 3.1 Manufacturing Process

24. 24
Figure 3.2 Remote Control

25. 25
Figure3.3 Robot and all Parts

26. 26
Figure 3.4 LCD

27. 27
Figure 3.5 Final Robot

28. 28
3.1 Working ProcessFlow Chart

29. 29
4. Coding
4.1 Working system
#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include "usart.h"
void USARTInit(uint16_t ubrrvalue)
{
//Setup q
UQFront=UQEnd=-1;
//Set Baud rate
UBRRH=(unsigned char)(ubrrvalue>>8);
UBRRL=(unsigned char)ubrrvalue;
/*Set Frame Format
Asynchronous mode
No Parity
1 StopBit
char size 8
*/

30. 30
UCSRC=(1<<URSEL)|(3<<UCSZ0);
/*Enable Interrupts
RXCIE- Receive complete
UDRIE- Data register empty
Enable The recevier and transmitter
*/
UCSRB=(1<<RXCIE)|(1<<RXEN)|(1<<TXEN);
sei();
}
//The USART ISR
ISR(USART_RXC_VECT)
{
//Read the data
char data=UDR;
//Now add it to q

31. 31
if(((UQEnd==RECEIVE_BUFF_SIZE-1) && UQFront==0) ||
((UQEnd+1)==UQFront))
{
//Q Full
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE) UQFront=0;
}
if(UQEnd==RECEIVE_BUFF_SIZE-1)
UQEnd=0;
else
UQEnd++;
URBuff[UQEnd]=data;
if(UQFront==-1) UQFront=0;
}
char UReadData()
{
char data;

32. 32
//Check if q is empty
if(UQFront==-1)
return 0;
data=URBuff[UQFront];
if(UQFront==UQEnd)
{
//If single data is left
//So empty q
UQFront=UQEnd=-1;
}
else
{
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE)
UQFront=0;
}
return data;
}
void UWriteData(char data)
{

33. 33
//Wait For Transmitter to become ready
while(!(UCSRA & (1<<UDRE)));
//Now write
UDR=data;
}
uint8_t UDataAvailable()
{
if(UQFront==-1) return 0;
if(UQFront<UQEnd)
return(UQEnd-UQFront+1);
else if(UQFront>UQEnd)
return (RECEIVE_BUFF_SIZE-UQFront+UQEnd+1);
else
return 1;
}
void UWriteString(char *str)
{
while((*str)!='0')
{
UWriteData(*str);
str++;
}

34. 34
}
void UReadBuffer(void *buff,uint16_t len)
{
uint16_t i;
for(i=0;i<len;i++)
{
((char*)buff)[i]=UReadData();
}
}
void UFlushBuffer()
{
while(UDataAvailable()>0)
{
UReadData();
}
}
4.2 GSM Module Working
#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include "usart.h"

35. 35
void USARTInit(uint16_t ubrrvalue)
{
//Setup q
UQFront=UQEnd=-1;
//Set Baud rate
UBRRH=(unsigned char)(ubrrvalue>>8);
UBRRL=(unsigned char)ubrrvalue;
/*Set Frame Format
Asynchronous mode
No Parity
1 StopBit
char size 8
*/
UCSRC=(1<<URSEL)|(3<<UCSZ0);
/*Enable Interrupts
RXCIE- Receive complete
UDRIE- Data register empty
Enable The recevier and transmitter

36. 36
*/
UCSRB=(1<<RXCIE)|(1<<RXEN)|(1<<TXEN);
sei();
}
//The USART ISR
ISR(USART_RXC_VECT)
{
//Read the data
char data=UDR;
//Now add it to q
if(((UQEnd==RECEIVE_BUFF_SIZE-1) && UQFront==0) ||
((UQEnd+1)==UQFront))
{
//Q Full
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE) UQFront=0;
}

37. 37
if(UQEnd==RECEIVE_BUFF_SIZE-1)
UQEnd=0;
else
UQEnd++;
URBuff[UQEnd]=data;
if(UQFront==-1) UQFront=0;
}
char UReadData()
{
char data;
//Check if q is empty
if(UQFront==-1)
return 0;
data=URBuff[UQFront];
if(UQFront==UQEnd)
{
//If single data is left

38. 38
//So empty q
UQFront=UQEnd=-1;
}
else
{
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE)
UQFront=0;
}
return data;
}
void UWriteData(char data)
{
//Wait For Transmitter to become ready
while(!(UCSRA & (1<<UDRE)));
//Now write
UDR=data;
}
uint8_t UDataAvailable()
{

39. 39
if(UQFront==-1) return 0;
if(UQFront<UQEnd)
return(UQEnd-UQFront+1);
else if(UQFront>UQEnd)
return (RECEIVE_BUFF_SIZE-UQFront+UQEnd+1);
else
return 1;
}
void UWriteString(char *str)
{
while((*str)!='0')
{
UWriteData(*str);
str++;
}
}
void UReadBuffer(void *buff,uint16_t len)
{
uint16_t i;
for(i=0;i<len;i++)
{
((char*)buff)[i]=UReadData();
}

40. 40
}
void UFlushBuffer()
{
while(UDataAvailable()>0)
{
UReadData();
}
}
4.3 LCD Working
#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include "usart.h"
void USARTInit(uint16_t ubrrvalue)
{
//Setup q
UQFront=UQEnd=-1;
//Set Baud rate
UBRRH=(unsigned char)(ubrrvalue>>8);
UBRRL=(unsigned char)ubrrvalue;

41. 41
/*Set Frame Format
Asynchronous mode
No Parity
1 StopBit
char size 8
*/
UCSRC=(1<<URSEL)|(3<<UCSZ0);
/*Enable Interrupts
RXCIE- Receive complete
UDRIE- Data register empty
Enable The recevier and transmitter
*/
UCSRB=(1<<RXCIE)|(1<<RXEN)|(1<<TXEN);
sei();
}
//The USART ISR

42. 42
ISR(USART_RXC_VECT)
{
//Read the data
char data=UDR;
//Now add it to q
if(((UQEnd==RECEIVE_BUFF_SIZE-1) && UQFront==0) ||
((UQEnd+1)==UQFront))
{
//Q Full
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE) UQFront=0;
}
if(UQEnd==RECEIVE_BUFF_SIZE-1)
UQEnd=0;
else
UQEnd++;
URBuff[UQEnd]=data;
if(UQFront==-1) UQFront=0;

43. 43
}
char UReadData()
{
char data;
//Check if q is empty
if(UQFront==-1)
return 0;
data=URBuff[UQFront];
if(UQFront==UQEnd)
{
//If single data is left
//So empty q
UQFront=UQEnd=-1;
}
else
{
UQFront++;
if(UQFront==RECEIVE_BUFF_SIZE)
UQFront=0;

44. 44
}
return data;
}
void UWriteData(char data)
{
//Wait For Transmitter to become ready
while(!(UCSRA & (1<<UDRE)));
//Now write
UDR=data;
}
uint8_t UDataAvailable()
{
if(UQFront==-1) return 0;
if(UQFront<UQEnd)
return(UQEnd-UQFront+1);
else if(UQFront>UQEnd)
return (RECEIVE_BUFF_SIZE-UQFront+UQEnd+1);
else
return 1;
}

45. 45
void UWriteString(char *str)
{
while((*str)!='0')
{
UWriteData(*str);
str++;
}
}
void UReadBuffer(void *buff,uint16_t len)
{
uint16_t i;
for(i=0;i<len;i++)
{
((char*)buff)[i]=UReadData();
}
}
void UFlushBuffer()
{
while(UDataAvailable()>0)
{
UReadData();
}
}

46. 46
5. FUTURE SCOPE OF WORK
5.1 SUMMARY
This robot is designed to be adjustable to fit inside pipes as small as 20cm up to any size.
This allows the robot to fit and traverse the robot inside pipe, regardless of its size. The
robot's drive utilizes encoders so it can keep track of its position and increment forward
configurable distances.
It is able to traverse in pipe and move backward and forward directions and sense the
light like hole in the pipe and send the message to the mobile, and stop at the position.
5.2 CONCLUSION
A very important design goal of the robotic systems is the adaptability to the inner
diameters of the pipes. So, we had proposed a new design in inspecting pipelines. The
major advantage is that it could be used in case of pipe diameter variation with the simple
mechanism. We developed a Power Generation from Railway Track that can be applied
to 140- 180mm pipeline. The kinematics of mechanism and actuator sizing of this robot
have been investigated. A real prototype was developed to test the feasibility of this robot
for inspection of in-house pipelines. We used a PCB board that can operate DC motor.
Good conceptive and element design could manage all the problems. The types of
inspection tasks are very different. A modular design was considered for PIC that can be
easily adapted to new environments with small changes. Presence of obstacles within the
pipelines is a difficult issue. In the proposed mechanism the problem is solved by a spring
actuation and increasing the flexibility of the mechanism. The propulsion of the robot has
been successfully conducted using only three motors, a radical simplification over
existing efforts. The robot is designed to be able to traverse horizontal and vertical pipes.
We had experimented our project and we got the test results.
5.3 FUTURE SCOPE OF WORK
To develop the robot with this technique and report that the robot could inspect the inside
of the pipe using the inside image information and the rotating probe data with touch
sensor and can move forward backward left right and horizontal and vertical.
The best suggestions I can give for those working on such a project in the future: make
each unit between articulations as small and as short as possible. Try to spread the power
around by having many, less powerful drives instead of only two large ones. Of course,
this means a lot of very tiny machining—it would be best if some simple way could be
found to make a lot of small drives, perhaps powering them with hydraulic or pneumatic
pressure.

47. 47
REFERENCES
 Kosuke Wada (2007), Wireless Radio Communication System for Power
Generation from Railway Track and Bridge Diagnosis Data. Waseda University,
Master’s thesis, pp.9-11
 Harutoshi Ogai, Kosuke Wada, Katsumi Hirai, et al (2007), Wireless Radio
Communication System for a Power Generation from Railway Track. ICASE
Int’I Conf. 2007 (ICCAS 2007), Korea, pp.2616-2619, October 17-20
 Wei You, Dongmei Wu, Harutoshi Ogai, et al (2008), Wireless radio
communication system for a Power Generation from Railway Track. The 13th
international Symposium on Artificial Life and Robotics, pp. 393-396, Jan. 31-
Feb. 2
 Mhramatsu M, Namiki N, Koyama U and Suga Y (2000), “Autonomous Mobile
Robot in Pipe for Piping Operations”, in Proc. IEEE/RSJ Int. Conf. Intelligent
Robots, Systems, Vol. 3.
 www.google.com
 www.wikipedia.com

48. 48
ANNEXURE
Imagine the drain is clogged and not a single drop is flowing through. A common
problem – the cause can be hidden in the far corners of a sewage system. This is where
inspection robots hunt for the cause. Brushless DC motors by mason motor provide the
robotic vehicles with a precision drive.
Robots are increasingly being used for fully automated tasks that are too dangerous,
monotonous or when it would be unreasonable, to ask a human to perform the task. For
example, innovative systems such as inspection robots for sewage ducts are used
worldwide for high-precision damage detection. There are even inspection robots that can
climb 90 m high onto wind turbines to inspect the rotor blades. Underground sewage
pipelines that stretch across many miles are also highly complex systems. These systems
have to function reliably at all times. Regular inspection is therefore mandatory, to avoid
damage caused by corrosion, cracks and mechanical wear. Yet the narrow, labyrinthine
sewer systems are frequently inaccessible for humans – this is where only technical
equipment can save the day.