Implementation of Ladder Logic for Control of Pipeline Inspection Robot Using PLC
In the modern world, the transportation of goods and services plays an important role in establishing good connections between the nations. The main source of transportation of major energy sources like fuel gases, petroleum, and other flow of gases and l
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Abstract In the modern world, the transportation of goods and services plays an important role in establishing good connections between the nations. The main source of transportation of major energy sources like fuel gases, petroleum, and other flow of gases and liquid has been done through pipelines, any crack, blowholes, or damage inside the pipe may lead to major economic loss and can catches fire therefore the internal inspection of pipelines is needed. For inspection of narrow, deep, and hazardous environment inside the pipeline the robots is used. The control of robot has been done by programmable logic controller (PLC) and internal control of robot has been through human–machine interface (HMI). The control of robot has two parts in terms of programming. First, the development of ladder logic is done in Indraworks Engineering Software according to the sequence of operations and then simulates it on software itself to check the fulfillment of objectives. Second, developing the HMI Interface is for internal control of robot and easy access of operation. Touch screen has been used as HMI which is helpful in opting the size of pipe accordingly pipeline inspection robot will adjust its arms. Keywords Pipeline inspection robot HMI Indraworks Engineering
Rexroth PLC
Industrial automation
Varnita Verma (&) Roushan Kumar Vivek Kaundal University of Petroleum and Energy Studies, Dehradun, India e-mail: [email protected] Roushan Kumar e-mail: [email protected] Vivek Kaundal e-mail: [email protected] © Springer Science+Business Media Singapore 2017 R. Singh and S. Choudhury (eds.), Proceeding of International Conference on Intelligent Communication, Control and Devices, Advances in Intelligent Systems and Computing 479, DOI 10.1007/978-981-10-1708-7_113
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1 Introduction The flow of gases and liquid has been done through pipelines and the inspection of pipeline is must for proper transportation of gases and liquids and related to safety issues, for internal inspection of pipe conventionally, humans go inside the pipe which is harmful to the health of human. Therefore, the device has been created which was inserted in pipes to check for obstruction or damage [1–3]. This robot is capable of adjusting its arm from 30 to 40 cm and able to detect the intensity of damage inside the pipe this could be done through inspection camera mounted on the robot which helps in capturing the real-time images and processes the image through image processing. This robot is very useful for internal inspection of underground pipeline, sewage pipes, gas pipes, ac vent, etc., and easy repair of pipeline can be done after knowing the defect location of pipeline. The most popular nondestructive testing (NDT) techniques has been done with the help of camera, ultrasonic sensor, microwave technique, and 3D optical sensor. The size and shape of robot are dependent on the layout of entire pipeline structure [2]. Many pipeline inspection robots have been implemented before like PIRAT robot
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