Publication

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.