Diseño e implementación de un prototipo de mini robot móvil bidireccional con video cámara para inspección en tuberías de diámetros reducidos

Abstract

In this thesis, a prototype of a bidirectional mobile mini robot with a video camera is designed and implemented for the inspection of small-diameter pipes. Inspection robots are commonly used for visual inspection inside pipes; however, due to their size, these robots are no longer useful for this task in small-diameter pipes, leaving the use of endoscopic cameras as the only alternative. The development of this prototype of a mini-inspection robot with a camera offers an alternative for visual inspection inside pipes where, due to their small diameter, an endoscopic camera was previously required. The development of this mini robot is carried out in several stages, including a bibliographic research phase and the development of an initial test prototype prior to the final prototype. The development stages range from the design of the structure and the movement and coupling mechanism, software development and integration with the hardware, to its implementation in the ideal environments previously prepared for which it was designed.