Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.