THE MOBILE ROBOT FOR OUTER SURFACE INSPECTION OF BOILER TUBES

摘要

This article introduces a novel robot for outer surface inspection of boiler tubes. The robot not only can walk in both directions along side-by-side pipelines in a boiler with an omnidirectional mobility system but also can carry the sensors to deep layer tubes through the narrow space between side-by-side pipelines, using its two snakelike arms. This article describes the hardware design, wireless communication strategy, and software design of the robot system. Wireless local area network technology is used in the robot.