DeWaLoP In-pipe Robot Embedded System

摘要

This paper describes the development of an in-pipe robot embedded system implemented in the DewaLoP (Developing Water Loss Prevention) robot system. We define an embedded system as the configuration of CPU boards, peripherals and communication protocols to fulfill a defined task as if encapsulated in a microchip. The DeWaLoP in-pipe robot task is to redevelop the pipe-joint gaps of the fresh water systems of Vienna and Bratislava, the robot must be able to move inside the pipe, clean and apply a restoration material to seal these pipe-joints. The proposed embedded system is designed upon the functionality and system operation of the in-pipe robot, mimicking a finite-state machine (FSM) where at each state the robot modules are configured either to work independently or in conjunction to another module(s) depending on its previous state.