Diseño e Implementación de un Robot Hexápodo Mediante Arduino Aplicado a la Inspección de Tuberias de Alcantarillado en la Ciudad de Riobamba.

Abstract

An exapode robot desing and construction has been carried out, base don free software for the inspection of the water system in Riobamba city, to know about the existence of toxic material sor gases. The investigation was performed at the Electronic Engineering School in Control of Industrial Netwoks belonging to the Escuela Superior Politécnica de Chimborazo (Chimborazo Higher Education Polytechnic School). The inductive and deductive methods were used. The inductive method was used to analyze the steps together with the variables so that the control system may function correctly; the deductive one starts from a premise to draw conclusions from a articular case. The comunication between the exapode robot and the arduous control plate is carried out in two ways: through the use of a cable and wireless; it has an infrared camera for the image obtainment, a sensor to determine the existence of toxic gases, a LiPo type battery to feed the exapode robot. The exapode robot structure was elaborated by the 3D printing with the polymethylmethacrylate material whose features permit to be resistant under extreme conditions. A visual Basic application was desing for: the visualization of images taken by the camera and the exapode robot remote control. The results obtained through the use of the exapode robot were about the water system condition at a 99% vision level of real images of the water system conditions, methane gas in the water system with a 300-10000 ppm concentration. It is concluded that the exapode robot provides a great precision and velocity upon conducting the movements in the water system pipings; it provides real images of the piping condition; it permits to know about the toxic gas level; for this reason it can be used for scanning to provide the opportune maintenance in the water system piping. Based on this investigation, the exapode robot operator is recommended to verify that the robot battery voltage level not be lower tan the 9 volts to avoid the exapode robot malfunction.