A Novel Dual-Spherical Intelligent Pipeline Robot for Leak Detection

Abstract

To address the challenge of achieving both low drag and high maneuverability in complex water-filled pipeline environments, this study proposes a novel dual-spherical pipeline robot with integrated leak detection and mapping capabilities. A multi-objective optimization framework was established to simultaneously improve hydrodynamic performance, motion stability, and internal spatial layout, while adopting a streamlined shell design to achieve both low-drag and sensor integration requirements. Based on a task-driven configuration optimization method, an energy-efficient propeller arrangement was derived under the constraint of maintaining maneuvering performance. The robot employs a helical differential propulsion system and integrates multiple sensors, including a vision module, an inertial navigation unit, and a pressure sensor, to enable leak detection and mapping. Its fully sealed spherical housing ensures stable operation in water-filled pipelines. Based on the proposed configuration, an experimental platform incorporating four representative pipeline environments was constructed, and a series of inspection, mapping, and environmental adaptability tests were conducted. The results demonstrate that the robot can achieve agile turning and stable locomotion in water-filled pipelines, showing strong potential for practical engineering applications.