Development and research of wireless control of in-pipe robotic complex

The article presents a study devoted to determining the parameters of propagation of radio signals both in the in-tube and out-tube space, at carrier frequencies of 2.4 and 5 GHz. The development of a method for controlling frequency switching on an in-tube robot is also being considered. During the research, radio stations such as Mikrotik, Nanostaion, and steel pipelines of various lengths and diameters were used. The operator's station was used to control the in-line robotic complex, as well as the design of the in-line robotic complex itself. Experimental research methods, as well as analysis and generalization, were used to determine the parameters of radio signal propagation. As a result, the most efficient equipment that can be used for transmitting and receiving signals through the inner tube space was determined, this is Mikrotik. The minimum signal level was determined at a frequency of 2.4 GHz, which reached a value of −18 dBm, at a frequency of 5 GHz at −26 dBm in a 40 m long pipeline. The dependences on the determination of the signal level in the inner tube space on the range of the in-pipe robotic complex (IRC) location, taking into account the correlation coefficients of the radio signal for the inner tube space, are presented. The signal propagation range is up to 2100 m, based on the selected type of equipment. When receiving and sending data, the signal level did not decrease below −68 dBm and −61 dBm, at a frequency of 2.4 GHz. When sending and receiving data at a frequency of 5 GHz, the signal level did not decrease below −80 dBm and −74 dBm.