Desarrollo de un software para el control y registro de la plataforma robótica para la inspección de ductos de alcantarillado (Prida)

Abstract

The following work presents the development of a software for the integration of different hardware components in a single system. The Mobile Robot Platform of Inspection of Pipelines (PRIDA), is a robot consisting of free hardware elements which are integrated into a framework of own development. The PRIDA Control and Monitoring Software - PRIDASoft was developed using the C ++ programming language due to its advantages of communication with different types of hardware. The development environment chosen is QT CREATOR, which allows working in teams that manage operating systems such as Linux and Windows, allowing the generation of versions of the application that can be executed on different platforms. Because the robot has elements such as: Arduino, Raspberry Pi, motors, sensors and actuators. This integration was made through software that has an interface that controls and monitors the robot, which aims to perform inspections inside sewer pipes greater than 1m in diameter. In addition, it has a system of indicators, among which are: distance measurement system to obstacles, environmental sensors, battery level meter and current, etc., whose purpose is to facilitate the operators of PRIDA, the detection of the environmental conditions that are inspected so that a diagnosis of the pipeline can be made at the same time that possible damage to the robotic platform could be foreseen. Another of its characteristics is the recording of the sensed variables and operation messages, in addition it allows to monitor the explored site with a camera offering possibilities of capturing the images transmitted by it from the platform to detect cracks and damages in the pipes. Additionally, the software has an access control to protect the integrity of the data, in which only authorized users can use it with their respective permissions on the platform. It will also have a database for the storage of information and achieve a record of inspections carried out in real time, where only the administrator will have control of them to avoid losses and manipulation of data. It should be mentioned that the database is supported by a log file where all the information related to the inspection and the status of the platform is captured in order to avoid the loss of data in the event of an error or an error. it fails in the system.