CAD DESIGN FOR GAS LEAK DETECTION ROBOT

CAD DESIGN FOR GAS LEAK DETECTION ROBOT This work presents a reproducible mobile robotic platform for the external inspection of pipelines and the localization of simulated compressed-air leaks. The system integrates a differential-drive mobile base, four VL53L0X time-of-flight sensors, an eight-microphone MAX4466 acoustic array, a SCARA positioning mechanism, an NI myRIO controller, and distributed ESP32 nodes. The robot autonomously follows a 3-inch PVC pipeline containing straight sections and 45° bends while maintaining a predefined inspection distance. Leak detection is performed at 4 bar by comparing the RMS energy of the acoustic channels, after which the robot records the estimated odometric coordinates and the affected pipe quadrant. Experimental validation at 0.15 m/s showed a maximum lateral tracking error below 2 cm. Introducing a 2-second stationary confirmation interval increased small-leak detection reliability from 82% to 96%. The virtual localization system achieved an accuracy of approximately ±0.8 cm, with 95% of confirmed detections recorded within 1 cm of the actual leak location. The platform provides a modular and safe test environment for studying autonomous pipeline inspection, acoustic leak detection, robotic positioning, and digital fault reporting without using flammable gases or physical marking consumables.