Paper Title
DEVELOPMENT OF CLIMBING ROBOT VEHICLE FOR PETROCHEMICAL PIPELINE

Abstract
Abstract - Regular maintenance and upkeep of petrochemical pipelines often need to consider workplace occupational safety issues such as manpower burden, cost, and security. Therefore, the development of wireless control inspection vehicles can reduce physical fatigue for personnel while maintaining precise inspections. This article presents the research and development of a crawling robot for this purpose, including the design of the vehicle mechanism, Bluetooth remote control, and the development of the power drive system. The main body and some components of the prototype were designed using Solidworks software and manufactured through 3D printing technology for assembly.The vehicle's motion is achieved by motor-driven rubber wheels. The controller utilizes the Arduino UNO development board, and the vehicle is driven by two sets of DC geared motors. The overall structure is integrated and divided into front and rear sections. The front section contains a gripping mechanism that allows the rubber wheels to adhere tightly to the pipeline wall, while the rear section serves as the control area of the vehicle. The motor rotation is controlled by a Bluetooth module connected to a mobile phone's designed interface, enabling remote control.The final prototype was tested in physical pipelines. The results showed that the vehicle successfully crawled outside the pipeline, and it could carry a weight of up to 650g. The vehicle itself has multiple platforms to accommodate various types of inspection equipment and can travel steadily at a speed of 0.0083m/sec. The infrared detection results were similar to actual pipeline defects, and the collected inspection data could be displayed as a data file on a tablet or computer. Keywords - Climbingrobot, Pipeline, Inspection Vehicle