Design of an Intelligent Self Balancing Inspection Robot for Industrial Monitoring

This paper describes the design steps of an intelligent segway robot for monitoring an industrial plant, and detecting corrosion and leakages using camera video. The self-balancing inspection robot (SBIR) integrates robotics, embedded control systems, and computer vision based mobile platform for autonomous inspection. The design cycle involves theoretical modeling and empirical analysis to select hardware components and develop a Segway robot platform using a PID control architecture for stable operation in industrial settings. Moreover, a WebSocket-based remote control system allows the operator to control the robot from a distance. The robot is able to detect real-time gas leakages using YOLOv8. The study demonstrates the efficacy of the mobile robots in enhancing safety and efficiency in industrial inspections. The project video can be seen here: https://youtu.be/aieaBv4d5k