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Thermal tracking in mobile robots for leak inspection activities
Aitor Ibarguren1, Jorge Molina, Loreto Susperregi
1IK4-Tekniker, Calle Iñaki Goenaga 5, Eibar 20600, Spain. aitor.ibarguren@tekniker.es.
Sensors (Basel, Switzerland)
|October 12, 2013
Summary
This study introduces an autonomous robot for inspecting thermal power plant pipelines to detect and prevent leaks using thermography. A particle filter-based tracking system enhances detection accuracy and robot navigation.
Area of Science:
- Robotics and Automation
- Industrial Maintenance
- Thermal Engineering
Background:
- Industrial plants, particularly solar thermal power plants, require robust maintenance for operational efficiency.
- Automated inspection using robots is essential for continuous monitoring and early fault detection in extensive facilities.
Purpose of the Study:
- To present an autonomous robotic system for pipeline inspection in thermal power plants.
- To enable early detection and prevention of leakages using advanced sensing and control algorithms.
Main Methods:
- Development of an autonomous robotic system integrated with a thermographic camera for leakage detection.
- Implementation of a particle filter-based tracking algorithm for target maintenance and terrain adaptation.
- Utilizing robot arm control for camera stabilization and optimal field of view.
Main Results:
- The system successfully detects leakages in pipelines and collectors using thermographic data.
- The particle filter enhances robot navigation and maintains the target within the camera's view.
- Integration of tracking algorithms significantly improves the performance of the leakage detection system.
Conclusions:
- The proposed autonomous robotic system is suitable for effective pipeline inspection in thermal power plants.
- The developed tracking algorithm is crucial for enhancing the reliability and accuracy of automated leak detection.
- Robotic systems offer a viable solution for continuous and automated monitoring in industrial environments.
