Robotic devices for water main in‐pipe inspection: A survey

Tur, Josep M. Mirats; Garthwaite, William

doi:10.1002/rob.20347

Cited by 102 publications

(43 citation statements)

References 44 publications

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“…We used the map generated by the experiment described above as a ground truth map. We then simulated a robot moving back and forth along this map by the state-space model defined in (1) and (2).…”

Section: E Algorithm Evaluationmentioning

confidence: 99%

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter

Schirru

Zahraee

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-Water, a valuable resource, is usually distributed through urban environments by buried pipes. These pipes are difficult to access for inspection, maintenance and repair. This makes in-pipe robots an appealing technology for inspecting water pipes and localising damage prior to repair from above ground. Accurate localisation of damage is of critical importance because of the costs associated with excavating roads, disrupting traffic and disrupting the water supply. The problem is that pipes tend to be relatively featureless making robot localisation a challenging problem. In this paper we propose a novel simultaneous localisation and mapping (SLAM) algorithm for metal water pipes. The approach we take is to excite pipe vibration with a hydrophone (sound induced vibration), which leads to a map of pipe vibration amplitude over space. We then develop a SLAM algorithm that makes use of this new type of map, where the estimation method is based on the RaoBlackwellised particle filter (RBPF), termed PipeSLAM. The approach is also suited to SLAM in plastic water pipes using a similar type of map derived from ultrasonic sensing. We successfully demonstrate the feasibility of the approach using a combination of experimental and simulation data.

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Section: E Algorithm Evaluationmentioning

confidence: 99%

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter

Schirru

Zahraee

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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“…Most systems use magnetic flux leakage based detectors and others use ultrasound to search for pipe defects [19]. These methods' performance depends on the pipe material.…”

Section: B In-pipe Methodsmentioning

confidence: 99%

Design of a Novel In-Pipe Reliable Leak Detector

Chatzigeorgiou

Youcef‐Toumi

Ben‐Mansour

2015

IEEE/ASME Trans. Mechatron.

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Abstract-Leakage is the major factor for unaccounted losses in every pipe network around the world (oil, gas or water). In most cases the deleterious effects associated with the occurrence of leaks may present serious economical and health problems. Therefore, leaks must be quickly detected, located and repaired. Unfortunately, most state of the art leak detection systems have limited applicability, are neither reliable nor robust, while others depend on user experience.In this work we present a new in-pipe leak detection system. It performs autonomous leak detection in pipes and, thus, eliminates the need for user experience. This paper focuses on the detection module and its main characteristics. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. Moreover, the proposed detector can sense leaks at any angle around the circumference of the pipe with only two sensors. We validate the concepts by building a prototype and evaluate the system's performance under real conditions in an experimental laboratory setup.

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“…Eight basic robot types that can be used in pipelines are available: pig, wheel, caterpillar, wall-press, walking, inchworm, helical, and snake types [17], [18]. With the recent demand for miniaturization and simplification, many studies have focused on helical-type in-pipe robots, which can be used in the petroleum, chemistry, and nuclear fields [19]- [21].…”

Section: Basic Design Conceptmentioning

confidence: 99%

Variable Pitch Helical Drive in-Pipe Robot

Ren

Liu²,

Chen

et al. 2016

International Journal of Robotics and Automation

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Pipelines are extensively used to transport water, oil, and gas for daily human activities and industrial production. An in-pipe robot is necessary to prevent fluid leakage accident by regularly detecting the quality status of a pipeline. Given the complex paths and shapes of pipes, an in-pipe robot cannot easily pass through curved pipes. In this study, a novel variable pitch helical drive in-pipe robot is introduced. The variable pitch adjusting mechanism makes switching the robot between three motion patterns (normal, variable speed, and turning) easy. The proposed robot can pass through curved pipes actively by controlling the helical angle of each driving wheel separately. The space spiral kinematic trajectories of the passive typical and the active novel helical in-pipe robots are compared. A prototype is developed to verify the validity of the proposed structure and function.

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Robotic devices for water main in‐pipe inspection: A survey

Cited by 102 publications

References 44 publications

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter

Design of a Novel In-Pipe Reliable Leak Detector

Variable Pitch Helical Drive in-Pipe Robot

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