Development of a swimming robot for pipeline leak detection

In this work a swimming robot is designed for the purpose of leak detection and localization in nontrivial pipeline manifold configuration. It has a simple design configuration given by plastic spherical shell internally loaded with a microcontroller (MCU) board, an inertial measurement unit (IMU) a...

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Bibliographic Details
Main Authors: Ge, Ziyun, Zhang, Shuo, Xie, Junyao, Tang, Zhiyuan, Dubljevic, Stevan
Format: Conference Proceeding
Language:English
Subjects:
Earth
Estimation
Gyroscopes
Mathematical model
Pipelines
Quaternions
Sensors
Online Access:Request full text
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Summary:In this work a swimming robot is designed for the purpose of leak detection and localization in nontrivial pipeline manifold configuration. It has a simple design configuration given by plastic spherical shell internally loaded with a microcontroller (MCU) board, an inertial measurement unit (IMU) and a microphone module. We apply the processing of data obtained from the gyroscope and accelerometer measurements collected by the IMU to reconstruct the position trajectory of the swimming robot. At the same time, the sound data is wavelet transformed to extract feature vectors, and then the Bayesian classifier is adopted to classify each feature to finally identify the leak. Finally, the swimming robot outputs data which provide for the accurate calculation of the trajectory map and the location of the leakage.
ISSN:2378-5861
DOI:10.23919/ACC45564.2020.9148038