Thermal Tracking in Mobile Robots for Leak Inspection Activities
Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper pres...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2013-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/13/10/13560 |
| _version_ | 1811302504741208064 |
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| author | Iñaki Maurtua Aitor Ibarguren Jorge Molina Loreto Susperregi |
| author_facet | Iñaki Maurtua Aitor Ibarguren Jorge Molina Loreto Susperregi |
| author_sort | Iñaki Maurtua |
| collection | DOAJ |
| description | Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system. |
| first_indexed | 2024-04-13T07:29:19Z |
| format | Article |
| id | doaj.art-878eec91b0c14e7abed9e3c608fd4859 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T07:29:19Z |
| publishDate | 2013-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-878eec91b0c14e7abed9e3c608fd48592022-12-22T02:56:24ZengMDPI AGSensors1424-82202013-10-011310135601357410.3390/s131013560Thermal Tracking in Mobile Robots for Leak Inspection ActivitiesIñaki MaurtuaAitor IbargurenJorge MolinaLoreto SusperregiMaintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.http://www.mdpi.com/1424-8220/13/10/13560thermal imageleak detectionparticle filtertracking |
| spellingShingle | Iñaki Maurtua Aitor Ibarguren Jorge Molina Loreto Susperregi Thermal Tracking in Mobile Robots for Leak Inspection Activities Sensors thermal image leak detection particle filter tracking |
| title | Thermal Tracking in Mobile Robots for Leak Inspection Activities |
| title_full | Thermal Tracking in Mobile Robots for Leak Inspection Activities |
| title_fullStr | Thermal Tracking in Mobile Robots for Leak Inspection Activities |
| title_full_unstemmed | Thermal Tracking in Mobile Robots for Leak Inspection Activities |
| title_short | Thermal Tracking in Mobile Robots for Leak Inspection Activities |
| title_sort | thermal tracking in mobile robots for leak inspection activities |
| topic | thermal image leak detection particle filter tracking |
| url | http://www.mdpi.com/1424-8220/13/10/13560 |
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