Study on the Error Analysis of Pipeline Inspection Robot Mileage Wheel Localization

2013 ◽  
Vol 706-708 ◽  
pp. 1171-1174
Author(s):  
Hong Xu ◽  
Zhu Xin Li ◽  
Yuan Yuan Li ◽  
Li Hong Gong
Keyword(s):  
Error Analysis ◽  
Localization Accuracy ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Accurate Detection ◽  
Localization Errors ◽  
Inspection Robots

Currently, the development of our pipeline inspection technology is rapidly, pipeline inspection robots were widely used , it providing scientific and accurate detection data for pipeline maintenance and overhaul. The accurate localization datas provided by pipeline robots are the basis for pipeline maintenance and overhaul.This paper describes the running Principle of mileage wheel, detailly analysis the reasons of the mileage wheel localization errors according problems appeared.finally, proposed methods to improve pipeline inspection robot mileage wheel localization accuracy briefly.

scholarly journals Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

2020 ◽  
Vol 10 (8) ◽  
pp. 2853 ◽  
Author(s):  
Hui Li ◽  
Ruiqin Li ◽  
Jianwei Zhang ◽  
Pengyu Zhang
Keyword(s):  
Mobile Robot ◽  
Field Testing ◽  
Oil Pipeline ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Hazardous Environments ◽  
Oil Pipelines ◽  
China National Petroleum Corporation ◽  
Transfer Stations ◽  
Inspection Robots

The periodic inspection for oil pipelines is required due to the deterioration over time. A multitude of factors brings such a deterioration, from corrosion, leaks, to cracks, which may lead to blowbacks and cause the damages for operators and the environments. With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. Rather than the assignment of human workers in hazardous environments, the deployment of such kinds of inspection robots can take on this duty more time-efficiently and safely, preventing the human workers from the high-risk of the inspection task in the oil pipelines. This paper presents a novel design of a mobile robot for oil pipeline inspection, which is cooperated with the China National Petroleum Corporation (CNPC). With the improvement of the previous inspection robot used in CNPC’s standard oil pipelines, the newly designed robot is composed of six groups of symmetrical supporting wheels, and a more powerful motors as well as a more advanced control system. This new design endows the oil pipeline inspection robot with better performance on six aspects: traction, obstacle-adaptivity, operation endurance, gradeability, visual perception, and stability. The field testing results at multiple oil transfer stations across several months demonstrate the reliability of this mobile robot under various severe situations in China and validate its performance in the studied aspects.

Accuracy analysis of BLE beacon-based localization in smart buildings

2021 ◽  
pp. 1-20
Author(s):  
Rosen Ivanov
Keyword(s):  
Use Case ◽  
Accuracy Analysis ◽  
Localization Algorithm ◽  
Computing Power ◽  
Smart Buildings ◽  
Localization Accuracy ◽  
Positioning Systems ◽  
Deployment Strategy ◽  
Accurate Localization ◽  
Localization Algorithms

The majority of services that deliver personalized content in smart buildings require accurate localization of their clients. This article presents an analysis of the localization accuracy using Bluetooth Low Energy (BLE) beacons. The aim is to present an approach to create accurate Indoor Positioning Systems (IPS) using algorithms that can be implemented in real time on platforms with low computing power. Parameters on which the localization accuracy mostly depends are analyzed: localization algorithm, beacons’ density, deployment strategy, and noise in the BLE channels. An adaptive algorithm for pre-processing the signals from the beacons is proposed, which aims to reduce noise in beacon’s data and to capture visitor’s dynamics. The accuracy of five range-based localization algorithms in different use case scenarios is analyzed. Three of these algorithms are specially designed to be less sensitive to noise in radio channels and require little computing power. Experiments conducted in a simulated and real environment show that using proposed algorithms the localization accuracy less than 1 m can be obtained.

A review on pipeline inspection robot

2020 ◽  
Author(s):  
Prasanthi Ambati ◽  
K. M. Suman Raj ◽  
A. Joshuva
Keyword(s):  
Pipeline Inspection ◽  
Inspection Robot

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Robotica ◽  
2021 ◽  
pp. 1-24
Author(s):  
Heesik Jang ◽  
Ho Moon Kim ◽  
Min Sub Lee ◽  
Yong Heon Song ◽  
Yoongeon Lee ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Ccd Camera ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Ground Station ◽  
Computing Unit ◽  
Differential Gear ◽  
Sensor Module ◽  
Communication Module ◽  
Gear Mechanism

Abstract This paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.

Design and Modeling of Pipeline Inspection Robot (PIR) for Underground Pipelines

2021 ◽  
pp. 209-224
Author(s):  
Ravi Kant Jain ◽  
Abhijit Das ◽  
A. Mukherjee ◽  
Santosha Goudar ◽  
Ankita Mistri ◽  
...  
Keyword(s):  
Pipeline Inspection ◽  
Inspection Robot ◽  
Underground Pipelines

Reducing Tracking Error in RFID Real-Time Localization Systems Using Kalman Filters

2014 ◽  
Vol 5 (3) ◽  
pp. 1-24
Author(s):  
Benjamin Sanda ◽  
Ikhlas Abdel-Qader ◽  
Abiola Akanmu
Keyword(s):  
Real Time ◽  
Radio Frequency Identification ◽  
Kalman Filters ◽  
Tracking Error ◽  
Time Of Arrival ◽  
Indoor Environments ◽  
Real World Data ◽  
Localization Accuracy ◽  
Accurate Localization ◽  
Localization Systems

The use of Radio Frequency Identification (RFID) has become widespread in industry as a means to quickly and wirelessly identify and track packages and equipment. Now there is a commercial interest in using RFID to provide real-time localization. Efforts to use RFID technology in this way experience localization errors due to noise and multipath effects inherent to these environments. This paper presents the use of both linear Kalman filters and non-linear Unscented Kalman filters to reduce the error rate inherent to real-time RFID localization systems and provide more accurate localization results in indoor environments. A commercial RFID localization system designed for use by the construction industry is used in this work, and a filtering model based on 3rd order motion is developed. The filtering model is tested with real-world data and shown to provide an increase in localization accuracy when applied to both raw time of arrival measurements as well as final localization results.

scholarly journals A Robust Localization System for Inspection Robots in Sewer Networks

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4946 ◽  
Author(s):  
David Alejo ◽  
Fernando Caballero ◽  
Luis Merino
Keyword(s):  
Cross Sections ◽  
Prior Information ◽  
Real Data ◽  
Localization System ◽  
Sewer Network ◽  
Localization And Mapping ◽  
Localization Errors ◽  
Robust Localization ◽  
Monte Carlo Localization ◽  
Inspection Robots

Sewers represent a very important infrastructure of cities whose state should be monitored periodically. However, the length of such infrastructure prevents sensor networks from being applicable. In this paper, we present a mobile platform (SIAR) designed to inspect the sewer network. It is capable of sensing gas concentrations and detecting failures in the network such as cracks and holes in the floor and walls or zones were the water is not flowing. These alarms should be precisely geo-localized to allow the operators performing the required correcting measures. To this end, this paper presents a robust localization system for global pose estimation on sewers. It makes use of prior information of the sewer network, including its topology, the different cross sections traversed and the position of some elements such as manholes. The system is based on a Monte Carlo Localization system that fuses wheel and RGB-D odometry for the prediction stage. The update step takes into account the sewer network topology for discarding wrong hypotheses. Additionally, the localization is further refined with novel updating steps proposed in this paper which are activated whenever a discrete element in the sewer network is detected or the relative orientation of the robot over the sewer gallery could be estimated. Each part of the system has been validated with real data obtained from the sewers of Barcelona. The whole system is able to obtain median localization errors in the order of one meter in all cases. Finally, the paper also includes comparisons with state-of-the-art Simultaneous Localization and Mapping (SLAM) systems that demonstrate the convenience of the approach.

Spatial Cueing and the Relation between the Accuracy of “Where” and “What” Decisions in Visual Search

1989 ◽  
Vol 41 (4) ◽  
pp. 747-773 ◽  
Author(s):  
Hermann J. Müller ◽  
Patrick M. A. Rabbitt
Keyword(s):  
Visual Search ◽  
Shape Analysis ◽  
Target Localization ◽  
Target Orientation ◽  
Spatial Cueing ◽  
Localization Accuracy ◽  
Accurate Localization ◽  
Orientation Experiment ◽  
Candidate Location ◽  
Accurate Matching

To study the processes underlying selective attention in visual search, the relation between the accuracy of “where” (location) and “what” (same/different orientation matching) decisions was analysed under various display conditions. Target-non-target discriminability was varied by contrasting single and multiple element displays; further, attention was directly manipulated by spatial cueing. In Experiment 1, analyses for both single and multiple displays showed that localization accuracy remained above chance when same/different matching failed; the inverse also obtained. It seems that accurate matching is not a prerequisite for target localization, nor is accurate localization a prerequisite for same/different matching. However, localization is a prerequisite for the accurate recognition of target orientation (Experiment 2). In this case, it seems that features critical for localization “call” attention to a particular candidate location. This facilitates further (shape) analysis of the stimulus that is found there. This orienting process is by-passed if attention is cued to the location in advance.

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