Position Estimation of In-Pipe Robot using Artificial Neural Network and Sensor Fusion

Year 2021, Volume: 25 Issue: 5, 1102 - 1120, 30.10.2021

Abdullah Erhan Akkaya Muhammed Fatih Talu Ömür Aydoğmuş

https://doi.org/10.16984/saufenbilder.898072

Abstract

Water is vital for all living beings, especially for a human. Automatic position detection of water leakage in water pipelines is very important to minimize the loss of labour, time, money spent on exploration and excavation in pipe inspection procedures. The main goal of detection is to prevent water loss. In this study, sensitive position detection, crack frequency band detection and external sphere studies of an in-pipe robot prototype have performed. During the precise position estimation, classical EKF, stationary region detection and location estimation using EHDE are performed with two different ANNs. In this way, online precise position estimation can be done on hardware that has not sufficient computational power for indoor robotic studies. In addition, the sound characteristics resulting from the crack at different hole size and water pressure intensity levels have investigated. Finally, a new sealing sphere design has devised and three different hydrophone sensor data have recorded on the SD card simultaneously. It has been found that the proposed ANN method has the performance to work online and can make a similar position estimation with the classical IMU position estimation method by 99%.

Keywords

Sensor Fusion, Artificial Neural Network, Inertial Navigation, Leak Detection

Supporting Institution

TÜBİTAK

Project Number

215E075

Thanks

This study was supported by the Scientific and Technological Research Council (TUBITAK) under 3501 - Career Development Program of Turkey, (Project Title: "Production of Medium-Scale Capsule Robot Prototype for Detection of Leakage in Water Pipes"; Project Number: 215E075).

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