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Recognition of pipeline geometry by using monocular camera and PSD sensors

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Abstract

This study proposes a method of sensing basic pipeline elements, such as a straight pipeline, elbow, T-branch, and miter, by using a monocular camera and position sensitive device sensors. The method is composed of the three following parts: The pipeline elements are first determined; the T-branch and miter are then classified among them; and the opening directions of the T-branch and the elbow are recognized. We develop a sensor hardware and signal-processing algorithm for providing information on the pipeline elements required to navigate inside the pipelines. This algorithm is easily implementable without any heavy computational burden. The proposed method is tested in an in-pipe robot, called MRINSPECT VI. Subsequently, its effectiveness is validated.

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Acknowledgements

This work is a part of a research project supported by the Ministry of Knowledge Economy (MKE) through the “Development of self-powered robots for nondestructive inspection of 8” and 16” unpiggable pipelines.” Also, this research was partially supported by Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education(No. 2016R1A6A3A11932345). The authors wish to express their gratitude for the financial support.

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, ChunchunDong 300, Jangan-gu, Suwon, Kyungki-do, 440-746, Korea

    Yun Seok Choi, Ho Moon Kim, Hyeong Min Mun, Yoon Geon Lee & Hyouk Ryeol Choi

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  1. Yun Seok Choi
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  2. Ho Moon Kim
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  3. Hyeong Min Mun
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  4. Yoon Geon Lee
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  5. Hyouk Ryeol Choi
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Corresponding author

Correspondence to Hyouk Ryeol Choi.

Additional information

This work was presented in part at the IEEE/ASME International Conference Advanced Intelligent Mechatronics 2014 and the IEEE/RSJ International Conference on Intelligent Robots and System 2014 [1,2].

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Choi, Y.S., Kim, H.M., Mun, H.M. et al. Recognition of pipeline geometry by using monocular camera and PSD sensors. Intel Serv Robotics 10, 213–227 (2017). https://doi.org/10.1007/s11370-017-0221-1

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  • DOI: https://doi.org/10.1007/s11370-017-0221-1

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