International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 10 Issue: 07 | July 2023
p-ISSN: 2395-0072
www.irjet.net
Design and Fabrication of In-Pipe Inspection Robot for Crack Analysis and Detection Using OpenCv and Visual Odometry Alwin Tony1, Adil Noushad2, Aquilas Ninan3, Alwin A V4, Naveen Prakash K V5 1,2,3,4 UG Scholar, Department of Mechanical Engineering, Toc H Institute Of Science and Technology, Ernakulum,
India
5Assistant Professor, Dept. of Mechanical Engineering Toc H Institute Of Science and Technology, Ernakulum, India
---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - This project focuses on the design and
are a major concern for regional and national water authorities, as damages to water pipes are prone due to hindrance and negligence caused from general public, road and transport authority because of their subsequent road maintenance and building. The in-pipe robots consists a mechanism of camera and sensors to identify these crack propagation signatures and return a live feed monitoring with Program based differentiation to a technician for further facilitation of evaluation. Pipe transmission systems deteriorate progressively over time. Pipelines are one of the safest ways to transport water and other liquids. The bigger part of pipeline transmission systems are accessible by existing inspection tools or human intervention but this is limited to the section which are normally at the exterior or joints of the pipe. Corrosion or cracks does not generate largely in this areas, hence the requirement of a smaller inspection device increases. The industry is keen on receiving newer innovations that allows inspection without interrupting the routine operations. It is understood that reliable and accurate information of inspection can only be found only by direct pipe wall access. The robot (PIR) with an adaptable design may help in imbibing with the interior environment of the pipe, especially with respect to the diameter of the pipe, with high maneuverability and ability to operate under hostile conditions. For PIR we are using a six wheeled concept since it is the easiest, most energy efficient and has the potential to travel long range.
enhancement of electronics control systems for pipe inspection robots. Currently, these robots are primarily manufactured offshore, resulting in high costs and inadequate support during malfunctions, leading to environmental mishaps. The objective is to leverage existing mechanical platforms and develop a reliable, robust, and cost-effective in-pipe inspection robot. Existing pipe inspection robot models worldwide exhibit significant performance variations. Many systems have limited applicability, lack reliability, and heavily rely on user experience. This project aims to overcome these challenges by developing an innovative robot capable of navigating pipelines and accurately detecting crack propagation. The robot must operate reliably in confined environments and provide technicians with digital video feedback. It will incorporate offthe-shelf components, inexpensive materials, and allow for potential on-site repairs, emphasizing traditional mechanical engineering principles. It enables the robot to autonomously distinguish between cracks and other voids, eliminating the need for additional human intervention. The proposed selfinitiating distinction between cracks and voids streamlines inspections, minimizing human error and enhancing efficiency. Design of a six-legged 120 degree apart symmetric structure for the robot for easy manoeuvrability equipped with wifi module, Microcontroller, and set of cameras for computer vision. Utilises OpenCv and haar Cascading techniques and python programming to detect crack from live video feedback and shows the output to user outside. Absolute distance is also measured using visual odometry wherein change in pixels of multiple images is calculated to distance.
1.1 Review of Literature [1]2010, Manabo ONO, et al., discusses the possibilities of an Earthworm like robot that may be used for inspections of long pipelines. It uses a design similar to that of an Earthworm which uses three rubber bellows as pneumatic actuators. [2]2012, MD Rashid Ashraf, et al., presents the procedures undertaken during the design and development of a small size pipe-in robot for the purpose of boiler head inspection. This robot used the method of visual inspection using a camera probe that shall be later looked in to for the carrying out of the procedure. [3]2012, M F Yousuff, et al., discusses about a robot that can be utilized for the inspection and movement along an air-condition pipeline. It details the different parameters that are to be met while designing such a robot. [4]2012, Dongwoo Lee, et al., discusses about a methodology for navigating a pipeline using two mechanisms known as; Adaptable Quad Arm
Key Words: Pipe Inspection Robot, OpenCv, Haar Cascading, Visual Odometry, Crack analysis, Manoeuvrable Robot
1. INTRODUCTION Pipes are used in many industries to transport various kinds of fluids and gases, many of these pipes are long and inaccessible to technicians and workers, ensuring proper passage of the fluids and maintenance of the pipes are an important parameter for the client and end user. This project specifically focuses on pipes used in continuous long transmission of water and other fluids, pipes used in divisional transportation of water. Cracks and water leakage
© 2023, IRJET
|
Impact Factor value: 8.226
|
ISO 9001:2008 Certified Journal
|
Page 353