Crack and Object Detection in Pipeline Using Inspection Robot
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Editor IJTSRDCrack and Object Detection in Pipeline Using Inspection Robot
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Editor IJTSRDInternational Journal of Trend in Scientific Research and Development (IJTSRD)
International Open Access Journal | www.ijtsrd.com
ISSN No: 2456 - 6470 | Volume - 2 | Issue – 6 | Sep – Oct 2018
Crack and Object Detection in Pipeline u
using
sing Inspection Robot
Hemavathi. R1, Pushpalatha B A2
1
Professor, 2PG Scholar(C&I)
Assistant Professor
University Visvesvaraya College of Engineering
Engineering, Bengaluru, Karnataka,
Karnataka India
ABSTRACT
Pipelines are important means of transportation of in eliminate the human factor
tor from labour intensive or
gas, water, fuel oils, etc. in various fields. The dangerous and inaccessible work environment. The
transportation loss occurs due to aging, corrosion, use of robots is very common in this age of
obstacles, crack and mechanical faults in the pipeline. automation and robots are exclusively used by
The lifetime of pipeline can be increased by regular manufacturing industries. Since the dawn of
inspection of pipeline and recognizing the cracks, industries, pipelines are tools for transporting
transpor oils,
damages and faults in the pipeline and ensuring gases and other fluids. Many defects occur in
proper maintenance of faults. This helps in preventing pipelines and a majority of them are caused by aging,
transportation loss and maintaining profitable gross. corrosion, cracks, blocking and mechanical disasters
Thus, this paper aims to propose an autonomous robot which harm both human life and environment equally.
used for in-pipe inspection which provides easy way Thus, the inspection of pipes is extremely
extreme important
of detecting crack and obstacle inside the pipe. for improving the reliability and security of the
industries. Currently, one of the most viable solutions
The mechanical model of the pipe inspection robot for inspection of pipelines is robots. Now there are
was design according to the requirements of physical many ways of inspecting pipes such as X-rays, X
size of the pipe. The basic design of inspection robot magnetic particle type inspection method
meth etc., but
consists of robot body and DC motors with the rating these methods do not give a full proper internal
of 9V and 35 rpm are attached to the wheels to move inspection of pipes. Hence this paper involves in
the robot forward and backward. The electronic developinga prototype of inspection robot which
circuit is developed, consisting of an H Bridge and provides an easy method of detecting major cracks
Arduino Uno which in turn controls the entire and obstacle inside the pipeline. This pipe inspection
in
connection of DC motorsotors and sensors. The robot robot also aims at removing human factor from labour
allows for detection of cracks and obstacles inside the intensive and dangerous work, thereby reducing the
pipe and also allows us to communicate with it number of accidents that happen due to the lack of
through serial communication. regular inspection.
Keyword: pipeline inspection robot, crack, object 2. METHODOLOGY
obstacle, Arduino, LDR, IR, motor drivers The design of pipeline inspection robot needs the
robot anatomy and sensors to inspect the factors
1. INTRODUCTION inside the pipe. The robot anatomy usually includes
Different industries equipped large pipelines to fulfil the chassis, wheels and motors to drive it. There are
the requirements of the work. Pipelines connect varieties of types of sensors which available to detect
different parts and helps in transporting various kinds and inspect the factors like major crack and object
objec
of things such as gas, water, fuel oils etc. The obstacle. One should select the sensors which are
maintenance of these pipelines is very tedious job and robust, economical and more sensible.
involves more human labour. The main motto of
developing robots is to reduce human interaction with Here, Light Dependent Resistor (LDR) and Infrared
the work. Hence, the growth of robots is tremendous (IR) sensors are used to detect crack and obstacle
in this technologically advanced era. Robots are helps inside the pipeline. Arduino is most suitable controller
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1072
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
2456
which provides
rovides simple perfect programming
environment for beginners. It is very flexible consists of IR emitter and receiver pair. Whenever the
controller used by advanced users. Motor drivers are light falls on object, the light gets reflected back to the
used to drive the motors. It includes L293D and 44- sensor which in turn on the sensor. The object
channel relay for driving the motors. There are three detection by IR sensor is shown in figure 3.
motors for wheelss and one motor for drill bit. The
crack and object obstacle are detected by the robot by
incorporating the above mentioned components. The
status of the crack and obstacle can be displayed on
PC. The proposed prototype of robot here is used for
6- 8 inchess diameter pipes. The block diagram of the
inspection robot is shown in figure 1.
Figure 3: Object detection by IR sensor
Figure 1: Block diagram of the pipeline inspection
robot C. ARDUINO
Arduino UNO is a microcontroller board based on the
3. HARDWARE SYSTEM Microchip ATmega328P used here. The board has 14
The developed inspection robot has Light emitting digital pins and 6 analog pins. The programming has
resistor (LDR) and infrared (IR) sensors for done in Arduino IDE software. It provides various
identifying major cracks and object obstacles. The ways of communication with PC. The ATmega328
other associate components are Arduino, motor has UART TTL serial communication, which is
divers, DC motors. available on digital pins 0(RX) and 1(TX). The
A. LDR Arduino IDE software has serial monitor which
There are two LDRs mounted on robot to cover the allows sending or received data from the Arduino
major portion of inside surface of the pipe. When light board.
falls on LDR through the pipe cracks, its resistance
changes in turn results in voltage change. This voltage D. MOTOR DRIVERS
value is examined and sends to Arduino as ADC L293D and 4- Channel relay are used as motor
value. The circuit diagram of LDR is shown in figure drivers. These motor drivers allow DC motor to
2. drive/run in either direction, which is very important
movement of robot in forward/ reverse direction.
E. DC Motors
Geared DC motors are used for movement
mo of the
robot. Three DC motors have been used for
movement and one more motor is used for drill bit.
9V and 35rpm geared motors were chosen here.
4. SOFTWARE IMPLEMENTATION
Arduino IDE is a software system which is an open
Figure 2: Circuit diagram of LDR source computer hardware and software. The
programme has been written in C in Arduino IDE.
B. IR The flow chart of the code is shown in figure 4. The
IR senor is used to detect object inside
side the pipeline. characters ‘a’, ‘b’ and ‘c’ have to enter in serial
IR is a general purpose proximity sensor. The module monitor.
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1073
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
2456
Figure 4: Flowchart of code
5. APPLICATIONS 6. SIMULATION AND RESULTS
The applications of the developed inspection robot are The simulation of each of the sensors is done
mentioned as follows: separately to understand the behaviour and response
1. Conventional power plant of particular sensor. And combining all the blocks, the
2. Refineries final simulation has done.
3. Chemical and petro chemical plants A. SIMULATION OF LDR SENSOR
4. Domestic water supply pipelines The interface of LDR with Arduino has been done
5. Natural gas pipelines and so on. using Lab VIEW (Visual programming
programmin language by
national instruments) through Maker hub. The block
diagram and the front panel are shown in figure 5,
figure 6 and figure 7.
Figure 5: Block diagram of LDR interfacing with Lab VIEW
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1074
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
2456
Figure 6: Front panel which show ON status of the Figure 7: Front panels which show OFF status of the
LDR LDR
B. SIMULATION OF IR SENSOR
The block diagram and front panel in Lab VIEW for interfacing IR with Arduino are shown in figure 8, figure 9
and figure10.
Figure 8: Block diagram for interfacing IR with Arduino
Figure 9: Front panel showing OFF status of IR sensor’s output
Figure 10: Front panel showing ON status of IR sensor’s output
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1075
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
2456
C. RESULTS IN ARDUINO’S SERIAL MONITOR
The results were obtained by running the robot and the status was viewed on PC through serial monitor. The
following were the images obtained showing the status of crack and object obstacle in pipeline.
Figure 11: The output displayed in serial monitor when crack detected
Figure 12: The output displayed in serial monitor when crack not detected
Figure 13: The output displayed in serial monitor when obstacle detected
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1076
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
2456
Figure 14: The output displayed in serial monitor when obstacle not detected
7. CONCLUSION ISARC International Symposium on Automation
In this paper, pipeline inspection robot is proposed and Robotics in Construction, Ferrara, Italy.
and implemented. A very important design goal is to 4. Hui Min Kim, HuiRyongYoo, Yong Woo Rho,
find out the crack or object obstacle.
stacle. The developed GwanSoo Park, ”Detection Method of Cracks by
robot provides improved inspecting and increase Using Magnetic Fields in
n Underground Pipeline”,
detection ability. th
2013 10 International Conference on Ubiquitous
Robots and Ambient Intelligence(URAI), Jeju,
REFERENCES Korea.
1. D. Jayakumar, R Jaganath, R Selvarasu, “Defect
identification in pipelines using inspection robot”, 5. Chung Wei Ou, Chin Jung Chao, “Design of an
2016 Online International Conference on Green Adjustable Pipeline Inspection Robot with Three
Engineering and Technologies (IC-GET).
GET). Belt Driven Mechanical Modules”, 2017 IEEEI
International Conference on Mechatronics and
2. Lanyong Zhang, Yixuan Du, An Cao, “The Automation, Takamatsu, Japan.
Design Of Natural Gas Pipeline Inspection Robot
System”, 2015 IEEE International Conference On 6. Samir Berjaoui, Rami Alkhatib,
Information And Automation Lijiang, China. AbdallahElsheikh,
Elsheikh, MazenMorad, Mohamad O
Diab, “Free Flowing Robot for Automatic
3. Majid M Moghaddam, Alireza, Hadi, “Control Pipeline Leak Detection”, 2015 IEEE.
and Guidance of a Pipe Inspection Crawler”, 2005
@ IJTSRD | Available Online @ www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct
Oct 2018 Page: 1077
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