On autonomous detection of pressured air and gas leaks using passive IR-thermography for mobile robot application

Authors:
Andreas Kroll;Werner Baetz;Daniel Peretzki
Affiliations:
University of Kassel, Faculty of Mechanical Engineering, Measurement and Control Department, Kassel, Germany;University of Kassel, Faculty of Mechanical Engineering, Measurement and Control Department, Kassel, Germany;University of Kassel, Faculty of Mechanical Engineering, Measurement and Control Department, Kassel, Germany
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Today, pressured air and gas leaks are typically detected using in-situ sensor technology. In this contribution the application of passive IR-thermography is proposed to permit remote leak detection by assessing the resulting temperature profile disturbance due to expansion of pressured gas. Remote measurements are advantageous as they are easier and safer to conduct. Scanning high-rise objects can be achieved using a ground-bound system without requiring complex climbing. In the paper a novel method for automated leak detection by feature extraction and pattern recognition is presented. This enables autonomous mobile robots with remote leak detection capability.