Conference proceedings article
Gas leak localization in industrial environments using a TDLAS-based remote gas sensor and autonomous mobile robot with the Tri-Max method



Publication Details
Authors:
Bonow, G.; Kroll, A.
Editor:
IEEE
Place:
Karlsruhe, Germany
Publication year:
2013
Pages range:
TBD
Book title:
IEEE International Conference on Robotics and Automation (ICRA 2013)

Abstract
In order to automate routine inspections in large industrial environments, a mobile robotic system is being developed in the RoboGasInspector project. The robot’s sensor-head consists of different instruments for remote gas sensing using multiple measurement principles. This contribution focuses on Tunable Diode Laser Absorption Spectroscopy (TDLAS). The measurement device allows quantitative gas concentration measurements and achieves high sensitivity due to the active measurement principle. On the contrary, TDLAS systems measure the concentration along a path at a time and require a diffusely reflecting background. Using a pan-tilt unit, objects and areas can be scanned. This paper describes the triangulation-maximization leak-localizing strategy (Tri-Max) used in the project RoboGasInspector. Results based on outdoor experiments in two industrial plants and a landfill dump are presented.


Keywords
industrial inspection, remote gas sensing, remote leak localization, Service robotics

Last updated on 2019-25-07 at 14:46