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Autonomous mobile robot search strategy for automated compressed air leakage detection
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Text/Conference Paper
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Datum
2024
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Gesellschaft für Informatik e.V.
Zusammenfassung
Compressed air is an important work medium for transfer of energy in many industrial processes. The inefficient physical processes used to produce it make compressed air one of the most expensive energy sources in supply systems. Even small leakages can over time result in high energy losses and costs if not detected and fixed timely. In addition, finding leakages in such systems is very time-consuming and expensive as the whole network of pipes must be examined to localize defects. This paper presents the concept of a targeted detection approach for effectively detecting and locating Compressed Air Leakages semi-autonomously through the usage of an Autonomous Mobile Robot as a mobile sensor. It describes how the detection process in an unknown environment can be rapidly accelerated by constraining the search space for the detection of leakages. The process utilizes expert knowledge, object detection and scene interpretation techniques to constrain the search space. The results obtained are integrated into an existing map of the environment and enable targeted repair actions. The evaluation includes an analysis of the individual phases of the approach, proposes further evaluation scenarios, and compares the efficiency of the approach with conventional manual leakage detection.