| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 718335 | IFAC Proceedings Volumes | 2012 | 6 Pages |
In order to automate the routine inspections in large industrial environments a mobile robotic system is being developed in the project RoboGasInspector. The robot's sensor-head consists of different instruments for remote sensing using multiple measurement principles. First results show that passive IR-thermographic imaging can be used to detect leaks in pipes as well as liquid spills on the ground. The measurable effects are the temperature profile disturbance due to expansion of pressured gas and evaporative cooling, respectively. Tunable Diode Laser Absorption Spectroscopy (TDLAS) measurement systems provide for quantitative gas concentration measurements and feature a high sensitivity due to the active measurement principle. On the contrary, TDLAS systems measure just the concentration along a path at a time and require a diffusely reflecting background. Using a Pan-Tilt Unit, objects/areas can be scanned and abnormal gas concentrations can be identified. This contribution introduces the project RoboGasInspector and presents the used measurement technology as well as first results.
