Localizing and tracking of in-pipe inspection robots based on distributed optical fiber sensing

Abstract

Ensuring the safe transportation of energy relies heavily on the timely safety inspection and pigging of energy pipelines using in-pipe inspection robots known as Smart/Intelligent PIGs. Addressing the potential risks of PIG block incidents and the limitations of excessive speed in the maintenance, real-time localization and tracking of these inspection robots has become imperative. However, traditional localization and tracking methods present a challenge due to their resource-intensive nature, requiring significant manpower and resources. To overcome this limitation and enhance the intelligence of the robot operation monitoring, this paper proposes an innovative artificial intelligence (AI) integration algorithm framework based on distributed optical fiber sensing (DOFS) for real-time localization and tracking of robots. It adopts noise reduction and reconstruction techniques in signal processing, effectively enhancing the quality of optic fiber vibration signals. Notably, the integration of two distinct features that complement each other enables dual verification of tracking detection, ultimately bolstering the system’s effectiveness and trustworthiness. Besides, a logical reasoning-based localization decision strategy further enhances the system’s capabilities, allowing for controlled tracking intervals and step sizes that can be tailored to meet the task requirements under diverse working conditions. The collaboration of three modules makes it feasible to monitor dynamic changes of the detection robot in the pipeline along the direction of operation. The experimental results convincingly demonstrate that the integrated framework possesses several key advantages of remarkable robustness, real-time performance, and minimal error. It underscores the system’s potential to ensure energy pipeline safety efficiently and effectively.