Gas Leak Inspection System Using Mobile Robot Equipped With LIDAR

摘要

Gas leaks occur in many oil companies in Indonesia, both local companies and foreign companies. Gas can be detected using the sense of smell in both humans and animals. Exposure to these gas leaks can have adverse health effects, even death. This study has developed a gas leak inspection system in the room using a LIDAR-equipped mobile robot based on Internet of Things (IoT) technology. The system involves LIDAR sensors, CO-B4 electrochemical gas sensors, SO2-BF and H2S-B4, RaspberryPi 4, ROS (Robot Operating System), Teensy 3.6 development board, ESP32 development board, Blynk application and VNC Viewer on smartphones. The results of the experiments showed that the response of electrochemical gas sensors tended to be linear with the concentration of the gas. This system is controlled manually using a keyboard on a computer or smartphone. The system is also capable of displaying real-time mapping and concentration of gases for closed room applications. Based on measurements showed that there was a low concentration of gases within 3 meters. Significant increases in gas concentrations occurred at a distance of 0.5 meters, namely 21.85 ppm, 0.18 ppm and 1.21 ppm for CO, H2S and SO2.