Pipeline Landmark Classification of Miniature Pipeline Robot π-II Based on Residual Network ResNet18

Abstract

A pipeline robot suitable for miniature pipeline detection, namely π-II, was proposed in this paper. It features six wheel-leg mobile mechanisms arranged in a staggered manner, with a monocular fisheye camera located at the center of the front end. The proposed robot can be used to capture images during detection in miniature pipes with an inner diameter of 120 mm. To efficiently identify the robot’s status within the pipeline, such as navigating in straight pipes, curved pipes, or T-shaped pipes, it is necessary to recognize and classify these specific pipeline landmarks accurately. For this purpose, the residual network model ResNet18 was employed to learn from the images of various pipeline landmarks captured by the fisheye camera. A detailed analysis of image characteristics of some common pipeline landmarks was provided, and a dataset of approximately 908 images was created in this paper. After modifying the outputs of the network model, the ResNet18 was trained according to the proposed datasets, and the final test results indicate that this modified network has a high accuracy rate in classifying various pipeline landmarks, demonstrating a promising application prospect of image detection technology based on deep learning in miniature pipelines.

Keywords

• miniature pipeline robot
• pipeline landmarks
• residual network ResNet18
• hyper parameters