2014 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2014)
September 14-18, 2014, Chicago, IL, USA
Recognition of Inside Pipeline Geometry by Using PSD Sensors for
Autonomous Navigation
Yun Seok Choi, Ho Moon Kim, Jung Seok Suh, Hyeong Min Mun, Seung Ung Yang,
Chan Min Park and Hyouk Ryeol Choi, Member, IEEE
Abstract— To deploy an untethered robot inside pipelines
without any external assistance, it is prerequisite to recognize
the pipeline elements such as straight pipeline, elbow, T-branch,
and miter. This paper presents a method of recognizing pipeline
elements using PSD(Position Sensitive Device) sensors. It is easy
to implement, but help us collect accurate information necessary
for navigating inside pipelines without heavy computation. The
method is composed of three parts, which is the method for
distinguishing T-branch and miter, searching the direction in
T-branch and elbow, and determining the types of pipeline
element, respectively. The design for the PSD sensor suite is
presented and the algorithm for recognition procedures are
addressed. The sensor suite is implemented in an in-pipe robot,
called MRINSPECT VI, and its performances are validated.
I. INTRODUCTION
Pipelines are basic facilities and play an important role
in transporting oil, gas and other liquids to industries or
homes. In general, when pipelines age overtime, there exist
possibilities of cracking or damage. To prevent these, the
activities for periodic maintenances are required. However,
currently installed pipelines are buried under the ground or
intertwined intricately, which limits the access to pipelines,
and This limit makes it even more difficult for a worker
to inspect. To solve this problem, inspecting them by using
robots is considered as a good alternative. However, since
the pipeline is buried under the ground mostly, and the
inside of pipelines is blocked, it is difficult to communicate.
Thus, the ability of autonomous navigation is emphasized.
Also, to pass through pipeline element autonomously, the
robot should be able to recognize pipeline configuration
to navigate in. The robot needs to decide suitable driving
direction autonomously based on the accurate information of
the pipeline elements and the control action, too. In addition,
if the robot passes through unknown pipelines, the obtained
information can be used to construct overall configuration of
the pipelines.
Up to now, various pipeline recognition methods have been
reported. The methods using a ring shape laser [1] and a
crosshair laser [2] are developed to find the direction of
the elbow. Gomez et. al introduced a method of using an
*This research is supported by and the Ministry of Knowledge Economy
of the Republic of Korea(Development of self-powered robots for nonde-
structive inspection of 8” and 16” unpiggable pipelines, 10040992).
Yun Seok Choi, Ho moon Kim, Jung Seok Suh, Hyeong Min Mun,
Seung Ung Yang and Chan Min Park are graduate students in Depart-
ment of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
choiys87@me.skku.ac.kr
H. R. Choi is a professor in the Department of Mechanical Engineering,
Sungkyunkwan University, Suwon, Korea. All the correspondences are
delivered to prof. Choi at hrchoi@me.skku.ac.kr
978-1-4799-6934-0/14/$31.00 ©2014 IEEE 5024
ultrasonic sonar sensor [3]. This method also can confirm the
exit or hole in pipelines. The methods of using cameras have
been investigated by many researchers. The pipeline inspec-
tion robots such as MAKRO, KANTARO and MRINSPECT
series used image processing techniques. MAKRO uses IR
sensors and stereo-cameras for its autonomous navigation
[4-6]. MAKRO recognizes the inlet of branch pipes as
landmarks by using the image processing, because the inlet
of branch pipe is always located on the side of the sewer
pipeline. KANTARO is a single module robot equipped with
a stereo-camera in the front [7-10]. KANTARO recognizes
manholes or inlets by using the pattern matching of Canny
Edge Line of the camera image. The distance from manhole
can be measured by using similarities and differences be-
tween two images of the stereo-camera. However, because
the constant width is needed between two cameras in a
stereo-camera, it cannot be attached on the robot for small
diameter pipelines. Also, above two methods can be applied
only to a simple structure pipeline such as sewer pipelines.
MRINSPECT uses the mono camera and the lights for image
processing [11-18]. It creates the landmark and recognizes
pipeline elements by using the camera image.
In this paper, we introduce a method of recognizing
pipeline elements by using PSD (Position Sensitive Device)
sensors. The sensor suite employs 9 PSD sensors, 1 PSD
in the front side of the robot, and 8 PSDs along the radial
direction of the pipelines. By processing the distance infor-
mation measured with each PSD, it is possible to recognize
the pipeline elements such as straight one, elbow, T-branch,
miter, and distinguish even between T-branch and miter.
Also, we can find the opening direction of the elbow and
branch. This paper provides the design of the PSD sensor
suite and the principles of recognition in details. The method
is implemented on an in-pipe robot, called MRINSPECT VI
and its performances are validated experimentally.
The paper is organized as follows. In the first, the design of
PSD sensor suite is introduced in section II. Section III intro-
duces the recognition method of geometry for each pipeline
element. A method of distinguishing between T-branch and
miter is explained in Section IV. How to determine pipeline
element type is introduced in Section V. The results of
experiments are included in Section VI. Finally, conclusions
are given in Section VII with future works.
II. DESIGN OF PSD SENSOR SUITE
There are two methods to attach side PSD sensors. One is
to attach several PSD sensors, and the other is rotating one
PSD sensor by using an actuator. But, the method of using an
actuator cannot provide distance value at the same time and
is impossible to avoid position error and the vibration. Thus,
the former is chosen, a PSD sensor suite is designed and
manufactured accordingly as shown in Fig.1. The PSD sensor
suite is composed of 9 PSD sensors(1front, 8 side and along
radial direction, SHARP GP2Y0A51SK) with the sensing
range of 20 ∼ 150mm. To drive inside pipelines, the PSD
sensor suite is attached in front side of a robot(MRINSPECT
VI shown Fig.2 is used in this work). We convert analog data
acquired via each PSD sensors to digital one by using a 10
bit A/D converter .
The front PSD sensor of the robot measures distance from
the robot to the front of the obstacle, and the side PSD
sensors measure radial distances to the inside wall of the
pipeline. The number and placement of the side PSD sensors
should be carefully determined, because it is closely related
to the computational procedures. The angle between side
PSD sensor and adjacent one is 45 degrees. 8 side PSD
sensors are enough to recognize most of pipeline elements
by using the recognition method discussed later.
Fig. 1. PSD sensor suite (a) Modeling. (b) Real model
Fig. 2. MRINSPECT VI with PSD sensor suite
III. RECOGNITION OF PIPELINE GEOMETRY
A. Recognition of straight pipeline
In a straight pipeline, if the other pipeline elements do
not exist, the front PSD sensor of the robot measure long
distance. Thus, the data of the front PSD sensor is very low
or 0. In addition, because a sensor suite is located almost
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in middle of pipeline, side PSD sensors read similar values
each other. Also, when the sensor suite moves forwardly,
these data do not changed. Commonly, the recognition of
straight pipe is not important. But, it is very much useful
to recognize starting position of straight pipeline again after
running through elbows or T-branches.
B. Recognition of branch
Assuming that the PSD suite is on the center of T-branch
or miter, the section measured by PSD sensors is as depicted
in Fig.3. We can consider the module is located on the
center of two parallel lines. Thus, the angle of sensors on
the sides of the PSD sensor near the hole’s direction(the
direction of opening) is always 90 degrees. The diagonal of
rectangle made by two data line is always located on the
hole’s direction. To build up the mathematical modeling, it
is assumed that each PSD sensor’s value is a vector. The
vector’s direction is PSD sensor’s direction and magnitude
is equal to the distance. Then, if the ith PSD sensor is placed
near the hole’s direction, the direction of vector sum between
i + 1th PSD sensor and i − 1th PSD sensor is always on the
hole direction. In addition, because the PSD sensors are fixed
on the robot, we can calculate the angle between 1st PSD
sensor’s direction and the hole’s direction.
When the PSD suite is inserted in T-branch or miter, we
can get each PSD sensor’s data depending on distances. If
the ith PSD sensor is placed near the hole’s direction, the
distance measured by this sensor is farther than a fiducial
value. Therefore, at that time, the value of the sensor is low
or almost 0. Conversely, if the sensor’s data is low or 0, there
is a hole near the direction of that sensor.
Fig. 3. PSD sensor’s direction on the section
To calculate the hole direction angle, we use the distance
values measured by i − 1th PSD sensor and i + 1th PSD
sensor. We calculate the angle between i + 1th PSD sensor’s
direction vector and hole’s direction vector by using these
two distance values, which can be expressed by Eq.(1).

α = arccos(li+1 / (li+1 )2 + (li−1 )2 ) (1)
θi = (i − 1) × 45 (2)
θi+1 = i × 45 (3)
 θhole = i × 45 − α (4) elbow, the direction of the hole is located between the PSD
sensor of longest distance and the PSD sensor of the second
The ith PSD sensor’s angle from 1st PSD sensor is Eq.(2).
longest. Therefore, we can get the point having the same
Therefore, i + 1th PSD sensor’s angle from 1st PSD sensor
distance with the longest distance. To calculate the hole’s
is expressed as Eq.(3). Then, we can calculate the hole’s
direction, the PSD sensor of the longest distance is placed
direction angle from 1st PSD direction by using θi+1 and α
on ith PSD sensor. By using the point, the angle between
represented in Eq.(4).
ith PSD sensor and hole’s direction can be calculated. Then,
C. Recognition of elbow according to the PSD sensor of the second longest, the
In case of elbows, the same method as T-branch cannot angle alpha is added to or subtracted from ith PSD sensor’s
be applied again. To use the same method, the sensor suite direction angle, which is represented in Eqs.(7) and (8).
needs to be located in the center of the elbow but the sensor
suite crashes the elbow before the sensor suite reach the α = arctan(|x| / |y|) (7)
center of the elbow as illustrated in Fig.4. Therefore, another
method dedicated to the elbow is needed. To calculate the θhole = (i − 1) × 45 ± α (8)
hole’s direction, we make the mathematical modeling of the
section measured when the module moves into the elbow.
These equations are represented Eqs.(5) and (6). The result
is as shown in Fig.5.
⎡ ⎤ ⎡ ⎤
x r cos θ
⎣y ⎦ = ⎣(r sin θ + 2r × d) cos(arcsin(K))⎦ , (5)
z H

(0 ≤ θ ≤ 360)

H
K= (6)
r sin θ + 2r × d
Fig. 6. Measured section of elbow
In Eqs.(5) and (6), d is the radius of curvature, which is
used to 1.5 in regulation. H is the length as the sensor suite
moves into the elbow. It is measured by using the front PSD IV. DISTINCTION OF T-BRANCH AND MITER
sensor. In the pipeline environment, T-branch is used commonly
for distributing transported oils, gases and other fluids. In
general, when the pipeline in industrial facilities is built, it
is designed by planning and proceeded with construction.
Therefore, in the majority of cases, T-branches are used in
suitable places. On the other hand, miter pipes are installed
as an additional pipeline to rebuild the existing pipeline
environment. In particular, the additional installation is more
frequently used in the case of urban gas than in the ones used
in industrial facilities. So, there are many miter pipes in urban
Fig. 4. Situation in elbow
gas pipeline. The shapes of T-branch and miter are shown in
Fig.7. In the case of T-branch, the shape is similar to the two
elbows reversely attached each other. In the case of miter,
the shape is similar to the two straight pipes attached at a
right angle of each other. To pass through the miter, a robot
is required to have a more complicated control than when it
passes through the T-branch. Therefore, if the T-branch and
the miter can be distinguished, the robot can pass through
more easily.
As shown in Fig.8, it is difficult to distinguish between
T-branch and miter with camera images. The difference
between the T-branch and the miter is the radius of curvature.
Fig. 5. Mathematical modeling of elbow As shown in Fig.9, there is the radius of curvature in the T-
branch. However, because the radius of curvature is zero in
Then, we can calculate the distance value each point on the the miter, a direction of pipeline changes rapidly. To detect
section by using above equations. As shown in Fig.6 in the this difference, we use PSD sensors. While the robot with a

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 Fig. 10. Principle of distinguishing T-branch(a) and miter(b)

Fig. 7. T-branch(a) and miter(a)

distance. On the other hand, in case of the branch type 2,
the front PSD sensor can measure the distance, and two of
sensor suite moves slowly, the distance from a PSD sensor to side PSD sensors cannot measure distances. At that time,
the wall is measured by using side PSD sensors as shown in two PSD sensors are located in the opposite direction. Thus,
Fig.10. The distance is increased slowly in the T-branch and it is summarized in Table 1.
rapidly in the miter. The PSD sensor is very much useful on
detecting the differences of curvatures. That is, if the value TABLE I
of data changes above limit, the pipeline is recognized as the D ETECTION OF PIPELINE ELEMENT TYPE
miter, or it is T-branch.
Type Straight Elbow B-type 1 B-type 2
Distance measured with long short long short
the front PSD sensor
Number of holes on the 0 hole 0 hole 1 hole 2 holes
side direction

Fig. 8. Front view of T-branch(a) and miter(b)

Fig. 9. Side view of T-branch(a) and miter(b) Fig. 11. Characteristics of measurements by using PSD sensors

V. DETECTION OF PIPELINE ELEMENT TYPE VI. EXPERIMENTS

We proposed the recognition method of each pipe element.
Therefore, the pipe element type is decided to use recognition
method. Pipelines are divided straight, elbow, branch type1
and branch type2 according to the recognition method. The
situation when the sensing suite recognizes pipe elements
is as shown in Fig.11. First, in straight pipe, the front
PSD sensor measure long distance. In addition, side PSD
sensors measure short distance similar to each other. Second,
in elbow pipe, both front and side PSD sensor measure
measurable distance. Finally, branch pipes are divided type1
and type2 according to the direction of entering. Thus, in
case of branch type1, the front PSD sensor and one of
side PSD sensors measure longer distance than measurable
A. Outline of MRINSPECT VI
For the experiments, the robots, named MRINSPECT
(Multifunction Robot for INSPECTion of pipeline) VI pro-
totype I is used to drive in pipelines, as shown in Fig.2.
The robots are designed for driving in 150mm gas pipelines
and inspecting them. They have three passive wheels, three
active wheel, and wheel arms which are 120 degrees apart
from each other. The robots have multi-axial differential gear
mechanism. So, the robots are possible to be driven with only
single motor in elbow-pipe without additional control effort
while all three wheels keep driving power. The details of the
robot can be referred to [18].

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B. Distinction of T-branch and miter C. Recognition of pipeline geometry
In the straight pipeline, we can confirm that the result
Figs.12 and 13 are the results of experiments. 3th and is similar to the graph expected as shown in Fig.14. The
7th PSD sensors are placed on hole’s direction. The PSD distance data measured by side PSD sensors are similar each
sensor’s ADC data decreased slowly in T-branch and changed other. Although the sensor suite moves forwardly, each data
dramatically in the miter as expected. To distinguish T-branch only have some oscillation by the noise.
and miter, the current values of the PSD sensor on the hole
direction is compared with the previous values. In the miter’s
case, more than 50 changes are detected. In other words, if
more than 50 changes are detected, the pipe’s configuration
is the miter. At that time, the variation of ADC value is
used to compare instead of the distance value. That is why
it is more simple and it can provide consistent results. So,
the method needs to carry out only a simple subtraction and
the processing speed is extremely fast. Therefore, we can
distinguish the T-branch and the miter pipe by using the
absolute value of variation. To confirm if this method works
well, we tested the T-branch and the miter twenty times,
repetitively and obtained the consistent results to verify the
proposed method.

Fig. 14. Side PSD sensors data in straight pipeline

In experiments of branch recognition, the robot’s original

pose was measured by the IMU sensor( Xsens Inc.). When
the robot came to the center of T-branch pipe, the sensor’s
data was measured. If the PSD sensor’s data is very low
or zero, the distance value of the sensor is 232mm. If the
distance value of the PSD sensor is more than 190mm, the
hole’s direction is near the PSD sensor’s direction. In the
original pose, 3th and 7th PSD sensor’s direction are placed
on hole’s direction. The distance values of PSD sensors are
listed in Table 2. After rotating the robot about 20 degrees
counterclockwise, the each distance value is listed in Table
3.
Fig. 12. Side PSD sensors data in T-branch TABLE II
D ISTANCE VALUE ( ORIGINAL POSE )

PSD Number 1 2 3 4
Distance(cm) 6.4 7.7 23.2 8.3
PSD Number 5 6 7 8
Distance(cm) 6.6 7.7 23.2 8.8

TABLE III
D ISTANCE VALUE ( RATATE 20.0 DEGREE )

PSD Number 1 2 3 4
Distance(cm) 6.2 12.9 22.2 6.7
PSD Number 5 6 7 8
Distance(cm) 6.0 13.2 23.2 7.0

By substituting this data in Eqs.(1)∼(4), we can find the

hole’s direction from 1st PSD sensor. The results are as
Fig. 13. Side PSD sensors data in miter
shown in Table 4. The errors are about 2∼4 degrees. The
sources of errors are the PSD sensor’s noise and the position

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of the robot. Because the measured distances are included in ACKNOWLEDGMENT
this error, the calculated angles are also included in the error. This work is a part of a research project supported by Min-
We use Kalman-filter on each PSD sensor data to minimize istry of Knowledge Economy(MKE) through “Development
this noise. The shape of the bottom of T-branch was not flat, of self-powered robots for nondestructive inspection of 8”
and the robot was rotated slightly when the robot went into and 16” unpiggable pipelines.”. The authors wish to express
the T-branch, which generated the some error. However, the their gratitude for the financial support.
errors are very small and negligible.
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