RANCANG BANGUN DETEKSI JALUR PIPA TERPENDAM MENGGUNAKAN MOBILE ROBOT DENGAN METAL DETECTOR

PRATIWI, DWI INDAH (2017) RANCANG BANGUN DETEKSI JALUR PIPA TERPENDAM MENGGUNAKAN MOBILE ROBOT DENGAN METAL DETECTOR. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Ketika melaksanakan pembangunan atau perbaikan sesuatu di dalam tanah diperlukan secara akurat mengetahui lokasi utilitas bawah tanah, seperti instalasi pipa logam dan kabel listrik. Sedangkan selama ini masih cenderung kurang adanya pemetaan jaringan utilitas bawah tanah yang jelas. Telah banyak kasus dan pihak yang dirugikan karena masalah ini, seperti kebocoran atau bahkan ledakan.
Utilitas bawah tanah yang mengandung logam seperti pipa logam, dapat dideteksi dengan metal detector. Dalam tugas akhir ini, metal detector yang dibuat menggunakan prinsip beat frequency oscillator (BFO) dimana prinsipnya memanfaatkan perubahan frekuensi untuk mendeteksi keberadaan logam. Mikrokontroller Arduino Uno digunakan dalam rangkaian metal detector sebagai frequency counter. Metal detector ini kemudian diaplikasikan sebagai sensor ke sebuah mobile robot. Dengan membaca data metal detector dari Arduino Uno, robot kemudian dapat bergerak mengikuti jalur pipa logam. Robot juga dilengkapi dengan sistem navigasi berdasarkan posisi GPS, sehingga posisi dan gerakan robot dapat diketahui.
Pengujian dilakukan pada 3 jenis bahan logam, yaitu besi (ferromagnetik), alumunium (paramagnetik), dan seng (diamagnetik). Hasil pendeteksian paling kuat didapatkan pada bahan besi. Jarak deteksi sensor bervariasi tergantung konstruksi kumparan dan jenis benda logam yang diuji. Pada pengujian dengan pipa besi berdiameter 3 cm, sensor dapat mendeteksi maksimal pada jarak 10 cm tanpa halangan. Dalam aplikasi mobile robot, digunakan 3 sensor untuk mempermudah pendeteksian ketika ada jalur yang berkelok tajam. Error posisi GPS bervariasi antara 100-300 cm dari titik home (posisi awal).
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When carrying out a construction or refurbishment of underground project, it is required to accurately determine the location of underground utilities, such as installation of metal pipes and electrical wiring. Nowadays, there still has an obvious tendency network mapping of underground utilities. There have been many cases occurred that lead to diasadvantages because of these problems, such as leaks or even explosions.
Underground utilities that contain metals such as metal pipes, can be detected by a metal detector. In this final project, the metal detectors are designed and created using beat frequency oscillator (BFO) principle, which utilizes frequency changes to detect the presence of metal. Arduino Uno microcontrollers are used in the metal detector system as a frequency counter to detect the frequency. Metal detector is then applied as a sensor to a mobile robot. With a metal detector to read data from the Arduino Uno, the robot can then follow the installation path of the metal pipe. Robots are also equipped with a navigation system based on GPS position, so that the position and movement of the robot can be acquired.
The testing of the metal detectors was conducted on 3 types of metal materials, iron (ferromagnetic), aluminum (paramagnetic), and zinc (diamagnetic). The the most powerful detection obtained in ferrous material. The distance detection sensor varies depending on the construction of the coil and how large (wide) metal objects are tested. In the measurement test with a metal pipe diameter of 3 cm, the sensor can detect at a maximum distance of 10 cm without a hitch. In the application of mobile robot, 3 sensors are used to facilitate detection sensor when there is a sharp winding path. GPS positioning error varies between 100-300 cm from the point home (starting position).

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Arduino uno, metal detector, mobile robot, pipa bawah tanah Arduino uno, metal detector, mobile robot, underground pipe
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	- DWI INDAH PRATIWI
Date Deposited:	16 Feb 2017 01:29
Last Modified:	16 Feb 2017 01:30
URI:	http://repository.its.ac.id/id/eprint/2333

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