Robot Penjelajah Lorong Selokan Untuk Memonitor Saluran

Triviadata, Agha Muhammad (2026) Robot Penjelajah Lorong Selokan Untuk Memonitor Saluran. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 2042221134-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (4MB)

Abstract

Pemantauan visual lorong selokan diperlukan untuk mendeteksi sampah, sedimentasi, dan kerusakan saluran tanpa mengharuskan petugas memasuki area sempit dan berbahaya. Robot inspeksi yang telah dikembangkan umumnya menggunakan kamera dan sistem beroda, tetapi masih terbatas pada permukaan kering. Penelitian ini mengembangkan robot penjelajah selokan dengan roda untuk medan kering dan propeller pendorong udara untuk medan berair. Robot menggunakan Raspberry Pi 4B, kamera OV5647 IR, lampu, dan dashboard untuk pemantauan serta pengendalian secara real-time. Hasil pengujian menunjukkan bahwa kamera menghasilkan rata-rata 31,86 FPS dan mampu menampilkan kondisi di dalam selokan. Pada pengujian manuver di medan kering, diperoleh rata-rata error gabungan dari dua operator sebesar 17,40 cm. Robot juga berhasil melewati tanjakan 5°, 10°, dan 15° dengan tingkat keberhasilan 100%, dengan rata-rata waktu tempuh masing-masing sebesar 3,30 detik, 3,80 detik, dan 4,42 detik. Robot berhasil menyelesaikan lintasan 5 meter pada medan kering dengan rata-rata waktu tempuh 18,09 detik dan kecepatan 0,276 m/s, sedangkan pada medan berair diperoleh rata-rata waktu tempuh 46,97 detik dan kecepatan 0,106 m/s. Namun, robot belum mampu menjelajah medan lumpur dan hanya mencapai jarak rata-rata 21,40 cm karena roda mengalami selip dan terbenam.
===================================================================================================================================
Visual monitoring of sewer passages is required to detect waste, sedimentation, and structural damage without requiring personnel to enter narrow and hazardous areas. Existing inspection robots generally use cameras and wheeled systems but remain limited to dry surfaces. This study develops a sewer exploration robot equipped with wheels for dry terrain and an air-thrust propeller for water-covered terrain. The robot uses a Raspberry Pi 4B, an OV5647 IR camera, lighting, and a dashboard for real-time monitoring and control. The test results show that the camera produced an average frame rate of 31.86 FPS and was able to display conditions inside the sewer. In the maneuvering test on dry terrain, the combined average positional error of the two operators was 17.40 cm. The robot also successfully climbed slopes of 5°, 10°, and 15° with a 100% success rate, with average travel times of 3.30 seconds, 3.80 seconds, and 4.42 seconds, respectively. The robot successfully completed a 5-meter track on dry terrain with an average travel time of 18.09 seconds and an average speed of 0.276 m/s. On water-covered terrain, the average travel time was 46.97 seconds, with an average speed of 0.106 m/s. However, the robot was unable to traverse muddy terrain and only reached an average distance of 21.40 cm because the wheels slipped and became embedded in the mud.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Robot penjelajah selokan, Pemantauan Visual, Robot Amfibi, Kamera Real-Time, Raspberry Pi,Sewer Exploration Robot, Visual Monitoring, Amphibious Robot, Real-Time Camera, Raspberry Pi,
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Vocational > Instrumentation Engineering
Depositing User:	Agha Muhammad riviadata
Date Deposited:	19 Aug 2026 08:53
Last Modified:	19 Aug 2026 08:53
URI:	http://repository.its.ac.id/id/eprint/144368

Actions (login required)

View Item