Inspection of underground water pipes with use of a laser profiling sensor and offline processing

Kamermans, D.V. (2017) Inspection of underground water pipes with use of a laser profiling sensor and offline processing.

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Abstract:The pirate project focusses on the in-pipe inspection of gas distribution pipes. In this project the goal is to develop an autonomous inspection robot which can inspect these pipes. In previous work a sensor was developed. This sensor is able to create a laser projected cone and capture this with a camera. This laser will show if there are differences in the internal wall of the pipe. In another previous work is this data used to create a 3d reconstruction of the pipe. The goal of this research is to implement previous systems into a working system to use for the inspection of water pipes. Therefore the system needs to small, stand-alone and waterproof. Since it is the goal to inspect water pipes of at least 600 meter, it has to be analysed if the sensor is capable of doing inspections of this length. Is this not the case then the sensor has to be improved. Or find other ways of achieving the goal. To implement previous systems into a working system it should be first known what to implement and what is needed for a proper inspection of the internal wall of the pipe. With the use of a laser profiling sensor the pipe can be inspected. The laser profiling sensor consists of a structured laser light and IMU. The generated data is logged on-board on two micro SD cards. This data is then used for offline processing in matlab. In matlab there is a reconstruction made of the laser projection. When there are flaws in the pipe, it can be seen in the reconstruction.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/72262
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