The use of laser range finder on a robotic platform for pipe inspection

Download
  1. Get@NRC: The use of laser range finder on a robotic platform for pipe inspection (Opens in a new window)
DOIResolve DOI: http://doi.org/10.1016/j.ymssp.2012.03.006
AuthorSearch for: ; Search for:
TypeArticle
Journal titleMechanical Systems and Signal Processing
ISSN08883270
Volume31
Pages246257; # of pages: 12
SubjectLaser range finder; Underwater vehicle; Nondestructive inspection; Water pipe
AbstractIn this paper, we investigate the use of a laser range finder on a robotic platform for buried water pipe inspection. A robotic platform carrying and manipulating multiple nondestructive inspection sensors may require accurately locating robot's body in the pipe. The laser range finder provides an accurate distance measurement, which can generate a profile of the pipe inner surface. This profile, on one hand, can be used to identify the location of the laser source and thus the robot's body. Such information can further help the navigation of the robot. On the other hand, the anomalies presented in the profile can be detected and characterized in terms of the range measurement. The simulated and real data tests presented in this paper demonstrate the feasibility and effectiveness of incorporating the laser range finder into a robotic platform for the underground pipe inspection.
Publication date
LanguageEnglish
AffiliationConstruction; National Research Council Canada
Peer reviewedYes
IdentifierS0888327012000830
NPARC number21268835
Export citationExport as RIS
Report a correctionReport a correction
Record identifier80c264f8-2d18-4b35-bf13-f7098c130236
Record created2013-11-14
Record modified2017-04-05
Bookmark and share
  • Share this page with Facebook (Opens in a new window)
  • Share this page with Twitter (Opens in a new window)
  • Share this page with Google+ (Opens in a new window)
  • Share this page with Delicious (Opens in a new window)