Mathematical Modeling for Robot 3D Laser Scanning in Complete Darkness Environments to Advance Pipeline Inspection
Cesar Sepulveda-Valdez,
Oleg Sergiyenko,
Vera Tyrsa,
Paolo Mercorelli,
Julio C. Rodríguez-Quiñonez,
Wendy Flores-Fuentes,
Alexey Zhirabok,
Ruben Alaniz-Plata,
José A. Núñez-López,
Humberto Andrade-Collazo,
Jesús E. Miranda-Vega,
Fabian N. Murrieta-Rico
Affiliations
Cesar Sepulveda-Valdez
Instituto de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Oleg Sergiyenko
Instituto de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Vera Tyrsa
Facultad de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Paolo Mercorelli
Institute for Production Technology and Systems (IPTS), Leuphana University of Lueneburg, 21335 Lueneburg, Germany
Julio C. Rodríguez-Quiñonez
Facultad de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Wendy Flores-Fuentes
Facultad de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Alexey Zhirabok
Department of Automation and Robotics, Far Eastern Federal University, 10. Ayaks, Russian Island, 690922 Vladivostok, Russia
Ruben Alaniz-Plata
Instituto de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
José A. Núñez-López
Instituto de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Humberto Andrade-Collazo
Instituto de Ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de La Normal, s/n, Col. Insurgentes Este, Mexicali C.P. 21280, Mexico
Jesús E. Miranda-Vega
Departament of Computer Systems, Tecnológico Nacional de México/IT Mexicali, Av. Tecnológico, s/n, Mexicali C.P. 21376, Mexico
Fabian N. Murrieta-Rico
Department of Ingeniería Mecatrónica, Universidad Politécnica de Baja California, Calle de la Claridad s/n Col. Plutarco Elías Calles, Mexicali C.P. 21376, Mexico
This paper introduces an autonomous robot designed for in-pipe structural health monitoring of oil/gas pipelines. This system employs a 3D Optical Laser Scanning Technical Vision System (TVS) to continuously scan the internal surface of the pipeline. This paper elaborates on the mathematical methodology of 3D laser surface scanning based on dynamic triangulation. This paper presents the mathematical framework governing the combined kinematics of the Mobile Robot (MR) and TVS. It discusses the custom design of the MR, adjusting it to use of robustized mathematics, and incorporating a laser scanner produced using a 3D printer. Both experimental and theoretical approaches are utilized to illustrate the formation of point clouds during surface scanning. This paper details the application of the simple and robust mathematical algorithm RANSAC for the preliminary processing of the measured point clouds. Furthermore, it contributes two distinct and simplified criteria for detecting defects in pipelines, specifically tailored for computer processing. In conclusion, this paper assesses the effectiveness of the proposed mathematical and physical method through experimental tests conducted under varying light conditions.
