Three-dimensional mapping of pipelines using laser ranging and a gyroscope

Area of Science:

• Robotics and Automation
• Geospatial Engineering
• Pipeline Integrity Management

Background:

• Conventional underground pipeline mapping tools are limited to straight sections and short distances.
• Complex pipeline geometries (bends, slopes) pose significant challenges for accurate 3D mapping.
• Existing methods lack the flexibility to address diverse underground infrastructure needs.

Purpose of the Study:

• To develop and validate a novel dual-robot mapping technique for comprehensive underground pipeline characterization.
• To enable accurate 3D mapping of straight, bent, and sloped pipelines.
• To improve the efficiency and precision of pipeline inspection and maintenance.

Main Methods:

• A dual-robot system comprising a detecting vehicle and a mapping vehicle was employed.
• Laser ranging sensors and gyroscopes were utilized for data acquisition.
• A sectional mapping approach with image splicing was used to create a complete pipeline model.

Main Results:

• The dual-robot technique successfully mapped various pipeline configurations, including horizontal straight, bent, sloped, and composite sections.
• Effective mapping was achieved for pipelines with inner diameters ranging from 300-500 mm.
• High accuracy was demonstrated with distance errors within 1 m and angular errors within 1.5° over 2000 m of travel.

Conclusions:

• The proposed dual-robot mapping technique offers a highly accurate and versatile solution for complex underground pipeline systems.
• This method significantly enhances the capabilities for mapping previously inaccessible or difficult-to-map pipeline sections.
• The findings support the adoption of advanced robotic solutions for improved pipeline management and safety.