Three-dimensional scanner of a pipe with tilt detection

The 3D quantitative measurement system for a sewer pipe is introduced. Two parallel lasers are rotated by the motor and draw the two annular streaks on the inside surface of the pipe. The circular laser streaks are recorded by the CCD camera. The measurement of the cross-section is established by an...

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Bibliographic Details
Published in:Artificial life and robotics 2008-12, Vol.13 (1), p.336-340
Main Authors: Kawasue, Kikuhito, Sakai, Shoji, Wakiyama, Terufumi, Oyama, Shigeki, Senda, Hisashi
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Mechatronics
Original Article
Robotics
Citations: Items that this one cites
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Description
Summary:The 3D quantitative measurement system for a sewer pipe is introduced. Two parallel lasers are rotated by the motor and draw the two annular streaks on the inside surface of the pipe. The circular laser streaks are recorded by the CCD camera. The measurement of the cross-section is established by analyzing the recorded streaks. The tilt of the robot against the axis of the pipe is detected by the deviation between two parallel lasers. It enables us to measure the vertical cross section of the pipe regardless the tilt of the system to the pipe. Experimental result shows the feasibility of the system.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-008-0572-y