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Proceedings Paper

Flexible mobile robot system for smart optical pipe inspection
Author(s): Wolfram Kampfer; Ralf Bartzke; Wolfgang Ziehl
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Paper Abstract

Damages of pipes can be inspected and graded by TV technology available on the market. Remotely controlled vehicles carry a TV-camera through pipes. Thus, depending on the experience and the capability of the operator, diagnosis failures can not be avoided. The classification of damages requires the knowledge of the exact geometrical dimensions of the damages such as width and depth of cracks, fractures and defect connections. Within the framework of a joint R&D project a sensor based pipe inspection system named RODIAS has been developed with two partners from industry and research institute. It consists of a remotely controlled mobile robot which carries intelligent sensors for on-line sewerage inspection purpose. The sensor is based on a 3D-optical sensor and a laser distance sensor. The laser distance sensor is integrated in the optical system of the camera and can measure the distance between camera and object. The angle of view can be determined from the position of the pan and tilt unit. With coordinate transformations it is possible to calculate the spatial coordinates for every point of the video image. So the geometry of an object can be described exactly. The company Optimess has developed TriScan32, a special software for pipe condition classification. The user can start complex measurements of profiles, pipe displacements or crack widths simply by pressing a push-button. The measuring results are stored together with other data like verbal damage descriptions and digitized images in a data base.

Paper Details

Date Published: 15 March 1998
PDF: 9 pages
Proc. SPIE 3398, Nondestructive Evaluation of Utilities and Pipelines II, (15 March 1998); doi: 10.1117/12.302534
Show Author Affiliations
Wolfram Kampfer, Bauhaus-Univ. Weimar (Germany)
Ralf Bartzke, Bauhaus-Univ. Weimar (Germany)
Wolfgang Ziehl, Optimess GmbH (Germany)


Published in SPIE Proceedings Vol. 3398:
Nondestructive Evaluation of Utilities and Pipelines II
Walter G. Reuter, Editor(s)

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