IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v12y2024i13p1940-d1420320.html
   My bibliography  Save this article

Mathematical Modeling for Robot 3D Laser Scanning in Complete Darkness Environments to Advance Pipeline Inspection

Author

Listed:
  • 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)

Abstract

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.

Suggested Citation

  • 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 An, 2024. "Mathematical Modeling for Robot 3D Laser Scanning in Complete Darkness Environments to Advance Pipeline Inspection," Mathematics, MDPI, vol. 12(13), pages 1-27, June.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:13:p:1940-:d:1420320
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/12/13/1940/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/12/13/1940/
    Download Restriction: no
    ---><---

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:12:y:2024:i:13:p:1940-:d:1420320. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.