Geographic mapping for small-diameter gas pipelines in a city
Geographic location of a pipeline is important information for pipeline maintenance and fault detection. Usually, the geographic location of a pipeline on the ground can be measured directly with global positioning system (GPS) technology, but it is much difficult to determine the geographic position of an inaccessible underground pipeline in a city. In this research, a new geographic mapping methodology is proposed for small-diameter gas pipelines in a city. A pipeline mapping micro robot equipped with a micro electro mechanical system (MEMS) based inertial measurement unit (IMU) and odometers is developed. The technique of motion identification and measurement is proposed based on the odometers. A new estimation approach is proposed to reconstruct robot path based on the features of a pipeline, the bending angles and the identified motion modes. The geographic location of a pipeline is obtained by the path optimization algorithm. The proposed methodology can help the partner organization obtain the 3-dimensional (3D) map of old gas pipelines in a city, facilitate the maintenance and leak position detection, so as to reduce troubles in the pipeline and avoid economic losses.
Voir la description complète du projetStevan Dubljevic
Cenozon
Engineering
Professional, scientific and technical services
University of Alberta
Elevate