Integrity of industrial pipework is ensured through routine inspection. Internal visual inspection tools are capable of characterising degradation in the form of corrosion, pitting, erosion and cracking. The outcomes of inspections on pipework have a direct impact on decisions regarding the remaining lifetime of the asset. This thesis considers a pipe-profiling system consisting of a laser-profiler and fisheye camera that produces high-resolution stitched images and point clouds giving geometric information. The advantage of the system presented include odometry information obtained through visual odometry, a clear unwrapped 360° overview of the pipe interior and accurate 3D information obtained through the laser-profiler. The accuracy of such a laser-profiler is defined by the ability to extract laser projections from an image as it travels down the pipe, and project these extractions to 3D. A novel calibration routine has been established to reduce the error caused by misalignment and tolerances during fabrication of the system. In addition to the study and calibration of the laser profiler an extensive simulated review of alternative designs, and a study of the profiler in its current configuration was undertaken. This provided insights into its capabilities and range of pipe sizes the system is, and would be capable of inspecting with design adaptations which are also noted. Finally, to make the use of the pipe-profiler and its features accessible to industry a plug and play real-time software interface was created, with live fisheye image unwrapping and stitching, as well as laser overlay and 3D projections, providing a rich feature set for inspection and technology demonstrations.
|Date of Award||7 Jun 2021|
- University Of Strathclyde
|Sponsors||EPSRC (Engineering and Physical Sciences Research Council) & University of Strathclyde|
|Supervisor||Gordon Dobie (Supervisor) & Gareth Pierce (Supervisor)|