Photoelectric detection and 3D reconstruction system for the inner surface of small-diameter pipes

摘要

A detection and three-dimensional reconstruction system for the interior surface of small-diameter pipes was presented based on Position Sensitive Detector (PSD) and optical triangulation principle. The system consisted of an in-pipe micro-robot, a profile detection sensor, a curvature sensor and so on. The profile inspection sensor caught the point position of the inner surface section in the local coordinates when it moved in pipe driven by the robot. At the same time, the curvature sensor got the local geometric information of the central axis of pipe in the sampling position and reconstructed the central axis. Finally, the inner surface of the pipe was reconstructed according to the data of the two sensors and the step of the robot. Experimental results show that the relative measurement accuracy of the pipe curvature is ±2%, and the measurement accuracy of inner surface defect and inner diameter are ±0.1mm respectively.