3D scan into horizzontal tunnel not accessible (by human)

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JulienCrippa
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3D scan into horizzontal tunnel not accessible (by human)

Post by JulienCrippa »

Hi,
We have to scan a big UG mine that have few tunnels not accessible by human because safety issue. We have already tried to contact emesent that have a drone (140 000 USD) with lidar that can fly in autonomy into a UG mine but in our case the tunnel is too narrow for them.
We have an horizzontal tunnel 2.5 m high, 2.5 m width and a length of 150/500 meters. We are looking so for a rover or a robot can transport the faro and taking a scan each 10 or 20 meters.

You ever tried to do a job like that? You ever saw a rover that can navigate in a rock tunnel remotely controlled with the capability to transport a expensive laser scanner?
Do you have some others ideas?

Thank you!

Julien
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by Felix_the_Cat »

these things are quite impressive.

I used to work with Insituform guys on jobsites who were relining pipe with a giant glue covered kevlar sock that they would pull through the pipe run turning it right side out as they went, and it would glue itself to the inside of the pipe, stabilizing it. it was a cool process. anyhoo, they used one of these things on a tether to do inspections. I'm sure any fool with half an ounce of redneck and a cordless drill could rig something respectable up right quick.

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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by stutosney »

Surely GeoSlam have a robot with the Revo attached?!
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by JulienCrippa »

Thanks guys! I sent an e-mail to both.
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by mwaychoff »

just curious if you stumbled on viable solution for this interesting use case? thanks.
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jcoco3
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by jcoco3 »

We have a little past experience with this type of tunnel problem, but on a smaller scale. We have been working on robot builds specifically for this application, but our robot cannot handle a "rocky" terrain. We are currently in the process of purchasing an MMP-30 from The Machine Lab which is a simple tracked robot platform capable of carrying a Faro or Zeb scanner at a low elevation. Leica also sells a very big tracked robot platform to carry their scanners, but my guess is that it far exceeds the cost of that drone you were talking about. The guys from 3D laser mapping might be a good group to talk to as I have seen many excellent looking robots they have created for different scenarios.

Overall communication and navigation might be your biggest issues. If you cannot get a wifi or broadband signal to your robot then you will likely need to payout a long ethernet tether or drop repeaters periodically. I doubt you will have a GPS signal so all navigation will be from cameras and or dead-reckoning with wheel encoders and your connection speed will likley have a large effect on frame rate. It might be a slow and methodical process much like the Mars Rovers. Considering that your tunnel is 500 meters you should be able to pack enough batteries along for the ride to keep a robot going without the need for a gas generator to recharge. One question...is this just a long straight tunnel with clear line of sight from end to end?
If that is the case then many of the communication concerns might be irrelevant, and I can offer you a helpful solution for registration of your scans.

Good luck, and please let us know how it goes so we can learn something :)
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by jamesworrell »

Been looking at this over the last 6 months or so - also worth the look http://www.inspectorbots.com
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by RobM »

I am just going to leave this here.... Current project, not finished and not tested yet.
Still waiting on all the controls and sensors I ordered from asia to arrive.

First step is to built a platform that can safely transport the scanner to hardly accessible locations and do static scans. Therefore it will have FPV cameras, remote controlled and distance sensors to avoid collisions. (mostly dronetec needed based on pixhawk)
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by jcoco3 »

Robin,

Looks like a fun one :D Like I said before we are working on something similar, and had almost purchased the exact same chassis/tracks in the beginning. I have successfully integrated a pixhawk into ours and have it completing surprisingly precise missions using pivot turns on a grid(outdoors using gps). Working on wheel encoder integration right now, but I do have plans to work on some obstacle avoidance either in the form of the more standard ardupilot plug and play sensors, or using a raspberry pi with cameras for obstacle avoidance and visual odometry. I also need to work on scripting the missions so that a mission hold duration takes place at each scan position waypoint followed by some sort of trigger sent to the scanner to start the scan(I have some ideas on how that could be accomplished). I have spent what seems like ages looking at all the different flight controllers and companion computers out there as well as sensors, but would be interested in collaborating with you if you want to trade knowledge and experiences :geek:

If you missed it we built something similar(but less automated) a long time ago for exact reason stated in this thread title, but ended up re-configuring it for bridges. https://www.laserscanningforum.com/foru ... 086#p64086 Tracks still seem the way to go for most use cases(unless of course you are willing to shell out the cash for a robot doggy :lol: )
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Re: 3D scan into horizzontal tunnel not accessible (by human)

Post by RobM »

Jonathan,

that would be great. I am very interested to see what your approach looks like.
To be honest, my inital plan was to simply use Pixhawk compatible components and ardupilot as software... I might add Arduino as well, but first I want to get the system running in manual mode...
Later on I might do some testing in helical mode and slam based registration but thats planed for next year
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