【2017年整理】一种新的方法通过移动的2D激光测距仪检测管线变形.docVIP

A New Method for Detecting Pipeline Deformation by An Inspection Robot with A Moving 2D Laser Rang Finder Abstract – Buried pipelines would be deformed as a result of the loading of surface facilities and vehicles. If the deformation has gone beyond the critical level, it may cause serious consequences, such as the damage of the pipeline. Pipeline deformation is also applied to estimate the stress in the pipeline, and thus to keep the pipeline stress below the critical level. A new method for detecting pipeline deformation by an inspection robot with a laser range finder (LRF) is presented in