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 » Wed Jul 10, 2019 10:27 pm

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 » Thu Jul 11, 2019 12:04 am

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 » Thu Jul 11, 2019 5:43 am

Surely GeoSlam have a robot with the Revo attached?!

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

Post by JulienCrippa » Thu Jul 11, 2019 1:37 pm

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 » Sat Aug 17, 2019 1:44 am

just curious if you stumbled on viable solution for this interesting use case? thanks.

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

Post by jcoco3 » Sat Aug 17, 2019 2:16 am

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 » Sat Aug 17, 2019 3:44 am

Been looking at this over the last 6 months or so - also worth the look http://www.inspectorbots.com

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