A new method for detecting the inner wall of water pipeline

We introduce an innovative approach to inspecting the inner walls of water pipelines, aiming to tackle the challenges associated with accurate and efficient detection. By emulating real-world conditions found within water pipelines, we reframe the problem of inner wall inspection as a three-dimensional modeling process using line-structured light. This innovative approach facilitates detection by reconstructing the three-dimensional representation of the pipeline's inner wall. The detection approach involves the use of camera to capture the changes that occur when the line laser interacts with the inner wall of the pipeline. It extracts information about the center points of the line laser and promptly generates a model of the inner wall of the pipeline. Within the Webots simulation environment, we deployed a simulated underwater robot equipped with camera and a line laser emitter to conduct numerous experiments within water pipelines. The experimental outcomes confirm that the three-dimensional reconstruction method proposed in this paper is capable of efficiently and accurately reconstructing the inner walls of pipelines in challenging underwater environments, successfully fulfilling the detection task. This algorithm showcases robustness and broad applicability, making it a valuable asset for inner wall detection in water pipelines.