Mapping Utility Infrastructure via Underground GPS Positioning with Autonomous Telerobotics

摘要

This paper presents technology applications from the autonomous mining and construction industries in tunnel and underground environments as applied to critical large diameter utility infrastructure. A self-contained inertial navigation system for the positioning and mapping of underground infrastructures is a significant development in tunnel profiling, 3D referencing and gyro/laser surveying; a key service offered by the results of this project. The underground positioning relies on a network of satellites placed to surround an area of interest, with a range of up to 2 km through soil or rock with accuracy better than 3%, enabling accurate positioning of underground assets. The robotic mapping system has the capabilities to accurately map tunnels, pipes and conduits, in detail and sequentially transfer the data collected into popular engineering CAD systems. A specialized military grade inertial referencing system (IRS) linked to multiple scanners provides high precision profiling while measuring roughness, deflection, ovality and positioning. The IRS component is linked to multiple laser scanners supplying high precision profiling while being driven forward. Laser scanning collects hundreds of data points per second linked to an accurate position through the IRS. All data is collected to on-board computer hard drives and transferred to the engineering office via memory storage systems or directly by wireless networks set up within the pipeline. Combining sectional scans with positioning and altitude data in real time creates 3D maps for surface referencing, a valuable service for pinpointing underground infrastructure problem locations in relation to surface features enabling informed risk management decisions.