Two opposite sides synchronous tracking X-ray based robotic system for welding inspection

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2016-11-01 DOI:10.1109/M2VIP.2016.7827334

Kai Zheng, Jie Li, Chun Lei Tu, Xing Song Wang

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引用次数: 6

Abstract

For inspecting welding seams of large-scale equipment such as storage tanks and spherical tanks, it usually cost much manpower and material, while automated testing robot can achieve fast and accurate detection. Because X-ray Flat Panel Detector is dependent on specialized automated equipment, it can greatly enhance X-ray inspection technology in large storage tanks that applying the Mecanum Omnidirectional Mobile Robot into automated weld detection. In this paper, an X-ray Flat Panel Detector based wall-climbing robotic system is developed for intelligent detecting of welding seams. The robot system consists of two Mecanum vehicles equipped with either a Flat Panel Detector or an X-ray generator and climbing on both side of the tank wall. Inspection robot can carry detector stably with reliable suction force and adapt to different surfaces. To let the X-ray Flat Panel Detector work properly, dual cameras positioning system is used to ensure synchronous operation of the two robots. Some experiment was conducted and reported.

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基于x射线的两对边同步跟踪焊接检测机器人系统

对于储罐、球形罐等大型设备的焊缝检测，通常需要耗费大量的人力物力，而自动化检测机器人可以实现快速、准确的检测。由于x射线平板探测器依赖于专门的自动化设备，因此将Mecanum全方位移动机器人应用于自动化焊缝检测，可以大大提高大型储罐的x射线检测技术。本文研制了一种基于x射线平板探测器的爬壁机器人系统，用于焊缝的智能检测。机器人系统由两辆Mecanum车辆组成，配备了平板探测器或x射线发生器，并在罐壁两侧攀登。检测机器人携带探测器稳定，吸力可靠，能适应不同的表面。为了使x射线平板探测器正常工作，采用双摄像头定位系统，确保两个机器人同步运行。进行了一些实验并进行了报道。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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