• CN:11-2187/TH
  • ISSN:0577-6686

›› 2009, Vol. 45 ›› Issue (6): 267-273.

• 论文 • 上一篇    下一篇

大孔径管道4自由度内部检测机器人系统

马孜;张旭;黄进;胡英;汪洋;田园   

  1. 大连海事大学自动化研究中心
  • 发布日期:2009-06-15

Inner Inspection Robot System with 4 Degrees of Freedom for Large Size Pipes

MA Zi;ZHANG Xu;HUANG Jin;HU Ying;WANG Yang;TIAN Yuan   

  1. Automation Research Center, Dalian Maritime University
  • Published:2009-06-15

摘要: 从结构、控制系统及软件结构等几个角度介绍一种大孔径管道内部检测4自由度机器人系统原创设计方案。由于独特的可变性结构设计,使该机器人能够根据不同规格的被测对象,自动调整本体结构,使其检测有效范围在550~1 000之内。该系统能够快速完成大型管道内整体三维表面数据采集,在此基础上在线给出表面品质特性分析报告及任意位置内部直径高精度的测量结果。在机器人控制系统的设计中为了克服环境振动干扰对系统检测精度带来的影响,提出自适应振动干扰控制策略,为检测装备在噪声环境下保证检测精度提供了一种有效的解决方案。该系统的软件集数据采集、数据处理、模型构建及表面品质评估功能于一体,而且界面友好操作方便。系统的激光扫描精度可达0.002 mm,与高精度内径千分尺检测结果比较差值小于0.005 mm。

关键词: 管道机器人, 管道内部表面检测, 管道内径测量, 激光扫描, 自适应振动控制

Abstract: A novel robot measurement system with 4 degrees of freedom is presented for large size in-pipe surface inspection and inner diameter measurement. According to different sizes of objects, the structure of robot can be regulated automatically due to the unique design so that the effective measurement range can be 550~1 000 mm. The system is can quickly complete data acquisition of whole 3D surface in large pipeline, and on this basis, gives on-line the analysis report of surface quality characteristics and the high-accuracy measurement result of inner diameter at arbitrary position. In the design of the robot control system, an adaptive control strategy is proposed to suppress vibration disturbance induced from environment noise, the control scheme results in the measurement precision level of inner diameter being 0.002 mm. In addition, it is user-friendly to operate due to its intelligent and integrated software support with data acquisition, data processing, 3D reconstruction and surface quality evaluating functions. The difference value between the measurement result of the presented system and that of the high-precision inside micrometer is less than 0.005 mm.

Key words: Adaptive vibration control, In-pipe diameter measurement, In-pipe robot, In-pipe surface inspection, Laser sensor

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