摘要
管道运输在现代工业的能量传输中具有重要的作用,但其工作条件恶劣,且不易检测维护,而国内对外在在后续真正实现管道缺陷检测功能方面的研究尚有所欠缺。针对以上问题,设计制作了一种双电机独立全驱动轮式管内移动机器人,适合于>600 mm管径的排水管道,装载CCD摄像头以及二维激光扫描仪,CCD能直观的找出管道的缺陷,将激光扫描仪扫描到的数据运用ICP算法进行后续处理,实现管内裂痕和变形等缺陷大小的定量检测,并得到了很好的实验结果。
Pipeline transport plays an important role in the modern industrial energy transmission, but its working condition is very bad, besides that it had to do the maintenance and detection. Since the research on realization the pipeline defect detection is still lacking. A dual-mator independent drive wheeled mobile pipe robot is designed. It is suitable for pipes whose diameter is greater than 600 mrra It loads a CCD camera, as well as a two-dimensional laser scanner. The CCD can find defects of a pipeline. It can use ICP algorithm to process data sent from the scanner, The flaws such as crack, coating damage, can be inspected quantitatively and the experiment has a good result which indicates the detecting system is effective.
出处
《机械设计与制造》
北大核心
2014年第1期18-20,24,共4页
Machinery Design & Manufacture
