空间曲线型微细管道局部几何性质检测

Local geometric measurement for 3-D curved micro-pipe

开发了适于测量空间微细管道局部几何性质的传感器及其检测系统。在管道机器人潜入式检测过程中曲率传感器可适应管道的几何形状发生弯曲,同时内部的光路也将发生变化。根据激光束在PSD光敏面上的照射位置和传感器结构参数,确定管道曲率传感器上设立的活动标架沿轴线的转动速率,得到两个相邻活动标架之间的位置关系。结合初始活动标架方位、传感器结构,运用递推算法计算管道中心线局部几何性质参数。实验结果表明,测量相对误差小于4%,适合测量f10～f13mm、曲率半径大于100mm的管道几何性质。

A sensor and a measuring system for inspection local geometric property of 3D micro-pipe are developed. During the pipe robot slip type testing process, robot can automatically adapt the geometric shapes of the pipe and its internal optical path will also be changed. The rotation rate of the frenet frame set on pipe sensor along the axis is determined based on the illumination position of laser beam on PSD light-sensitive plane and sensor structural parameters. In this way the position relation between two adja- cent frenet frames is obtained. Combined with the initial position of the frenet frame and sensor structure, the local geometric parameters of the pipe central line can be calculated by using recurrence algorithm. The experimental results show that its relative measuring error is less than 4%,and it is suitable for measuring geometric property of f10~f13mm pipes with a curvature radius more than 100mm.