Key Techniques of the X-ray Inspection Real-time Imaging Pipeline Robot

This paper presents a robotic system for weld-joint inspection of the big-caliber pipeline, which is developed for the purpose of being utilized as automation platform for X-ray real-time imaging inspection technique (RTIIT). The robot can perform autonomous seeking and locating of weld-seam position in-pipe, and under the control of synchro-follow control technique it can accomplish the technologic task of weld inspection. The robotic system is equipped with a small focal spot and directional beam X-ray tube, so the higher definition image of weld-seam can be obtained. Several key techniques about the robotic system developed are also explained in detail. Its construction is outlined.