空间曲线型微细管道曲率检测器

Curvature sensor for inspecting curved small-diameter pipes

研制了一种适于空间曲线型微细管道的曲率检测器。该检测器主要由激光光源、关节、PSD传感器三部分组成。在管道内壁的约束作用下,出射激光和PSD传感器的中轴线的夹角将随着管道曲率的变化而变化。根据光学三角原理,可以求出该夹角的大小,然后结合检测器的结构参数可以计算出管道相应位置的曲率半径。该曲率检测器的总长度为34mm,重约为6g。在微型管道机器人的驱动下,可以实现微细管道的曲率半径测量及其中轴线的三维描述,对管道曲率半径的相对测量精度达到±2%。

A curvature sensor for inspecting 3D curved small-diameter pipes has been developed. The sensor is composed of a laser resource, a joint and a PSD detector. The angle between laser axis and PSD central axis changes with the pipe curvature because of the restriction of pipe's inner surface. The angle can be calculated based on principle of optical triangulation and so the curvature of corresponding position based on structure parameters. The sensor is 34 mm long with weight about 6 g. Driven by a micro pipe robot, the sensor can measure the curvature of the whole pipe. And more importantly, the central axis can be reconstructed according to the step length of the robot. The relative accuracy for the measurement of pipe curvature is ±2%.