常压储罐表面形貌视觉检测机器人技术研究

Research on Visual Inspection Robot Technology for Surface Morphology of Atmospheric Storage Tank

为替代人工高空检测作业,基于线性激光传感器设计常压储罐表面形貌视觉检测机器人。机器人包括运动平台、上位机与激光扫描系统三大模块,通过上位机控制运动平台实现机器人的灵活移动,利用激光传感器和视频监控摄像头进行全方位扫描和监控,采用Python数据处理软件和Matlab软件将测量数据进行拼接,获得物体表面形貌三维图,实现对储罐微观形貌特征的主动扫描检测、常压储罐表面微裂缝的准确排查等。

For purpose of replacing manual inspection at heights,having a linear laser sensor based to design a robot for visual inspection of surface morphology of atmospheric storage tank was implemented,in which,the robot consists of the motion table,host computer and laser scanner.The host computer controls the motion table to realize flexible movement of the robot,both laser sensor and video surveillance cameras can scan and monitor the robot in all directions.Later Python data processing software and Matlab software can match the measured data to obtain a three-dimensional map of the surface morphology of the object,thus to realize the active scanning and detection of the micro-morphology characteristics of the storage tank and accurately check the surface micro-cracks over the atmospheric storage tank.