基于AR全景技术的压力容器内部检验机器人的研制与应用

Development and Application of Pressure Vessel Internal Inspection Robot Based on AR Panoramic Technology

压力容器内部经常残留粉尘以及有毒、有害、易燃、易爆等液体、气体,检验人员长期在这种环境下工作,容易引发呼吸系统等方面疾病,甚至检验人员中毒、伤亡的事故也时有发生。因此,为了降低检验人员的安全风险,本文将传统检验工作与先进的AR技术结合,通过AR全景技术、图像处理技术、运动控制技术、射频通信技术、光源设计技术,开发了一套能够在压力容器内部自由运动、360°自由视频观察、远近自由缩放对焦的检验机器人。通过在卧式压力容器内部应用,此检验机器人人机交互感良好、影像清晰,既能兼容检验人员的检验习惯及经验,又能有效保证安全,还能安全培训新人,进而提高了检验单位培训和日常检验工作的效率、质量及安全。

The residual dust,liquids and gases that are toxic,harmful,flammable,or explosive are often in the pressure vessel.They can easily cause respiratory issues and other related problems when inspectors work in this environment for extended periods.Even accidents like poisoning and injuries to inspectors occur occasionally.Hence,to mitigate the safety risks faced by inspectors,the author integrates traditional inspection practices with AR technology.This entails employing AR panoramic technology,image processing techniques,motion control systems,radio frequency communication methods,and light source design to develop an autonomous inspection robot capable of unrestricted movement within stationary pressure vessels.The robot enables 360°video observation and seamless zooming capabilities.This inspection robot,when applied inside the horizontal pressure vessel,offers excellent human-computer interaction and clear images that not only cater to the inspection habits and experiences of inspectors but also effectively guarantee safety.Furthermore,it can safely train new inspectors,thereby enhancing the efficiency,quality,and safety of training and daily inspection for inspection institutions.