基于CCD的管内移动机器人管道缺陷检测系统  

The Detecting System With In-pipe Robot Based on CCD for Internal Flaw Inspection of Pipelines

作　　者：何存富[1] 周龙[1] 何守印[1] 王秀彦[1] 吴斌[1] 

机构地区：[1]北京工业大学,北京100022

出　　处：《机械与电子》2006年第10期33-35,共3页Machinery & Electronics

基　　金：国家自然科学基金资助项目(10372009)

摘　　要：设计制作了一种独立轮驱动直进式管内移动机器人,适合于131mm管径的金属管道,装载CCD图像采集系统获得管内壁图像,图像存储在PC机上采用数字图像处理技术进行后续处理,实现管内腐蚀、裂痕和涂层损坏等缺陷检测,并得到了很好的实验结果.In this paper,an in -line robot driven by one wheel is designed. It is suitable for all - metal pipe with Ф 131 mm. The robot hands CCD camera which takes the image of the inner wall of the pipe. The image is transmitted to and saved on the computer,and then it is processed subsequently by technology of digital image processing. The flaws such as corrosion, crack, coating damage, etc. can be inspected,and the experiment comes out the good results which indicate the detecting system is effective.

关 键 词：管道 管内移动机器人 CCD 数字图像处理 缺陷检测 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]