可视化结构光导向的检测爬壁机器人设计  

The Design of Visual Structured Light Guiding Wall-climbing Robot for NDT Testing

作　　者：张延兵[1] 宋高峰[1] 张一辉[1] 孙志涛[1] Zhang Yanbing;Song Gaofeng;Zhang Yihui;Sun Zhitao(Special Equipment Safety Supervision Inspection Institute of Jiangsu Province,Nanjing 210036)

机构地区：[1]江苏省特种设备安全监督检验研究院,南京210036

出　　处：《中国特种设备安全》2021年第12期53-57,61,共6页China Special Equipment Safety

基　　金：国家市场监督管理总局2019年科技计划项目“基于爬壁机器人的危险环境特种设备损伤检测系统研制”(2019MK153)。

摘　　要：在充分分析现有爬壁机器人工作特点的基础上,提出一种新型可视化结构光导向的无损检测爬壁机器人设计方案。其中涵盖爬壁机器人功能设计、滑移失效分析、越障能力分析、结构光纠偏导向等内容,重点解决爬行器结构设计中的摩擦滑移、越障失效、焊缝轨迹实时跟踪纠偏等技术难点。最终开发出满足工程应用要求的试验样机,并完成现场测试,为实现无损检测的自动化提供一种新思路借鉴。Based on the analysis of the working characteristics of the wall-climbing robot,a new visual structured light-guided nondestructive wall-climbing robot is proposed.It covers the technical difficulties in the structure design of wall-climbing robot's function,the analysis of slip failure,the analysis of obstacle-climbing ability,the orientation of structural light,etc.Focus on solving technical difficulties such as friction slippage,obstacle crossing failure,and real-time tracking and correction of weld trajectory in the crawler structure design.Finally,a prototype is developed to meet the requirements of engineering application,and the testing is completed,which provides a new idea for the realization of nondestructive testing automation.

关 键 词：爬壁机器人 检测 结构光 导向 

分 类 号：X924.2[环境科学与工程—安全科学]