汽轮机叶片裂痕检测机器人控制系统的设计  

Design of Robot Control System for Crack Detection of Steam Turbine Blade

作　　者：齐锦博 印松[1] 刘俊[1] QI Jin-bo;YIN Song;LIU Jun(School of Mechanics,Shanghai Dianji University,Shanghai 201306,China)

机构地区：[1]上海电机学院机械学院,上海201306

出　　处：《仪表技术与传感器》2022年第2期96-100,106,共6页Instrument Technique and Sensor

基　　金：上海多向模锻工程技术研究中心项目(20DZ2253200)。

摘　　要：为实现对汽轮机叶片进行自动化磁粉探伤裂痕检测的工作,设计一种基于树莓派的裂痕检测微型机器人控制系统。该系统采用树莓派ZeroW作为微处理器,搭载硬件模块实现裂痕检测功能。机器人内部与前端搭载摄像头,实现汽轮机叶片裂痕图像的采集与视频监控定位导航。上位机与下位机之间通过TCP协议实现远程控制与图像传输,使得机器人可以远程进行磁粉探伤裂痕检测工作。经试验验证,该控制系统运行稳定,采集的裂痕图像清晰准确,图像传输效果良好,在汽轮机叶片裂痕无人检测方面具有一定的实用性。In order to realize the automatic magnetic particle flaw and crack detection of steam turbine blades,a crack detection micro robot control system based on Raspberry Pi was designed.The system adopted Raspberry Pi ZeroW as the microprocessor,and was equipped with hardware modules to realize the crack detection function.The inside and front end of the robot were equipped with cameras to realize the image collection of the cracks of the steam turbine blades and the video surveillance positioning and navigation.The upper computer and the lower computer realized remote control and image transmission through the TCP protocol,so that the robot can remotely perform magnetic particle flaw and crack detection.Test verifies that the control system operates stably,the collected crack images are clear and accurate,and the image transmission effect is good.It has certain practicability in the unmanned detection of steam turbine blade cracks.

关 键 词：树莓派 汽轮机叶片 磁粉探伤 裂痕检测 微型机器人 TCP协议 远程控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]