面向管道焊缝渗透检测机器人的管道定位与规划方法  

Pipeline Positioning and Planning Method for Pipeline Weld Penetration Inspection Robot

作　　者：李彰 欧越 陈建文 徐阳[4] 樊继壮[4] 赵杰[4] LI Zhang;OU Yue;CHEN Jian-wen;XU Yang;FAN Ji-zhuang;ZHAO Jie(China Nuclear Power Operation Technology Corporation LTD,Wuhan 430200,China;Institute of Nuclear Power Operations,Wuhan 430074,China;China National Nuclear Corporation,Nuclear Industry Special Robot Engineering Technology Research Center,Wuhan 430200,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150000,China)

机构地区：[1]中核武汉核电运行技术股份有限公司,武汉430200 [2]核动力运行研究所,武汉430074 [3]中国核工业集团核工业特种机器人工程技术研究中心,武汉430200 [4]哈尔滨工业大学机电学院,哈尔滨150000

出　　处：《科学技术与工程》2024年第17期7168-7176,共9页Science Technology and Engineering

摘　　要：为了实现核电设施管路的自动化焊缝检测作业,在降低人工作业安全风险的同时提高工作效率,提出了一种集喷涂、喷擦、刷涂、擦洗、环境感知和场景建模的机器人自主作业软件系统及相关算法。分析作业机器人的工作环境和功能需求,进行机械臂和感知模块的选型,制定三维建模和参数辨识方案,搭建焊缝检测作业系统;提出了一种基于机器人感知到的视觉和深度信息进行场景建模的算法,该算法可以输出检测关到作业面的位置、三维模型以及作业区域范围;提出了一种基于三维重构模型和作业区域范围进行作业轨迹规划的算法,并搭建了仿真平台验证运动轨迹的正确性;开展了管道定位与三维重构实验以及轨迹规划实验,实验的结果证明,提出的管道定位方法能够实现精确的点云数据采集和高精度的管道参数辨识,机械臂能够实现准确性高、连续性好的运动,满足管道焊缝检测作业的要求。In order to achieve automated weld seam inspection of nuclear power facility pipelines and reduce the safety risks of manual operations while improving work efficiency,a robot autonomous operation software system and related algorithms that integrates spraying,wiping,brushing,scrubbing,environmental perception,and scene modeling were proposed.The working environment and functional requirements of the work robot were analyzed,the robotic arm and environmental perception module was selected,a 3D modeling and parameter identification plan was developed,and a welding seam detection operation system was built.A scene modeling algorithm based on visual and depth information perceived by robots was proposed,which can output detection of the position of the working surface,3D model,and the range of the working area.An algorithm for job trajectory planning based on 3D reconstruction model and job area range was proposed,and a simulation platform was built to verify the correctness of the motion trajectory.Experiments on pipeline positioning and 3D reconstruction were conducted,as well as trajectory planning.The results of the experiments proved that the proposed pipeline positioning method can achieve accurate point cloud data collection and high-precision pipeline parameter identification.The robotic arm can achieve high accuracy and good continuity of movement,meeting the requirements of pipeline weld detection operations.

关 键 词：焊缝检测 三维点云 表面建模 运动规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]