焊接检测机器人的设计与分析。

Design and analysis of welding inspection robot.

机构信息

School of Materials Science and Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China.

Department of Chemical and Materials Engineering, University of Alberta, Edmonton, T6G 1H9, Canada.

出版信息

Sci Rep. 2022 Dec 31;12(1):22651. doi: 10.1038/s41598-022-27209-4.

DOI:10.1038/s41598-022-27209-4

PMID:36587052

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9805453/

Abstract

Periodic inspection, commonly performed by a technician, of weld seam quality is important for assessing equipment reliability. To save labor costs and improve efficiency, an autonomous navigation and inspection robot is developed. The development process involves the design of chassis damping, target detection mechanism, control system, and algorithms. For performing weld inspection in complex, outdoor, environments, an algorithm is developed for the robot to avoid any obstacles. This algorithm for planning the inspection route is based on an improved timed-elastic-band (TEB) algorithm. The developed robot is capable of conducting inspection tasks in complex and dangerous environments efficiently and autonomously.

摘要

定期检查，通常由技术人员进行，对评估设备可靠性很重要。为了节省劳动力成本并提高效率，开发了一种自主导航和检查机器人。开发过程涉及底盘减震、目标检测机构、控制系统和算法的设计。为了在复杂的户外环境中进行焊缝检查，开发了一种机器人避障算法。该检测路径规划算法是基于改进的时间弹性带（TEB）算法。开发的机器人能够高效、自主地在复杂和危险环境中执行检查任务。