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Rigorous Tracking of Weld Beads for the Autonomous Inspection with a Climbing Robot

This article presents a novel strategy for an autonomous inspection robot for oil industry tanks. The goal is to identify and track the external weld beads of a tank by an inspection robot. The chosen robot is an autonomous climbing robot with differential magnetic wheels. The detection of the weld...

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Bibliographic Details
Main Authors: de Vargas Terres, Vinicius, Schneider de Oliveira, Andre, Barbosa Santos, Higor, Ramos de Arruda, Lucia Valeria, Neves, Flavio, Fabro, Joao Alberto, Endress Ramos, Julio
Format: Conference Proceeding
Language:English
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Summary:This article presents a novel strategy for an autonomous inspection robot for oil industry tanks. The goal is to identify and track the external weld beads of a tank by an inspection robot. The chosen robot is an autonomous climbing robot with differential magnetic wheels. The detection of the weld bead is made with a line profile sensor. An algorithm is proposed to identify the weld bead position from the robot. The control is designed with the Fuzzy technique. The approach is evaluated on a real plate and a cylindrical tank virtually designed with the same characteristics that real tank projects.
ISSN:2643-685X
DOI:10.1109/LARS-SBR-WRE48964.2019.00051