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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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Main Authors: | , , , , , , |
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Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
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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. |
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ISSN: | 2643-685X |
DOI: | 10.1109/LARS-SBR-WRE48964.2019.00051 |