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

  • Vinicius Terres UTFPR
  • Andre Oliveira UTFPR
  • Higor Santos UTFPR
  • Lucia Arruda UTFPR
  • Flavio Neves UTFPR
  • Joao Fabro UTFPR
  • Julio Ramos CENPES

Resumo


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.
Palavras-chave: Welding, Robot sensing systems, Robot kinematics, Inspection, Mobile robots, Service robots
Publicado
23/10/2019
TERRES, Vinicius; OLIVEIRA, Andre; SANTOS, Higor; ARRUDA, Lucia; NEVES, Flavio; FABRO, Joao; RAMOS, Julio. Rigorous Tracking of Weld Beads for the Autonomous Inspection with a Climbing Robot. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 16. , 2019, Rio Grande. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2019 . p. 251-256.