Reconhecimento de cordões de solda para a inspeção automatizada de cordões de solda

• Vinicius de Vargas Terres UTFPR
• André Schneider de Oliveira UTFPR

DOI: https://doi.org/10.5753/sbrlars_estendido.2023.233272

Abstract

Automating the inspection of weld seams is one option for improving the maintenance of separator vessels. Positioning during inspection is a challenge for inspection robots. This paper presents a solution for weld bead recognition for weld bead tracking. An algorithm is proposed to provide reliable bead detection from the center position. A technique for weld bead tracking was developed, mitigating the impact of gravity on the system. At the end of the navigated section, an algorithm leads the robot back to a new section of the weld bead. The proposals were implemented on the CRAS robot. The tests show that the robot identified and followed the seam with a maximum error of 2.86 mm.

Keywords: Weld bead recognition, Autonomous inspection robot, Weld bead tracking, Line profile sensor

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