Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

Eiammanussakul, Trinnachoke; Taoprayoon, Jirawut; Sangveraphunsiri, Viboon

doi:10.4028/www.scientific.net/amm.619.219

Cited by 7 publications

(3 citation statements)

References 3 publications

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“…Robots for circumferential crack-like defect detection of pipelines were investigated, which makes it easy to inspect irregularly shaped welds [3]. Additionally, some studies have integrated detection sensors and cleaning equipment into robots and developed a series of ship detection and cleaning robots [4][5][6][7][8]. In the vision-based detection field, a vision-detection robot for narrow butt joints has been proposed, and the 3D position of the joint can be calculated [9,10].…”

Section: Introductionmentioning

confidence: 99%

Development of Multifunctional Detection Robot for Roller Coaster Track

Song,

Zhao,

Zhang

et al. 2023

Sensors

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Recent advances in roller coasters accelerate the creation of complex tracks to provide stimulation and excitement for humans. As the main load-bearing component, tracks are prone to damage such as loose connecting bolts, paint peeling, corroded sleeper welds, corroded butt welds, reduced track wall thickness and surface cracks under complex environments and long-term alternating loads. However, inspection of the roller coaster tracks, especially the high-altitude rolling tracks, is a crucial problem that traditional manual detection methods have difficulty solving. In addition, traditional inspection is labor-intensive, time-consuming, and provides only discrete information. Here, a concept of the multifunctional detection robot with a mechanical structure, electrical control system, camera, electromagnetic ultrasonic probes and an array of eddy current probes for detecting large roller coaster tracks is reported. By optimizing the design layout, integrating multiple systems and completing machine testing, the multifunctional roller coaster track detection robot exhibits outstanding performance in track appearance, thickness and crack detection. This study provides great potential for intelligent detection in amusement equipment, railcar, train and so on.

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Section: Introductionmentioning

confidence: 99%

Development of Multifunctional Detection Robot for Roller Coaster Track

Song,

Zhao,

Zhang

et al. 2023

Sensors

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“…Several compound mobile mechanisms have been innovatively designed to improve the wall adaptability of a wall-climbing robot, but the conflict between movement flexibility and safe adsorption has not been well resolved [17][18][19]. Several researchers carried detection sensors and cleaning equipment on a wall-climbing robot and developed a series of ship detection and cleaning robots [20][21][22][23][24][25][26][27]. Due to the lack of flexibility in the connection between the end-effector and the body, extremely accurate controls are commonly applied to meet detection requirements, making the control more difficult.…”

Section: Introductionmentioning

confidence: 99%

Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing

Zhang

et al. 2020

Sensors

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Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot’s safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds.

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“…[1][2][3][4][5][6][7][8][9][10][11][12][13] Such designs use either magnetic wheels or tracks, 1-5,7,10-12 mount magnets in a central plate within the robot that can be raised and lowered in order to vary the magnetic-adhesive force, 6,9,13 or use a combination of several mobile units to facilitate climbing. 8 The majority of these robots are restricted to operation on smooth surfaces that are either flat or have large radii of curvature.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

Kelley

Ostovari²,

Burmeister³

et al. 2015

SPIE Proceedings

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A novel, multi-segmented magnetic crawler robot has been designed for ship hull inspection. In its simplest version, passive linkages that provide two degrees of relative motion connect front and rear driving modules, so the robot can twist and turn. This permits its navigation over surface discontinuities while maintaining its adhesion to the hull. During operation, the magnetic crawler receives forward and turning velocity commands from either a tele-operator or high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors.This paper presents the development of a simple, low-level, leader-follower controller that permits the rear module to follow the front module. The kinematics and dynamics of the two-module magnetic crawler robot are described. The robot's geometry, kinematic constraints and the user-commanded velocities are used to calculate the desired instantaneous center of rotation and the corresponding central-linkage angle necessary for the back module to follow the front module when turning. The commands to the rear driving motors are determined by applying PID control on the error between the desired and measured linkage angle position. The controller is designed and tested using Matlab Simulink. It is then implemented and tested on an early two-module magnetic crawler prototype robot. Results of the simulations and experimental validation of the controller design are presented.

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Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

Cited by 7 publications

References 3 publications

Development of Multifunctional Detection Robot for Roller Coaster Track

Development of Multifunctional Detection Robot for Roller Coaster Track

Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

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