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Alternative TitleNon-Contact Automatic Correction Method of Pipeline Robot
陈月玲; 赵吉宾; 齐智峰; 夏仁波
Source Publication组合机床与自动化加工技术
Contribution Rank1
Keyword管道 视觉系统 三维测量 纠偏
Other AbstractConcerning the need of walk straight for the car-like robot in equally wide pipeline,the vision measurement system is build with a CCD camera and two line structured-light sensors. A method based on non-contact three-dimensional(3D) measurement is proposed to compute the position and angular deviation of the car-like robot in pipeline,then feed back to the control system. By control algorithm,the position and angular deviation are eliminated,thus the high coincidence between the center line of the pipeline and car body is gained. The experimental results demonstrate that the proposed method overcomes the deficiencies of the existing methods that cannot walk straight in lack of pipeline information,with higher robust and detection accuracy of ± 5mm. Meanwhile,it has been used in on-line cleaning system of optical transmission pipeline.
Document Type期刊论文
Corresponding Author陈月玲
Recommended Citation
GB/T 7714
陈月玲,赵吉宾,齐智峰,等. 管道机器人非接触式自动纠偏方法[J]. 组合机床与自动化加工技术,2016(3):16-19.
APA 陈月玲,赵吉宾,齐智峰,&夏仁波.(2016).管道机器人非接触式自动纠偏方法.组合机床与自动化加工技术(3),16-19.
MLA 陈月玲,et al."管道机器人非接触式自动纠偏方法".组合机床与自动化加工技术 .3(2016):16-19.
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