Weld identification technology of pressure steel pipe for wall-climbing robot operation
Junjie Zhu
Jun Hu
Lianwei Liu
Yanzheng Zhao
DOI: https://doi.org/10.59429/esta.v10i4.1626
Keywords: hydropower pressure steel pipe, wall-climbing robot, weld identifi cation
Abstract
With the continuous development of hydropower industry in China, the test and maintenance task of hydropower generator set is increasingly heavy. As a key component of the generator set, the water inlet pressure steel pipe, because of its large diameter and long distance characteristics, makes the past by manual detection and maintenance of the operation mode has a long period, high labor intensity and other problems. With the progress of robot technology, mobile robots are considered to solve the above problems instead of manual work. In the inspection and maintenance of pressure steel pipe, there are many tasks around welding seams. In order to improve the quality and effi ciency of robot operation, it is necessary to realize high-precision welding seam identifi cation. This paper takes the welding seam identifi cation of pressure steel pipe as the research content, adopts the semantic segmentation method based on improved DeepLabv3+, takes the two-track wall-climbing mobile robot as the test platform, and takes the actual pressure steel pipe as the test object to carry out the algorithm instantiation test and analysis. Field tests show that the pressure steel pipe weld identifi cation technology can identify the weld effi ciently and accurately, which is helpful to improve the working effi ciency and accuracy of the wall-climbing robot.
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