제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제11권7호
  • /
  • Pages.595-601
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  • 2005
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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대형 산업설비 안전성 진단용 이동로봇 시스템 설계

Design of a Mobile Robot System for Integrity Evaluation of Large Sized Industrial Facilities

  • 이호길 (한국생산기술연구원 로봇기술개발본부) ;
  • 류영선 (한국생산기술연구원 로봇기술개발본부) ;
  • 손웅희 (한국생산기술연구원 로봇기술개발본부) ;
  • 정희돈 (포항산업과학연구원 기전연구팀) ;
  • 박상덕 (한국생산기술연구원 로봇기술개발본부)
  • 발행 : 2005.07.01
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초록

A mobile robot system utilizing NDT (Non-Destructive Testing) method is designed and fabricated f3r automatic integrity evaluation of large sized industrial reservoirs and pipelines. The developed mobile robot can crawl over the outer surface of the industrial facilities even though the shape of the structures is various and unsymmetric. The robot detects defects such as pinholes, cracks and thickness reduction at the wall of the facilities using EMAT (Electro-Magnetic Acoustic Transducer). Image processing technology for weld line detection at the surface of the target and host programs including defect detecting algorithms are also developed. Automation of defect detection for these kinds of large facilities using mobile robots is helpful to prevent significant troubles of the structures without danger of human beings under harmful environment.

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참고문헌

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