An automatic navigation magnetic flux leakage testing robot for tank floor inspection

Issue title: Proceedings from the 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)

Guest editors: Fumio Kojima, Futoshi Kobayashi and Hiroyuki Nakamoto

Article type: Research Article

Authors: Tu, Jun^{a; b} | Qiu, Gongzhe^a | Chen, Hao^a | Song, Xiaochun^{a; b; *}

Affiliations: [a] School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China | [b] Key Laboratory of Modern Manufacture Quality Engineering, Wuhan, Hubei, China

Correspondence: [*] Corresponding author: Xiaochun Song, School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, Hubei, China. Tel.: +86 15337188787; E-mail:songxc@mail.hbut.edu.cn

Abstract: In order to make the industrial testing and maintenance tasks for the tank floor safer, an automatic navigation magnetic flux leakage testing robot is designed. A fast multi circle detection method is presented for the testing robot with laser ranging location and differential driven technology. The calculation for the orientation deviation angle and the position of the robot is derived. The experimental results demonstrate that the proposed detection method and the incremental PID control algorithm perform the perfect tracking effect with high efficiency.

Keywords: Multi circle detection method, automatic navigation, magnetic flux leakage testing, tank floor

DOI: 10.3233/JAE-162087

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 52, no. 1-2, pp. 399-405, 2016