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Development of a centering algorithm for the structured light sensor on the PIRATE pipe inspection robot

Schneider, C.C.N. (2017) Development of a centering algorithm for the structured light sensor on the PIRATE pipe inspection robot.

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Abstract:The goal of the PIRATE (pipe inspection robot for autonomous exploration) is to inspect small diameter gas pipes and petrochemistry industrial pipelines. The PIRATE uses a non-destructive inspection approach by sending a robot through the pipe and measuring the state of the pipe from the inside. To detect obstacles, bends and damages, a structured laser light sensor is used. The sensor projects a laser cone into the pipe and a camera captures this projection. In order to extract useful information from this projection, it is important that the projection is circular in shape, thus the sensor needs to be centered inside the pipe. This bachelor project aims to build a robot armthat can control the position of the sensor and to develop a centering algorithm to find the center of the pipe and to move the sensor to this position. The algorithm will use image-processing techniques to find the center of the pipe. A kinematics model will be used to control the position of the robot arm. The project is implemented in MATLAB and Arduino. The resulting algorithmworks in straight pipes without obstacles. Robotics andMechatronics
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:https://purl.utwente.nl/essays/81016
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