Eye-to-hand visual servoing using 3D stereo laser optics technology for robotic pipe cleaning application

使用 3D 立体激光光学技术进行眼对手视觉伺服机器人管道清洁应用

• 批准号: 491649-2015
• 负责人: JanabiSharifi, Farrokh
• 金额: $ 1.82万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=587021
• 关键词: Eye; hand; visual; servoing; using

With aging pipeline infrastructure in North America, there is a major demand for automated, fast and in-situ cleaning of the pipelines to make the industry sustainable. For this purpose, robotic vehicles with cleaning probes have been designed. A major challenge of the industry is to avoid a robotic vehicle to get stuck in the pipe during the cleaning process. Such failures is common when the depth of the deposited material to be removed by the probes is larger than what the probe actuators can handle due to their limited permissible torque. Inuktun Services Ltd. (ISL) is developing high efficiency and robust pipe cleaning vehicles and aims at solving this problem using its vision systems. In this project, ISL and the applicant's research team partner to address this issue. The objectives of the project include development of a method for 3D profiling of the deposit surfaces from 2D camera images; and design of a vision-based technique for positon control of the probes (at the end of robotic arms). Development and integration of the proposed methods will expand the company's market and competitiveness. In addition to the benefits to the company, the proposed work will create training and job opportunities for the graduate students, and will benefit Canada through addressing the growing demand for sustainable pipeline networks for oil/gas/water transmission/distribution.

随着北美管道基础设施的老化，人们迫切需要自动、快速和现场清洁管道，以使该行业可持续发展。为此，设计了带有清洁探头的机器人车辆。该行业的一个主要挑战是避免机器人车辆在清洁过程中卡在管道中。当要由探针去除的沉积材料的深度大于探针致动器由于其有限的允许扭矩而能够处理的深度时，这种故障是常见的。 Inuktun Services Ltd.（ISL）正在开发高效、坚固的管道清洁车辆，旨在利用其视觉系统解决这一问题。在这个项目中，ISL和申请人的研究团队合作解决这个问题。该项目的目标包括开发一种从二维摄像机图像中对存款表面进行三维轮廓分析的方法;以及设计一种基于视觉的探头位置控制技术（位于机械臂末端）。开发和整合所提出的方法将扩大公司的市场和竞争力。除了对公司的好处外，拟议的工作将为研究生创造培训和就业机会，并将通过满足对石油/天然气/水传输/分配的可持续管道网络日益增长的需求而使加拿大受益。