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

摘要

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.