Research on Robot Correction Technology Based on Laser Vision

To ensure the continuity of the thickness measurement process and the accuracy of data when using the electromagnetic ultrasonic thickness measurement module for automatic thickness measurement of membrane water-cooled wall tubes, a set of automatic correction control system for wall climbing robots based on laser vision technology was designed. Firstly, the electromagnetic ultrasonic module was fixed on the water-cooled wall climbing robot and a line of laser was emitted towards the water-cooled wall. High-definition cameras were used to capture laser images and image processing flow was designed to extract image feature points. Then, the coordinate values of the feature points in the image were used as control variables to ensure that the thickness measurement module followed the wall climbing robot along the axis of the water-cooled wall tube, thereby keeping the lifting height of the electromagnetic ultrasonic thickness measurement module unchanged. Finally, the correction method is tested under two lighting conditions, namely in the laboratory and in the boiler of a thermal power plant. The average deviation between the measured thickness data of the water-cooled wall and the actual value was within±1%, and the thickness measurement process was continuous and stable, which proved the effectiveness, robustness and practicality of the method.