Tube inner wall defect detection method based on rotary scanning micro laser distance sensor

Abstract

In this paper, an inspection device which mainly consists of a micro laser distance sensor and a stepper motor is proposed to detect the inner wall defect of oil tubes. When the inspection device moves along the axial direction inside the tube, the stepper motor drives the micro laser distance sensor to rotate and scan the inner wall of the tube so that the coordinate data of 3D point cloud can be obtained. In order to obtain the pose transformation matrix for the laser distance sensor coordinate system with respect to the device flange coordinate system, particle swarm optimization (PSO) algorithm is innovatively introduced. Finally, experiments have been carried out in two actual oil tubes and point cloud data have been obtained which demonstrate 3D information of tubes inner wall. The measuring error of tube eccentric wear is within 0.2mm which verifies the effectiveness of the novel method.