Sistema para posicionamento de sensores aplicados à inspeção automatizada de cordões de solda em tanques de armazenamento de combustíveis derivados do petróleo.

Abstract

In this work a system to perform sensory positioning for automatic inspection of the fillet welds found on fuel tanks is implemented and tested. To be able to do this, the system need to have features as a high speed of operation, accuracy and precision, with low cost. Moreover, the processes of manufacture and maintenance of the system should be simple. The fillet weld identification is done with the information from a linear array of 15 optical-reflexive distance sensors. The sensor type chosen was characterized and it was developed a circuit for data acquisition using a microcontroller and serial communication. To process the data acquisition system signal output, the Sinc Interpolation and the Information and α-β filters were used, aiming to a greater reliability, accuracy and precision of the system. A proportional control system was used to correct the linear and angular positions of the sensory platform. A mechanical platform was also developed, joining characteristics like simple maintenance and manufacture, as well as high accuracy, speed of operation and durability. Simulation and experimental tests are presented for the proposed system. Also, preliminary development of an inductive distance sensor and the use of image processing to perform fillet weld identification are proposed as future work.