[4A3] Integrating an intelligent vehicle with a multi-channel eddy current scanner
T Meng and W Yin
University of Manchester, UK
Robotic inspection has become increasingly crucial in numerous scenarios within non-destructive testing (NDT) applications. This paper exemplifies the seamless integration of a semi-commercial intelligent vehicle with a custom-designed multi-channel eddy current scanner. The vehicle control system operates within the Robotics Operating System (ROS) environment, while the multi-channel eddy current instrument is configured as an ROS node. Synchronisation is achieved between the kinematics data of the vehicle and the eddy current scanning data, allowing for precise coordination. The vehicle can be operated by a human operator to enable automatic eddy current testing. This research represents a significant leap forward in the development of automated thickness recognition technologies within the NDT industry. The architectural design of the authors’ intelligent vehicle for eddy current testing (ECT) is presented. This system comprises five key components: a replaceable multi-channel ECT sensor, a system on chip (SoC) consisting of a field-programmable gate array (FPGA) and ARM processor, a UP2 compact host PC running the ROS control system, an STM32F103 driver board and four pulse width modulation (PWM) motors. The multi-channel ECT sensor features an array of excitation and receiving coils, with a capacity of up to 16 channels. At the core of the system lies the Zynq-7020 SoC, integrating an ARM dual Cortex-A9 processor and a Xilinx 7-series FPGA. This module assumes the responsibility of generating excitation signals, implementing in-phase and quadrature (I/Q) demodulation and facilitating data transfer between the module and the host PC. Notably, the system is capable of delivering multi-frequency excitation signals, with simultaneous demodulation of the received signal at each frequency. Acting as the control centre, the host PC plays a pivotal role in the overall system. It receives ECT scanning data and synchronises them with the wheel encoder signal. Furthermore, it accepts movement commands from the human operator and transmits speed and position instructions to the motor driver board. Lastly, the driver board receives instructions from the host PC and regulates the movement of the wheels using PWM. A comprehensive overview of the entire vehicle system is also provided.
