【摘要】 为实现对汽轮机叶片进行自动化磁粉探伤裂痕检测的工作，设计一种基于树莓派的裂痕检测微型机器人控制系统。该系统采用树莓派ZeroW作为微处理器，搭载硬件模块实现裂痕检测功能。机器人内部与前端搭载摄像头，实现汽轮机叶片裂痕图像的采集与视频监控定位导航。上位机与下位机之间通过TCP协议实现远程控制与图像传输，使得机器人可以远程进行磁粉探伤裂痕检测工作。经试验验证，该控制系统运行稳定，采集的裂痕图像清晰准确，图像传输效果良好，在汽轮机叶片裂痕无人检测方面具有一定的实用性。更多还原

【Abstract】 In order to realize the automatic magnetic particle flaw and crack detection of steam turbine blades, a crack detection micro robot control system based on Raspberry Pi was designed.The system adopted Raspberry Pi ZeroW as the microprocessor, and was equipped with hardware modules to realize the crack detection function.The inside and front end of the robot were equipped with cameras to realize the image collection of the cracks of the steam turbine blades and the video surveillance positioning and navigation.The upper computer and the lower computer realized remote control and image transmission through the TCP protocol, so that the robot can remotely perform magnetic particle flaw and crack detection.Test verifies that the control system operates stably, the collected crack images are clear and accurate, and the image transmission effect is good.It has certain practicability in the unmanned detection of steam turbine blade cracks.更多还原