Method, imaging system (5), data processing device (60) and system (10) for determination of a 3D information (90), especially of a point cloud (80) or of a 3D surface reconstruction (81) or of a 3D object (82), of an inner part (55) of a metallurgical vessel (50) or of a modification, the method comprising the steps of providing (100) a metallurgical vessel (50); capturing (110) a first optical image (21) of at least one first inner part (51) of the metallurgical vessel (50), from a first imaging device position (22) outside of the metallurgical vessel (50), with a first optical axis (23), by a first imaging device (20); capturing (120) a second optical image (31) of at least one second inner part (52) of the metallurgical vessel (50), from a second imaging device position (32) outside of the metallurgical vessel (50), with a second optical axis (33), by a second imaging device (30); calculating (130) a 3D information (90), such as a point cloud (80) or a 3D surface reconstruction (81) or a 3D object (82), of at least one inner part (55) of the metallurgical vessel (50) from at least the first optical image (21) and the second optical image (31), whereas the first optical image (21) is captured from a first fixed imaging device position (22) with a first fixed optical axis (23) and whereas the second optical image (31) is captured from a second fixed imaging device position (32) with a second fixed optical axis (33).

A multifunctional light-duty soft robot includes paired wheel power mechanisms, soft contact mechanisms, buffer spring mechanisms and a middle frame deformation mechanism. Each of the paired wheel power mechanisms includes a wheel frame and a wheel rotatably connected thereto. The wheel frame is internally provided with a power mechanism connected with a wheel axis of the wheel. Each of the soft contact mechanisms includes a flexible cantilever and a soft transmission belt. The two paired wheel power mechanisms are respectively arranged at two ends of each of the flexible cantilevers. The wheel on one of the paired wheel power mechanisms is connected with the wheel on the other of the paired wheel power mechanisms. The buffer spring mechanisms are arranged between the wheel frames and the wheels. The middle frame deformation mechanism includes a connection unit and two movable units rotatably connected to the connection unit respectively.

A multifunctional light-duty soft robot includes paired wheel power mechanisms, soft contact mechanisms, buffer spring mechanisms and a middle frame deformation mechanism. Each of the paired wheel power mechanisms includes a wheel frame and a wheel rotatably connected thereto. The wheel frame is internally provided with a power mechanism connected with a wheel axis of the wheel. Each of the soft contact mechanisms includes a flexible cantilever and a soft transmission belt. The two paired wheel power mechanisms are respectively arranged at two ends of each of the flexible cantilevers. The wheel on one of the paired wheel power mechanisms is connected with the wheel on the other of the paired wheel power mechanisms. The buffer spring mechanisms are arranged between the wheel frames and the wheels. The middle frame deformation mechanism includes a connection unit and two movable units rotatably connected to the connection unit respectively.

A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system comprises a mobile remote inspection and/or manipulation device including a carrier movable within the confined space and an inspection and/or manipulation tool, such as an inspection camera, pose sensors arranged on the movable carrier for providing signals indicative of the position and orientation of the movable carrier, and distance sensors arranged on the movable carrier for providing signals indicative of the distance to interior surfaces of the confined space. The localization method makes use of probalistic sensor fusion of the measurement data provided by the pose sensors and the distance sensors in order to precisely determine the actual pose of the movable carrier and localize data generated by the inspection and/or manipulation tool.

A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system comprises a mobile remote inspection and/or manipulation device including a carrier movable within the confined space and an inspection and/or manipulation tool, such as an inspection camera, pose sensors arranged on the movable carrier for providing signals indicative of the position and orientation of the movable carrier, and distance sensors arranged on the movable carrier for providing signals indicative of the distance to interior surfaces of the confined space. The localization method makes use of probalistic sensor fusion of the measurement data provided by the pose sensors and the distance sensors in order to precisely determine the actual pose of the movable carrier and localize data generated by the inspection and/or manipulation tool.

The present invention discloses a damage detection apparatus for a lock gate sill, including a support, a water storage tank, a water inlet barrel, a filter device, a water pump, and a control device, wherein a barrier is vertically disposed at the bottom of the water storage tank, multiple water discharge pipes are vertically disposed in the barrier, upper ends of the water discharge pipes are communicated with the water storage tank, the water discharge pipes have different heights, lower ports of the water discharge pipes together compose a truncated conical cavity, a camera is disposed at the bottom of the water storage tank in a sealed manner, and a lens of the camera is located in an upper part of the truncated conical cavity. When it is desired to perform damage detection for the lock gate sill, muddy water is filtered by the filter device into clear water, and the clear water is pressurized by the water pump and then discharged from the water discharge pipes, such that the muddy water in the barrier is continuously diluted by clear water, the camera is in a shooting environment of clear water, and the lock gate sill is shot for detection at this time, whereby it is ensured that the taken picture has good definition, and thus the position of abrasion and the amount of abrasion of the lock gate sill can be clearly determined.

A tank inspection system of the present disclosure has a mounting cylinder with at least one bearing and the bearing is fixedly coupled to the mounting cylinder via at least one bearing tube. Mounted to a top of the mounting cylinder is an outer tube hand wheel and within the outer tube hand wheel is an inner rod hand wheel. Also, the system has an outer tube that is fixedly coupled to the outer tube hand wheel of the mounting cylinder such that when the outer tube hand wheel rotates, the outer tube rotates. Additionally, the system has an inner tube moveable coupled to the inside of the outer tube and fixedly coupled to the inner hand wheel such that when the inner hand wheel rotates the inner tube rotates. Furthermore, the system has a movement head disposed at a bottom of the outer tube and the inner tube, the inner tube is moveably coupled to a drive gear, which is moveably coupled to a lateral gear such than when the inner rod rotates, the drive gear rotates thereby rotating the lateral gear, the lateral gear is fixed coupled to a shaft on which is mounted a device, so that when the inner rod is rotated via the inner rod hand wheel, the device moves in an up and down fashion, the outer rod is fixedly coupled to the movement head so that when the outer hand wheel is rotated, the device moves in a circular fashion 360°.

A tank inspection system of the present disclosure has a mounting cylinder with at least one bearing and the bearing is fixedly coupled to the mounting cylinder via at least one bearing tube. Mounted to a top of the mounting cylinder is an outer tube hand wheel and within the outer tube hand wheel is an inner rod hand wheel. Also, the system has an outer tube that is fixedly coupled to the outer tube hand wheel of the mounting cylinder such that when the outer tube hand wheel rotates, the outer tube rotates. Additionally, the system has an inner tube moveable coupled to the inside of the outer tube and fixedly coupled to the inner hand wheel such that when the inner hand wheel rotates the inner tube rotates. Furthermore, the system has a movement head disposed at a bottom of the outer tube and the inner tube, the inner tube is moveably coupled to a drive gear, which is moveably coupled to a lateral gear such than when the inner rod rotates, the drive gear rotates thereby rotating the lateral gear, the lateral gear is fixed coupled to a shaft on which is mounted a device, so that when the inner rod is rotated via the inner rod hand wheel, the device moves in an up and down fashion, the outer rod is fixedly coupled to the movement head so that when the outer hand wheel is rotated, the device moves in a circular fashion 360°.

A system and method of using a tool assembly is provided. The system includes a body, a first camera and a second camera fixed to the body, and a controller. The controller is configured to receive data indicative of images of a reference feature from the first camera, determine data indicative of a first spatial position of the first camera based at least in part on the received data indicative of the images of the reference feature, and determine data indicative of a second spatial position of the second camera based on the first spatial position, a known spatial relationship between the first location and the second location, or both. Further, the controller may be configured to receive data indicative of images of a target feature using the second camera, derive dimensions of the target feature based on the images, and generate a three-dimensional representation of the target feature.

Method and arrangements for inspection of a drinking straw (101; 201) involving use of the drinking straw (101; 201) as a light guide for inspection of a sidewall (102; 202) of the drinking straw (101; 201) based on light leakage of guided light out from the drinking straw (101; 201) via the sidewall (102), such a through a damage (204) in the sidewall (102). It is illuminated (601), by means of one or more light sources (123), a first portion (131) of the drinking straw (101; 201) so that at least some of the light (127) on the first portion (131) is transmitted through a sidewall (102; 202) of the drinking straw (101; 201) into the drinking straw (101), and is guided therein. It is provided (602) one or more digital images (241) imaging another, second, portion (133; 233) of the drinking straw (101; 201) during said illumination. A light pattern captured by said one or more digital images (241) is analysed (603), corresponding to light escape of the internally reflected light out from the second portion (133) of the drinking straw (101; 201) via a sidewall (102; 202) of the drinking straw (101; 201). The damage (204) may be detected as a local spot (243) of image data discrepancy.