The Research And Realization Of Pipeline Robot Video Inspection System

Pipeline robot is one kind of special robot,whose inspection system make an advanced and valuable supplement of pipeline inspection.The pipeline inspection robot refered in this paper has its origin from an technological project of daqing city.it should have a wide outlook for application.First,the paper introduces the development actuality and application status of pipeline inspection and pipeline robot both at home and abroad.Under the condition of general solutions in existence for the pipeline robot system,we put forward a blue print,that is 6 wheels real time drive pipeline robot machinery structure, with the emphasis presentation on design of machinery and the pan&tilt system.We choose the personal computer plus Arm in vogue,as the scheme of the robot control system.Via the compare of various transmission scheme,we introduce the optical/electrical complex wire to the system as the medium for information and power transmission.the paper also put forward the whole solutions of video inspection system.Secondly,the paper respectively give the discussion in detail of the hardware circuit design,such as Embededed system,communication system,stepper motor driver and so on,also of the software design,such as communication and steper motor control etc.For the sake of granting the demands for signals displaying,compression,storage,the paper use the image capture card CG-400 for analog image signals capturing,make use of VFW technology for image information compression and storage.The paper discusses the pipeline robot video inspection system from three aspects of the whole,hardware,software.At the end,base on the experiment,we give the analysis of the merit, shortcoming and amelioration ways about the sample robot we developed.