The Design And Application Of Pipeline Inspection Robot

Pipeline is an important symbol of urban construction; the drainage system has adirect impact on people’s lives. In the south of China, the rain is very concentrated insummer, which results in a great deal of pressure on the urban drainage. Maintenanceand repair of the pipeline should be conducted on a regular basis is very necessary.The urban pipeline is located underground, long and narrow. Taking into account thecomplexity of the internal environment, this paper focuses on the pipeline inspectionrobot control system and discusses the feasibility of the system．Firstly, the mechanical body and the control system of the robot are generallyintroduced with fully learning about the technology and development of the pipelinerobot.By modeling and analyzing constraint analysis, critical subversion status forrobots in the pipeline, and load analysis for robots to walk inside and cross obstacles,performance requirement parameter is obtained to provide reference for hardwaredesign for robots. In this paper, by modeling and analyzing the athletic stance, Idesign an algorithm for automatic driving for robots.An set of integral and reliable software and hardware platform is a key factor forthe robots to function well in a complicated pipeline. Based on the functionalrequirements for the pipeline to detect the robots, the paper is aimed to design a set ofpipelines to detect the hardware and software system of the robots. Hardware consistsof controlling system, mechanical structure system and PC terminal system, andsoftware is made up of software of super place and secondary computer, as well aspipeline inspection system based on PC development and3D reconstruction system.This paper provides a scheme of three-dimensional reconstruction of pipelineusing laser scanner．In the approach，laser point cloud are scanned from different scanpositions，the detection based three-dimensional reconstruction of pipeline better thevideo detection.After building the test platform, the issue studied the sealing performance,containing walking、calming、turning、data acquisition and the control of the camera.The performance of the functional is good, the paper summarizes the major work andresearch, and prospects the research directions in the future．...