| Because the pipeline environment is very bad, it brings great threat to pipeline detectionpersonnel’s life safety, and a lot of work is unable to complete by artificial, so, in order toguarantee the healthy development of cities and the drainage pipe network safe operation,developing a set of automated equipment to complete urban pipeline overhaul andmaintenance instead of artificial are very necessary.Based on the kinematics model of robot in pipe, the research develops a set ofindependent walking pipeline inspection robot system for exploration of application of robottechnology in pipeline maintenance field using multisensor fusion technology with virtualprototype technology, attitude sensor and optical fiber gyroscope, that can find out the defectsof pipe parts According to the real-time video information. Using laser scanner to scan line,obtaining the pipeline internal point set, matching algorithm for3D-reconstruction throughthe point cloud, and defecting size information according to reconstruction of3D-mapdetection of pipeline, this is also the subject of innovation.The pipeline robot system structure and function are designed on the base of taskrequirements and working environment of pipeline inspection robot in this paper. Thepipeline robot kinematics model is establish and analyzed, and multiple target parameteroptimization is carried out after that. According to the robot kinematics analysis, The robotstructure is designed and made virtual assembly by using3D modeling software. The overalldesign of the pipeline robot creeping systems, lighting systems, video systems,communication systems, power transmission system and control system is carried out and sois the robot prototype. then, Setting up the experimental platform and doing relevantexperiment. |
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