Research On Vision Navigation System Of Cleaning Robot For The Tube Of Heat Exchanger

Heat exchangers possess a crucial position in petrochemical industry,However,the dirt produced in the process of use will lead to a decline in heat transfer rates and may endanger the safety of equipment.There are few researches in the field of automatic and intelligent cleaning of heat exchangers in our country,Most of the heat exchangers are hand-cleaned.In recent years,our country has paid more and more attention to safe,green and efficient cleaning.In view of the problems what have referred to in the above,a visual navigation system for the cartesian coordinate tube of heat exchanger of cleaning is developed in this paper.The main work has been done as follows:1.Propose a design scheme of vision navigation for heat exchanger pipe cleaning robot.First introduce the components of navigation system,and give the selection of the key parts of the system.Finally,complete the construction of the navigation system.2.Study the identification and location algorithm of heat exchanger tube.The contour extraction of tube image is accomplished mainly by pre-processing techniques such as histogram equalization,low-pass filtering,edge detection and so on in the vision module of LabVIEW.Considering large number of tubes in heat exchanger,but they possess the fixed radius.Present an improved Hough transform extraction algorithm of heat exchanger tube.Extract information from each tube by scanning the binary image of it.Then use the Hough transform of the known center of circle to identify the tube area of each group.Finally,obtain the coordinate information of the tubes position.3.Study the navigation algorithm of heat exchanger cleaning robot.Put forward the "己" font cleaning path and set reference point to obtain position information of robot indirectly.Then search for the nearest tube information to the current reference point,which determine the size of the slope between them to control the direction of the robot’s next move.Finally complete robot navigation and put forward the robot tube location algorithm,which thought of it is moving robot to fixed tube by judging the difference between reference point and horizontal and longitudinal coordinates of pipe tube to be located.4.Experiment research on heat exchanger cleaning robot.Establish an experimental platform for the navigation system of the cleaning robot.Experiment on the identification of pipe mouth feature,positioning and navigation of robot.The experiment results show that the design is reasonable and meets the requirements.