Research And Design Of A Robot For Pipeline Inspection And Cleaning

With the continuous development of society,the process of urbanization continues to accelerate,urban electricity demand is also growing rapidly,out of the urban city and electricity reliability considerations,more and more cable pipes are used to replace the old concrete towers and overhead lines.In order to improve the working efficiency and reduce the cost,this paper proposes a robot which can carry out inspection and cleaning work in the cable duct,and according to the characteristics of the robot working in the pipeline developed a corresponding control method.Through the analysis of different design schemes,a robot design scheme which best suits the characteristics of cable duct is selected.The robot is based on wheeled vehicle structure,with a rechargeable lithium battery as a power source,using wireless module to communicate with the host computer.Except for using the camera unit to observe inside the pipeline,this paper also presents a replaceable multifunctional shovel and a rope as the cleaning mechanism to clean up the debris.According to the running condition of the robot in the pipeline,the constraint conditions of the safe operation are obtained,and the dynamic characteristics of the robot are studied.Aiming at the problem of tilting and rollover in the pipeline,the anti-overturning fuzzy control method is designed.According to the running situation of the robot in the curved pipe,the position and posture of the robot is analyzed.The calculation formula and control method of the left and right wheels are also proposed.In order to realize the automatic operation of the pipeline robot,the image is preprocessed and the image recognition is carried out for the abnormality inside the cable pipe.The interference of the center shadow is eliminated by image preprocessing and Hough transform circle detection,so that the debris and cracks can be identified and distinguished by the standard of roundness.The position of the debris is identified by calculating the centroid,so that the robot can clean it up automatically.In this paper,we finished the structure and program of the robot,and conducted an experimental test.The experimental results show that the robot system can run steadily II within the cable pipe,and can accurately identify and clean the debris.It also improved the safety of cable operation and the economic benefits.