Research On Low-cost Pipe Inspection Robot System

With the extensive application of engineering pipeline systems,the inspection and maintenance tasks for pipelines have increased dramatically.Pipeline inspection robots have become popular because they are used as special equipment for pipeline operations.However,the existing pipeline robots are relatively expensive,have poor adaptability to different pipeline environments,and are not universally compatible with their associated monitoring systems.Therefore,this paper completes the design of the entire system from aspects of improving the inspection performance of the pipeline inspection robot,the versatility of the monitoring system,and reducing the cost of pipeline inspection robots.Mainly completed the following work:(1)The overall structure of the pipeline inspection robot system was designed;according to the functional requirements,the mechanical system of the pipeline inspection robot was designed,including the design of the 8-shaped walking mechanism with obstacle avoidance function,the multi-chassis structure design with reconfigurability,and the use of low-cost photoelectric encoder complete the design of the modular drive device.Establish a pipeline inspection robot three-dimensional model,completed the pipeline inspection robot assembly.(2)Through the analysis of the requirements of pipeline inspection robot motion control,a control scheme based on the "master-slave control" mode of the cooperative controller system is proposed,and the design of the overall architecture of the control system is completed.The network communication between the host controller and the server and the OTG communication between the host controller and the slave controller are realized,and a transmission medium is provided for the remotely monitored data.(3)According to the needs of the monitoring function,the overall scheme of the monitoring system based on the mobile platform was proposed and the overall architecture design of the monitoring system was completed..Among them,the design focuses on the use of mobile terminal hardware integrated sensor group and high-definition camera to design a data acquisition module,realizing the function of real-time acquisition of pipeline robot running status,providing data support for remote monitoring,and reducing the monitoring cost;designed data visualization module and transmission module;a data storage and query module based on a real-time database is designed;a human-computer interaction module is designed,and a user-defined interface and logic are dynamically generated,and the versatility of the monitoring software is improved.After preliminary tests,all the functions of the pipeline inspection robot system designed in this paper can operate normally,which provides a good platform support for the follow-up study of the pipeline inspection robot system.