Design And Implementation Of Pipeline Inspection Robot Based On Machine Vision

In today's strong comprehensive national strength,as one of the infrastructure pipelines,such as oil,gas,underground drainage,sewage pipelines,etc.,are related to people's livelihood,its importance is self-evident,pipeline quality detection is also particularly important.The pipeline is mostly metal pipeline,which has the function of signal shielding.The pipeline data captured by the traditional pipeline detection robot needs to be transmitted through a signal line,which is very difficult to detect the long pipeline.Moreover,the pipeline is circular,and the problem of image distortion will appear when the area array CCD shoots the arc object at a short distance.In order to solve the problems of the existing pipeline inspection robot,this paper designs a method and device which can obtain the whole transportation pipeline,especially the long pipeline inner wall for full coverage and high-resolution image acquisition.In this paper,the structure of the robot is determined through the overall scheme design,dynamic analysis,three-dimensional model building and finite element analysis of the robot;the attitude control of the robot is carried out to prevent the overturning of the robot in the operation;the encoder is used as the core component of the designed range wheel to read its pulse signal and realize the robot in the tube.The image acquisition system of pipeline inspection robot is designed.The image acquisition system uses two linear array CCDs mounted on both sides of the vehicle platform,controlled by step motor,rotates 0-180 degrees in the cross section of the pipeline,stores the scanned pipeline inner wall information in the storage unit,and solves the image distortion of the previous area array CCD when it collects the arc image data at close range.The problem and the disadvantage of existing robots that need to use a signal line to track random robots expand the scope of pipeline inner wall detection and solve the existing problems of robots.The experimental results show that the designed pipeline inspection robot achieves full coverage and high precision acquisition of pipeline inner wall images,solves the problem of image distortion caused by area array CCD when shooting arc objects in close range,and improves the detection efficiency of pipelines,especially for longer pipelines,its advantages are more prominent,and has higher practical value.