Research On Automatic Inspection Technology Of Rain And Sewage Pipeline Based On Amphibious Robot

Municipal sewage pipe is an indispensable part of modern human life,its local damage and blockage will bring the overall paralysis,and even cause disastrous consequences.Due to the various structural sizes of these pipelines and the complex and changeable internal environment,the manual inspection and operation in the pipeline are difficult,which greatly hinders the effective implementation of the operation and maintenance of rainwater and sewage pipelines.Therefore,it is of great significance to carry out the research on the inspection and operation technology of rainwater and sewage pipelines.At present,the sewage pipeline inspection technology,which integrates mobile robot with machine vision or sonar detection technology,has become a research hotspot in this field,and has been gradually applied.However,the existing inspection technology has strict requirements on the pipeline environment,and the national standards also impose restrictions on the water level in the pipeline during robot inspection,and the pipeline needs to be manually dredged and intercepted before operation,so as to ensure the water free or low water level environment in the pipeline.Based on this,a pipeline robot detection system is developed,which has fixed crawling mode,single detection method and limited inspection scope.It can not crawl and inspect in the environment of silt accumulation and high water level,and is difficult to be applied to the operation and maintenance of natural rain and sewage pipelines.In fact,when the robot integrated with machine vision or sonar detection crawls in the rain and sewage pipe,the water level in the pipe is different,the water quality is complex and changeable,and the silt is accumulated.When the robot crawls,the coupling effect of the wheel,silt and water flow will lead to the problems of slipping,shaking and yaw which are difficult to control,Sonar image noise and low resolution seriously affect the effect of robot inspection.Based on the above background,the automatic inspection technology of rainwater and sewage pipeline based on amphibious robot is proposed.On the basis of understanding the research status and development trend of robot inspection technology of rainwater and sewage drainage pipeline,the overall technical scheme of automatic inspection of rainwater and sewage drainage pipeline based on amphibious robot is determined,and the key technologies of amphibious robot motion control,pipeline vision and sonar detection in complex environment inside the pipeline are mainly studied,The problem of target detection and motion control in turbid water is solved.At the same time,the design of amphibious robot body and visual sonar detection module is completed,and a set of rain and sewage pipeline detection system based on amphibious robot is developed.In addition,experimental research is carried out by using the developed system,which proves the feasibility and effectiveness of the technology developed in this paper.The main research work is as followsIn the first chapter,the significance of application and inspection technology research of rainwater and sewage pipeline is discussed.The research status and development trend of pipeline robot and inspection related technology at home and abroad are systematically summarized.The existing problems and corresponding countermeasures of automatic inspection technology of pipeline robot are analyzed,and the research direction of the paper is clear.At the same time,the research content and chapters of the paper are arranged.In the second chapter,the sound propagation mechanism and acoustic effect in water medium are analyzed,the sonar imaging characteristics and influencing factors are defined,the principle of visual imaging and the basis of image stabilization processing technology are analyzed,the image stabilization processing steps and related key technologies are defined,and the visual image stabilization processing model is established.At the same time,on the basis of defining the function and performance objectives of the automatic inspection system for rainwater and sewage pipelines,the overall scheme of the system is designed,and the key technologies to be solved are summarized.In the third chapter,the mechanical body design and motion control technology of in tube amphibious robot are studied.On the basis of defining the function and performance objectives of the inspection system of the rainwater and sewage pipeline robot,the design and analysis of the mechanical body of a wheeled robot with amphibious crawling ability is completed.At the same time,the kinematics and dynamics model of the amphibious robot in the tube is established,and the motion control of the robot in the complex tube is realized,which lays the technical foundation of mobile robot for in tube inspection.In the fourth chapter,the image processing technology of sonar and visual inspection in complex environment is studied.On the basis of establishing the motion interference model of dynamic vision imaging in the waterless environment in the tube,the feature matching is used to estimate the motion of the pixels in the vision image frame,the Kalman filter is used to smooth the global motion vector,and the adjacent domain compensation is used to reconstruct and splice the image,so as to realize the image stabilization of dynamic vision image.At the same time,the sonar image of sewage is de-noising,and the contrast of sonar image is enhanced.Laplace operator is used to sharpen and enhance the gray area of the image,so as to realize the sonar image clarity processing,and lay the technical foundation of vision and sonar detection for pipeline inspection.In the fifth chapter,through the theoretical and technical achievements of the above chapters,the distributed architecture and modular design strategy are adopted.On the basis of completing the processing and manufacturing of the pipeline robot with the ability of amphibious crawling in the pipeline,the sonar and visual inspection in the pipeline are combined with the mechanical and electrical integration technology,and the power carrier communication mode is adopted to realize the system integration,A rainwater and sewage pipeline inspection system based on amphibious robot is developed.At the same time,the feasibility and effectiveness of the technology and system developed in this paper are verified by the relevant experimental research using the system.The sixth chapter summarizes the research content of this paper and looks forward to the further research in the future.