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Research On A Pipe Inspection Micro Robot System

Posted on:2008-09-18Degree:MasterType:Thesis
Country:ChinaCandidate:Z J SunFull Text:PDF
GTID:2178360215980780Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
Many kinds of flaw will appear on small pipelines of industrial equipments when they are used for a long time, which can do harm to our life. Demands of pipe robots with detection device or repair device increase a lot, since those small pipelines are very difficult to examine and repair.This paper is based on the research results achieved home and abroad. It is studied of travel mechanism, control system and vision detect system of micro pipe robot according to pipe of 60mm minor diameter. Main work is as follow:Firstly, the history, status quo, development and research results of pipe detect robot at home and abroad are introduced in the paper, and new type of travel mechanism are put forward via comparison and analysis of several typical travel mechanisms. Analysis and design are done to the movement framework from the point of view of kinematics and mechanics.Secondly, designs the movement control system is studied. A control platform based on PC is constructed, a movement control card and a drive were used to control motors, and corresponding software for the control system was developed successfully.Finally, the vision detection system is designed. A simple structure optical detector was brought forward, analysis and design were done to the illuminance, image capture and display parts of the detector. Then, the image processing software with the available image processing algorithm was developed.The micro pipe robot designed in the paper has the advantages of great load-carrying ability, stabilized movement and flaw in intro-wall being detected easily via clear image captured through the verification of theoretical analysis and experiments.
Keywords/Search Tags:micro pipe robot, travel mechanism, control system, image processing
PDF Full Text Request
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