The Design Of The Control System For The Internal Weld Maintenance Robot Of The Oil Pipeline

Currently,oil pipeline transportation is widely used worldwide,while,The aging and corrosion which often appear on welded joint greatly shorten the working life of oil pipelines.Due to no customized automatic machine,it is difficult to handle the welded joint of oil pipeline efficiently.According to theinside working environment of oil pipeline,this paper design a kind of wheel-leg automatic robot by calculating mechanism parameter and designing kinematic pair.Then,the corresponding three-dimensional model of the robot is finished by using three-dimensional modeling software-Solid Works.In order to locate the welded joint of oil pipeline,a CCD camera was arrange to take pictures which will be sequentially handled-graying,filtering,ROI extraction,picture segmentation and edge extraction.Then,the robot will polish and spray the welded joint automatically.A set of complete control hardware and software was designed according to the function of the robot.The control hardware include drive circuit,polish and spray circuit,control panel circuit and wireless communication circuit.The control software can be divided into main function,diver function,polish and spray function,detect function,as well as Zig Bee wireless communication function.