Research On Pipeline Identification And Motion Control Algorithm Of Underwater Patrol Robot

Submarine oil and gas pipelines carry important functions for the transportation of oil,gas,water,and other chemical agents.Submarine pipelines are frequently inspected and maintained by underwater patrol robots.The underwater patrol robot's autonomous patrol algorithm is its research.One of the cores,it is of great significance to carry out its pipeline identification and motion control algorithm research.This topic is based on the characteristics of underwater images,using image processing methods,taking the monochromatic camera signal of underwater patrol robots as the research object,studying the pipeline identification and movement direction control methods of underwater patrol robots,and designing and developing a set Underwater robots autonomously perform line-of-sight guidance systems along underwater pipelines to provide assistance for underwater robots in underwater operations.In underwater pipeline image preprocessing,in order to reduce or eliminate the influence of image noise,the denoising effects of several image smoothing methods are analyzed and compared;for the phenomenon of uneven underwater lighting and serious color cast,the histogram equalization is used separately.The multi-scale Retinex algorithm with homomorphic filtering and color restoration processes underwater images to restore images that are more in line with human visual observations,facilitating operator observation and subsequent algorithm processing.In this paper,the local adaptive thresholding is used to remove the underwater image background,and the small area noises of the processed image are removed,the pipeline foreground image is extracted,the subsequent results of the Hough transform are processed,and a Hough transform is proposed.Pipeline position equation extraction method,calculation and extraction of the underwater pipe position equation.Using the corner detection and matching method to calculate the initial speed direction of the robot,according to the pipe position equation and the initial speed,an underwater patrol robot's motion control algorithm is proposed,and the direction of robot patrol line movement is calculated.Based on the above algorithm,using C + + and Qt for system programming,using C + + to write the program's core algorithm,using Qt to build the program's interactive interface,design and development of underwater patrol robot motion-oriented software.