Design And Development Of Pipeline Inspection Robot

With the rapid development of Chinese economy,the construction of urban water supply and drainage pipelines is boosting,which upgrades pipeline inspection requirements.This paper develops a pipeline inspection robot,which has the advantages of flexible movement and rich inspection functions,and strives to solve the inspection needs of small-diameter water supply and drainage pipelines.In terms of structural design,the robot has an M-shaped structure,and a special torsion spring is installed at the joints,which can passively adjust the angle of links to adapt to different pipe inner diameters.The system is equipped with a steering wheel structure at the beginning and end,which can flexibly pass through the bent pipe.By static analysis,this paper completes the slip and strength check of the robot system,and then determines the torsion spring and motor parameters to ensure the robot’s ability to adapt to the environment.On the control system,based on the standard serial communication protocol,this paper develops a set of upper and lower computer control system.The lower computer is based on the STM32F103 minimum system board,which realizes the basic motion control and sensor data processing of the robot.The upper computer uses a PC and realizes remote control through the Bluetooth serial port.In addition,this paper develops a complete set of human-computer interaction control interface based on QT,in order to achieve a interactive and convenient robot control.In terms of function realization,this paper simulates the pipeline robot based on V-REP,and explores the influence of different pipeline conditions on the robot’s movement ability.In the following chapters,physical pipelines are built to test the robot’s ability to move in pipelines of different materials and structures.In addition,combined with gyroscope data,this paper designs an image rotation compensation system to ensure that the image returned by the robot is stable.Finally,with multi-sensor data integration algorithm,this paper uses a variety of sensor data,such as IMU and encoder.,to realize the visual reproduction of the detected pipeline.