Water Pipe Identification And Positioning Of Water-wall Climbing Robot

Water wall is a wall formed by thousands or even tens of thousands of pipes placed side by side to form a pipe row in order to cool the boiler furnace and distributed around it-The environment where the water wall is located is characterized by high temperature,dust and large three-dimensional space-From the aspects of health,safety and operation difficulty,it is very unfriendly to manual operation,so there is the water wall climbing robot-Due to the lack of light,weak texture,large space and dense ferromagnetic metal environment characteristics of the water-cooled wall,the sensors involved in the existing SLAM algorithm,such as camera,lidar,IMU,will be out of alignment or even failure to varying degrees in this environment-At the same time,due to the characteristics of the wall-climbing robot business operation,there is a high precision demand for its own positioning,which is in sharp contrast to the existing results-Therefore,the existing water-cooled wall-climbing robots still have some room for improvement in positioningIn order to overcome the technical problems existing in the localization of watercooled wall-climbing robot,a local precise localization algorithm based on linear laser ranging is proposed in this paper,and the data fusion algorithm based on lidar is studied and implementedFirstly,based on the principle of image binarization by Ostu method and camera imaging,this paper proposes a laser triangle ranging algorithm based on RGB vision and the corresponding calibration process of model parameters,and carries out verification and robustness experiments-After putting forward the problem of local precision positioning and discussing the solution of the problem from the point of view of linear laser contour,a local precision positioning algorithm based on RGB vision laser triangle ranging algorithm is proposed to improve the availability-In this paper,the laser triangle ranging algorithm based on RGB vision and the corresponding local precise positioning algorithm are verified by experimentsSecond,in this paper,the laser radar Gmapping SLAM algorithm and SLAM data fusion algorithm based on factor graph on research and application,then the local fine positioning data output factor construct of IMU data of a class,and through the multiple factor fusion method to establish the pipe identification and positioning system,finally based on design and simulation experiments validate the system-The experimental results show that the system has higher accuracy than the general data fusion SLAM algorithm and meets the expected requirements-...