3D Vision-based Robot For Pipe Root Cutting Operation System Construction And Experimentation

As a common pipeline defect,tree root defects,if not cleared in time,can lead to pipeline blockage,affecting the life of residents and the urban environment.As an essential tool for repairing tree root defects,the root-cutting robot’s performance directly affects the repair’s efficiency and effectiveness.In this paper,we expect to develop a cutting robot prototype and conduct field tests for the actual working conditions of tree root defects.The main work involves the overall scheme design,mechanical structure design,point cloud data processing,control system development,robotic arm path planning,etc.The details of which are as follows:Firstly,analyze the functional requirements of the cutting robot,design the overall scheme of the cutting robot system,build the hardware module of the robot,and design the hardware wiring,overall software framework,and software interface of the cutting robot system based on it;Furthermore,detailed structural design of the mechanical body of the cutting robot will be carried out,including a tracked chassis,protective cover,and cutting head,as well as selection of electronic components such as the robotic arm and laser radar.Then,the 3D vision system of the cutting robot is built,the LIDAR coordinate system and the robot arm coordinate system are calibrated,the original point cloud data are pre-processed by filtering and streamlining using the filtering algorithm,and the point cloud data are segmented according to the morphological and spatial distribution characteristics of the point cloud data,the point cloud data of obstacles are filtered out,and the point cloud data of tree roots are obtained.Then,develop the control system of the cutting robot,design the control nodes of the cutting robot,and design the detailed workflow and control strategy of the control nodes according to the functional requirements;build the motion environment of the cutting robot based on the ROS system,use joint space planning,Cartesian motion planning,and obstacle avoidance planning for the path planning of the robot arm,and conduct experiments to verify the results of the path planning.Finally,the cutting robot prototype was built and debugged on site,and the cutting robot was tested in a cutting test,movement test,and whole machine operation test under real working conditions to verify its working performance,and the test results showed that all functions of the cutting robot met the expectation and met the requirements of use.