Design Of Pipe Climbing Robot For Temperature Measurement Outside The Pipe

At present,there is a lack of effective means to detect the leakage temperature point of steam pipelines.The existing manual detection methods are not only inefficient,but also can not guarantee the safety of detection personnel when working at altitude.In order to improve the efficiency of detection and ensure the personal safety of detection personnel,this topic combines machine vision technology,multi-sensor fusion technology and motion control technology to design a pipe temperature climbing robot,which can carry temperature measuring equipment to detect the pipe and record the detection data.Specific research work is as follows:(1)We carry on the overall scheme design of the tube climbing robot.After studying the design scheme of pipe robot of domestic and foreign scholars,we put forward the design scheme of pipe climbing robot in this paper.The scheme has a unique holding structure and chassis structure,which can make the pipe climbing robot closely attached to the outer wall of the pipe,and ensure that there will be no fall in the process of progress.We use Solid Works 3D design software platform to construct the 3D model of the mechanical structure of the tube climbing robot.(2)We designed the navigation algorithm of the tube climbing robot based on machine vision.This algorithm mainly uses the classical image processing algorithm to preprocess the pipeline image information.After that,we fused the binary images of the two color Spaces,extracted the pipeline pixels from the fused binary images,and then extracted the pipeline center line through polynomial fitting.We extracted obstacle information by contour extraction and compensated non-pipeline pixels,which improved the stability of pipeline centerline fitting.(3)We have designed the control system of the climbing tube robot.The control system has three main parts,one is to establish the kinematic model of the tube climbing robot,the other is to design the control program,including the trajectory tracking control,the pressure control of the tightening arm,the inclination control and the obstacle avoidance control.The third is the development of interactive software of climbing tube robot.We realize the control target of automatic operation and manual operation of the tube climbing robot through the control system,and has a good human-computer interaction effect.(4)We made a prototype of the tube climbing robot and carried out experimental verification.We built a laboratory platform verification environment,and according to the design scheme,carried out the prototype processing and assembly of the tubular climbing robot.Based on several groups of pipeline simulation scenarios,we have conducted experiments on the basic performance and various functions of the pipe climbing robot.The experiments prove that the pipe climbing robot has good motion performance,stable and reliable in manual mode and automatic mode,and can effectively detect the pipe temperature data.At the same time,the communication between the human-computer interaction software and the robot is stable,and the expected goal is achieved.