水下管道巡检机器人控制系统设计  

Design of underwater pipeline inspection robot control system

作　　者：蒲小虎 杜青[1] 王小东 Pu Xiaohu;Du Qing;Wang Xiaodong(School of Information Science and Engineering,Tianjin Tianshi College,Tianjin 301700,China)

机构地区：[1]天津天狮学院信息科学与工程学院,天津301700

出　　处：《无线互联科技》2022年第21期76-78,共3页Wireless Internet Technology

基　　金：国家级大学生创新创业训练计划项目资助,项目编号:202110859018。

摘　　要：为贯彻国家海洋强国战略,直面产业应用中管道资源输送中遇到的实际问题,文章通过树莓派Python编程技术,结合视觉检测、水深检测、数据分析等功能,设计了一款水下管道巡检机器人控制系统,以达到水下管道智能检测的目的。该系统不仅可降低水下管道检测对人的危险性,同时可大幅度提升水下管道检测的工作效率。该系统由树莓派、视觉模块、深度传感器、电机驱动、报警电路、VNC显示界面组成,可实现水下管道巡检、附着物报警及水下环境信息检测等功能。To implement the national marine power strategy, face the practical problems encountered in pipeline resource transportation industry application, this paper through the raspberry pie python programming technology,combined with visual detection, water depth detection, data analysis, designed a underwater pipeline inspection robot control system, in order to realize the purpose of underwater pipeline intelligent detection. The system can not only reduce the risk of underwater pipeline detection to people, and can greatly improve the efficiency of underwater pipeline detection. The system is composed of raspberry pie, visual module, depth sensor, motor drive, alarm circuit and VNC display interface, which can realize underwater pipeline inspection, attachment alarm and underwater environmental information detection.

关 键 词：水下管道巡检 控制系统 树莓派 机器视觉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]