水下管道智能巡检机器人  

Design of an intelligent robot for underwater pipeline inspection

作　　者：邓胜容 马登秋 叶振环 张燚 何燎升 DENG Shengrong;MA Dengqiu;YE Zhenhuan;ZHANG Yi;HE Liaosheng

机构地区：[1]遵义师范学院工学院,贵州遵义563000

出　　处：《现代机械》2023年第5期78-82,共5页Modern Machinery

基　　金：2021年大学生省级创新创业训练项目(S202110664037)。

摘　　要：现有水下管道智能巡检机器人存在社会普及度不高、设计成本昂贵、信息处理不完善、路径规划自动程度低等问题。根据水下作业的特点及需求,设计一款成本低、自动化较高的水下管道智能巡检机器人。该机械装置主要由动力系统、报警系统、电源系统、控制系统、视觉及传感系统等组成,其中视觉控制模块对图像进行采集后,经过自动数据处理对巡检机器人进行路径规划、障碍物报警等。最后建立了水下管道智能巡检机器人的三维模型,并制造了样机进行测试,效果良好。The existing underwater pipeline-inspection intelligent robot has some problems,such as low social popularity,high design cost,imperfect information processing,and low automatic degree in path planning,etc.According to the characteristics and requirements of underwater operation,an underwater pipeline-inspection intelligent robot with low cost and high automatic degree is designed.The mechanical device is mainly composed of power system,alarm system,power supply system,control system,vision and sensor system,etc.The visual control module collects images,then automatically processes the data to plan the path,and alarms obstacles.Finally,the 3D model of the underwater pipeline-inspection intelligent robot is established,and a prototype is manufactured for testing.The testing results are good.

关 键 词：水下机器人 视觉控制 图像处理 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]