面向应用于林业采运输油管道检测的水下机器人的设计  

Design of an Underwater Robot for the Inspection of Oil Pipelines in Forestry

作　　者：曹有为[1] 仇玉霄 沈梦雨 CAO You-wei;QIU Yu-xiao;SHEN Meng-yu(School of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《林业机械与木工设备》2024年第6期88-91,共4页Forestry Machinery & Woodworking Equipment

摘　　要：为应用于林业采运输油管道的自主巡检,进行水下林业采运输油管道的定期巡检工作,设计了一款面向应用于林业采运输油管道检测的水下机器人。介绍了水下机器人的机械结构部分、控制部分、管道巡检部分设计。水下机器人使用的是STM32F407ZGT6单片机作为主控MCU,使用Open MV作为视觉电路板。经过实验验证,设计的水下机器人可以完成采运输油管道的巡检工作。In this paper,in order to be applied to the autonomous inspection of forestry transportation pipelines,to carry out regular inspection of underwater forestry transportation pipelines,an underwater robot oriented to be applied to the inspection of forestry transportation pipelines is designed.This paper describes the design of the mechanical structure part,control part and pipeline inspection part of the underwater robot.The underwater robot uses STM32F407ZGT6 microcontroller as the main control MCU and Open MV as the vision board.After experimental verification,the underwater robot designed in this paper can complete the inspection of the oil extraction and transportation pipelines.

关 键 词：自主式水下机器人 管道巡检 水下管道 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]