摘要
针对城市电缆管道铺设增多,缺乏有效检修手段的现状,对一种管道机器人进行了研究和设计,用以进行电缆管道巡检和杂物清理。通过分析机器人运动状态,建立了机器人数学模型并据此进行了相关电机选型,采用模糊算法纠正车体姿态防止行走倾斜,采用图像识别算法,对图像进行二值化处理,判断管内杂物及其分布并进行清理。论文还对机器人运动时产生的图像纹波进行了分析和处理。实验结果证明,该机器人能在电缆管道内平稳可靠工作,具有较大的应用价值。
In order to solve the problem of lacking effective cable pipeline examining method,apipeline-robot is designed to inspect the pipeline and clean wastes inside.By analyzing the robot motion,established a mathematical model of the robot and accordingly the relevant motor selection.The robot uses fuzzy control to correct body posture and pattern recognition algorithms to distinguish wastes and make proper clean inside pipes.Video ripple caused by the robot motion is also discussed in the paper.Experimental results show that the robot can work smoothly and reliably in the cable,with great value.
出处
《电力学报》
2016年第2期141-147,共7页
Journal of Electric Power
关键词
电缆管道
巡检清理机器人
图像识别
模糊控制
cable pipeline
inspection and cleaning robot
image recognition
fuzzy control
