融合视觉和嗅觉的管道探测机器人的设计与实现

Design and Implementation of an In-pipe Inspection Robot with Vision and Olfaction

  • 摘要: 介绍了一种新型管道探测机器人系统.采用视频分划生成的十字线,对管道内的视频图像信号中的目标信号进行识别和判断;利用气体传感器对管道内残留的有害气体进行识别和判断,并融合两部分的判断结果送入控制系统,用以控制机器人的移动和对目标执行动作.本系统采用巧妙的机械结构有效实现机器人在直管和弯管进行简易、快速、准确的检测.通过原理样机验证了这套系统的可行性.

     

    Abstract: A novel in-pipe inspection robot system is presented.Video signals of the object in the pipe can be recognized and judged by the video crossing line,and the poisonous gas remained in the pipe can be recognized and judged by the gas sensor.The two kinds of judgment results are merged and input into the control system to control the robot to achieve corresponding motion and actions.The mechanical structure of the robot enable it to move in horizontal,vertical as well as curved pipes to carry out inspection tasks simply,quickly and accurately.The experiment with the prototype proves the feasibility of the whole system.

     

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