一款自适应管道机器人-嵌入式系统的设计和实现

Design and implementation of an adaptive pipeline robot-Embedded systemAbstractThis paper proposes a solution to the shortcomings of the design and control oftraditional pipeline robot control systems and the single inefficiency of the detectionmethod of pipeline inner wall defects.This paper designs the control scheme of theembedded system based on the Raspberry PI platform to realize the real-timecontrollable and stable operation of the adaptive robot in the pipeline.Use Python as adevelopment language to design an interface-type human-computer interaction frontend to achieve an intuitive and visual operation effect.Based on the cooperativeworking mode of Raspberry PI and multiple Arduinos,high-precision defect detectionin the form of infrared scanning and ultrasonic detection compensation is realized.And based on OpenCV and Canny algorithm for image calculation of the detecteddefects,a clear image of defects in the tube is obtained.In addition,a black boxmechanism is designed to record robot operation information and monitoringinformation,which is convenient for the operator to perform subsequent analysis andjudgment.Keywords:pipeline robot;embedded system;defect detection;image calculation;Raspberry PI.