一款自适应管道机器人嵌入式系统的设计和实现

一款自适应管道机器人-嵌入式系统的设计和实现一款自适应管道机器人-嵌入式系统的设计与实现摘 要本文针对传统管道机器人控制系统设计和的缺点与对管道内壁缺陷检测方式单一低效等不足提出解决方案。基于 Raspberry PI 平台设计嵌入式系统的控制方案，实现自适应机器人在管道内实时可控稳定运行。利用 Python 设计界面式人机交互界面，达到直观可视化操作效果。基于 Raspberry PI 与多 Arduino协同工作模式，实现以红外扫描为主、超声波检测补偿的形式进行高精度缺陷检测。采用多组传感器并行的机制，增大对管道内壁的监测范围，有效提高了管道机器人的监测效率，并对被检测缺陷进行基于 OpenCV 与 Canny 算法的图像计算，得到清晰的管内缺陷特征图像，可以有效直观的看出裂缝特征，并及时采取相应的措施。本文还设计了黑盒机制记录机器人运行信息与监测信息，便于操作员进行后续分析与判断。关键词：管道机器人；嵌入式系统；缺陷检测；图像计算； Raspberry PI；OpenCV。1北京理工大学珠海学院 2020 届本科生毕业设计Design and implementation of an adaptive pipeline robot-Embedded systemAbstractThis paper proposes a solution to the shortcomings of the design and control of traditional pipeline robot control systems and the single inefficiency of the detection method of pipeline inner wall defects. This paper designs the control scheme of the embedded system based on the Raspberry PI platform to realize the real-time controllable and stable operation of the adaptive robot in the pipeline. Use Python as a development language to design an interface-type human-computer interaction front end to achieve an intuitive and visual operation effect. Based on the cooperative working mode of Raspberry PI and multiple Arduinos, high-precision defect detection in the form of infrared scanning and ultrasonic detection compensation is realized. And based on OpenCV and Canny algorithm for image calculation of the detected defects, a clear image of defects in the tube is obtained. In addition, a...