基于OpenCV的管道巡检水下机器人的设计与实现

Design and Implementation of Pipeline Inspection Underwater Robot Based on OpenCV

本设计是基于OpenCV的管道巡检水下机器人的设计与实现,水下机器人通过所配备的OpenCV摄像头对水下管道进行探测,主要应用于对水下或海底管道的路线进行循迹,并且能够对外壁破损情况的检查以及清理附着的杂物。该设计的实现是应用OpenCV摄像头对所需巡检的管道进行探测,并将所探测到的图像反馈到STM32控制器中识别出管道的循迹路线,并通过驱动模块中的电机设计实现平稳的循迹以及转弯功能。最终通过水下机器人的循迹以及图像处理功能的设计将探测到管道外部轮廓的图像信息进行处理,突出外壁所存在的问题以及附着的杂物。本设计将水下机器人驱动模式与图像处理功能进行很好的结合与应用,从而实现对管道循迹的过程中管道外壁的收检测。

This design is the design and implementation of the pipeline inspection underwater robot based on OpenCV.The underwater robot detects the underwater pipeline through the equipped OpenCV camera,which is mainly used to track the route of the underwater or submarine pipeline,and can check the damage of the outer wall and clean up the attached sundries.The realization of this design is to use OpenCV camera to detect the pipeline to be inspected,feedback the detected image to STM32 controller,identify the tracking route of the pipeline,and realize the smooth tracking and turning function through the motor design in the driving module.Finally,through the tracking of the underwater robot and the design of image processing function,the image information of the outer contour of the pipeline will be processed to highlight the problems existing in the outer wall and the attached sundries.In this design,the driving mode of the underwater robot is well combined and applied with the image processing function,so that the outer wall of the pipeline can be detected in the process of pipeline tracking.